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Merge pull request #7518 from ArkadiuszRaj:aravis-buffer-status

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Aravis several updates

* Fix adressing camera with id=0

* Aravis buffer property control & status added

* Modify of autoexposure algorith, ream frame ID from aravis + new properites

* Change of macro name

* VideoCapture now returns no frame on camera disconnecion

* Allow aravis-0.4 usage, proper camera object release.
pull/7545/head
Arek 8 years ago committed by Alexander Alekhin
parent 44e5d26312
commit e77bc24b96
3 changed files with 93 additions and 40 deletions
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  1. 2
      CMakeLists.txt
  2. 4
      cmake/OpenCVFindLibsVideo.cmake
  3. 127
      modules/videoio/src/cap_aravis.cpp

2
CMakeLists.txt
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@ -1125,7 +1125,7 @@ if(DEFINED WITH_GIGEAPI)
endif(DEFINED WITH_GIGEAPI)
if(DEFINED WITH_ARAVIS)
status(" Aravis SDK:" HAVE_ARAVIS_API THEN YES ELSE NO)
status(" Aravis SDK:" HAVE_ARAVIS_API THEN "YES (${ARAVIS_LIBRARIES})" ELSE NO)
endif(DEFINED WITH_ARAVIS)
if(DEFINED APPLE)

4
cmake/OpenCVFindLibsVideo.cmake
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@ -129,9 +129,9 @@ 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"
PATH_SUFFIXES include "aravis-0.6" "aravis-0.4"
DOC "The path to Aravis SDK headers")
find_library(ARAVIS_LIBRARIES "aravis-0.6")
find_library(ARAVIS_LIBRARIES NAMES "aravis-0.6" "aravis-0.4" )
if(ARAVIS_LIBRARIES AND ARAVIS_INCLUDE_PATH)
set(HAVE_ARAVIS_API TRUE)
endif()

