From 70c12e5407987fe08a5f9347e87268ac720a4195 Mon Sep 17 00:00:00 2001 From: ArkadiuszRaj Date: Fri, 7 Oct 2016 21:55:49 +0200 Subject: [PATCH 1/5] Basic support for GigE cameras via Aravis SDK --- CMakeLists.txt | 7 +- cmake/OpenCVFindLibsVideo.cmake | 13 + modules/videoio/CMakeLists.txt | 8 + .../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 44111ac467..399e07f556 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 0c4072cb3b..4fe272f937 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 413b3cdea0..d079634b9c 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 c4648b5f26..2cbbd82002 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 a774afbaad..dbc5a82409 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 0000000000..b37f19eba4 --- /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 From d80fd0c85c757fdb1a63db2126e6b60d8cf92080 Mon Sep 17 00:00:00 2001 From: ArkadiuszRaj Date: Fri, 7 Oct 2016 22:22:46 +0200 Subject: [PATCH 2/5] Missing declaration --- modules/videoio/src/cap.cpp | 2 +- modules/videoio/src/precomp.hpp | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/modules/videoio/src/cap.cpp b/modules/videoio/src/cap.cpp index dbc5a82409..d5aec38ded 100644 --- a/modules/videoio/src/cap.cpp +++ b/modules/videoio/src/cap.cpp @@ -271,13 +271,13 @@ 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; } diff --git a/modules/videoio/src/precomp.hpp b/modules/videoio/src/precomp.hpp index e166596cad..8a10d20498 100644 --- a/modules/videoio/src/precomp.hpp +++ b/modules/videoio/src/precomp.hpp @@ -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); From 48ae99ecef390a4516df65a4ed6ed2ceb7bfe631 Mon Sep 17 00:00:00 2001 From: ArkadiuszRaj Date: Sat, 8 Oct 2016 13:01:01 +0200 Subject: [PATCH 3/5] Support for MONO8 & MONO12 pixel formats --- .../include/opencv2/videoio/videoio_c.h | 10 ++ modules/videoio/src/cap_aravis.cpp | 93 +++++++++++++++++-- 2 files changed, 93 insertions(+), 10 deletions(-) diff --git a/modules/videoio/include/opencv2/videoio/videoio_c.h b/modules/videoio/include/opencv2/videoio/videoio_c.h index 2cbbd82002..c34e817add 100644 --- a/modules/videoio/include/opencv2/videoio/videoio_c.h +++ b/modules/videoio/include/opencv2/videoio/videoio_c.h @@ -409,6 +409,9 @@ 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. + // ARAVIS + CV_CAP_PROP_ARAVIS_PIXELFORMAT = 1001, // Pixel format + // Properties for Android cameras CV_CAP_PROP_ANDROID_FLASH_MODE = 8001, CV_CAP_PROP_ANDROID_FOCUS_MODE = 8002, @@ -488,6 +491,13 @@ enum CV_CAP_OPENNI_QVGA_60HZ = 4 }; +// Supported output modes of Aravis image generator +enum +{ + CV_CAP_MODE_GRAY8 = 0, // Y8 (default) + CV_CAP_MODE_GRAY12 = 1 // Y12 +}; + enum { CV_CAP_INTELPERC_DEPTH_MAP = 0, // Each pixel is a 16-bit integer. The value indicates the distance from an object to the camera's XY plane or the Cartesian depth. diff --git a/modules/videoio/src/cap_aravis.cpp b/modules/videoio/src/cap_aravis.cpp index b37f19eba4..80de9c6f0a 100644 --- a/modules/videoio/src/cap_aravis.cpp +++ b/modules/videoio/src/cap_aravis.cpp @@ -49,6 +49,9 @@ #include +#define BETWEEN(a,b,c) ((a) < (b) ? (b) : ((a) > (c) ? (c) : (a) )) +#define AUTO_MODE -1 + /********************* Capturing video from camera via Aravis *********************/ class CvCaptureCAM_Aravis : public CvCapture @@ -98,6 +101,11 @@ protected: double exposureMax; // Camera's maximum exposure time. int num_buffers; // number of payload transmission buffers + + ArvPixelFormat pixelFormat; // current pixel format + + double exposure; // current value of exposuretime, or -1 for autoexposure + double gain; // current value of gain, or -1 for autogain IplImage *frame; }; @@ -115,6 +123,7 @@ CvCaptureCAM_Aravis::CvCaptureCAM_Aravis() fpsMin = fpsMax = gainMin = gainMax = exposureMin = exposureMax = 0; num_buffers = 50; + pixelFormat = ARV_PIXEL_FORMAT_MONO_8; frame = NULL; } @@ -158,7 +167,7 @@ bool CvCaptureCAM_Aravis::init() g_object_set(stream, "packet-resend", ARV_GV_STREAM_PACKET_RESEND_NEVER, NULL); g_object_set(stream, - "packet-timeout", (unsigned)40000, + "packet-timeout", (unsigned) 40000, "frame-retention", (unsigned) 200000, NULL); for (int i = 0; i < num_buffers; i++) @@ -182,8 +191,11 @@ bool CvCaptureCAM_Aravis::open( int index ) 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); + // set initial exposure values + arv_camera_set_pixel_format(camera, pixelFormat); + arv_camera_set_exposure_time(camera, exposureMin); + arv_camera_set_gain(camera, gainMin); + arv_camera_set_frame_rate(camera, 30); // init communication init(); @@ -211,14 +223,20 @@ bool CvCaptureCAM_Aravis::grabFrame() IplImage* CvCaptureCAM_Aravis::retrieveFrame(int) { if(framebuffer) { + // Supports for 2 types of data: + // video/x-raw, format=GRAY8 -> 8bit, 1 channel + // video/x-raw, format=GRAY16_LE -> 12bit, 1 channel IplImage src; cvInitImageHeader( &src, cvSize( widthMax, heightMax ), - IPL_DEPTH_8U, 1, IPL_ORIGIN_TL, 4 ); + pixelFormat == ARV_PIXEL_FORMAT_MONO_8 ? IPL_DEPTH_8U : IPL_DEPTH_16U, + 1 /* channels */, 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 ); + frame = cvCreateImage( cvGetSize(&src), + pixelFormat == ARV_PIXEL_FORMAT_MONO_8 ? IPL_DEPTH_8U : IPL_DEPTH_16U, + 1 /* channels */ ); } cvCopy(&src, frame); @@ -231,13 +249,31 @@ double CvCaptureCAM_Aravis::getProperty( int property_id ) const { switch ( property_id ) { case CV_CAP_PROP_EXPOSURE: - return arv_camera_get_exposure_time(camera); + /* exposure time in seconds, like 1/100 s */ + return arv_camera_get_exposure_time(camera) / 1e6; case CV_CAP_PROP_FPS: return arv_camera_get_frame_rate(camera); case CV_CAP_PROP_GAIN: return arv_camera_get_gain(camera); + + case CV_CAP_PROP_ARAVIS_PIXELFORMAT: + { + ArvPixelFormat currFormat = arv_camera_get_pixel_format(camera); + switch( currFormat ) { + case ARV_PIXEL_FORMAT_MONO_8: + return CV_CAP_MODE_GRAY8; + case ARV_PIXEL_FORMAT_MONO_12: + return CV_CAP_MODE_GRAY12; + /* + case ARV_PIXEL_FORMAT_MONO_10: + case ARV_PIXEL_FORMAT_MONO_16: + case ARV_PIXEL_FORMAT_YUV_422_PACKED: + case ARV_PIXEL_FORMAT_RGB_8_PACKED: + */ + } + } } return -1.0; } @@ -246,18 +282,55 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value ) { switch ( property_id ) { case CV_CAP_PROP_EXPOSURE: - arv_camera_set_exposure_time(camera, value); + /* exposure time in seconds, like 1/100 s */ + if(value == AUTO_MODE) { + /* auto exposure */ + exposure = AUTO_MODE; + } else { + value *= 1e6; // -> from s to us + arv_camera_set_exposure_time(camera, exposure = BETWEEN(value, exposureMin, exposureMax)); + } break; case CV_CAP_PROP_FPS: - arv_camera_set_frame_rate(camera, value); + arv_camera_set_frame_rate(camera, BETWEEN(value, fpsMin, fpsMax)); break; case CV_CAP_PROP_GAIN: - arv_camera_set_gain(camera, value); + if(value == AUTO_MODE) { + /* auto gain */ + gain = AUTO_MODE; + } else { + arv_camera_set_gain(camera, gain = BETWEEN(value, gainMin, gainMax)); + } break; + + case