virtual void Sleep(unsigned int time);
#endif
+ void stopCapture();
+ bool startCapture();
+ bool resizeCaptureFrame (int frameWidth, int frameHeight);
+
typedef struct
{
unsigned long UID;
CvCaptureCAM_PvAPI::CvCaptureCAM_PvAPI()
{
monocrome=false;
+ frame = NULL;
+ grayframe = NULL;
memset(&this->Camera, 0, sizeof(this->Camera));
}
void CvCaptureCAM_PvAPI::close()
{
// Stop the acquisition & free the camera
- PvCommandRun(Camera.Handle, "AcquisitionStop");
- PvCaptureEnd(Camera.Handle);
+ stopCapture();
PvCameraClose(Camera.Handle);
PvUnInitialize();
}
Camera.UID = cameraList[index].UniqueId;
- if (!PvCameraInfo(Camera.UID,&camInfo) && !PvCameraIpSettingsGet(Camera.UID,&ipSettings)) {
+ if (!PvCameraInfo(Camera.UID,&camInfo) && !PvCameraIpSettingsGet(Camera.UID,&ipSettings))
+ {
/*
struct in_addr addr;
addr.s_addr = ipSettings.CurrentIpAddress;
printf("Current gateway:\t%s\n",inet_ntoa(addr));
*/
}
- else {
+ else
+ {
fprintf(stderr,"ERROR: could not retrieve camera IP settings.\n");
return false;
}
if (PvCameraOpen(Camera.UID, ePvAccessMaster, &(Camera.Handle))==ePvErrSuccess)
{
-
- //Set Pixel Format to BRG24 to follow conventions
- /*Errcode = PvAttrEnumSet(Camera.Handle, "PixelFormat", "Bgr24");
- if (Errcode != ePvErrSuccess)
- {
- fprintf(stderr, "PvAPI: couldn't set PixelFormat to Bgr24\n");
- return NULL;
- }
- */
- tPvUint32 frameWidth, frameHeight, frameSize;
+ tPvUint32 frameWidth, frameHeight;
unsigned long maxSize;
- char pixelFormat[256];
- PvAttrUint32Get(Camera.Handle, "TotalBytesPerFrame", &frameSize);
+
+ // By Default, try to set the pixel format to Mono8. This can be changed later
+ // via calls to setProperty. Some colour cameras (i.e. the Manta line) have a default
+ // image mode of Bayer8, which is currently unsupported, so Mono8 is a safe bet for
+ // startup.
+
+ monocrome = (PvAttrEnumSet(Camera.Handle, "PixelFormat", "Mono8") == ePvErrSuccess);
+
PvAttrUint32Get(Camera.Handle, "Width", &frameWidth);
PvAttrUint32Get(Camera.Handle, "Height", &frameHeight);
- PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
+
+ // Determine the maximum packet size supported by the system (ethernet adapter)
+ // and then configure the camera to use this value. If the system's NIC only supports
+ // an MTU of 1500 or lower, this will automatically configure an MTU of 1500.
+ // 8228 is the optimal size described by the API in order to enable jumbo frames
+
maxSize = 8228;
//PvAttrUint32Get(Camera.Handle,"PacketSize",&maxSize);
if (PvCaptureAdjustPacketSize(Camera.Handle,maxSize)!=ePvErrSuccess)
return false;
- if (strcmp(pixelFormat, "Mono8")==0) {
- grayframe = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 1);
- grayframe->widthStep = (int)frameWidth;
- frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 3);
- frame->widthStep = (int)frameWidth*3;
- Camera.Frame.ImageBufferSize = frameSize;
- Camera.Frame.ImageBuffer = grayframe->imageData;
- }
- else if (strcmp(pixelFormat, "Mono16")==0) {
- grayframe = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_16U, 1);
- grayframe->widthStep = (int)frameWidth;
- frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_16U, 3);
- frame->widthStep = (int)frameWidth*3;
- Camera.Frame.ImageBufferSize = frameSize;
- Camera.Frame.ImageBuffer = grayframe->imageData;
- }
- else if (strcmp(pixelFormat, "Bgr24")==0) {
- frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 3);
- frame->widthStep = (int)frameWidth*3;
- Camera.Frame.ImageBufferSize = frameSize;
- Camera.Frame.ImageBuffer = frame->imageData;
- }
- else
- return false;
- // Start the camera
- PvCaptureStart(Camera.Handle);
-
- // Set the camera to capture continuously
- if(PvAttrEnumSet(Camera.Handle, "AcquisitionMode", "Continuous")!= ePvErrSuccess)
- {
- fprintf(stderr,"Could not set Prosilica Acquisition Mode\n");
