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Commit 8bd595ac authored by ArkadiuszRaj's avatar ArkadiuszRaj
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fourcc support, improved buffer handling, check if exposure, gain & fps properties are available

parent 48ae99ec
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Showing with 131 additions and 104 deletions
modules/videoio/include/opencv2/videoio.hpp
View file @ 8bd595ac
...@@ -113,7 +113,8 @@ enum VideoCaptureAPIs { ...@@ -113,7 +113,8 @@ enum VideoCaptureAPIs {
CAP_GPHOTO2 = 1700, //!< gPhoto2 connection CAP_GPHOTO2 = 1700, //!< gPhoto2 connection
CAP_GSTREAMER = 1800, //!< GStreamer CAP_GSTREAMER = 1800, //!< GStreamer
CAP_FFMPEG = 1900, //!< Open and record video file or stream using the FFMPEG library CAP_FFMPEG = 1900, //!< Open and record video file or stream using the FFMPEG library
CAP_IMAGES = 2000 //!< OpenCV Image Sequence (e.g. img_%02d.jpg) CAP_IMAGES = 2000, //!< OpenCV Image Sequence (e.g. img_%02d.jpg)
CAP_ARAVIS = 2100 //!< Aravis SDK
}; };
/** @brief %VideoCapture generic properties identifier. /** @brief %VideoCapture generic properties identifier.
......
modules/videoio/include/opencv2/videoio/videoio_c.h
View file @ 8bd595ac
...@@ -116,15 +116,15 @@ enum ...@@ -116,15 +116,15 @@ enum
CV_CAP_GIGANETIX = 1300, // Smartek Giganetix GigEVisionSDK CV_CAP_GIGANETIX = 1300, // Smartek Giganetix GigEVisionSDK
CV_CAP_ARAVIS = 1400, // Aravis GigE SDK
CV_CAP_INTELPERC = 1500, // Intel Perceptual Computing CV_CAP_INTELPERC = 1500, // Intel Perceptual Computing
CV_CAP_OPENNI2 = 1600, // OpenNI2 (for Kinect) CV_CAP_OPENNI2 = 1600, // OpenNI2 (for Kinect)
CV_CAP_GPHOTO2 = 1700, CV_CAP_GPHOTO2 = 1700,
CV_CAP_GSTREAMER = 1800, // GStreamer CV_CAP_GSTREAMER = 1800, // GStreamer
CV_CAP_FFMPEG = 1900, // FFMPEG CV_CAP_FFMPEG = 1900, // FFMPEG
CV_CAP_IMAGES = 2000 // OpenCV Image Sequence (e.g. img_%02d.jpg) CV_CAP_IMAGES = 2000, // OpenCV Image Sequence (e.g. img_%02d.jpg)
CV_CAP_ARAVIS = 2100 // Aravis GigE SDK
}; };
/** @brief start capturing frames from camera: index = camera_index + domain_offset (CV_CAP_*) /** @brief start capturing frames from camera: index = camera_index + domain_offset (CV_CAP_*)
...@@ -409,8 +409,6 @@ enum ...@@ -409,8 +409,6 @@ enum
CV_CAP_PROP_XI_SENSOR_FEATURE_SELECTOR = 585, // Selects the current feature which is accessible by XI_PRM_SENSOR_FEATURE_VALUE. CV_CAP_PROP_XI_SENSOR_FEATURE_SELECTOR = 585, // Selects the current feature which is accessible by XI_PRM_SENSOR_FEATURE_VALUE.
CV_CAP_PROP_XI_SENSOR_FEATURE_VALUE = 586, // Allows access to sensor feature value currently selected by XI_PRM_SENSOR_FEATURE_SELECTOR. CV_CAP_PROP_XI_SENSOR_FEATURE_VALUE = 586, // Allows access to sensor feature value currently selected by XI_PRM_SENSOR_FEATURE_SELECTOR.
