From 8bd595acfe594dae28730ff03cf31262e3e8d97f Mon Sep 17 00:00:00 2001 From: ArkadiuszRaj Date: Sun, 9 Oct 2016 16:58:30 +0200 Subject: [PATCH] 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 - double exposure; // current value of exposuretime, or -1 for autoexposure - double gain; // current value of gain, or -1 for autogain + 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 - 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 ); + + 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 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 )