- return false;
- }
- if(PvCommandRun(Camera.Handle, "AcquisitionStart")!= ePvErrSuccess)
- {
- fprintf(stderr,"Could not start Prosilica acquisition\n");
- return false;
- }
+ resizeCaptureFrame(frameWidth, frameHeight);
- if(PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Freerun")!= ePvErrSuccess)
- {
- fprintf(stderr,"Error setting Prosilica trigger to \"Freerun\"");
- return false;
- }
+ return startCapture();
- return true;
}
fprintf(stderr,"Error cannot open camera\n");
return false;
IplImage* CvCaptureCAM_PvAPI::retrieveFrame(int)
{
- if (PvCaptureWaitForFrameDone(Camera.Handle, &(Camera.Frame), 1000) == ePvErrSuccess) {
- if (!monocrome) {
+ if (PvCaptureWaitForFrameDone(Camera.Handle, &(Camera.Frame), 1000) == ePvErrSuccess)
+ {
+ if (!monocrome)
+ {
cvMerge(grayframe,grayframe,grayframe,NULL,frame);
return frame;
}
PvAttrUint32Get(Camera.Handle, "Height", &nTemp);
return (double)nTemp;
case CV_CAP_PROP_EXPOSURE:
- PvAttrUint32Get(Camera.Handle,"ExposureValue",&nTemp);
- return (double)nTemp;
+ PvAttrUint32Get(Camera.Handle,"ExposureValue",&nTemp);
+ return (double)nTemp;
case CV_CAP_PROP_FPS:
- tPvFloat32 nfTemp;
+ tPvFloat32 nfTemp;
PvAttrFloat32Get(Camera.Handle, "StatFrameRate", &nfTemp);
return (double)nfTemp;
case CV_CAP_PROP_PVAPI_MULTICASTIP:
- char mEnable[2];
- char mIp[11];
- PvAttrEnumGet(Camera.Handle,"MulticastEnable",mEnable,sizeof(mEnable),NULL);
- if (strcmp(mEnable, "Off") == 0) {
- return -1;
- }
- else {
- long int ip;
- int a,b,c,d;
- PvAttrStringGet(Camera.Handle, "MulticastIPAddress",mIp,sizeof(mIp),NULL);
- sscanf(mIp, "%d.%d.%d.%d", &a, &b, &c, &d); ip = ((a*256 + b)*256 + c)*256 + d;
- return (double)ip;
- }
+ char mEnable[2];
+ char mIp[11];
+ PvAttrEnumGet(Camera.Handle,"MulticastEnable",mEnable,sizeof(mEnable),NULL);
+ if (strcmp(mEnable, "Off") == 0)
+ {
+ return -1;
+ }
+ else
+ {
+ long int ip;
+ int a,b,c,d;
+ PvAttrStringGet(Camera.Handle, "MulticastIPAddress",mIp,sizeof(mIp),NULL);
+ sscanf(mIp, "%d.%d.%d.%d", &a, &b, &c, &d); ip = ((a*256 + b)*256 + c)*256 + d;
+ return (double)ip;
+ }
+ case CV_CAP_PROP_GAIN:
+ PvAttrUint32Get(Camera.Handle, "GainValue", &nTemp);
+ return (double)nTemp;
}
return -1.0;
}
{
switch ( property_id )
{
- /* TODO: Camera works, but IplImage must be modified for the new size
case CV_CAP_PROP_FRAME_WIDTH:
- PvAttrUint32Set(Camera.Handle, "Width", (tPvUint32)value);
+ {
+ tPvUint32 currHeight;
+
+ PvAttrUint32Get(Camera.Handle, "Height", &currHeight);
+
+ stopCapture();
+ // Reallocate Frames
+ if (!resizeCaptureFrame(value, currHeight))
+ {
+ startCapture();
+ return false;
+ }
+
+ startCapture();
+
break;
+ }
case CV_CAP_PROP_FRAME_HEIGHT:
- PvAttrUint32Set(Camera.Handle, "Heigth", (tPvUint32)value);
+ {
+ tPvUint32 currWidth;
+
+ PvAttrUint32Get(Camera.Handle, "Width", &currWidth);
+
+ stopCapture();
+
+ // Reallocate Frames
+ if (!resizeCaptureFrame(value, currWidth))
+ {
+ startCapture();
+ return false;
+ }
+
+ startCapture();
+
break;
- */
+ }
case CV_CAP_PROP_MONOCROME:
- if (value==1) {
+ if (value==1)
+ {
char pixelFormat[256];
PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
- if ((strcmp(pixelFormat, "Mono8")==0) || strcmp(pixelFormat, "Mono16")==0) {
+ if ((strcmp(pixelFormat, "Mono8")==0) || strcmp(pixelFormat, "Mono16")==0)
+ {
monocrome=true;
}
else
break;
case CV_CAP_PROP_EXPOSURE:
if ((PvAttrUint32Set(Camera.Handle,"ExposureValue",(tPvUint32)value)==ePvErrSuccess))
- break;
- else
- return false;
- case CV_CAP_PROP_PVAPI_MULTICASTIP:
-
- if (value==-1) {
- if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "Off")==ePvErrSuccess))
break;
else
return false;
+ case CV_CAP_PROP_PVAPI_MULTICASTIP:
+ if (value==-1)
+ {
+ if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "Off")==ePvErrSuccess))
+ break;
+ else
+ return false;
}
- else {