CV_CAP_PROP_ARAVIS_PIXELFORMAT: + { + ArvPixelFormat newFormat = pixelFormat; + switch((int)value) { + case CV_CAP_MODE_GRAY8: + newFormat = ARV_PIXEL_FORMAT_MONO_8; + break; + case CV_CAP_MODE_GRAY12: + newFormat = ARV_PIXEL_FORMAT_MONO_12; + break; + } + if(newFormat != pixelFormat) { + arv_camera_stop_acquisition(camera); + + arv_camera_set_pixel_format(camera, pixelFormat = newFormat); + + arv_camera_start_acquisition(camera); + } + } + break; + + default: + return false; } - return -1.0 != getProperty( property_id ); + + return true; } void CvCaptureCAM_Aravis::stopCapture() From 8bd595acfe594dae28730ff03cf31262e3e8d97f Mon Sep 17 00:00:00 2001 From: ArkadiuszRaj Date: Sun, 9 Oct 2016 16:58:30 +0200 Subject: [PATCH 4/5] fourcc support, improved buffer handling, check if exposure, gain & fps properties are available --- modules/videoio/include/opencv2/videoio.hpp | 3 +- .../include/opencv2/videoio/videoio_c.h | 15 +- modules/videoio/src/cap_aravis.cpp | 217 ++++++++++-------- 3 files changed, 131 insertions(+), 104 deletions(-) diff --git a/modules/videoio/include/opencv2/videoio.hpp b/modules/videoio/include/opencv2/videoio.hpp index 585f059039..c8c5d67c77 100644 --- a/modules/videoio/include/opencv2/videoio.hpp +++ b/modules/videoio/include/opencv2/videoio.hpp @@ -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. diff --git a/modules/videoio/include/opencv2/videoio/videoio_c.h b/modules/videoio/include/opencv2/videoio/videoio_c.h index c34e817add..024633c8b9 100644 --- a/modules/videoio/include/opencv2/videoio/videoio_c.h +++ b/modules/videoio/include/opencv2/videoio/videoio_c.h @@ -116,15 +116,15 @@ 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) 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_*) @@ -409,8 +409,6 @@ 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. - // ARAVIS - CV_CAP_PROP_ARAVIS_PIXELFORMAT = 1001, // Pixel format // Properties for Android cameras CV_CAP_PROP_ANDROID_FLASH_MODE = 8001, @@ -491,13 +489,6 @@ enum CV_CAP_OPENNI_QVGA_60HZ = 4 }; -// Supported output modes of Aravis image generator -enum -{ - CV_CAP_MODE_GRAY8 = 0, // Y8 (default) - CV_CAP_MODE_GRAY12 = 1 // Y12 -}; - enum { CV_CAP_INTELPERC_DEPTH_MAP = 0, // Each pixel is a 16-bit integer. The value indicates the distance from an object to the camera's XY plane or the Cartesian depth. diff --git a/modules/videoio/src/cap_aravis.cpp b/modules/videoio/src/cap_aravis.cpp index 80de9c6f0a..06717d188d 100644 --- a/modules/videoio/src/cap_aravis.cpp +++ b/modules/videoio/src/cap_aravis.cpp @@ -49,8 +49,14 @@ #include +// 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) )) -#define AUTO_MODE -1 /********************* Capturing video from camera via Aravis *********************/ @@ -76,7 +82,7 @@ public: protected: bool create(int); - bool init(); + bool init_buffers(); void stopCapture(); bool startCapture(); @@ -93,21 +99,28 @@ protected: 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 exposure; // current value of exposure time + double gain; // current value of gain - double exposure; // current value of exposuretime, or -1 for autoexposure - double gain; // current value of gain, or -1 for autogain - - IplImage *frame; + IplImage *frame; // local frame copy }; @@ -123,8 +136,6 @@ CvCaptureCAM_Aravis::CvCaptureCAM_Aravis() fpsMin = fpsMax = gainMin = gainMax = exposureMin = exposureMax = 0; num_buffers = 50; - pixelFormat = ARV_PIXEL_FORMAT_MONO_8; - frame = NULL; } @@ -158,8 +169,12 @@ bool CvCaptureCAM_Aravis::create( int index ) return NULL != (camera = arv_camera_new(deviceName.c_str())); } -bool CvCaptureCAM_Aravis::init() +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, @@ -170,6 +185,8 @@ bool CvCaptureCAM_Aravis::init() "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)); @@ -179,26 +196,27 @@ bool CvCaptureCAM_Aravis::init() return false; } -// Initialize camera input bool CvCaptureCAM_Aravis::open( int index ) { if( create( index) ) { - // fetch basic properties - payload = arv_camera_get_payload (camera); + // 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_get_frame_rate_bounds(camera, &fpsMin, &fpsMax); - arv_camera_get_gain_bounds (camera, &gainMin, &gainMax); - arv_camera_get_exposure_time_bounds (camera, &exposureMin, &exposureMax); + arv_camera_set_region(camera, 0, 0, widthMax, heightMax); - // set initial exposure values - arv_camera_set_pixel_format(camera, pixelFormat); - arv_camera_set_exposure_time(camera, exposureMin); - arv_camera_set_gain(camera, gainMin); - arv_camera_set_frame_rate(camera, 30); + 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); - // init communication - init(); + // get initial values + pixelFormat = arv_camera_get_pixel_format(camera); + exposure = arv_camera_get_exposure_time(camera); + gain = arv_camera_get_gain(camera); return startCapture(); } @@ -207,40 +225,59 @@ bool CvCaptureCAM_Aravis::open( int index ) 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; + ArvBuffer *arv_buffer = NULL; + int tries = 0; + for(; tries < 10; 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; } - framebuffer = NULL; - return false; + + if (tries == 10) + 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) { - // Supports for 2 types of data: - // video/x-raw, format=GRAY8 -> 8bit, 1 channel - // video/x-raw, format=GRAY16_LE -> 12bit, 1 channel - IplImage src; - cvInitImageHeader( &src, cvSize( widthMax, heightMax ), - pixelFormat == ARV_PIXEL_FORMAT_MONO_8 ? IPL_DEPTH_8U : IPL_DEPTH_16U, - 1 /* channels */, 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), - pixelFormat == ARV_PIXEL_FORMAT_MONO_8 ? IPL_DEPTH_8U : IPL_DEPTH_16U, - 1 /* channels */ ); + 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; } - cvCopy(&src, frame); + if(depth && channels) { + IplImage src; + cvInitImageHeader( &src, cvSize( width, height ), depth, channels, IPL_ORIGIN_TL, 4 ); - return frame; + 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; } @@ -249,29 +286,32 @@ double CvCaptureCAM_Aravis::getProperty( int property_id ) const { switch ( property_id ) { case CV_CAP_PROP_EXPOSURE: - /* exposure time in seconds, like 1/100 s */ - return arv_camera_get_exposure_time(camera) / 1e6; + if(exposureAvailable) { + /* exposure time in seconds, like 1/100 s */ + return arv_camera_get_exposure_time(camera) / 1e6; + } + break; case CV_CAP_PROP_FPS: - return arv_camera_get_frame_rate(camera); + if(fpsAvailable) { + return arv_camera_get_frame_rate(camera); + } + break; case CV_CAP_PROP_GAIN: - return arv_camera_get_gain(camera); + if(gainAvailable) { + return arv_camera_get_gain(camera); + } + break; - case CV_CAP_PROP_ARAVIS_PIXELFORMAT: + case CV_CAP_PROP_FOURCC: { ArvPixelFormat currFormat = arv_camera_get_pixel_format(camera); switch( currFormat ) { case ARV_PIXEL_FORMAT_MONO_8: - return CV_CAP_MODE_GRAY8; + return MODE_GRAY8; case ARV_PIXEL_FORMAT_MONO_12: - return CV_CAP_MODE_GRAY12; - /* - case