Even though we just wanted to research image processing algorithms, why did we have to change our image acquisition library every time we change the camera that we use for the research? - Anonymous
Pieter Bruegel the Elder, The Harvesters, 1565, (c) 2000–2018 The Metropolitan Museum of Art
Table of Contents
Hello everyone. I'm Kazunari, the author of Harvester.
Since I opened the source code of Harvester in May 2018, so many people visited our website and left their very positive messages about Harvester. The number was much more than I expected what I had in the beginning and it truly was one of the exciting experiences I ever had in my professional career.
The original motivation that drove myself to develop Harvester was I didn't know how to develop any image acquisition consumer library though I had been involved in the machine vision market for some reasonable years. Until I got the idea of Harvester, I had to learn and adapt to popular proprietary 3rd party image acquisition libraries from scratch every time even though I just wanted to get an image to manipulate it; to be honest, I had felt it's a bit ridiculous and that exactly was the place where Harvester should came: I needed a unified image acquisition library. In addition, I also needed Python to gain the productivity.
I believe Harvester can help you to concentrate on image processing that you really had to. Of course, you may have to implement the algorithm again using other proprietary libraries to optimize the performance. However, Harvester doesn't intend to take the place of such superior libraries because they were designed for exactly that purpose. Harvester just wants to shorten the time you spend to realize your brilliant ideas as much as possible. Fortunately, Harvester has got firm support from the high-quality GenTL Producers in the market. It means you can smoothly start working with any GenICam compliant cameras that you may want to work with.
So everyone, there's no worry anymore. Keep having fun for working. Harvester has got your back.
Harvester was created to be a friendly image acquisition library for all people who those want to learn computer/machine vision. Harvester consists of two Python libraries, Harvester Core and Harvester GUI, and technically speaking, each library is responsible for the following tasks:
- Harvester Core: Image acquisition & device manipulation
- Harvester GUI: Image data visualization
Harvester consumes image acquisition libraries, so-called GenTL Producers. Just grabbing a GenTL Producer and GenICam compliant machine vision cameras, then Harvester will supply you the acquired image data as numpy array to make your image processing task productive.
You can freely use, modify, distribute Harvester under Apache License-2.0 without worrying about the use of your software: personal, internal or commercial.
Currently, Harvester is being developed by the motivated contributors from all over the world.
We have opened a chat room for you. Please don't hesitate to leave your message any time when you get a question regarding Harvester!
https://gitter.im/genicam-harvester/chatroom
We have also prepared an FAQ page. Perhaps your issue could be resolved just reading through it.
https://github.com/genicam/harvesters/wiki/FAQ
Harvester's name was coming from the great Flemish painter, Pieter Bruegel the Elder's painting so-called "The Harvesters". You can see the painting in the top of this page. Harvesters harvest a crop every season that has been fully grown and the harvested crop is passed to the consumers. On the other hand, image acquisition libraries acquire images as their crop and the images are passed to the following processes. We found the similarity between them and decided to name our library Harvester.
Apart from anything else, we love its peaceful and friendly name. We hope you also like it ;-)
| Chat room | https://gitter.im/genicam-harvester/chatroom |
| Documentation | https://harvesters.readthedocs.io/en/latest/ |
| EMVA website | https://www.emva.org/standards-technology/genicam/genicam-downloads/ |
| Harvester GUI | https://github.com/genicam/harvesters_gui |
| Issue tracker | https://github.com/genicam/harvesters/issues |
| PyPI | https://pypi.org/project/harvesters/ |
| Source repository | https://github.com/genicam/harvesters |
The Harvester project has started since April 2018 and it's still under development as of October 2018 but many developers and researchers over the world have already confirmed that it is actually usable with the popular GenTL Producers and GenICam compliant cameras from the following companies. We have realized the progress had been brought by all interested people's positive expectation in the machine vision market and we strongly believe it will sustain to the following years. Of course, we will never forget the importance of volunteer companies which provided us their products to test Harvester. Thank you very much! Harvester is here for you all! And again, Harvester is still under development so please check out the latest version when you make a try.
