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Commit 4ea27061 authored by Arek's avatar Arek Committed by Alexander Alekhin
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Merge pull request #7472 from ArkadiuszRaj:aravis-autoexposure 

Aravis SDK: Basic software based autoexposure control

* Basic software based autoexposure control

* Aravis autoexposure: skip frame taken while changing exposure setup
parent 1ae27eb6
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Showing with 173 additions and 40 deletions
modules/videoio/src/cap_aravis.cpp
View file @ 4ea27061
......@@ -49,12 +49,32 @@
#include <arv.h>
//
// This file provides wrapper for using Aravis SDK library to access GigE Vision cameras.
// aravis-0.6 library shall be installed else this code will not be included in build.
// To include this module invoke cmake with -DWITH_ARAVIS=ON
//
// Please obvserve, that jumbo frames are required when high fps & 16bit data is selected.
// (camera, switches/routers and the computer this software is running on)
//
// Basic usage: VideoCapture cap(CAP_ARAVIS + <camera id>);
//
// Supported properties:
// CAP_PROP_AUTO_EXPOSURE(0|1)
// CAP_PROP_EXPOSURE(t), t in seconds
// CAP_PROP_GAIN(g), g >=0 or -1 for automatic control if CAP_PROP_AUTO_EXPOSURE is true
// CAP_PROP_FPS(f)
// CAP_PROP_FOURCC(type)
//
// Supported types of data:
// video/x-raw, fourcc:'GRAY' -> 8bit, 1 channel
// video/x-raw, fourcc:'GREY' -> 8bit, 1 channel
// video/x-raw, fourcc:'Y800' -> 8bit, 1 channel
// video/x-raw, fourcc:'Y12 ' -> 12bit, 1 channel
//
#define MODE_GRAY8 CV_FOURCC_MACRO('G','R','E','Y')
#define MODE_GRAY12 CV_FOURCC_MACRO('Y','1','2',' ')
#define MODE_GREY CV_FOURCC_MACRO('G','R','E','Y')
#define MODE_Y800 CV_FOURCC_MACRO('Y','8','0','0')
#define MODE_Y12 CV_FOURCC_MACRO('Y','1','2',' ')
#define BETWEEN(a,b,c) ((a) < (b) ? (b) : ((a) > (c) ? (c) : (a) ))
......@@ -89,6 +109,8 @@ protected:
bool getDeviceNameById(int id, std::string &device);
void autoExposureControl(IplImage*);
ArvCamera *camera; // Camera to control.
ArvStream *stream; // Object for video stream reception.
void *framebuffer; //
......@@ -108,6 +130,11 @@ protected:
bool exposureAvailable;
double exposureMin; // Camera's minimum exposure time.
double exposureMax; // Camera's maximum exposure time.
bool controlExposure; // Flag if automatic exposure shall be done by this SW
bool autoGain;
double targetGrey; // Target grey value (mid grey))
gint64 *pixelFormats;
guint pixelFormatsCnt;
......@@ -122,6 +149,7 @@ protected:
double gain; // current value of gain
IplImage *frame; // local frame copy
uint64_t framesCnt; // number of retrieved frames
};
......@@ -135,6 +163,9 @@ CvCaptureCAM_Aravis::CvCaptureCAM_Aravis()
widthMin = widthMax = heightMin = heightMax = 0;
fpsMin = fpsMax = gainMin = gainMax = exposureMin = exposureMax = 0;
controlExposure = false;
targetGrey = 0;
framesCnt = 0;
num_buffers = 50;
frame = NULL;
......@@ -142,20 +173,17 @@ CvCaptureCAM_Aravis::CvCaptureCAM_Aravis()
void CvCaptureCAM_Aravis::close()
{
stopCapture();
if(camera)
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;
}
if(id > 0 && id < arv_get_n_devices()){
device = arv_get_device_id(id);
return true;
}
return false;
......@@ -172,7 +200,7 @@ bool CvCaptureCAM_Aravis::create( int index )
bool CvCaptureCAM_Aravis::init_buffers()
{
if (stream) {