ARV_PIXEL_FORMAT_MONO_10: - case ARV_PIXEL_FORMAT_MONO_16: - case ARV_PIXEL_FORMAT_YUV_422_PACKED: - case ARV_PIXEL_FORMAT_RGB_8_PACKED: - */ + return MODE_GRAY12; } } } @@ -282,46 +322,40 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value ) { switch ( property_id ) { case CV_CAP_PROP_EXPOSURE: - /* exposure time in seconds, like 1/100 s */ - if(value == AUTO_MODE) { - /* auto exposure */ - exposure = AUTO_MODE; - } else { + 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; + break; + } else return false; case CV_CAP_PROP_FPS: - arv_camera_set_frame_rate(camera, BETWEEN(value, fpsMin, fpsMax)); - break; + if(fpsAvailable) { + arv_camera_set_frame_rate(camera, BETWEEN(value, fpsMin, fpsMax)); + break; + } else return false; case CV_CAP_PROP_GAIN: - if(value == AUTO_MODE) { - /* auto gain */ - gain = AUTO_MODE; - } else { + if(gainAvailable) { arv_camera_set_gain(camera, gain = BETWEEN(value, gainMin, gainMax)); - } - break; + break; + } else return false; - case CV_CAP_PROP_ARAVIS_PIXELFORMAT: + case CV_CAP_PROP_FOURCC: { ArvPixelFormat newFormat = pixelFormat; switch((int)value) { - case CV_CAP_MODE_GRAY8: + case MODE_GRAY8: newFormat = ARV_PIXEL_FORMAT_MONO_8; break; - case CV_CAP_MODE_GRAY12: + case MODE_GRAY12: newFormat = ARV_PIXEL_FORMAT_MONO_12; break; } if(newFormat != pixelFormat) { - arv_camera_stop_acquisition(camera); - + stopCapture(); arv_camera_set_pixel_format(camera, pixelFormat = newFormat); - - arv_camera_start_acquisition(camera); + startCapture(); } } break; @@ -335,21 +369,22 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value ) void CvCaptureCAM_Aravis::stopCapture() { - arv_camera_stop_acquisition(camera); + arv_camera_abort_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); + 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 true; + } + return false; } CvCapture* cvCreateCameraCapture_Aravis( int index ) From 19bc3f4d178b5a5ba1aae71931fb2b6568502fa7 Mon Sep 17 00:00:00 2001 From: ArkadiuszRaj Date: Sun, 9 Oct 2016 20:40:00 +0200 Subject: [PATCH 5/5] Chenge arv_camera_abort_acquisition to arv_camera_stop_acquisition --- modules/videoio/src/cap_aravis.cpp | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/modules/videoio/src/cap_aravis.cpp b/modules/videoio/src/cap_aravis.cpp index 06717d188d..e38295b9a2 100644 --- a/modules/videoio/src/cap_aravis.cpp +++ b/modules/videoio/src/cap_aravis.cpp @@ -117,6 +117,7 @@ protected: 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 @@ -217,6 +218,7 @@ bool CvCaptureCAM_Aravis::open( int index ) 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(); } @@ -226,15 +228,16 @@ bool CvCaptureCAM_Aravis::open( int index ) bool CvCaptureCAM_Aravis::grabFrame() { ArvBuffer *arv_buffer = NULL; + int max_tries = 10; int tries = 0; - for(; tries < 10; tries ++) { + 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 == 10) + if (tries == max_tries) return false; size_t buffer_size; @@ -331,7 +334,7 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value ) case CV_CAP_PROP_FPS: if(fpsAvailable) { - arv_camera_set_frame_rate(camera, BETWEEN(value, fpsMin, fpsMax)); + arv_camera_set_frame_rate(camera, fps = BETWEEN(value, fpsMin, fpsMax)); break; } else return false; @@ -369,7 +372,7 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value ) void CvCaptureCAM_Aravis::stopCapture() { - arv_camera_abort_acquisition(camera); + arv_camera_stop_acquisition(camera); g_object_unref(stream); stream = NULL;