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Open Source Computer Vision Library
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373 lines
11 KiB
373 lines
11 KiB
//////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// Intel License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2000, Intel Corporation, all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and/or other materials provided with the distribution. |
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// |
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// * The name of Intel Corporation may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors "as is" and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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// |
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// |
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// The code has been contributed by Justin G. Eskesen on 2010 Jan |
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// |
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#include "precomp.hpp" |
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#ifdef HAVE_PVAPI |
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#if !defined WIN32 && !defined _WIN32 && !defined _LINUX |
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#define _LINUX |
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#endif |
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#if defined(_x64) || defined (__x86_64) || defined (_M_X64) |
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#define _x64 1 |
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#elif defined(_x86) || defined(__i386) || defined (_M_IX86) |
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#define _x86 1 |
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#endif |
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#include <PvApi.h> |
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#include <unistd.h> |
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#include <string> |
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//#include <arpa/inet.h> |
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#define MAX_CAMERAS 10 |
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/********************* Capturing video from camera via PvAPI *********************/ |
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class CvCaptureCAM_PvAPI : public CvCapture |
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{ |
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public: |
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CvCaptureCAM_PvAPI(); |
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virtual ~CvCaptureCAM_PvAPI() |
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{ |
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close(); |
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} |
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virtual bool open( int index ); |
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virtual void close(); |
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virtual double getProperty(int); |
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virtual bool setProperty(int, double); |
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virtual bool grabFrame(); |
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virtual IplImage* retrieveFrame(int); |
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virtual int getCaptureDomain() |
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{ |
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return CV_CAP_PVAPI; |
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} |
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protected: |
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virtual void Sleep(unsigned int time); |
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typedef struct |
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{ |
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unsigned long UID; |
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tPvHandle Handle; |
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tPvFrame Frame; |
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} tCamera; |
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IplImage *frame; |
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IplImage *grayframe; |
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tCamera Camera; |
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tPvErr Errcode; |
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bool monocrome; |
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}; |
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CvCaptureCAM_PvAPI::CvCaptureCAM_PvAPI() |
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{ |
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monocrome=false; |
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memset(&this->Camera, 0, sizeof(this->Camera)); |
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} |
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void CvCaptureCAM_PvAPI::Sleep(unsigned int time) |
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{ |
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struct timespec t,r; |
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t.tv_sec = time / 1000; |
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t.tv_nsec = (time % 1000) * 1000000; |
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while(nanosleep(&t,&r)==-1) |
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t = r; |
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} |
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void CvCaptureCAM_PvAPI::close() |
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{ |
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// Stop the acquisition & free the camera |
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PvCommandRun(Camera.Handle, "AcquisitionStop"); |
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PvCaptureEnd(Camera.Handle); |
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PvCameraClose(Camera.Handle); |
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} |
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// Initialize camera input |
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bool CvCaptureCAM_PvAPI::open( int index ) |
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{ |
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tPvCameraInfo cameraList[MAX_CAMERAS]; |
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tPvCameraInfo camInfo; |
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tPvIpSettings ipSettings; |
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if (PvInitialize()) { |
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} |
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//return false; |
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Sleep(1000); |
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//close(); |
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int numCameras=PvCameraList(cameraList, MAX_CAMERAS, NULL); |
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if (numCameras <= 0 || index >= numCameras) |
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return false; |
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Camera.UID = cameraList[index].UniqueId; |
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if (!PvCameraInfo(Camera.UID,&camInfo) && !PvCameraIpSettingsGet(Camera.UID,&ipSettings)) { |
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/* |
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struct in_addr addr; |
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addr.s_addr = ipSettings.CurrentIpAddress; |
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printf("Current address:\t%s\n",inet_ntoa(addr)); |
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addr.s_addr = ipSettings.CurrentIpSubnet; |
