7 /**********************************************************************************/
9 class CvCaptureCAM_XIMEA : public CvCapture
12 CvCaptureCAM_XIMEA() { init(); }
13 virtual ~CvCaptureCAM_XIMEA() { close(); }
15 virtual bool open( int index );
17 virtual double getProperty(int);
18 virtual bool setProperty(int, double);
19 virtual bool grabFrame();
20 virtual IplImage* retrieveFrame(int);
21 virtual int getCaptureDomain() { return CV_CAP_XIAPI; } // Return the type of the capture object: CV_CAP_VFW, etc...
25 void errMsg(const char* msg, int errNum);
36 /**********************************************************************************/
38 CvCapture* cvCreateCameraCapture_XIMEA( int index )
40 CvCaptureCAM_XIMEA* capture = new CvCaptureCAM_XIMEA;
42 if( capture->open( index ))
49 /**********************************************************************************/
50 // Enumerate connected devices
51 void CvCaptureCAM_XIMEA::init()
53 xiGetNumberDevices( &numDevices);
55 memset(&image, 0, sizeof(XI_IMG));
59 /**********************************************************************************/
60 // Initialize camera input
61 bool CvCaptureCAM_XIMEA::open( int wIndex )
68 if((mvret = xiOpenDevice( wIndex, &hmv)) != XI_OK)
70 errMsg("Open XI_DEVICE failed", mvret);
74 // always use auto exposure/gain
75 mvret = xiSetParamInt( hmv, XI_PRM_AEAG, 1);
76 if(mvret != XI_OK) goto error;
78 // always use auto white ballance
79 mvret = xiSetParamInt( hmv, XI_PRM_AUTO_WB, 1);
80 if(mvret != XI_OK) goto error;
82 // default image format RGB24
83 mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, XI_RGB24);
84 if(mvret != XI_OK) goto error;
87 mvret = xiGetParamInt( hmv, XI_PRM_WIDTH, &width);
88 if(mvret != XI_OK) goto error;
91 mvret = xiGetParamInt( hmv, XI_PRM_HEIGHT, &height);
92 if(mvret != XI_OK) goto error;
94 // allocate frame buffer for RGB24 image
95 frame = cvCreateImage(cvSize( width, height), IPL_DEPTH_8U, 3);
97 //default capture timeout 10s
100 mvret = xiStartAcquisition(hmv);
103 errMsg("StartAcquisition XI_DEVICE failed", mvret);
109 errMsg("Open XI_DEVICE failed", mvret);
115 /**********************************************************************************/
117 void CvCaptureCAM_XIMEA::close()
120 cvReleaseImage(&frame);
122 xiStopAcquisition(hmv);
127 /**********************************************************************************/
129 bool CvCaptureCAM_XIMEA::grabFrame()
131 memset(&image, 0, sizeof(XI_IMG));
132 image.size = sizeof(XI_IMG);
133 int mvret = xiGetImage( hmv, timeout, &image);
135 if(mvret == MM40_ACQUISITION_STOPED)
137 xiStartAcquisition(hmv);
138 mvret = xiGetImage(hmv, timeout, &image);
143 errMsg("Error during GetImage", mvret);
150 /**********************************************************************************/
152 IplImage* CvCaptureCAM_XIMEA::retrieveFrame(int)
154 // update cvImage after format has changed
161 case XI_RAW8 : memcpy( frame->imageData, image.bp, image.width*image.height); break;
163 case XI_RAW16 : memcpy( frame->imageData, image.bp, image.width*image.height*sizeof(WORD)); break;
165 case XI_RGB_PLANAR : memcpy( frame->imageData, image.bp, image.width*image.height*3); break;
166 case XI_RGB32 : memcpy( frame->imageData, image.bp, image.width*image.height*4); break;
172 /**********************************************************************************/
