#ifdef WIN32
# include <io.h>
#else
+# include <time.h>
# include <unistd.h>
#endif
-#include <string>
//#include <arpa/inet.h>
#define MAX_CAMERAS 10
virtual void Sleep(unsigned int time);
#endif
+ void stopCapture();
+ bool startCapture();
+ bool resizeCaptureFrame (int frameWidth, int frameHeight);
+
typedef struct
{
unsigned long UID;
} tCamera;
IplImage *frame;
- IplImage *grayframe;
tCamera Camera;
tPvErr Errcode;
- bool monocrome;
};
CvCaptureCAM_PvAPI::CvCaptureCAM_PvAPI()
{
- monocrome=false;
+ frame = 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();
}
// Initialize camera input
-bool CvCaptureCAM_PvAPI::open( int )
+bool CvCaptureCAM_PvAPI::open( int index )
{
tPvCameraInfo cameraList[MAX_CAMERAS];
+
tPvCameraInfo camInfo;
tPvIpSettings ipSettings;
- // Initialization parameters [500 x 10 ms = 5000 ms timeout]
- int initializeTimeOut = 500;
- // Disregard any errors, since this might be called several times and only needs to be called once or it will return an
- // Important when wanting to use more than 1 AVT camera at the same time
- PvInitialize();
+ if (PvInitialize()) {
+ }
+ //return false;
- while((!PvCameraCount()) && (initializeTimeOut--))
- Sleep(10);
+ Sleep(1000);
- if (!initializeTimeOut){
- fprintf(stderr,"ERROR: camera intialisation timeout [5000ms].\n");
- return false;
- }
+ //close();
- unsigned int numCameras = PvCameraList(cameraList, MAX_CAMERAS, NULL);
+ int numCameras=PvCameraList(cameraList, MAX_CAMERAS, NULL);
- // If no cameras are found
- if(!numCameras)
- {
- fprintf(stderr, "ERROR: No cameras found.\n");
+ if (numCameras <= 0 || index >= numCameras)
return false;
- }
- // Try opening the cameras in the list, one-by-one until a camera that is not used is found
- unsigned int findNewCamera;
- for(findNewCamera=0; findNewCamera<numCameras; findNewCamera++)
- {
- Camera.UID = cameraList[findNewCamera].UniqueId;
- if(PvCameraOpen(Camera.UID, ePvAccessMaster, &(Camera.Handle))==ePvErrSuccess)
- break;
- }
+ Camera.UID = cameraList[index].UniqueId;
- if(findNewCamera == numCameras)
+ if (!PvCameraInfo(Camera.UID,&camInfo) && !PvCameraIpSettingsGet(Camera.UID,&ipSettings))
{
- fprintf(stderr, "Could not find a new camera to connect to.\n");
- return false;
+ /*
+ struct in_addr addr;
+ addr.s_addr = ipSettings.CurrentIpAddress;
+ printf("Current address:\t%s\n",inet_ntoa(addr));
+ addr.s_addr = ipSettings.CurrentIpSubnet;
+ printf("Current subnet:\t\t%s\n",inet_ntoa(addr));
+ addr.s_addr = ipSettings.CurrentIpGateway;
+ printf("Current gateway:\t%s\n",inet_ntoa(addr));
+ */
}
-
- if(PvCameraIpSettingsGet(Camera.UID,&ipSettings)==ePvErrNotFound)
+ else
{
- fprintf(stderr, "The specified camera UID %lu could not be found, PvCameraIpSettingsGet().\n", Camera.UID);
+ fprintf(stderr,"ERROR: could not retrieve camera IP settings.\n");
return false;
}
- if(PvCameraInfo(Camera.UID,&camInfo)==ePvErrNotFound)
+
+ if (PvCameraOpen(Camera.UID, ePvAccessMaster, &(Camera.Handle))==ePvErrSuccess)
{
- fprintf(stderr, "The specified camera UID %lu could not be found, PvCameraInfo().\n", Camera.UID);
- return false;
- }
