forked from opencv/opencv
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Basic support for GigE cameras via Aravis SDK
- Loading branch information
1 parent
dd379ec
commit 70c12e5
Showing
6 changed files
with
327 additions
and
1 deletion.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,292 @@ | ||
| //////////////////////////////////////////////////////////////////////////////////////// | ||
| // | ||
| // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. | ||
| // | ||
| // By downloading, copying, installing or using the software you agree to this license. | ||
| // If you do not agree to this license, do not download, install, | ||
| // copy or use the software. | ||
| // | ||
| // | ||
| // Intel License Agreement | ||
| // For Open Source Computer Vision Library | ||
| // | ||
| // Copyright (C) 2000, Intel Corporation, all rights reserved. | ||
| // Third party copyrights are property of their respective owners. | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without modification, | ||
| // are permitted provided that the following conditions are met: | ||
| // | ||
| // * Redistribution's of source code must retain the above copyright notice, | ||
| // this list of conditions and the following disclaimer. | ||
| // | ||
| // * Redistribution's in binary form must reproduce the above copyright notice, | ||
| // this list of conditions and the following disclaimer in the documentation | ||
| // and/or other materials provided with the distribution. | ||
| // | ||
| // * The name of Intel Corporation may not be used to endorse or promote products | ||
| // derived from this software without specific prior written permission. | ||
| // | ||
| // This software is provided by the copyright holders and contributors "as is" and | ||
| // any express or implied warranties, including, but not limited to, the implied | ||
| // warranties of merchantability and fitness for a particular purpose are disclaimed. | ||
| // In no event shall the Intel Corporation or contributors be liable for any direct, | ||
| // indirect, incidental, special, exemplary, or consequential damages | ||
| // (including, but not limited to, procurement of substitute goods or services; | ||
| // loss of use, data, or profits; or business interruption) however caused | ||
| // and on any theory of liability, whether in contract, strict liability, | ||
| // or tort (including negligence or otherwise) arising in any way out of | ||
| // the use of this software, even if advised of the possibility of such damage. | ||
| // | ||
| // | ||
|
|
||
| // | ||
| // The code has been contributed by Arkadiusz Raj on 2016 Oct | ||
| // | ||
|
|
||
| #include "precomp.hpp" | ||
|
|
||
| #ifdef HAVE_ARAVIS_API | ||
|
|
||
| #include <arv.h> | ||
|
|
||
| /********************* Capturing video from camera via Aravis *********************/ | ||
|
|
||
| class CvCaptureCAM_Aravis : public CvCapture | ||
| { | ||
| public: | ||
| CvCaptureCAM_Aravis(); | ||
| virtual ~CvCaptureCAM_Aravis() | ||
| { | ||
| close(); | ||
| } | ||
|
|
||
| virtual bool open(int); | ||
| virtual void close(); | ||
| virtual double getProperty(int) const; | ||
| virtual bool setProperty(int, double); | ||
| virtual bool grabFrame(); | ||
