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Merge pull request #7430 from ArkadiuszRaj:aravis

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Alexander Alekhin
2016-10-10 20:54:14 +00:00
parent 218f7574f9 19bc3f4d17
commit f11715b6c3
8 changed files with 443 additions and 3 deletions
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CMakeLists.txt
+6 -1
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@@ -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)
cmake/OpenCVFindLibsVideo.cmake
+13
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@@ -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)
modules/videoio/CMakeLists.txt
+8
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@@ -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)
modules/videoio/include/opencv2/videoio.hpp
+2 -1
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@@ -113,7 +113,8 @@ enum VideoCaptureAPIs {
CAP_GPHOTO2 = 1700, //!< gPhoto2 connection
CAP_GSTREAMER = 1800, //!< GStreamer
CAP_FFMPEG = 1900, //!< Open and record video file or stream using the FFMPEG library
CAP_IMAGES = 2000 //!< OpenCV Image Sequence (e.g. img_%02d.jpg)
CAP_IMAGES = 2000, //!< OpenCV Image Sequence (e.g. img_%02d.jpg)
CAP_ARAVIS = 2100 //!< Aravis SDK
};
/** @brief %VideoCapture generic properties identifier.
modules/videoio/include/opencv2/videoio/videoio_c.h
+4 -1
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@@ -122,7 +122,9 @@ enum
CV_CAP_GPHOTO2 = 1700,
CV_CAP_GSTREAMER = 1800, // GStreamer
CV_CAP_FFMPEG = 1900, // FFMPEG
CV_CAP_IMAGES = 2000 // OpenCV Image Sequence (e.g. img_%02d.jpg)
CV_CAP_IMAGES = 2000, // OpenCV Image Sequence (e.g. img_%02d.jpg)
CV_CAP_ARAVIS = 2100 // Aravis GigE SDK
};
/** @brief start capturing frames from camera: index = camera_index + domain_offset (CV_CAP_*)
@@ -407,6 +409,7 @@ enum
CV_CAP_PROP_XI_SENSOR_FEATURE_SELECTOR = 585, // Selects the current feature which is accessible by XI_PRM_SENSOR_FEATURE_VALUE.
CV_CAP_PROP_XI_SENSOR_FEATURE_VALUE = 586, // Allows access to sensor feature value currently selected by XI_PRM_SENSOR_FEATURE_SELECTOR.
// Properties for Android cameras
CV_CAP_PROP_ANDROID_FLASH_MODE = 8001,
CV_CAP_PROP_ANDROID_FOCUS_MODE = 8002,
modules/videoio/src/cap.cpp
+6
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@@ -271,6 +271,12 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
TRY_OPEN(capture, cvCreateCameraCapture_Giganetix(index))
if (pref) break; // CV_CAP_GIGANETIX
#endif
#ifdef HAVE_ARAVIS_API
case CV_CAP_ARAVIS:
TRY_OPEN(capture, cvCreateCameraCapture_Aravis(index))
if (pref) break;
#endif
}
return capture;
modules/videoio/src/cap_aravis.cpp
+403
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@@ -0,0 +1,403 @@
////////////////////////////////////////////////////////////////////////////////////////
//
// 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>
// Supported types of data:
// video/x-raw, fourcc:'GRAY' -> 8bit, 1 channel
// video/x-raw, fourcc:'Y12 ' -> 12bit, 1 channel
#define MODE_GRAY8 CV_FOURCC_MACRO('G','R','E','Y')
#define MODE_GRAY12 CV_FOURCC_MACRO('Y','1','2',' ')
#define BETWEEN(a,b,c) ((a) < (b) ? (b) : ((a) > (c) ? (c) : (a) ))
/********************* 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_buffers();
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.
bool fpsAvailable;
double fpsMin; // Camera minium fps.
double fpsMax; // Camera maximum fps.
bool gainAvailable;
double gainMin; // Camera minimum gain.
double gainMax; // Camera maximum gain.
bool exposureAvailable;
double exposureMin; // Camera's minimum exposure time.
double exposureMax; // Camera's maximum exposure time.