| Company Name | CoaXPress | GigE Vision | USB3 Vision | Cameras |
|---|---|---|---|---|
| Active Silicon | Tested | - | - | N/A |
| Adimec | N/A | N/A | N/A | Tested |
| Allied Vision | - | - | - | - |
| Automation Technology | N/A | N/A | N/A | Tested |
| Basler | N/A | N/A | N/A | Tested |
| Baumer Optronic | N/A | Tested | Tested | Tested |
| DAHENG VISION | N/A | - | Tested | Tested |
| Euresys | Tested | - | - | N/A |
| FLIR | N/A | N/A | N/A | Tested |
| Gardasoft | N/A | N/A | N/A | Tested |
| JAI | - | Tested | Tested | Tested |
| Lucid Vision Labs | N/A | Tested | N/A | Tested |
| MATRIX VISION | N/A | Tested | Tested | - |
| OMRON SENTECH | - | - | Tested | Tested |
| PCO | N/A | N/A | N/A | - |
| Roboception | N/A | N/A | N/A | Tested |
| SICK | N/A | - | N/A | - |
| Silicon Software | - | - | - | N/A |
| STEMMER IMAGING | - | Tested | Tested | N/A |
| Vieworks | - | - | - | - |
| XIMEA | - | - | - | - |
Please don't hesitate to tell us if you have tested Harvester with your GenTL Producer or GenICam compliant device. We will add your company/organization name to the list.
Would you like to have a GUI? Harvester has a sister project that is called Harvester GUI. Oops, there's no punch line on its name! Please take a look its source repository if you are interested in it:
https://github.com/genicam/harvesters_gui
As of today, we have tested Harvester with the following GenTL Producers and it definitely is the shortest way to get one from the following list to get Harvester working with tangible machine vision cameras:
| Company Name | SDK Name | Camera Manufacture Free |
|---|---|---|
| Baumer Optronic | Baumer GAPI SDK | No |
| DAHENG VISION | MER Galaxy View | No |
| JAI | JAI SDK | Yes |
| Matrix Vision | mvIMPACT_Acquire | Yes |
| OMRON SENTECH | StCamUSBPack | No |
| STEMMER IMAGING | Common Vision Blox | Yes |
You might be able to directly download one at their website but please note that perhaps some of them could require you to register your information to get one. In addition, some GenTL Producers might block you to connect other competitors' cameras.
Before start talking about the detail, let's take a look at some important terminologies that frequently appear in this document. These terminologies are listed as follows:
- The GenApi-Python Binding: A Python module that communicates with the GenICam reference implementation.
- A GenTL Producer: A library that has C interface and offers consumers a way to communicate with cameras over physical transport layer dependent technology hiding the detail from the consumer.
- The GenTL-Python Binding: A Python module that communicates with GenTL Producers.
- Harvester: A Python module that consists of Harvester Core and Harvester GUI.
- Harvester Core: A part of Harvester that works as an image acquisition engine.
- Harvester GUI: A part of Harvester that works as a graphical user interface of Harvester Core.
- A GenICam compliant device: It's typically a camera. Just involving the GenICam reference implementation, it offers consumers a way to dynamically configure/control the target devices.
The following diagram shows the hierarchy and relationship of the relevant modules:
In this section, we will learn how to instruct procedures to get Harvester work.
The following software modules are required to get Harvester working:
- Either of Python 3.4, 3.5, 3.6, or 3.7 (Only 64bit versions are supported as of October 2018.)
In addition, you will need the following items to let Harvester make something meaningful:
- GenTL Producers
- GenICam compliant machine vision cameras
Harvester has been confirmed it works with the following 64-bit operating systems:
- Fedora 27
- macOS 10.13
- Red Hat Enterprise Linux Workstation 7.4
- Ubuntu 14.04
- Windows 7
- Windows 10
You can install Harvester via PyPI invoking the following command; note that the package name is harvesters but not harvester; unfortunately, the latter word had been reserved:
$ pip install harvestersFor people who those have already installed it:
$ pip install --upgrade harvestersOr more simply:
$ pip install -U harvestersPerhaps pip could install cached package. If you want to install the newly dowloaded package, you should invoke the following command:
$ pip install -U --no-cache-dir harvestersThese commands will automatically install the required modules such as numpy or genicam2 (the Python Binding for the GenICam GenApi & the GenTL Producers) if the module has not yet installed on your environment.