+ tPvUint32 frameWidth, frameHeight;
+ unsigned long maxSize;
- tPvUint32 frameWidth, frameHeight, frameSize;
- char pixelFormat[256];
- PvAttrUint32Get(Camera.Handle, "TotalBytesPerFrame", &frameSize);
- PvAttrUint32Get(Camera.Handle, "Width", &frameWidth);
- PvAttrUint32Get(Camera.Handle, "Height", &frameHeight);
- PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
+ PvAttrUint32Get(Camera.Handle, "Width", &frameWidth);
+ PvAttrUint32Get(Camera.Handle, "Height", &frameHeight);
- // Start the camera
- PvCaptureStart(Camera.Handle);
+ // 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
- // Set the camera explicitly to capture data frames continuously
- if(PvAttrEnumSet(Camera.Handle, "AcquisitionMode", "Continuous")!= ePvErrSuccess)
- {
- fprintf(stderr,"Could not set Acquisition Mode\n");
- return false;
- }
+ maxSize = 8228;
+ //PvAttrUint32Get(Camera.Handle,"PacketSize",&maxSize);
+ if (PvCaptureAdjustPacketSize(Camera.Handle,maxSize)!=ePvErrSuccess)
+ return false;
- if(PvCommandRun(Camera.Handle, "AcquisitionStart")!= ePvErrSuccess)
- {
- fprintf(stderr,"Could not start acquisition\n");
- return false;
- }
+ resizeCaptureFrame(frameWidth, frameHeight);
- if(PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Freerun")!= ePvErrSuccess)
- {
- fprintf(stderr,"Error setting trigger to \"Freerun\"");
- return false;
- }
+ return startCapture();
- // Settings depending on the pixelformat
- // This works for all AVT camera models that use the PvAPI interface
- if (strcmp(pixelFormat, "Mono8")==0) {
- monocrome = true;
- grayframe = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 1);
- grayframe->widthStep = (int)frameWidth;
- Camera.Frame.ImageBufferSize = frameSize;
- Camera.Frame.ImageBuffer = grayframe->imageData;
- }
- else if (strcmp(pixelFormat, "Mono16")==0) {
- monocrome = true;
- grayframe = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_16U, 1);
- grayframe->widthStep = (int)frameWidth*2;
- Camera.Frame.ImageBufferSize = frameSize;
- Camera.Frame.ImageBuffer = grayframe->imageData;
- }
- else if (strcmp(pixelFormat, "Bgr24")==0) {
- monocrome = false;
- 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{
- fprintf(stderr, "Pixel format %s not supported; only Mono8, Mono16 and Bgr24 are currently supported.\n", pixelFormat);
- return false;
}
+ fprintf(stderr,"Error cannot open camera\n");
+ return false;
- return true;
}
bool CvCaptureCAM_PvAPI::grabFrame()
{
+ //if(Camera.Frame.Status != ePvErrUnplugged && Camera.Frame.Status != ePvErrCancelled)
return PvCaptureQueueFrame(Camera.Handle, &(Camera.Frame), NULL) == ePvErrSuccess;
}
IplImage* CvCaptureCAM_PvAPI::retrieveFrame(int)
{
-
- if (PvCaptureWaitForFrameDone(Camera.Handle, &(Camera.Frame), 1000) == ePvErrSuccess) {
- if (!monocrome) {
- return frame;
- }
- return grayframe;
+ if (PvCaptureWaitForFrameDone(Camera.Handle, &(Camera.Frame), 1000) == ePvErrSuccess)
+ {
+ return frame;
}
else return NULL;
}
char mEnable[2];
char mIp[11];
PvAttrEnumGet(Camera.Handle,"MulticastEnable",mEnable,sizeof(mEnable),NULL);
- if (strcmp(mEnable, "Off") == 0) {
+ if (strcmp(mEnable, "Off") == 0)