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printf("Current subnet:\t\t%s\n",inet_ntoa(addr)); |
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addr.s_addr = ipSettings.CurrentIpGateway; |
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printf("Current gateway:\t%s\n",inet_ntoa(addr)); |
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*/ |
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} |
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else { |
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fprintf(stderr,"ERROR: could not retrieve camera IP settings.\n"); |
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return false; |
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} |
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if (PvCameraOpen(Camera.UID, ePvAccessMaster, &(Camera.Handle))==ePvErrSuccess) |
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{ |
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//Set Pixel Format to BRG24 to follow conventions |
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/*Errcode = PvAttrEnumSet(Camera.Handle, "PixelFormat", "Bgr24"); |
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if (Errcode != ePvErrSuccess) |
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{ |
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fprintf(stderr, "PvAPI: couldn't set PixelFormat to Bgr24\n"); |
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return NULL; |
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} |
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*/ |
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tPvUint32 frameWidth, frameHeight, frameSize; |
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unsigned long maxSize; |
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char pixelFormat[256]; |
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PvAttrUint32Get(Camera.Handle, "TotalBytesPerFrame", &frameSize); |
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PvAttrUint32Get(Camera.Handle, "Width", &frameWidth); |
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PvAttrUint32Get(Camera.Handle, "Height", &frameHeight); |
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PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL); |
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maxSize = 8228; |
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//PvAttrUint32Get(Camera.Handle,"PacketSize",&maxSize); |
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if (PvCaptureAdjustPacketSize(Camera.Handle,maxSize)!=ePvErrSuccess) |
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return false; |
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if (strcmp(pixelFormat, "Mono8")==0) { |
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grayframe = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 1); |
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grayframe->widthStep = (int)frameWidth; |
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frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 3); |
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frame->widthStep = (int)frameWidth*3; |
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Camera.Frame.ImageBufferSize = frameSize; |
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Camera.Frame.ImageBuffer = grayframe->imageData; |
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} |
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else if (strcmp(pixelFormat, "Mono16")==0) { |
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grayframe = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_16U, 1); |
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grayframe->widthStep = (int)frameWidth; |
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frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_16U, 3); |
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frame->widthStep = (int)frameWidth*3; |
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Camera.Frame.ImageBufferSize = frameSize; |
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Camera.Frame.ImageBuffer = grayframe->imageData; |
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} |
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else if (strcmp(pixelFormat, "Bgr24")==0) { |
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frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 3); |
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frame->widthStep = (int)frameWidth*3; |
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Camera.Frame.ImageBufferSize = frameSize; |
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Camera.Frame.ImageBuffer = frame->imageData; |
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} |
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else |
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return false; |
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// Start the camera |
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PvCaptureStart(Camera.Handle); |
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// Set the camera to capture continuously |
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if(PvAttrEnumSet(Camera.Handle, "AcquisitionMode", "Continuous")!= ePvErrSuccess) |
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{ |
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fprintf(stderr,"Could not set Prosilica Acquisition Mode\n"); |
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return false; |
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} |
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if(PvCommandRun(Camera.Handle, "AcquisitionStart")!= ePvErrSuccess) |
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{ |
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fprintf(stderr,"Could not start Prosilica acquisition\n"); |
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return false; |
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} |
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if(PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Freerun")!= ePvErrSuccess) |
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{ |
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fprintf(stderr,"Error setting Prosilica trigger to \"Freerun\""); |
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return false; |
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} |
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return true; |
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} |
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fprintf(stderr,"Error cannot open camera\n"); |
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return false; |
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} |
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bool CvCaptureCAM_PvAPI::grabFrame() |
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{ |
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//if(Camera.Frame.Status != ePvErrUnplugged && Camera.Frame.Status != ePvErrCancelled) |
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return PvCaptureQueueFrame(Camera.Handle, &(Camera.Frame), NULL) == ePvErrSuccess; |
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} |
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IplImage* CvCaptureCAM_PvAPI::retrieveFrame(int) |
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{ |
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if (PvCaptureWaitForFrameDone(Camera.Handle, &(Camera.Frame), 1000) == ePvErrSuccess) { |
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if (!monocrome) { |
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cvMerge(grayframe,grayframe,grayframe,NULL,frame); |
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return frame; |
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} |
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return grayframe; |