Getting back to the original topic, you could install the latest development version it using setup.py cloning Harvester from GitHub:
$ git clone https://github.com/genicam/harvesters.git && cd harvesters && python setup.py installHarvester Core is an image acquisition engine. No GUI. You can use it as an image acquisition library which acquires images from GenTL Producers through the GenTL-Python Binding and controls the target device (it's typically a camera) through the GenApi-Python Binding.
Harvester Core works as a minimalistic front-end for image acquisition. Just importing it from your Python script, you should immediately be able to set images on your table.
You'll be able to download the these language binding runtime libraries from the EMVA website, however, it's not available as of May 2018, because they have not officially released yet. Fortunately they are in the final reviewing process so hopefully they'll be released by the end of 2018.
If you don't have to care about the display rate for visualizing acquired images, the combination of Harvester Core and Matplotlib might be a realistic option for that purpose.
The main features of Harvester Core are listed as follows:
- Image acquisition through GenTL Producers
- Multiple loading of GenTL Producers in a single Python script
- GenICam feature node manipulation of the target device
Note that the second item implies you can involve multiple types of transport layers in your Python script. Each transport layer has own advantages and disadvantages and you should choose appropriate transport layers following your application's requirement. You just need to acquire images for some purposes and the GenTL Producers deliver the images somehow. It truly is the great benefit of the GenTL Standard! And of course, not only GenTL Producers but Harvester Core offer you a way to manipulate multiple devices in a single Python script with an intuitive manner.
On the other hand, Harvester Core could be considered as a simplified version of the GenTL-Python Binding; actually, Harvester Core hides it in its back and shows only intuitive interfaces to its clients. Harvester Core just offers you a relationship between you and a device. Nothing more. We say it again, just you and a device. If you need to manipulate more relevant GenTL modules or have to achieve something over a hardcore way, then you should directly work with the GenTL-Python Binding.
Currently, Harvester Core supports the following pixel formats that are defined by the Pixel Format Naming Convention:
Mono8,Mono10,Mono12,Mono16,RGB8,RGBa8,BayerRG8,BayerGR8,BayerBG8,BayerGB8,BayerRG16,BayerGR16,BayerBG16,BayerGB16
The following screenshot shows Harvester Core is running on IPython. An acquired image is delivered as the payload of a buffer and the buffer can be fetched by calling the fetch_buffer method of the ImageAcquirer class. Once you get an image you should be able to immediately start image processing. If you're running on the Jupyter notebook, you should be able to visualize the image data using Matplotlib. This step should be helpful to check what's going on your trial in the image processing flow.
In [1]: from harvesters.core import Harvester
In [2]: import numpy as np
In [3]: h = Harvester()
In [4]: h.add_cti_file('/Users/kznr/dev/genicam/bin/Maci64_x64/TLSimu.cti')
In [5]: h.update_device_info_list()
In [6]: h.device_info_list
Out[6]:
[(id_='TLSimuMono', vendor='EMVA_D', model='TLSimuMono', tl_type='Custom', user_defined_name='Center', serial_number='SN_InterfaceA_0', version='1.2.3'),
(id_='TLSimuColor', vendor='EMVA_D', model='TLSimuColor', tl_type='Custom', user_defined_name='Center', serial_number='SN_InterfaceA_1', version='1.2.3'),
(id_='TLSimuMono', vendor='EMVA_D', model='TLSimuMono', tl_type='Custom', user_defined_name='Center', serial_number='SN_InterfaceB_0', version='1.2.3'),
(id_='TLSimuColor', vendor='EMVA_D', model='TLSimuColor', tl_type='Custom', user_defined_name='Center', serial_number='SN_InterfaceB_1', version='1.2.3')]
In [7]: ia = h.create_image_acquirer(serial_number='SN_InterfaceA_0')