+ {
return -1;
}
- else {
+ 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;
+ case CV_CAP_PROP_PVAPI_FRAMESTARTTRIGGERMODE:
+ char triggerMode[256];
+ PvAttrEnumGet(Camera.Handle, "FrameStartTriggerMode", triggerMode, 256, NULL);
+ if (strcmp(triggerMode, "Freerun")==0)
+ return 0.0;
+ else if (strcmp(triggerMode, "SyncIn1")==0)
+ return 1.0;
+ else if (strcmp(triggerMode, "SyncIn2")==0)
+ return 2.0;
+ else if (strcmp(triggerMode, "FixedRate")==0)
+ return 3.0;
+ else if (strcmp(triggerMode, "Software")==0)
+ return 4.0;
+ else
+ return -1.0;
+ case CV_CAP_PROP_PVAPI_DECIMATIONHORIZONTAL:
+ PvAttrUint32Get(Camera.Handle, "DecimationHorizontal", &nTemp);
+ return (double)nTemp;
+ case CV_CAP_PROP_PVAPI_DECIMATIONVERTICAL:
+ PvAttrUint32Get(Camera.Handle, "DecimationVertical", &nTemp);
+ return (double)nTemp;
+ case CV_CAP_PROP_PVAPI_BINNINGX:
+ PvAttrUint32Get(Camera.Handle,"BinningX",&nTemp);
+ return (double)nTemp;
+ case CV_CAP_PROP_PVAPI_BINNINGY:
+ PvAttrUint32Get(Camera.Handle,"BinningY",&nTemp);
+ return (double)nTemp;
+ case CV_CAP_PROP_PVAPI_PIXELFORMAT:
+ char pixelFormat[256];
+ PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
+ if (strcmp(pixelFormat, "Mono8")==0)
+ return 1.0;
+ else if (strcmp(pixelFormat, "Mono16")==0)
+ return 2.0;
+ else if (strcmp(pixelFormat, "Bayer8")==0)
+ return 3.0;
+ else if (strcmp(pixelFormat, "Bayer16")==0)
+ return 4.0;
+ else if (strcmp(pixelFormat, "Rgb24")==0)
+ return 5.0;
+ else if (strcmp(pixelFormat, "Bgr24")==0)
+ return 6.0;
+ else if (strcmp(pixelFormat, "Rgba32")==0)
+ return 7.0;
+ else if (strcmp(pixelFormat, "Bgra32")==0)
+ return 8.0;
}
return -1.0;
}
bool CvCaptureCAM_PvAPI::setProperty( int property_id, double value )
{
+ tPvErr error;
+
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(currWidth, value))
+ {
+ startCapture();
+ return false;
+ }
+
+ startCapture();
+
break;
- */
- case CV_CAP_PROP_MONOCROME:
- if (value==1) {
- char pixelFormat[256];
- PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
- if ((strcmp(pixelFormat, "Mono8")==0) || strcmp(pixelFormat, "Mono16")==0) {
- monocrome=true;
- }
+ }
+ 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;
}
else
- monocrome=false;
- break;
- case CV_CAP_PROP_EXPOSURE:
- if ((PvAttrUint32Set(Camera.Handle,"ExposureValue",(tPvUint32)value)==ePvErrSuccess))
+ {
+ cv::String ip=cv::format("%d.%d.%d.%d", ((unsigned int)value>>24)&255, ((unsigned int)value>>16)&255, ((unsigned int)value>>8)&255, (unsigned 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;
+ case CV_CAP_PROP_PVAPI_FRAMESTARTTRIGGERMODE:
+ if (value==0)
+ error = PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Freerun");
+ else if (value==1)
+ error = PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "SyncIn1");
+ else if (value==2)
+ error = PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "SyncIn2");
+ else if (value==3)
+ error = PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "FixedRate");
+ else if (value==4)
+ error = PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Software");
else
- return false;