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} |
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else return NULL; |
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} |
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double CvCaptureCAM_PvAPI::getProperty( int property_id ) |
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{ |
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tPvUint32 nTemp; |
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switch ( property_id ) |
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{ |
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case CV_CAP_PROP_FRAME_WIDTH: |
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PvAttrUint32Get(Camera.Handle, "Width", &nTemp); |
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return (double)nTemp; |
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case CV_CAP_PROP_FRAME_HEIGHT: |
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PvAttrUint32Get(Camera.Handle, "Height", &nTemp); |
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return (double)nTemp; |
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case CV_CAP_PROP_EXPOSURE: |
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PvAttrUint32Get(Camera.Handle,"ExposureValue",&nTemp); |
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return (double)nTemp; |
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case CV_CAP_PROP_FPS: |
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tPvFloat32 nfTemp; |
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PvAttrFloat32Get(Camera.Handle, "StatFrameRate", &nfTemp); |
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return (double)nfTemp; |
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case CV_CAP_PROP_PVAPI_MULTICASTIP: |
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char mEnable[2]; |
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char mIp[11]; |
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PvAttrEnumGet(Camera.Handle,"MulticastEnable",mEnable,sizeof(mEnable),NULL); |
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if (strcmp(mEnable, "Off") == 0) { |
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return -1; |
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} |
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else { |
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long int ip; |
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int a,b,c,d; |
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PvAttrStringGet(Camera.Handle, "MulticastIPAddress",mIp,sizeof(mIp),NULL); |
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sscanf(mIp, "%d.%d.%d.%d", &a, &b, &c, &d); ip = ((a*256 + b)*256 + c)*256 + d; |
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return (double)ip; |
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} |
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} |
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return -1.0; |
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} |
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bool CvCaptureCAM_PvAPI::setProperty( int property_id, double value ) |
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{ |
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switch ( property_id ) |
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{ |
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/* TODO: Camera works, but IplImage must be modified for the new size |
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case CV_CAP_PROP_FRAME_WIDTH: |
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PvAttrUint32Set(Camera.Handle, "Width", (tPvUint32)value); |
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break; |
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case CV_CAP_PROP_FRAME_HEIGHT: |
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PvAttrUint32Set(Camera.Handle, "Heigth", (tPvUint32)value); |
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break; |
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*/ |
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case CV_CAP_PROP_MONOCROME: |
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if (value==1) { |
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char pixelFormat[256]; |
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PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL); |
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if ((strcmp(pixelFormat, "Mono8")==0) || strcmp(pixelFormat, "Mono16")==0) { |
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monocrome=true; |
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} |
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else |
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return false; |
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} |
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else |
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monocrome=false; |
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break; |
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case CV_CAP_PROP_EXPOSURE: |
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if ((PvAttrUint32Set(Camera.Handle,"ExposureValue",(tPvUint32)value)==ePvErrSuccess)) |
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break; |
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else |
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return false; |
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case CV_CAP_PROP_PVAPI_MULTICASTIP: |
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if (value==-1) { |
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if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "Off")==ePvErrSuccess)) |
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break; |
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else |
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return false; |
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} |
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else { |
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std::string ip=cv::format("%d.%d.%d.%d", ((int)value>>24)&255, ((int)value>>16)&255, ((int)value>>8)&255, (int)value&255); |
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if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "On")==ePvErrSuccess) && |
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(PvAttrStringSet(Camera.Handle, "MulticastIPAddress", ip.c_str())==ePvErrSuccess)) |
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break; |
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else |
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return false; |
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} |
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default: |
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return false; |
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} |
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return true; |
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} |
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CvCapture* cvCreateCameraCapture_PvAPI( int index ) |
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{ |
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CvCaptureCAM_PvAPI* capture = new CvCaptureCAM_PvAPI; |
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if ( capture->open( index )) |
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return capture; |
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delete capture; |
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return NULL; |
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} |
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#ifdef _MSC_VER |
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#pragma comment(lib, "PvAPI.lib") |
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#endif |
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#endif
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