- std::string ip=cv::format("%d.%d.%d.%d", ((int)value>>24)&255, ((int)value>>16)&255, ((int)value>>8)&255, (int)value&255);
- if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "On")==ePvErrSuccess) &&
- (PvAttrStringSet(Camera.Handle, "MulticastIPAddress", ip.c_str())==ePvErrSuccess))
- break;
else
+ {
+ std::string ip=cv::format("%d.%d.%d.%d", ((int)value>>24)&255, ((int)value>>16)&255, ((int)value>>8)&255, (int)value&255);
+ if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "On")==ePvErrSuccess) &&
+ (PvAttrStringSet(Camera.Handle, "MulticastIPAddress", ip.c_str())==ePvErrSuccess))
+ break;
+ else
+ return false;
+ }
+ case CV_CAP_PROP_GAIN:
+ if (PvAttrUint32Set(Camera.Handle,"GainValue",(tPvUint32)value)!=ePvErrSuccess)
+ {
return false;
}
+ break;
default:
return false;
}
return true;
}
+void CvCaptureCAM_PvAPI::stopCapture()
+{
+ PvCommandRun(Camera.Handle, "AcquisitionStop");
+ PvCaptureEnd(Camera.Handle);
+}
+
+bool CvCaptureCAM_PvAPI::startCapture()
+{
+ // Start the camera
+ PvCaptureStart(Camera.Handle);
+
+ // Set the camera to capture continuously
+ if(PvAttrEnumSet(Camera.Handle, "AcquisitionMode", "Continuous")!= ePvErrSuccess)
+ {
+ fprintf(stderr,"Could not set PvAPI Acquisition Mode\n");
+ return false;
+ }
+
+ if(PvCommandRun(Camera.Handle, "AcquisitionStart")!= ePvErrSuccess)
+ {
+ fprintf(stderr,"Could not start PvAPI acquisition\n");
+ return false;
+ }
+
+ if(PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Freerun")!= ePvErrSuccess)
+ {
+ fprintf(stderr,"Error setting PvAPI trigger to \"Freerun\"");
+ return false;
+ }
+
+ return true;
+}
+
+bool CvCaptureCAM_PvAPI::resizeCaptureFrame (int frameWidth, int frameHeight)
+{
+ char pixelFormat[256];
+ tPvUint32 frameSize;
+ tPvUint32 sensorHeight;
+ tPvUint32 sensorWidth;
+
+
+ if (grayframe)
+ {
+ cvReleaseImage(&grayframe);
+ grayframe = NULL;
+ }
+
+ if (frame)
+ {
+ cvReleaseImage(&frame);
+ frame = NULL;
+ }
+
+ if (PvAttrUint32Get(Camera.Handle, "SensorWidth", &sensorWidth) != ePvErrSuccess)
+ {
+ return false;
+ }
+
+ if (PvAttrUint32Get(Camera.Handle, "SensorHeight", &sensorHeight) != ePvErrSuccess)
+ {
+ return false;
+ }
+
+ // Cap out of bounds widths to the max supported by the sensor
+ if ((frameWidth < 0) || ((tPvUint32)frameWidth > sensorWidth))
+ {
+ frameWidth = sensorWidth;
+ }
+
+ if ((frameHeight < 0) || ((tPvUint32)frameHeight > sensorHeight))
+ {
+ frameHeight = sensorHeight;
+ }
+
+
+ if (PvAttrUint32Set(Camera.Handle, "Height", frameHeight) != ePvErrSuccess)
+ {
+ return false;
+ }
+
+ if (PvAttrUint32Set(Camera.Handle, "Width", frameWidth) != ePvErrSuccess)
+ {
+ return false;
+ }
+
+ PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
+ PvAttrUint32Get(Camera.Handle, "TotalBytesPerFrame", &frameSize);
+
+
+ if (strcmp(pixelFormat, "Mono8")==0)
+ {
+ grayframe = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 1);
+ grayframe->widthStep = (int)frameWidth;
+ frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 3);
+ frame->widthStep = (int)frameWidth*3;
+ Camera.Frame.ImageBufferSize = frameSize;
+ Camera.Frame.ImageBuffer = grayframe->imageData;
+ }
+ else if (strcmp(pixelFormat, "Mono16")==0)
+ {
+ grayframe = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_16U, 1);
+ grayframe->widthStep = (int)frameWidth;
+ frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_16U, 3);
+ frame->widthStep = (int)frameWidth*3;
+ Camera.Frame.ImageBufferSize = frameSize;
+ Camera.Frame.ImageBuffer = grayframe->imageData;
+ }
+ else if (strcmp(pixelFormat, "Bgr24")==0)
+ {
+ frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 3);
+ frame->widthStep = (int)frameWidth*3;
+ Camera.Frame.ImageBufferSize = frameSize;
+ Camera.Frame.ImageBuffer = frame->imageData;
+ }
+ else
+ return false;
+
+ return true;
+}
CvCapture* cvCreateCameraCapture_PvAPI( int index )
{