- case CV_CAP_PROP_PVAPI_MULTICASTIP:
-
- if (value==-1) {
- if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "Off")==ePvErrSuccess))
+ error = ePvErrOutOfRange;
+ if(error==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))
+ case CV_CAP_PROP_PVAPI_DECIMATIONHORIZONTAL:
+ if (value >= 1 && value <= 8)
+ error = PvAttrUint32Set(Camera.Handle, "DecimationHorizontal", value);
+ else
+ error = ePvErrOutOfRange;
+ if(error==ePvErrSuccess)
+ break;
+ else
+ return false;
+ case CV_CAP_PROP_PVAPI_DECIMATIONVERTICAL:
+ if (value >= 1 && value <= 8)
+ error = PvAttrUint32Set(Camera.Handle, "DecimationVertical", value);
+ else
+ error = ePvErrOutOfRange;
+ if(error==ePvErrSuccess)
break;
else
return false;
+ case CV_CAP_PROP_PVAPI_BINNINGX:
+ error = PvAttrUint32Set(Camera.Handle, "BinningX", value);
+ if(error==ePvErrSuccess)
+ break;
+ else
+ return false;
+ case CV_CAP_PROP_PVAPI_BINNINGY:
+ error = PvAttrUint32Set(Camera.Handle, "BinningY", value);
+ if(error==ePvErrSuccess)
+ break;
+ else
+ return false;
+ case CV_CAP_PROP_PVAPI_PIXELFORMAT:
+ {
+ cv::String pixelFormat;
+
+ if (value==1)
+ pixelFormat = "Mono8";
+ else if (value==2)
+ pixelFormat = "Mono16";
+ else if (value==3)
+ pixelFormat = "Bayer8";
+ else if (value==4)
+ pixelFormat = "Bayer16";
+ else if (value==5)
+ pixelFormat = "Rgb24";
+ else if (value==6)
+ pixelFormat = "Bgr24";
+ else if (value==7)
+ pixelFormat = "Rgba32";
+ else if (value==8)
+ pixelFormat = "Bgra32";
+ else
+ return false;
+
+ if ((PvAttrEnumSet(Camera.Handle,"PixelFormat", pixelFormat.c_str())==ePvErrSuccess))
+ {
+ tPvUint32 currWidth;
+ tPvUint32 currHeight;
+
+ PvAttrUint32Get(Camera.Handle, "Width", &currWidth);
+ PvAttrUint32Get(Camera.Handle, "Height", &currHeight);
+
+ stopCapture();
+ // Reallocate Frames
+ if (!resizeCaptureFrame(currWidth, currHeight))
+ {
+ startCapture();
+ return false;
+ }
+
+ startCapture();
+ return true;
+ }
+ else
+ return false;
}
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 (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) || (strcmp(pixelFormat, "Bayer8")==0) )
+ {
+ frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 1);
+ frame->widthStep = (int)frameWidth;
+ Camera.Frame.ImageBufferSize = frameSize;
+ Camera.Frame.ImageBuffer = frame->imageData;
+ }
+ else if ( (strcmp(pixelFormat, "Mono16")==0) || (strcmp(pixelFormat, "Bayer16")==0) )
+ {
+ frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_16U, 1);
+ frame->widthStep = (int)frameWidth*2;
+ Camera.Frame.ImageBufferSize = frameSize;
+ Camera.Frame.ImageBuffer = frame->imageData;
+ }
+ else if ( (strcmp(pixelFormat, "Rgb24")==0) || (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 if ( (strcmp(pixelFormat, "Rgba32")==0) || (strcmp(pixelFormat, "Bgra32")==0) )
+ {
+ frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 4);
+ frame->widthStep = (int)frameWidth*4;
+ Camera.Frame.ImageBufferSize = frameSize;
+ Camera.Frame.ImageBuffer = frame->imageData;
+ }
+ else
+ return false;
+
+ return true;
+}
CvCapture* cvCreateCameraCapture_PvAPI( int index )
{
projects / platform / upstream / opencv.git / commitdiff