| virtual IplImage* retrieveFrame(int); | ||
| virtual int getCaptureDomain() | ||
| { | ||
| return CV_CAP_ARAVIS; | ||
| } | ||
|
|
||
| protected: | ||
| bool create(int); | ||
| bool init(); | ||
|
|
||
| void stopCapture(); | ||
| bool startCapture(); | ||
|
|
||
| bool getDeviceNameById(int id, std::string &device); | ||
|
|
||
| ArvCamera *camera; // Camera to control. | ||
| ArvStream *stream; // Object for video stream reception. | ||
| void *framebuffer; // | ||
|
|
||
| unsigned int payload; // Width x height x Pixel width. | ||
|
|
||
| int widthMin; // Camera sensor minium width. | ||
| int widthMax; // Camera sensor maximum width. | ||
| int heightMin; // Camera sensor minium height. | ||
| int heightMax; // Camera sensor maximum height. | ||
| double fpsMin; // Camera minium fps. | ||
| double fpsMax; // Camera maximum fps. | ||
| double gainMin; // Camera minimum gain. | ||
| double gainMax; // Camera maximum gain. | ||
| double exposureMin; // Camera's minimum exposure time. | ||
| double exposureMax; // Camera's maximum exposure time. | ||
|
|
||
| int num_buffers; // number of payload transmission buffers | ||
|
|
||
| IplImage *frame; | ||
| }; | ||
|
|
||
|
|
||
| CvCaptureCAM_Aravis::CvCaptureCAM_Aravis() | ||
| { | ||
| camera = NULL; | ||
| stream = NULL; | ||
| framebuffer = NULL; | ||
|
|
||
| payload = 0; | ||
|
|
||
| widthMin = widthMax = heightMin = heightMax = 0; | ||
| fpsMin = fpsMax = gainMin = gainMax = exposureMin = exposureMax = 0; | ||
|
|
||
| num_buffers = 50; | ||
|
|
||
| frame = NULL; | ||
| } | ||
|
|
||
| void CvCaptureCAM_Aravis::close() | ||
| { | ||
| stopCapture(); | ||
| } | ||
|
|
||
| bool CvCaptureCAM_Aravis::getDeviceNameById(int id, std::string &device) | ||
| { | ||
| arv_update_device_list(); | ||
|
|
||
| int n_devices = arv_get_n_devices(); | ||
|
|
||
| for(int i = 0; i< n_devices; i++){ | ||
| if(id == i){ | ||
| device = arv_get_device_id(i); | ||
| return true; | ||
| } | ||
| } | ||
|
|
||
| return false; | ||
| } | ||
|
|
||
| bool CvCaptureCAM_Aravis::create( int index ) | ||
| { | ||
| std::string deviceName; | ||
| if(!getDeviceNameById(index, deviceName)) | ||
| return false; | ||
|
|
||
| return NULL != (camera = arv_camera_new(deviceName.c_str())); | ||
| } | ||
|
|
||
| bool CvCaptureCAM_Aravis::init() | ||
| { | ||
| if( (stream = arv_camera_create_stream(camera, NULL, NULL)) ) { | ||
| g_object_set(stream, | ||
| "socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO, | ||
| "socket-buffer-size", 0, NULL); | ||
| g_object_set(stream, | ||
| "packet-resend", ARV_GV_STREAM_PACKET_RESEND_NEVER, NULL); | ||
| g_object_set(stream, | ||
| "packet-timeout", (unsigned)40000, | ||
| "frame-retention", (unsigned) 200000, NULL); | ||
|
|
||
| for (int i = 0; i < num_buffers; i++) | ||
| arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL)); | ||
|
|
||
| return true; | ||
| } | ||
|
|
||
| return false; | ||
| } | ||
|
|
||
| // Initialize camera input | ||
| bool CvCaptureCAM_Aravis::open( int index ) | ||
| { | ||
| if( create( index) ) { | ||
| // fetch basic properties | ||
| payload = arv_camera_get_payload (camera); | ||
| arv_camera_get_width_bounds(camera, &widthMin, &widthMax); | ||
| arv_camera_get_height_bounds(camera, &heightMin, &heightMax); | ||