174 void CvCaptureCAM_XIMEA::resetCvImage()
176 int width = 0, height = 0, format = 0;
177 xiGetParamInt( hmv, XI_PRM_WIDTH, &width);
178 xiGetParamInt( hmv, XI_PRM_HEIGHT, &height);
179 xiGetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, &format);
181 if( (int)image.width != width || (int)image.height != height || image.frm != (XI_IMG_FORMAT)format)
183 if(frame) cvReleaseImage(&frame);
189 case XI_RAW8 : frame = cvCreateImage(cvSize( image.width, image.height), IPL_DEPTH_8U, 1); break;
191 case XI_RAW16 : frame = cvCreateImage(cvSize( image.width, image.height), IPL_DEPTH_16U, 1); break;
193 case XI_RGB_PLANAR : frame = cvCreateImage(cvSize( image.width, image.height), IPL_DEPTH_8U, 3); break;
194 case XI_RGB32 : frame = cvCreateImage(cvSize( image.width, image.height), IPL_DEPTH_8U, 4); break;
201 /**********************************************************************************/
203 double CvCaptureCAM_XIMEA::getProperty( int property_id )
211 switch( property_id )
214 case CV_CAP_PROP_POS_FRAMES : return (double) image.nframe;
215 case CV_CAP_PROP_FRAME_WIDTH : xiGetParamInt( hmv, XI_PRM_WIDTH, &ival); return ival;
216 case CV_CAP_PROP_FRAME_HEIGHT : xiGetParamInt( hmv, XI_PRM_HEIGHT, &ival); return ival;
217 case CV_CAP_PROP_FPS : xiGetParamFloat( hmv, XI_PRM_FRAMERATE, &fval); return fval;
218 case CV_CAP_PROP_GAIN : xiGetParamFloat( hmv, XI_PRM_GAIN, &fval); return fval;
219 case CV_CAP_PROP_EXPOSURE : xiGetParamInt( hmv, XI_PRM_EXPOSURE, &ival); return ival;
221 // XIMEA camera properties
222 case CV_CAP_PROP_XI_DOWNSAMPLING : xiGetParamInt( hmv, XI_PRM_DOWNSAMPLING, &ival); return ival;
223 case CV_CAP_PROP_XI_DATA_FORMAT : xiGetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, &ival); return ival;
224 case CV_CAP_PROP_XI_OFFSET_X : xiGetParamInt( hmv, XI_PRM_OFFSET_X, &ival); return ival;
225 case CV_CAP_PROP_XI_OFFSET_Y : xiGetParamInt( hmv, XI_PRM_OFFSET_Y, &ival); return ival;
226 case CV_CAP_PROP_XI_TRG_SOURCE : xiGetParamInt( hmv, XI_PRM_TRG_SOURCE, &ival); return ival;
227 case CV_CAP_PROP_XI_GPI_SELECTOR : xiGetParamInt( hmv, XI_PRM_GPI_SELECTOR, &ival); return ival;
228 case CV_CAP_PROP_XI_GPI_MODE : xiGetParamInt( hmv, XI_PRM_GPI_MODE, &ival); return ival;
229 case CV_CAP_PROP_XI_GPI_LEVEL : xiGetParamInt( hmv, XI_PRM_GPI_LEVEL, &ival); return ival;
230 case CV_CAP_PROP_XI_GPO_SELECTOR : xiGetParamInt( hmv, XI_PRM_GPO_SELECTOR, &ival); return ival;
231 case CV_CAP_PROP_XI_GPO_MODE : xiGetParamInt( hmv, XI_PRM_GPO_MODE, &ival); return ival;
232 case CV_CAP_PROP_XI_LED_SELECTOR : xiGetParamInt( hmv, XI_PRM_LED_SELECTOR, &ival); return ival;
233 case CV_CAP_PROP_XI_LED_MODE : xiGetParamInt( hmv, XI_PRM_LED_MODE, &ival); return ival;
234 case CV_CAP_PROP_XI_AUTO_WB : xiGetParamInt( hmv, XI_PRM_AUTO_WB, &ival); return ival;
235 case CV_CAP_PROP_XI_AEAG : xiGetParamInt( hmv, XI_PRM_AEAG, &ival); return ival;
236 case CV_CAP_PROP_XI_EXP_PRIORITY : xiGetParamFloat( hmv, XI_PRM_EXP_PRIORITY, &fval); return fval;
237 case CV_CAP_PROP_XI_AE_MAX_LIMIT : xiGetParamInt( hmv, XI_PRM_EXP_PRIORITY, &ival); return ival;
238 case CV_CAP_PROP_XI_AG_MAX_LIMIT : xiGetParamFloat( hmv, XI_PRM_AG_MAX_LIMIT, &fval); return fval;
239 case CV_CAP_PROP_XI_AEAG_LEVEL : xiGetParamInt( hmv, XI_PRM_AEAG_LEVEL, &ival); return ival;
240 case CV_CAP_PROP_XI_TIMEOUT : return timeout;