In [8]: ia.device.node_map.Width.value, ia.device.node_map.Height.value = 8, 8
In [9]: ia.device.node_map.PixelFormat.value = 'Mono8'
In [10]: ia.start_image_acquisition()
In [11]: buffer = ia.fetch_buffer()
In [12]: type(buffer)
Out[12]: harvesters.core.Buffer
In [13]: type(buffer.payload)
Out[13]: harvesters.core.PayloadImage
In [14]: len(buffer.payload.components)
Out[14]: 1
In [15]: type(buffer.payload.components[0])
Out[15]: harvesters.core.Component2D
In [16]: type(buffer.payload.components[0].data)
Out[16]: numpy.ndarray
In [17]: buffer.payload.components[0].data
Out[17]:
array([[153, 154, 155, 156, 157, 158, 159, 160],
[154, 155, 156, 157, 158, 159, 160, 161],
[155, 156, 157, 158, 159, 160, 161, 162],
[156, 157, 158, 159, 160, 161, 162, 163],
[157, 158, 159, 160, 161, 162, 163, 164],
[158, 159, 160, 161, 162, 163, 164, 165],
[159, 160, 161, 162, 163, 164, 165, 166],
[160, 161, 162, 163, 164, 165, 166, 167]], dtype=uint8)
In [18]: buffer.queue()
In [19]: with ia.fetch_buffer() as buffer:
...: image = buffer.payload.components[0].data
...: print('Average: {0}'.format(np.average(image)))
...: print(image)
...:
Average: 218.0
[[211 212 213 214 215 216 217 218]
[212 213 214 215 216 217 218 219]
[213 214 215 216 217 218 219 220]
[214 215 216 217 218 219 220 221]
[215 216 217 218 219 220 221 222]
[216 217 218 219 220 221 222 223]
[217 218 219 220 221 222 223 224]
[218 219 220 221 222 223 224 225]]
In [20]: ia.stop_image_acquisition()
In [21]: ia.destroy()First, let's import Harvester:
from harvesters.core import HarvesterThen instantiate a Harvester object; we're going to use h that stands for
Harvester as its identifier.
h = Harvester()And load a CTI file; loading a CTI file, you can communicate with the GenTL Producer:
h.add_cti_file('path/to/gentl_producer.cti')Note that you can add one or more CTI files on a single Harvester Core object. To add another CTI file, just repeat calling add_cti_file method passing another target CTI file:
h.add_cti_file('path/to/another_gentl_producer.cti')And the following code will let you know the CTI files that have been loaded on the Harvester object:
h.cti_filesIn a contrary sense, you can remove a specific CTI file that you have added with the following code:
h.remove_cti_file('path/to/gentl_producer.cti')And now yol have to update the list of devices; it fills up your device information list and you'll select a device to control from the list:
h.update_device_info_list()The following code will let you know the devices that you can control:
h.device_info_listOur friendly GenTL Producer, so called TLSimu, gives you the following information:
[(unique_id='TLSimuMono', vendor='EMVA_D', model='TLSimuMono', tl_type='Custom', user_defined_name='Center', serial_number='SN_InterfaceA_0', version='1.2.3'),
(unique_id='TLSimuColor', vendor='EMVA_D', model='TLSimuColor', tl_type='Custom', user_defined_name='Center', serial_number='SN_InterfaceA_1', version='1.2.3'),
(unique_id='TLSimuMono', vendor='EMVA_D', model='TLSimuMono', tl_type='Custom', user_defined_name='Center', serial_number='SN_InterfaceB_0', version='1.2.3'),
(unique_id='TLSimuColor', vendor='EMVA_D', model='TLSimuColor', tl_type='Custom', user_defined_name='Center', serial_number='SN_InterfaceB_1', version='1.2.3')]And you create an image acquirer object specifying a target device. The image acquirer does the image acquisition task for you. In the following example it's trying to create an acquirer object of the first candidate device in the device information list:
ia = h.create_image_acquirer(0)Or equivalently:
ia = h.create_image_acquirer(list_index=0)You can connect the same device passing more unique information to the method such as:
mono_a = h.create_image_acquirer(serial_number='SN_InterfaceA_0')We named the acquirer object ia in the above example but in a practical occasion, you may name it like just camera, mono_cam, or face_detection_cam more specifically even though those entities don't acquire images by themselves but they transfer images that will be acquired by their image acquirer.