// ARAVIS
CV_CAP_PROP_ARAVIS_PIXELFORMAT = 1001, // Pixel format
// Properties for Android cameras // Properties for Android cameras
CV_CAP_PROP_ANDROID_FLASH_MODE = 8001, CV_CAP_PROP_ANDROID_FLASH_MODE = 8001,
...@@ -491,13 +489,6 @@ enum ...@@ -491,13 +489,6 @@ enum
CV_CAP_OPENNI_QVGA_60HZ = 4 CV_CAP_OPENNI_QVGA_60HZ = 4
}; };
// Supported output modes of Aravis image generator
enum
{
CV_CAP_MODE_GRAY8 = 0, // Y8 (default)
CV_CAP_MODE_GRAY12 = 1 // Y12
};
enum enum
{ {
CV_CAP_INTELPERC_DEPTH_MAP = 0, // Each pixel is a 16-bit integer. The value indicates the distance from an object to the camera's XY plane or the Cartesian depth. CV_CAP_INTELPERC_DEPTH_MAP = 0, // Each pixel is a 16-bit integer. The value indicates the distance from an object to the camera's XY plane or the Cartesian depth.
......
modules/videoio/src/cap_aravis.cpp
View file @ 8bd595ac
...@@ -49,8 +49,14 @@ ...@@ -49,8 +49,14 @@
#include <arv.h> #include <arv.h>
// Supported types of data:
// video/x-raw, fourcc:'GRAY' -> 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 BETWEEN(a,b,c) ((a) < (b) ? (b) : ((a) > (c) ? (c) : (a) )) #define BETWEEN(a,b,c) ((a) < (b) ? (b) : ((a) > (c) ? (c) : (a) ))
#define AUTO_MODE -1
/********************* Capturing video from camera via Aravis *********************/ /********************* Capturing video from camera via Aravis *********************/
...@@ -76,7 +82,7 @@ public: ...@@ -76,7 +82,7 @@ public:
protected: protected:
bool create(int); bool create(int);
bool init(); bool init_buffers();
void stopCapture(); void stopCapture();
bool startCapture(); bool startCapture();
...@@ -93,21 +99,28 @@ protected: ...@@ -93,21 +99,28 @@ protected:
int widthMax; // Camera sensor maximum width. int widthMax; // Camera sensor maximum width.
int heightMin; // Camera sensor minium height. int heightMin; // Camera sensor minium height.
int heightMax; // Camera sensor maximum height. int heightMax; // Camera sensor maximum height.
bool fpsAvailable;
double fpsMin; // Camera minium fps. double fpsMin; // Camera minium fps.
double fpsMax; // Camera maximum fps. double fpsMax; // Camera maximum fps.
bool gainAvailable;
double gainMin; // Camera minimum gain. double gainMin; // Camera minimum gain.
double gainMax; // Camera maximum gain. double gainMax; // Camera maximum gain.
bool exposureAvailable;
double exposureMin; // Camera's minimum exposure time. double exposureMin; // Camera's minimum exposure time.
double exposureMax; // Camera's maximum exposure time. double exposureMax; // Camera's maximum exposure time.
gint64 *pixelFormats;
guint pixelFormatsCnt;
int num_buffers; // number of payload transmission buffers int num_buffers; // number of payload transmission buffers
ArvPixelFormat pixelFormat; // current pixel format
double exposure; // current value of exposuretime, or -1 for autoexposure ArvPixelFormat pixelFormat; // current pixel format
double gain; // current value of gain, or -1 for autogain int width; // current width of frame
int height; // current height of image
double exposure; // current value of exposure time
double gain; // current value of gain
IplImage *frame; IplImage *frame; // local frame copy
}; };
...@@ -123,8 +136,6 @@ CvCaptureCAM_Aravis::CvCaptureCAM_Aravis() ...@@ -123,8 +136,6 @@ CvCaptureCAM_Aravis::CvCaptureCAM_Aravis()
fpsMin = fpsMax = gainMin = gainMax = exposureMin = exposureMax = 0; fpsMin = fpsMax = gainMin = gainMax = exposureMin = exposureMax = 0;