127
modules/videoio/src/cap_aravis.cpp
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@ -51,7 +51,8 @@
//
// This file provides wrapper for using Aravis SDK library to access GigE Vision cameras.
// aravis-0.6 library shall be installed else this code will not be included in build.
// Aravis library (version 0.4 or 0.6) shall be installed else this code will not be included in build.
//
// To include this module invoke cmake with -DWITH_ARAVIS=ON
//
// Please obvserve, that jumbo frames are required when high fps & 16bit data is selected.
@ -60,11 +61,17 @@
// Basic usage: VideoCapture cap(CAP_ARAVIS + <camera id>);
//
// Supported properties:
// read/write
// CAP_PROP_AUTO_EXPOSURE(0|1)
// CAP_PROP_EXPOSURE(t), t in seconds
// CAP_PROP_GAIN(g), g >=0 or -1 for automatic control if CAP_PROP_AUTO_EXPOSURE is true
// CAP_PROP_FPS(f)
// CAP_PROP_FOURCC(type)
// CAP_PROP_BUFFERSIZE(n)
// read only:
// CAP_PROP_POS_MSEC
// CAP_PROP_FRAME_WIDTH
// CAP_PROP_FRAME_HEIGHT
//
// Supported types of data:
// video/x-raw, fourcc:'GREY' -> 8bit, 1 channel
@ -76,7 +83,7 @@
#define MODE_Y800 CV_FOURCC_MACRO('Y','8','0','0')
#define MODE_Y12 CV_FOURCC_MACRO('Y','1','2',' ')
#define BETWEEN(a,b,c) ((a) < (b) ? (b) : ((a) > (c) ? (c) : (a) ))
#define CLIP(a,b,c) (cv::max(cv::min((a),(c)),(b)))
/********************* Capturing video from camera via Aravis *********************/
@ -141,15 +148,22 @@ protected:
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
ArvPixelFormat pixelFormat; // pixel format
int xoffset; // current frame region x offset
int yoffset; // current frame region y offset
int width; // current frame width of frame
int height; // current frame height of image
double fps; // current value of fps
double exposure; // current value of exposure time
double gain; // current value of gain
double midGrey; // current value of mid grey (brightness)
unsigned frameID; // current frame id
unsigned prevFrameID;
IplImage *frame; // local frame copy
uint64_t framesCnt; // number of retrieved frames
};
@ -162,10 +176,11 @@ CvCaptureCAM_Aravis::CvCaptureCAM_Aravis()
payload = 0;
widthMin = widthMax = heightMin = heightMax = 0;
xoffset = yoffset = width = height = 0;
fpsMin = fpsMax = gainMin = gainMax = exposureMin = exposureMax = 0;
controlExposure = false;
targetGrey = 0;
framesCnt = 0;
frameID = prevFrameID = 0;
num_buffers = 50;
frame = NULL;
@ -175,13 +190,16 @@ void CvCaptureCAM_Aravis::close()
{
if(camera)
stopCapture();
g_object_unref(camera);
camera = NULL;
}
bool CvCaptureCAM_Aravis::getDeviceNameById(int id, std::string &device)
{
arv_update_device_list();
if(id > 0 && id < arv_get_n_devices()){
if((id >= 0) && (id < (int)arv_get_n_devices())) {
device = arv_get_device_id(id);
return true;
}
@ -268,11 +286,15 @@ bool CvCaptureCAM_Aravis::grabFrame()
arv_stream_push_buffer (stream, arv_buffer);
} else break;
}
if (tries < max_tries) {
if(arv_buffer != NULL && tries < max_tries) {
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);
// retieve image size properites
arv_buffer_get_image_region (arv_buffer, &xoffset, &yoffset, &width, &height);
// retieve image ID set by camera
frameID = arv_buffer_get_frame_id(arv_buffer);
arv_stream_push_buffer(stream, arv_buffer);
return true;
@ -311,13 +333,12 @@ IplImage* CvCaptureCAM_Aravis::retrieveFrame(int)
}
cvCopy(&src, frame);
if(controlExposure && !(framesCnt % 2)) {
if(controlExposure && ((frameID - prevFrameID) > 1)) {
// control exposure every second frame
// i.e. skip frame taken with previous exposure setup
autoExposureControl(frame);
}
framesCnt++;
return frame;
}
}
@ -344,18 +365,21 @@ void CvCaptureCAM_Aravis::autoExposureControl(IplImage* image)
// distance from optimal value as a percentage
double d = (targetGrey * dmid) / brightness;
if(d >= dmid) d = ( d + (dmid * 2) ) / 3;
prevFrameID = frameID;
midGrey = brightness;
double maxe = 1e6 / fps;
double ne = CLIP( ( exposure * d ) / dmid, exposureMin, maxe);
// if change of value requires intervention
if(fabs(d-dmid) > 5) {
if(d >= dmid) d = ( d + (dmid * 2) ) / 3;
double ng = 0, ne = 0, maxe = 1e6 / fps;
double ev = log( d / dmid ) / log(2);
double ev, ng = 0;
if(gainAvailable && autoGain) {
// depending on device single gain step may equal to 1 or 1/3 EV
double ngg = gain + ev;
ng = BETWEEN( ngg, gainMin, gainMax);
ev = log( d / dmid ) / log(2);
ng = CLIP( gain + ev, gainMin, gainMax);
if( ng < gain ) {
// piority 1 - reduce gain
@ -365,13 +389,9 @@ void CvCaptureCAM_Aravis::autoExposureControl(IplImage* image)
}
if(exposureAvailable) {
double nee = ( exposure * d ) / dmid;
ne = BETWEEN( nee, exposureMin, maxe);
if(abs(exposure - ne) > 2) {
// priority 2 - control of exposure time
arv_camera_set_exposure_time(camera, (exposure = ne) );
return;
}
}
@ -379,28 +399,39 @@ void CvCaptureCAM_Aravis::autoExposureControl(IplImage* image)
if(gainAvailable && autoGain) {
if(exposureAvailable) {
// exposure at maximum - increase gain if possible
if(ng > gain && ne >= maxe) {
if(ng < gainMax) {
arv_camera_set_gain(camera, (gain = ng));
}
if(ng > gain && ng < gainMax && ne >= maxe) {
arv_camera_set_gain(camera, (gain = ng));
return;
}
// if gain can be reduced - do it
if(gain > gainMin && exposure < maxe) {
exposure = BETWEEN( ne * 1.05, exposureMin, maxe);
arv_camera_set_exposure_time(camera, exposure );
}
} else {
// priority 3 - increase gain
arv_camera_set_gain(camera, (gain = ng));
return;
}
}
}
// if gain can be reduced - do it
if(gainAvailable && autoGain && exposureAvailable) {
if(gain > gainMin && exposure < maxe) {
exposure = CLIP( ne * 1.05, exposureMin, maxe);
arv_camera_set_exposure_time(camera, exposure );
}
}
}
double CvCaptureCAM_Aravis::getProperty( int property_id ) const
{
switch(property_id) {
case CV_CAP_PROP_POS_MSEC:
return (double)frameID/fps;
case CV_CAP_PROP_FRAME_WIDTH:
return width;
case CV_CAP_PROP_FRAME_HEIGHT:
return height;
case CV_CAP_PROP_AUTO_EXPOSURE:
return (controlExposure ? 1 : 0);
@ -433,6 +464,16 @@ double CvCaptureCAM_Aravis::getProperty( int property_id ) const
return MODE_Y12;
}
}
break;
case CV_CAP_PROP_BUFFERSIZE:
if(stream) {
int in, out;
arv_stream_get_n_buffers(stream, &in, &out);
// return number of available buffers in Aravis output queue
return out;
}
break;
}
return -1.0;
}
@ -454,13 +495,13 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value )
/* 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));
arv_camera_set_exposure_time(camera, exposure = CLIP(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));
arv_camera_set_frame_rate(camera, fps = CLIP(value, fpsMin, fpsMax));
break;
} else return false;
@ -469,7 +510,7 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value )
if ( (autoGain = (-1 == value) ) )
break;
arv_camera_set_gain(camera, gain = BETWEEN(value, gainMin, gainMax));
arv_camera_set_gain(camera, gain = CLIP(value, gainMin, gainMax));
break;
} else return false;
@ -495,6 +536,18 @@ bool CvCaptureCAM_Aravis::setProperty( int property_id, double value )
}
break;
case CV_CAP_PROP_BUFFERSIZE:
{
int x = (int)value;
if((x > 0) && (x != num_buffers)) {
stopCapture();
num_buffers = x;
startCapture();
}
}
break;
default:
return false;
}

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