--- /dev/null
+////////////////////////////////////////////////////////////////////////////////////////
+//
+// 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
projects / platform / upstream / opencv.git / commitdiff