if(stream) {
g_object_unref(stream);
stream = NULL;
}
......@@ -199,7 +227,7 @@ bool CvCaptureCAM_Aravis::init_buffers()
bool CvCaptureCAM_Aravis::open( int index )
{
if( create( index) ) {
if(create(index)) {
// fetch properties bounds
pixelFormats = arv_camera_get_available_pixel_formats(camera, &pixelFormatsCnt);
......@@ -216,8 +244,8 @@ bool CvCaptureCAM_Aravis::open( int index )
// get initial values
pixelFormat = arv_camera_get_pixel_format(camera);
exposure = arv_camera_get_exposure_time(camera);
gain = arv_camera_get_gain(camera);
exposure = exposureAvailable ? arv_camera_get_exposure_time(camera) : 0;
gain = gainAvailable ? arv_camera_get_gain(camera) : 0;
fps = arv_camera_get_frame_rate(camera);
return startCapture();
......@@ -227,26 +255,30 @@ bool CvCaptureCAM_Aravis::open( int index )
bool CvCaptureCAM_Aravis::grabFrame()
{
ArvBuffer *arv_buffer = NULL;
int max_tries = 10;
int tries = 0;
for(; tries < max_tries; tries ++) {
arv_buffer = arv_stream_timeout_pop_buffer (stream, 200000);
if (arv_buffer != NULL && arv_buffer_get_status (arv_buffer) != ARV_BUFFER_STATUS_SUCCESS) {
arv_stream_push_buffer (stream, arv_buffer);
} else break;
}
if (tries == max_tries)
return false;
// remove content of previous frame
framebuffer = NULL;
size_t buffer_size;
framebuffer = (void*)arv_buffer_get_data (arv_buffer, &buffer_size);
if(stream) {
ArvBuffer *arv_buffer = NULL;
int max_tries = 10;
int tries = 0;
for(; tries < max_tries; tries ++) {
arv_buffer = arv_stream_timeout_pop_buffer (stream, 200000);
if (arv_buffer != NULL && arv_buffer_get_status (arv_buffer) != ARV_BUFFER_STATUS_SUCCESS) {
arv_stream_push_buffer (stream, arv_buffer);
} else break;
}
if (tries < max_tries) {
size_t buffer_size;
framebuffer = (void*)arv_buffer_get_data (arv_buffer, &buffer_size);
arv_buffer_get_image_region (arv_buffer, NULL, NULL, &width, &height);
arv_buffer_get_image_region (arv_buffer, NULL, NULL, &width, &height);
arv_stream_push_buffer(stream, arv_buffer);
return true;
arv_stream_push_buffer(stream, arv_buffer);
return true;
}
}
return false;
}
IplImage* CvCaptureCAM_Aravis::retrieveFrame(int)
......@@ -279,15 +311,99 @@ IplImage* CvCaptureCAM_Aravis::retrieveFrame(int)
}
cvCopy(&src, frame);
if(controlExposure && !(framesCnt % 2)) {
// control exposure every second frame
// i.e. skip frame taken with previous exposure setup
autoExposureControl(frame);
}
framesCnt++;
return frame;
}
}
return NULL;
}
void CvCaptureCAM_Aravis::autoExposureControl(IplImage* image)
{
// Software control of exposure parameters utilizing
// automatic change of exposure time & gain
// Priority is set as follows:
// - to increase brightness, first increase time then gain
// - to decrease brightness, first decrease gain then time
cv::Mat m = cv::cvarrToMat(image);
// calc mean value for luminance or green channel
double brightness = cv::mean(m)[image->nChannels > 1 ? 1 : 0];
if(brightness < 1) brightness = 1;
// mid point - 100 % means no change
static const double dmid = 100;
// distance from optimal value as a percentage
double d = (targetGrey * dmid) / brightness;
// if change of value requires intervention
if(fabs(d-dmid) > 5) {
if(d >= dmid) d = ( d + (dmid * 2) ) / 3;
double ng = 0, ne = 0, maxe = 1e6 / fps;
double ev = log( d / dmid ) / log(2);
if(gainAvailable && autoGain) {
// depending on device single gain step may equal to 1 or 1/3 EV