246 /**********************************************************************************/
248 bool CvCaptureCAM_XIMEA::setProperty( int property_id, double value )
250 int ival = (int) value;
251 float fval = (float) value;
258 case CV_CAP_PROP_FRAME_WIDTH : mvret = xiSetParamInt( hmv, XI_PRM_WIDTH, ival); break;
259 case CV_CAP_PROP_FRAME_HEIGHT : mvret = xiSetParamInt( hmv, XI_PRM_HEIGHT, ival); break;
260 case CV_CAP_PROP_FPS : mvret = xiSetParamFloat( hmv, XI_PRM_FRAMERATE, fval); break;
261 case CV_CAP_PROP_GAIN : mvret = xiSetParamFloat( hmv, XI_PRM_GAIN, fval); break;
262 case CV_CAP_PROP_EXPOSURE : mvret = xiSetParamInt( hmv, XI_PRM_EXPOSURE, ival); break;
263 // XIMEA camera properties
264 case CV_CAP_PROP_XI_DOWNSAMPLING : mvret = xiSetParamInt( hmv, XI_PRM_DOWNSAMPLING, ival); break;
265 case CV_CAP_PROP_XI_DATA_FORMAT : mvret = xiSetParamInt( hmv, XI_PRM_IMAGE_DATA_FORMAT, ival); break;
266 case CV_CAP_PROP_XI_OFFSET_X : mvret = xiSetParamInt( hmv, XI_PRM_OFFSET_X, ival); break;
267 case CV_CAP_PROP_XI_OFFSET_Y : mvret = xiSetParamInt( hmv, XI_PRM_OFFSET_Y, ival); break;
268 case CV_CAP_PROP_XI_TRG_SOURCE : mvret = xiSetParamInt( hmv, XI_PRM_TRG_SOURCE, ival); break;
269 case CV_CAP_PROP_XI_GPI_SELECTOR : mvret = xiSetParamInt( hmv, XI_PRM_GPI_SELECTOR, ival); break;
270 case CV_CAP_PROP_XI_TRG_SOFTWARE : mvret = xiSetParamInt( hmv, XI_PRM_TRG_SOURCE, 1); break;
271 case CV_CAP_PROP_XI_GPI_MODE : mvret = xiSetParamInt( hmv, XI_PRM_GPI_MODE, ival); break;
272 case CV_CAP_PROP_XI_GPI_LEVEL : mvret = xiSetParamInt( hmv, XI_PRM_GPI_LEVEL, ival); break;
273 case CV_CAP_PROP_XI_GPO_SELECTOR : mvret = xiSetParamInt( hmv, XI_PRM_GPO_SELECTOR, ival); break;
274 case CV_CAP_PROP_XI_GPO_MODE : mvret = xiSetParamInt( hmv, XI_PRM_GPO_MODE, ival); break;
275 case CV_CAP_PROP_XI_LED_SELECTOR : mvret = xiSetParamInt( hmv, XI_PRM_LED_SELECTOR, ival); break;
276 case CV_CAP_PROP_XI_LED_MODE : mvret = xiSetParamInt( hmv, XI_PRM_LED_MODE, ival); break;
277 case CV_CAP_PROP_XI_AUTO_WB : mvret = xiSetParamInt( hmv, XI_PRM_AUTO_WB, ival); break;
278 case CV_CAP_PROP_XI_MANUAL_WB : mvret = xiSetParamInt( hmv, XI_PRM_LED_MODE, ival); break;
279 case CV_CAP_PROP_XI_AEAG : mvret = xiSetParamInt( hmv, XI_PRM_AEAG, ival); break;
280 case CV_CAP_PROP_XI_EXP_PRIORITY : mvret = xiSetParamFloat( hmv, XI_PRM_EXP_PRIORITY, fval); break;
281 case CV_CAP_PROP_XI_AE_MAX_LIMIT : mvret = xiSetParamInt( hmv, XI_PRM_EXP_PRIORITY, ival); break;
282 case CV_CAP_PROP_XI_AG_MAX_LIMIT : mvret = xiSetParamFloat( hmv, XI_PRM_AG_MAX_LIMIT, fval); break;
283 case CV_CAP_PROP_XI_AEAG_LEVEL : mvret = xiSetParamInt( hmv, XI_PRM_AEAG_LEVEL, ival); break;
284 case CV_CAP_PROP_XI_TIMEOUT : timeout = ival; break;
289 errMsg("Set parameter error", mvret);
297 /**********************************************************************************/
299 void CvCaptureCAM_XIMEA::errMsg(const char* msg, int errNum)
301 #if defined WIN32 || defined _WIN32
303 sprintf( buf, "%s : %d\n", msg, errNum);
304 OutputDebugString(buf);
306 fprintf(stderr, "%s : %d\n", msg, errNum);
310 /**********************************************************************************/
312 int CvCaptureCAM_XIMEA::getBpp()
317 case XI_RAW8 : return 1;
319 case XI_RAW16 : return 2;
321 case XI_RGB_PLANAR : return 3;
322 case XI_RGB32 : return 4;
328 /**********************************************************************************/