Anyway, then now we start image acquisition:
ia.start_image_acquisition()Once you started image acquisition, you should definitely want to get an image. Images are delivered to the acquirer allocated buffers. To fetch a buffer that has been filled up with an image, you can have 2 options; the first option is to use the with statement:
with ia.fetch_buffer() as buffer:
# Work with the Buffer object. It consists of everything you need.
print(buffer)
# The buffer will automatically be queued.Having that code, the fetched buffer is automatically queued once the code step out from the scope of the with statement. It's prevents you to forget queueing it by accident. The other option is to manually queue the fetched buffer by yourself:
buffer = ia.fetch_buffer()
print(buffer)
# Don't forget to queue the buffer.
buffer.queue()In this option, again, please do not forget that you have to queue the buffer by yourself. If you forget queueing it, then you'll lose a buffer that could be used for image acquisition. Everything is up to your design, so please choose an appropriate way for you. In addition, once you queued the buffer, the Buffer object will be obsolete. There's nothing to do with it.
Okay, then you would stop image acquisition with the following code:
ia.stop_image_acquisition()And the following code disconnects the connecting device from the image acquirer; you'll have to create an image acquirer object again when you have to work with a device:
ia.destroy()Now you can quit the program! Please not that the image acquirer also supports the with statement. So you may write program as follows:
with h.create_image_acquirer(0) as ia:
# Work, work, and work with the ia object.
# the ia object will automatically call the destroy method.Harvester Core uses the following open source libraries/resources:
Pympler
License: Apache License, Version 2.0Copyright (c) Jean Brouwers, Ludwig Haehne, Robert SchuppeniesVersioneer
Copyright (c) 2018 Brian Warner
The initial idea about Harvester suddenly came up to a software engineer, Kazunari Kudo's head in the early April of year 2018 and he immediately decided to bring the first prototype to the International Vision Standards Meeting, IVSM in short, that was going to be held in Frankfurt am Main in the following early May. During the Frankfurt IVSM, interested engineers tried out Harvester and confirmed it really worked using commercial machine vision cameras provided by well-known machine vision camera manufacturers in the world. Having that fact, the attendees of the IVSM warmly welcomed Harvester.
The following individuals have directly or indirectly contributed to the development activity of Harvester or encouraged the developers by their thoughtful warm words; they are our respectable wonderful colleagues:
Rod Barman, Stefan Battmer, David Beek, Jan Becvar, David Bernecker, Chris Beynon, Eric Bourbonnais, Benedikt Busch, George Chamberlain, Thomas Detjen, Friedrich Dierks, Dana Diezemann, Emile Dodin, Reynold Dodson, Sascha Dorenbeck, Jozsa Elod, Erik Eloff, Katie Ensign, Andreas Ertl, James Falconer, Werner Feith, Maciej Gara, Andreas Gau, Sebastien Gendreau, Francois Gobeil, Werner Goeman, Jean-Paul Goglio, Markus Grebing, Eric Gross, Ioannis Hadjicharalambous, Uwe Hagmaier, Tim Handschack, Christopher Hartmann, Reinhard Heister, Gerhard Helfrich, Jochem Herrmann, Heiko Hirschmueller, Tom Hopfner, David Hoese, Karsten Ingeman Christensen, Severi Jaaskelainen, Mattias Johannesson, Mark Jones, Mattias Josefsson, Martin Kersting, Stephan Kieneke, Tom Kirchner, Lutz Koschorreck, Frank Krehl, Maarten Kuijk, Max Larin, Ralf Lay, Min Liu, Sergey Loginonvskikh, Thomas Lueck, Alain Marchand, Rocco Matano, Masahide Matsubara, Stephane Maurice, Robert McCurrach, Mike Miethig, Thies Moeller, Roman Moie, Marcel Naggatz, Hartmut Nebelung, Damian Nesbitt, Quang Nhan Nguyen, Klaus-Henning Noffz, Neerav Patel, Jan Pech, Merlin Plock, Joerg Preckwinkel, Benjamin Pussacq, Dave Reaves, Thomas Reuter, Gordon Rice, Andreas Rittinger, Ryan Robe, Nicolas P. Rougier, Felix Ruess, Matthias Schaffland, Michael Schmidt, Jan Scholze, Martin Schwarzbauer, Rupert Stelz, Madhura Suresh, Chendra Hadi Suryanto, Timo Teifel, Albert Theuwissen, Laval Tremblay, Tim Vlaar, Silvio Voitzsch, Stefan Von Weihe, Frederik Voncken, Roman Wagner, Ansger Waschki, Anne Wendel, Jean-Michel Wintgens, Manfred Wuetschner, Jang Xu, Christoph Zierl, and Juraj Zopp