double ngg = gain + ev;
ng = BETWEEN( ngg, gainMin, gainMax);
if( ng < gain ) {
// piority 1 - reduce gain
arv_camera_set_gain(camera, (gain = ng));
return;
}
}
if(exposureAvailable) {
double nee = ( exposure * d ) / dmid;
ne = BETWEEN( nee, exposureMin, maxe);
if(abs(exposure - ne) > 2) {
// priority 2 - control of exposure time
arv_camera_set_exposure_time(camera, (exposure = ne) );
return;
}
}
if(gainAvailable && autoGain) {
if(exposureAvailable) {
// exposure at maximum - increase gain if possible
if(ng > gain && ne >= maxe) {
if(ng < gainMax) {
arv_camera_set_gain(camera, (gain = ng));
}
return;
}
// if gain can be reduced - do it
if(gain > gainMin && exposure < maxe) {
exposure = BETWEEN( ne * 1.05, exposureMin, maxe);
arv_camera_set_exposure_time(camera, exposure );
}
} else {
arv_camera_set_gain(camera, (gain = ng));
}
}
}
}
double CvCaptureCAM_Aravis::getProperty( int property_id ) const
{
switch ( property_id ) {
switch(property_id) {
case CV_CAP_PROP_AUTO_EXPOSURE:
return (controlExposure ? 1 : 0);
case CV_CAP_PROP_EXPOSURE:
if(exposureAvailable) {
/* exposure time in seconds, like 1/100 s */
......@@ -312,9 +428,9 @@ double CvCaptureCAM_Aravis::getProperty( int property_id ) const
ArvPixelFormat currFormat = arv_camera_get_pixel_format(camera);
switch( currFormat ) {
case ARV_PIXEL_FORMAT_MONO_8:
return MODE_GRAY8;
return MODE_Y800;
case ARV_PIXEL_FORMAT_MONO_12:
return MODE_GRAY12;
return MODE_Y12;
}
}
}
......@@ -323,11 +439,21 @@ double CvCaptureCAM_Aravis::getProperty( int property_id ) const
bool CvCaptureCAM_Aravis::setProperty( int property_id, double value )
{
switch ( property_id ) {
switch(property_id) {
case CV_CAP_PROP_AUTO_EXPOSURE:
if(exposureAvailable || gainAvailable) {
if( (controlExposure = (bool)(int)value) ) {
exposure = exposureAvailable ? arv_camera_get_exposure_time(camera) : 0;
gain = gainAvailable ? arv_camera_get_gain(camera) : 0;
}
}
break;
case CV_CAP_PROP_EXPOSURE:
if(exposureAvailable) {
/* exposure time in seconds, like 1/100 s */
value *= 1e6; // -> from s to us
arv_camera_set_exposure_time(camera, exposure = BETWEEN(value, exposureMin, exposureMax));
break;
} else return false;
......@@ -340,6 +466,9 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value )
case CV_CAP_PROP_GAIN:
if(gainAvailable) {
if ( (autoGain = (-1 == value) ) )
break;
arv_camera_set_gain(camera, gain = BETWEEN(value, gainMin, gainMax));
break;
} else return false;
......@@ -348,11 +477,14 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value )
{
ArvPixelFormat newFormat = pixelFormat;
switch((int)value) {
case MODE_GRAY8:
case MODE_GREY:
case MODE_Y800:
newFormat = ARV_PIXEL_FORMAT_MONO_8;
targetGrey = 128;
break;
case MODE_GRAY12:
case MODE_Y12:
newFormat = ARV_PIXEL_FORMAT_MONO_12;
targetGrey = 2048;
break;
}
if(newFormat != pixelFormat) {
......@@ -380,7 +512,7 @@ void CvCaptureCAM_Aravis::stopCapture()
bool CvCaptureCAM_Aravis::startCapture()
{
if( init_buffers() ) {
if(init_buffers() ) {
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);
......@@ -394,8 +526,9 @@ CvCapture* cvCreateCameraCapture_Aravis( int index )
{
CvCaptureCAM_Aravis* capture = new CvCaptureCAM_Aravis;
if ( capture->open( index ))
if(capture->open(index)) {
return capture;
}
delete capture;
return NULL;
......
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