| arv_camera_get_frame_rate_bounds(camera, &fpsMin, &fpsMax); | ||
| arv_camera_get_gain_bounds (camera, &gainMin, &gainMax); | ||
| arv_camera_get_exposure_time_bounds (camera, &exposureMin, &exposureMax); | ||
|
|
||
| // enforce mono 8 format | ||
| arv_camera_set_pixel_format(camera, ARV_PIXEL_FORMAT_MONO_8); | ||
|
|
||
| // init communication | ||
| init(); | ||
|
|
||
| return startCapture(); | ||
| } | ||
| return false; | ||
| } | ||
|
|
||
| bool CvCaptureCAM_Aravis::grabFrame() | ||
| { | ||
| ArvBuffer *arv_buffer = arv_stream_timeout_pop_buffer(stream, 2000000); //us | ||
| if(arv_buffer != NULL) { | ||
| if(arv_buffer_get_status(arv_buffer) == ARV_BUFFER_STATUS_SUCCESS) { | ||
| size_t buffer_size; | ||
| framebuffer = (void*)arv_buffer_get_data (arv_buffer, &buffer_size); | ||
| } | ||
| arv_stream_push_buffer(stream, arv_buffer); | ||
| return true; | ||
| } | ||
| framebuffer = NULL; | ||
| return false; | ||
| } | ||
|
|
||
| IplImage* CvCaptureCAM_Aravis::retrieveFrame(int) | ||
| { | ||
| if(framebuffer) { | ||
| IplImage src; | ||
| cvInitImageHeader( &src, cvSize( widthMax, heightMax ), | ||
| IPL_DEPTH_8U, 1, IPL_ORIGIN_TL, 4 ); | ||
|
|
||
| cvSetData( &src, framebuffer, src.widthStep ); | ||
| if( !frame || frame->width != src.width || frame->height != src.height ) { | ||
| cvReleaseImage( &frame ); | ||
| frame = cvCreateImage( cvGetSize(&src), 8, 1 ); | ||
| } | ||
| cvCopy(&src, frame); | ||
|
|
||
| return frame; | ||
| } | ||
| return NULL; | ||
| } | ||
|
|
||
| double CvCaptureCAM_Aravis::getProperty( int property_id ) const | ||
| { | ||
| switch ( property_id ) { | ||
| case CV_CAP_PROP_EXPOSURE: | ||
| return arv_camera_get_exposure_time(camera); | ||
|
|
||
| case CV_CAP_PROP_FPS: | ||
| return arv_camera_get_frame_rate(camera); | ||
|
|
||
| case CV_CAP_PROP_GAIN: | ||
| return arv_camera_get_gain(camera); | ||
| } | ||
| return -1.0; | ||
| } | ||
|
|
||
| bool CvCaptureCAM_Aravis::setProperty( int property_id, double value ) | ||
| { | ||
| switch ( property_id ) { | ||
| case CV_CAP_PROP_EXPOSURE: | ||
| arv_camera_set_exposure_time(camera, value); | ||
| break; | ||
|
|
||
| case CV_CAP_PROP_FPS: | ||
| arv_camera_set_frame_rate(camera, value); | ||
| break; | ||
|
|
||
| case CV_CAP_PROP_GAIN: | ||
| arv_camera_set_gain(camera, value); | ||
| break; | ||
| } | ||
| return -1.0 != getProperty( property_id ); | ||
| } | ||
|
|
||
| void CvCaptureCAM_Aravis::stopCapture() | ||
| { | ||
| arv_camera_stop_acquisition(camera); | ||
|
|
||
| g_object_unref(stream); | ||
| stream = NULL; | ||
|
|
||
| g_object_unref(camera); | ||
| } | ||
|
|
||
| bool CvCaptureCAM_Aravis::startCapture() | ||
| { | ||
| arv_camera_set_acquisition_mode(camera, ARV_ACQUISITION_MODE_CONTINUOUS); | ||
| arv_device_set_string_feature_value(arv_camera_get_device (camera), "TriggerMode" , "Off"); | ||
| arv_camera_start_acquisition(camera); | ||
|
|
||
| return true; | ||
| } | ||
|
|
||
| CvCapture* cvCreateCameraCapture_Aravis( int index ) | ||
| { | ||
| CvCaptureCAM_Aravis* capture = new CvCaptureCAM_Aravis; | ||
|
|
||
| if ( capture->open( index )) | ||
| return capture; | ||
|
|
||
| delete capture; | ||
| return NULL; | ||
| } | ||
| #endif |