num_buffers = 50; num_buffers = 50;
pixelFormat = ARV_PIXEL_FORMAT_MONO_8;
frame = NULL; frame = NULL;
} }
...@@ -158,8 +169,12 @@ bool CvCaptureCAM_Aravis::create( int index ) ...@@ -158,8 +169,12 @@ bool CvCaptureCAM_Aravis::create( int index )
return NULL != (camera = arv_camera_new(deviceName.c_str())); return NULL != (camera = arv_camera_new(deviceName.c_str()));
} }
bool CvCaptureCAM_Aravis::init() bool CvCaptureCAM_Aravis::init_buffers()
{ {
if (stream) {
g_object_unref(stream);
stream = NULL;
}
if( (stream = arv_camera_create_stream(camera, NULL, NULL)) ) { if( (stream = arv_camera_create_stream(camera, NULL, NULL)) ) {
g_object_set(stream, g_object_set(stream,
"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO, "socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO,
...@@ -170,6 +185,8 @@ bool CvCaptureCAM_Aravis::init() ...@@ -170,6 +185,8 @@ bool CvCaptureCAM_Aravis::init()
"packet-timeout", (unsigned) 40000, "packet-timeout", (unsigned) 40000,
"frame-retention", (unsigned) 200000, NULL); "frame-retention", (unsigned) 200000, NULL);
payload = arv_camera_get_payload (camera);
for (int i = 0; i < num_buffers; i++) for (int i = 0; i < num_buffers; i++)
arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL)); arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL));
...@@ -179,26 +196,27 @@ bool CvCaptureCAM_Aravis::init() ...@@ -179,26 +196,27 @@ bool CvCaptureCAM_Aravis::init()
return false; return false;
} }
// Initialize camera input
bool CvCaptureCAM_Aravis::open( int index ) bool CvCaptureCAM_Aravis::open( int index )
{ {
if( create( index) ) { if( create( index) ) {
// fetch basic properties // fetch properties bounds
payload = arv_camera_get_payload (camera); pixelFormats = arv_camera_get_available_pixel_formats(camera, &pixelFormatsCnt);
arv_camera_get_width_bounds(camera, &widthMin, &widthMax); arv_camera_get_width_bounds(camera, &widthMin, &widthMax);
arv_camera_get_height_bounds(camera, &heightMin, &heightMax); arv_camera_get_height_bounds(camera, &heightMin, &heightMax);
arv_camera_get_frame_rate_bounds(camera, &fpsMin, &fpsMax); arv_camera_set_region(camera, 0, 0, widthMax, heightMax);
arv_camera_get_gain_bounds (camera, &gainMin, &gainMax);
arv_camera_get_exposure_time_bounds (camera, &exposureMin, &exposureMax);
// set initial exposure values if( (fpsAvailable = arv_camera_is_frame_rate_available(camera)) )
arv_camera_set_pixel_format(camera, pixelFormat); arv_camera_get_frame_rate_bounds(camera, &fpsMin, &fpsMax);
arv_camera_set_exposure_time(camera, exposureMin); if( (gainAvailable = arv_camera_is_gain_available(camera)) )
arv_camera_set_gain(camera, gainMin); arv_camera_get_gain_bounds (camera, &gainMin, &gainMax);
arv_camera_set_frame_rate(camera, 30); if( (exposureAvailable = arv_camera_is_exposure_time_available(camera)) )
arv_camera_get_exposure_time_bounds (camera, &exposureMin, &exposureMax);
// init communication // get initial values
init(); pixelFormat = arv_camera_get_pixel_format(camera);
exposure = arv_camera_get_exposure_time(camera);
gain = arv_camera_get_gain(camera);
return startCapture(); return startCapture();
} }
...@@ -207,40 +225,59 @@ bool CvCaptureCAM_Aravis::open( int index ) ...@@ -207,40 +225,59 @@ bool CvCaptureCAM_Aravis::open( int index )
bool CvCaptureCAM_Aravis::grabFrame() bool CvCaptureCAM_Aravis::grabFrame()
{ {