gint64 *pixelFormats;
guint pixelFormatsCnt;
int num_buffers; // number of payload transmission buffers
ArvPixelFormat pixelFormat; // current pixel format
int width; // current width of frame
int height; // current height of image
double fps; // current fps
double exposure; // current value of exposure time
double gain; // current value of gain
IplImage *frame; // local frame copy
};
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_buffers()
{
if (stream) {
g_object_unref(stream);
stream = NULL;
}
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);
payload = arv_camera_get_payload (camera);
for (int i = 0; i < num_buffers; i++)
arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL));
return true;
}
return false;
}
bool CvCaptureCAM_Aravis::open( int index )
{
if( create( index) ) {
// fetch properties bounds
pixelFormats = arv_camera_get_available_pixel_formats(camera, &pixelFormatsCnt);
arv_camera_get_width_bounds(camera, &widthMin, &widthMax);
arv_camera_get_height_bounds(camera, &heightMin, &heightMax);
arv_camera_set_region(camera, 0, 0, widthMax, heightMax);
if( (fpsAvailable = arv_camera_is_frame_rate_available(camera)) )
arv_camera_get_frame_rate_bounds(camera, &fpsMin, &fpsMax);
if( (gainAvailable = arv_camera_is_gain_available(camera)) )
arv_camera_get_gain_bounds (camera, &gainMin, &gainMax);
if( (exposureAvailable = arv_camera_is_exposure_time_available(camera)) )
arv_camera_get_exposure_time_bounds (camera, &exposureMin, &exposureMax);
// get initial values
pixelFormat = arv_camera_get_pixel_format(camera);
exposure = arv_camera_get_exposure_time(camera);
gain = arv_camera_get_gain(camera);
fps = arv_camera_get_frame_rate(camera);
return startCapture();
}
return false;
}
bool CvCaptureCAM_Aravis::grabFrame()
{
ArvBuffer *arv_buffer = NULL;
int max_tries = 10;
int tries = 0;
for(; tries < max_tries; tries ++) {
arv_buffer = arv_stream_timeout_pop_buffer (stream, 200000);
if (arv_buffer != NULL && arv_buffer_get_status (arv_buffer) != ARV_BUFFER_STATUS_SUCCESS) {
arv_stream_push_buffer (stream, arv_buffer);
} else break;
}
if (tries == max_tries)
return false;
size_t buffer_size;
framebuffer = (void*)arv_buffer_get_data (arv_buffer, &buffer_size);
arv_buffer_get_image_region (arv_buffer, NULL, NULL, &width, &height);
arv_stream_push_buffer(stream, arv_buffer);
return true;
}
IplImage* CvCaptureCAM_Aravis::retrieveFrame(int)
{
if(framebuffer) {
int depth = 0, channels = 0;
switch(pixelFormat) {
case ARV_PIXEL_FORMAT_MONO_8:
depth = IPL_DEPTH_8U;
channels = 1;
break;
case ARV_PIXEL_FORMAT_MONO_12:
depth = IPL_DEPTH_16U;
channels = 1;
break;
}
if(depth && channels) {
IplImage src;
cvInitImageHeader( &src, cvSize( width, height ), depth, channels, IPL_ORIGIN_TL, 4 );
cvSetData( &src, framebuffer, src.widthStep );
if( !frame ||
frame->width != src.width ||
frame->height != src.height ||
frame->depth != src.depth ||
frame->nChannels != src.nChannels) {
cvReleaseImage( &frame );
frame = cvCreateImage( cvGetSize(&src), src.depth, channels );
}
cvCopy(&src, frame);
return frame;
}
}
return NULL;
}
double CvCaptureCAM_Aravis::getProperty( int property_id ) const
{
switch ( property_id ) {
case CV_CAP_PROP_EXPOSURE:
if(exposureAvailable) {
/* exposure time in seconds, like 1/100 s */
return arv_camera_get_exposure_time(camera) / 1e6;
}
break;
case CV_CAP_PROP_FPS:
if(fpsAvailable) {
return arv_camera_get_frame_rate(camera);
}
break;
case CV_CAP_PROP_GAIN:
if(gainAvailable) {
return arv_camera_get_gain(camera);
}
break;
case CV_CAP_PROP_FOURCC:
{
ArvPixelFormat currFormat = arv_camera_get_pixel_format(camera);
switch( currFormat ) {
case ARV_PIXEL_FORMAT_MONO_8:
return MODE_GRAY8;
case ARV_PIXEL_FORMAT_MONO_12:
return MODE_GRAY12;
}
}
}
return -1.0;
}
bool CvCaptureCAM_Aravis::setProperty( int property_id, double value )
{
switch ( property_id ) {
case CV_CAP_PROP_EXPOSURE:
if(exposureAvailable) {
/* exposure time in seconds, like 1/100 s */
value *= 1e6; // -> from s to us
arv_camera_set_exposure_time(camera, exposure = BETWEEN(value, exposureMin, exposureMax));
break;
} else return false;
case CV_CAP_PROP_FPS:
if(fpsAvailable) {
arv_camera_set_frame_rate(camera, fps = BETWEEN(value, fpsMin, fpsMax));
break;
} else return false;
case CV_CAP_PROP_GAIN:
if(gainAvailable) {
arv_camera_set_gain(camera, gain = BETWEEN(value, gainMin, gainMax));
break;
} else return false;
case CV_CAP_PROP_FOURCC:
{
ArvPixelFormat newFormat = pixelFormat;
switch((int)value) {
case MODE_GRAY8:
newFormat = ARV_PIXEL_FORMAT_MONO_8;
break;
case MODE_GRAY12:
newFormat = ARV_PIXEL_FORMAT_MONO_12;
break;
}
if(newFormat != pixelFormat) {
stopCapture();
arv_camera_set_pixel_format(camera, pixelFormat = newFormat);
startCapture();
}
}
break;
default:
return false;
}
return true;
}
void CvCaptureCAM_Aravis::stopCapture()
{
arv_camera_stop_acquisition(camera);
g_object_unref(stream);
stream = NULL;
}
bool CvCaptureCAM_Aravis::startCapture()
{
if( init_buffers() ) {
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;
}
return false;
}
CvCapture* cvCreateCameraCapture_Aravis( int index )
{
CvCaptureCAM_Aravis* capture = new CvCaptureCAM_Aravis;
if ( capture->open( index ))
return capture;
delete capture;
return NULL;
}
#endif
modules/videoio/src/precomp.hpp
+1
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@@ -128,6 +128,7 @@ CvCapture* cvCreateFileCapture_OpenNI2( const char* filename );
CvCapture* cvCreateCameraCapture_Android( int index );
CvCapture* cvCreateCameraCapture_XIMEA( int index );
CvCapture* cvCreateCameraCapture_AVFoundation(int index);
CvCapture* cvCreateCameraCapture_Aravis( int index );
CvCapture* cvCreateFileCapture_Images(const char* filename);
CvVideoWriter* cvCreateVideoWriter_Images(const char* filename);