From 70c12e5407987fe08a5f9347e87268ac720a4195 Mon Sep 17 00:00:00 2001 From: ArkadiuszRaj Date: Fri, 7 Oct 2016 21:55:49 +0200 Subject: [PATCH] Basic support for GigE cameras via Aravis SDK --- CMakeLists.txt | 7 +- cmake/OpenCVFindLibsVideo.cmake | 13 + modules/videoio/CMakeLists.txt | 8 + .../videoio/include/opencv2/videoio/videoio_c.h | 2 + modules/videoio/src/cap.cpp | 6 + modules/videoio/src/cap_aravis.cpp | 292 +++++++++++++++++++++ 6 files changed, 327 insertions(+), 1 deletion(-) create mode 100644 modules/videoio/src/cap_aravis.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 44111ac..399e07f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -197,6 +197,7 @@ OCV_OPTION(WITH_PNG "Include PNG support" ON) OCV_OPTION(WITH_GDCM "Include DICOM support" OFF) OCV_OPTION(WITH_PVAPI "Include Prosilica GigE support" OFF IF (NOT ANDROID AND NOT IOS AND NOT WINRT) ) OCV_OPTION(WITH_GIGEAPI "Include Smartek GigE support" OFF IF (NOT ANDROID AND NOT IOS AND NOT WINRT) ) +OCV_OPTION(WITH_ARAVIS "Include Aravis GigE support" OFF IF (NOT ANDROID AND NOT IOS AND NOT WINRT AND NOT WIN32) ) OCV_OPTION(WITH_QT "Build with Qt Backend support" OFF IF (NOT ANDROID AND NOT IOS AND NOT WINRT) ) OCV_OPTION(WITH_WIN32UI "Build with Win32 UI Backend support" ON IF WIN32 AND NOT WINRT) OCV_OPTION(WITH_QUICKTIME "Use QuickTime for Video I/O" OFF IF APPLE ) @@ -1111,7 +1112,7 @@ if(DEFINED WITH_OPENNI) endif(DEFINED WITH_OPENNI) if(DEFINED WITH_OPENNI2) - status(" OpenNI2:" HAVE_OPENNI2 THEN "YES (ver ${OPENNI2_VERSION_STRING}, build ${OPENNI2_VERSION_BUILD})" + status(" OpenNI2:" HAVE_OPENNI2 THEN "YES (ver ${OPENNI2_VERSION_STRING}, build ${OPENNI2_VERSION_BUILD})" ELSE NO) endif(DEFINED WITH_OPENNI2) @@ -1123,6 +1124,10 @@ if(DEFINED WITH_GIGEAPI) status(" GigEVisionSDK:" HAVE_GIGE_API THEN YES ELSE NO) endif(DEFINED WITH_GIGEAPI) +if(DEFINED WITH_ARAVIS) + status(" Aravis SDK:" HAVE_ARAVIS_API THEN YES ELSE NO) +endif(DEFINED WITH_ARAVIS) + if(DEFINED APPLE) status(" AVFoundation:" HAVE_AVFOUNDATION THEN YES ELSE NO) if(WITH_QUICKTIME OR HAVE_QUICKTIME) diff --git a/cmake/OpenCVFindLibsVideo.cmake b/cmake/OpenCVFindLibsVideo.cmake index 0c4072c..4fe272f 100644 --- a/cmake/OpenCVFindLibsVideo.cmake +++ b/cmake/OpenCVFindLibsVideo.cmake @@ -124,6 +124,19 @@ if(WITH_GIGEAPI) endif() endif(WITH_GIGEAPI) +# --- Aravis SDK --- +ocv_clear_vars(HAVE_ARAVIS_API) +if(WITH_ARAVIS) + find_path(ARAVIS_INCLUDE_PATH "arv.h" + PATHS /usr/local /var /opt /usr ENV ProgramFiles ENV ProgramW6432 + PATH_SUFFIXES include "aravis-0.6" + DOC "The path to Aravis SDK headers") + find_library(ARAVIS_LIBRARIES "aravis-0.6") + if(ARAVIS_LIBRARIES AND ARAVIS_INCLUDE_PATH) + set(HAVE_ARAVIS_API TRUE) + endif() +endif(WITH_ARAVIS) + # --- Dc1394 --- ocv_clear_vars(HAVE_DC1394 HAVE_DC1394_2) if(WITH_1394) diff --git a/modules/videoio/CMakeLists.txt b/modules/videoio/CMakeLists.txt index 413b3cd..d079634 100644 --- a/modules/videoio/CMakeLists.txt +++ b/modules/videoio/CMakeLists.txt @@ -167,6 +167,14 @@ if(HAVE_GIGE_API) list(APPEND videoio_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_giganetix.cpp) endif(HAVE_GIGE_API) +if(HAVE_ARAVIS_API) + add_definitions(-DHAVE_ARAVIS_API) + ocv_include_directories(${ARAVIS_INCLUDE_PATH}) + set(videoio_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_aravis.cpp ${videoio_srcs}) + list(APPEND VIDEOIO_LIBRARIES ${ARAVIS_LIBRARIES}) + list(APPEND videoio_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_aravis.cpp) +endif(HAVE_ARAVIS_API) + if(HAVE_AVFOUNDATION) if(IOS) list(APPEND videoio_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_avfoundation.mm) diff --git a/modules/videoio/include/opencv2/videoio/videoio_c.h b/modules/videoio/include/opencv2/videoio/videoio_c.h index c4648b5..2cbbd82 100644 --- a/modules/videoio/include/opencv2/videoio/videoio_c.h +++ b/modules/videoio/include/opencv2/videoio/videoio_c.h @@ -116,6 +116,8 @@ enum CV_CAP_GIGANETIX = 1300, // Smartek Giganetix GigEVisionSDK + CV_CAP_ARAVIS = 1400, // Aravis GigE SDK + CV_CAP_INTELPERC = 1500, // Intel Perceptual Computing CV_CAP_OPENNI2 = 1600, // OpenNI2 (for Kinect) diff --git a/modules/videoio/src/cap.cpp b/modules/videoio/src/cap.cpp index a774afb..dbc5a82 100644 --- a/modules/videoio/src/cap.cpp +++ b/modules/videoio/src/cap.cpp @@ -273,6 +273,12 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index) #endif } +#ifdef HAVE_ARAVIS_API + case CV_CAP_ARAVIS: + TRY_OPEN(capture, cvCreateCameraCapture_Aravis(index)) + if (pref) break; +#endif + return capture; } diff --git a/modules/videoio/src/cap_aravis.cpp b/modules/videoio/src/cap_aravis.cpp new file mode 100644 index 0000000..b37f19e --- /dev/null +++ b/modules/videoio/src/cap_aravis.cpp @@ -0,0 +1,292 @@ +//////////////////////////////////////////////////////////////////////////////////////// +// +// 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 + +/********************* 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 -- 2.7.4