ArvBuffer *arv_buffer = arv_stream_timeout_pop_buffer(stream, 2000000); //us ArvBuffer *arv_buffer = NULL;
if(arv_buffer != NULL) { int tries = 0;
if(arv_buffer_get_status(arv_buffer) == ARV_BUFFER_STATUS_SUCCESS) { for(; tries < 10; tries ++) {
size_t buffer_size; arv_buffer = arv_stream_timeout_pop_buffer (stream, 200000);
framebuffer = (void*)arv_buffer_get_data (arv_buffer, &buffer_size); if (arv_buffer != NULL && arv_buffer_get_status (arv_buffer) != ARV_BUFFER_STATUS_SUCCESS) {
} arv_stream_push_buffer (stream, arv_buffer);
arv_stream_push_buffer(stream, arv_buffer); } else break;
return true;
} }
framebuffer = NULL;
return false; if (tries == 10)
return false;
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_stream_push_buffer(stream, arv_buffer);
return true;
} }
IplImage* CvCaptureCAM_Aravis::retrieveFrame(int) IplImage* CvCaptureCAM_Aravis::retrieveFrame(int)
{ {
if(framebuffer) { if(framebuffer) {
// Supports for 2 types of data: int depth = 0, channels = 0;
// video/x-raw, format=GRAY8 -> 8bit, 1 channel switch(pixelFormat) {
// video/x-raw, format=GRAY16_LE -> 12bit, 1 channel case ARV_PIXEL_FORMAT_MONO_8:
IplImage src; depth = IPL_DEPTH_8U;
cvInitImageHeader( &src, cvSize( widthMax, heightMax ), channels = 1;
pixelFormat == ARV_PIXEL_FORMAT_MONO_8 ? IPL_DEPTH_8U : IPL_DEPTH_16U, break;
1 /* channels */, IPL_ORIGIN_TL, 4 ); case ARV_PIXEL_FORMAT_MONO_12:
depth = IPL_DEPTH_16U;
cvSetData( &src, framebuffer, src.widthStep ); channels = 1;
if( !frame || frame->width != src.width || frame->height != src.height ) { break;
cvReleaseImage( &frame );
frame = cvCreateImage( cvGetSize(&src),
pixelFormat == ARV_PIXEL_FORMAT_MONO_8 ? IPL_DEPTH_8U : IPL_DEPTH_16U,
1 /* channels */ );
} }
cvCopy(&src, frame); if(depth && channels) {
IplImage src;
cvInitImageHeader( &src, cvSize( width, height ), depth, channels, IPL_ORIGIN_TL, 4 );
cvSetData( &src, framebuffer, src.widthStep );
if( !frame ||
frame->width != src.width ||
frame->height != src.height ||
frame->depth != src.depth ||
frame->nChannels != src.nChannels) {
cvReleaseImage( &frame );
frame = cvCreateImage( cvGetSize(&src), src.depth, channels );
}
cvCopy(&src, frame);
return frame; return frame;
}
} }
return NULL; return NULL;
} }
...@@ -249,29 +286,32 @@ double CvCaptureCAM_Aravis::getProperty( int property_id ) const ...@@ -249,29 +286,32 @@ double CvCaptureCAM_Aravis::getProperty( int property_id ) const
{ {
switch ( property_id ) { switch ( property_id ) {
case CV_CAP_PROP_EXPOSURE: case CV_CAP_PROP_EXPOSURE:
/* exposure time in seconds, like 1/100 s */ if(exposureAvailable) {
return arv_camera_get_exposure_time(camera) / 1e6; /* exposure time in seconds, like 1/100 s */
return arv_camera_get_exposure_time(camera) / 1e6;
}
break;
case CV_CAP_PROP_FPS: case CV_CAP_PROP_FPS:
return arv_camera_get_frame_rate(camera); if(fpsAvailable) {
return arv_camera_get_frame_rate(camera);
}
break;
case CV_CAP_PROP_GAIN: case CV_CAP_PROP_GAIN:
return arv_camera_get_gain(camera); if(gainAvailable) {
return arv_camera_get_gain(camera);
}
break;
case CV_CAP_PROP_ARAVIS_PIXELFORMAT: case CV_CAP_PROP_FOURCC:
{ {
ArvPixelFormat currFormat = arv_camera_get_pixel_format(camera); ArvPixelFormat currFormat = arv_camera_get_pixel_format(camera);
switch( currFormat ) { switch( currFormat ) {
case ARV_PIXEL_FORMAT_MONO_8: case ARV_PIXEL_FORMAT_MONO_8:
return CV_CAP_MODE_GRAY8; return MODE_GRAY8;
case ARV_PIXEL_FORMAT_MONO_12: case ARV_PIXEL_FORMAT_MONO_12:
return CV_CAP_MODE_GRAY12; return MODE_GRAY12;
/*
case ARV_PIXEL_FORMAT_MONO_10:
case ARV_PIXEL_FORMAT_MONO_16:
case ARV_PIXEL_FORMAT_YUV_422_PACKED:
case ARV_PIXEL_FORMAT_RGB_8_PACKED:
*/
} }
} }
} }
...@@ -282,46 +322,40 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value ) ...@@ -282,46 +322,40 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value )
{ {
switch ( property_id ) { switch ( property_id ) {
case CV_CAP_PROP_EXPOSURE: case CV_CAP_PROP_EXPOSURE:
/* exposure time in seconds, like 1/100 s */ if(exposureAvailable) {
if(value == AUTO_MODE) { /* exposure time in seconds, like 1/100 s */
/* auto exposure */
exposure = AUTO_MODE;
} else {
value *= 1e6; // -> from s to us value *= 1e6; // -> from s to us
arv_camera_set_exposure_time(camera, exposure = BETWEEN(value, exposureMin, exposureMax)); arv_camera_set_exposure_time(camera, exposure = BETWEEN(value, exposureMin, exposureMax));
} break;
break; } else return false;
case CV_CAP_PROP_FPS: case CV_CAP_PROP_FPS:
arv_camera_set_frame_rate(camera, BETWEEN(value, fpsMin, fpsMax)); if(fpsAvailable) {
break; arv_camera_set_frame_rate(camera, BETWEEN(value, fpsMin, fpsMax));
break;
} else return false;
case CV_CAP_PROP_GAIN: case CV_CAP_PROP_GAIN:
if(value == AUTO_MODE) { if(gainAvailable) {
/* auto gain */
gain = AUTO_MODE;
} else {
arv_camera_set_gain(camera, gain = BETWEEN(value, gainMin, gainMax)); arv_camera_set_gain(camera, gain = BETWEEN(value, gainMin, gainMax));
} break;
break; } else return false;
case CV_CAP_PROP_ARAVIS_PIXELFORMAT: case CV_CAP_PROP_FOURCC:
{ {
ArvPixelFormat newFormat = pixelFormat; ArvPixelFormat newFormat = pixelFormat;
switch((int)value) { switch((int)value) {
case CV_CAP_MODE_GRAY8: case MODE_GRAY8:
newFormat = ARV_PIXEL_FORMAT_MONO_8; newFormat = ARV_PIXEL_FORMAT_MONO_8;
break; break;
case CV_CAP_MODE_GRAY12: case MODE_GRAY12:
newFormat = ARV_PIXEL_FORMAT_MONO_12; newFormat = ARV_PIXEL_FORMAT_MONO_12;
break; break;
} }
if(newFormat != pixelFormat) { if(newFormat != pixelFormat) {
arv_camera_stop_acquisition(camera); stopCapture();
arv_camera_set_pixel_format(camera, pixelFormat = newFormat); arv_camera_set_pixel_format(camera, pixelFormat = newFormat);
startCapture();
arv_camera_start_acquisition(camera);
} }
} }
break; break;
...@@ -335,21 +369,22 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value ) ...@@ -335,21 +369,22 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value )
void CvCaptureCAM_Aravis::stopCapture() void CvCaptureCAM_Aravis::stopCapture()
{ {
arv_camera_stop_acquisition(camera); arv_camera_abort_acquisition(camera);
g_object_unref(stream); g_object_unref(stream);
stream = NULL; stream = NULL;
g_object_unref(camera);
} }
bool CvCaptureCAM_Aravis::startCapture() bool CvCaptureCAM_Aravis::startCapture()
{ {
arv_camera_set_acquisition_mode(camera, ARV_ACQUISITION_MODE_CONTINUOUS); if( init_buffers() ) {
arv_device_set_string_feature_value(arv_camera_get_device (camera), "TriggerMode" , "Off"); arv_camera_set_acquisition_mode(camera, ARV_ACQUISITION_MODE_CONTINUOUS);
arv_camera_start_acquisition(camera); arv_device_set_string_feature_value(arv_camera_get_device (camera), "TriggerMode" , "Off");
arv_camera_start_acquisition(camera);
return true; return true;
}
return false;
} }
CvCapture* cvCreateCameraCapture_Aravis( int index ) CvCapture* cvCreateCameraCapture_Aravis( int index )
......
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