void Camera::start(FrameStartTriggerMode fmode, AcquisitionMode amode)
{
//assert( FSTmode_ == None && fmode != None );
///@todo verify this assert again
//assert( fmode == SyncIn1 || fmode == SyncIn2 || fmode == Software || !userCallback_.empty() );
// set camera in acquisition mode
CHECK_ERR( PvCaptureStart(handle_), "Could not start capture");
if (fmode == Freerun || fmode == SyncIn1 || fmode == SyncIn2 || fmode == FixedRate)
for (unsigned int i = 0; i < bufferSize_; ++i)
PvCaptureQueueFrame(handle_, frames_ + i, Camera::frameDone);
// start capture after setting acquisition and trigger modes
try {
///@todo take this one also as an argument
CHECK_ERR( PvAttrEnumSet(handle_, "AcquisitionMode", acquisitionModes[amode]),
"Could not set acquisition mode" );
CHECK_ERR( PvAttrEnumSet(handle_, "FrameStartTriggerMode", triggerModes[fmode]),
"Could not set trigger mode" );
CHECK_ERR( PvCommandRun(handle_, "AcquisitionStart"),
"Could not start acquisition" );
}
catch (ProsilicaException& e) {
PvCaptureEnd(handle_); // reset to non capture mode
throw; // rethrow
}
FSTmode_ = fmode;
Amode_ = amode;
}
bool CvCaptureCAM_PvAPI::startCapture()
{
// Start the camera
PvCaptureStart(Camera.Handle);
// Set the camera to capture continuously
if(PvAttrEnumSet(Camera.Handle, "AcquisitionMode", "Continuous")!= ePvErrSuccess)
{
fprintf(stderr,"Could not set PvAPI Acquisition Mode\n");
return false;
}
if(PvCommandRun(Camera.Handle, "AcquisitionStart")!= ePvErrSuccess)
{
fprintf(stderr,"Could not start PvAPI acquisition\n");
return false;
}
if(PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Freerun")!= ePvErrSuccess)
{
fprintf(stderr,"Error setting PvAPI trigger to \"Freerun\"");
return false;
}
return true;
}
bool OmniCamera::connect(void) {
if(isConnected())
return true;
tPvCameraInfoEx info[1];
unsigned long frameSize = 0;
//PvLinkCallbackRegister(CameraEventCB,ePvLinkAdd,NULL);
//PvLinkCallbackRegister(CameraEventCB,ePvLinkRemove,NULL);
if(!PvInitialize()) {
while(!PvCameraCount())
Sleep(250);
unsigned long numCameras = PvCameraListEx(info, 1, NULL, sizeof(tPvCameraInfoEx));;
if ((numCameras == 1) && (info[0].PermittedAccess & ePvAccessMaster)) {
_camera.UID = info[0].UniqueId;
if(!PvCameraOpen(_camera.UID, ePvAccessMaster, &(_camera.handle))) {
if(!PvAttrUint32Get(_camera.handle,"TotalBytesPerFrame",&frameSize)) {
_camera.frame.ImageBuffer = new char[frameSize];
unsigned long format=0;
PvAttrEnumSet(_camera.handle,"PixelFormat","Bayer8");
char text[100];
PvAttrEnumGet(_camera.handle,"PixelFormat",text,sizeof(text),&format);
printf("format %d %s\n",format,text);
if(_camera.frame.ImageBuffer) {
_camera.frame.ImageBufferSize = frameSize;
PvAttrUint32Get(_camera.handle,"Width",&_width);
PvAttrUint32Get(_camera.handle,"Height",&_height);
PvCaptureStart(_camera.handle);
PvAttrEnumSet(_camera.handle, "AcquisitionMode", "Continuous");
PvCommandRun(_camera.handle, "AcquisitionStart");
_connected = true;
return true;
}
}
}
}
}
_connected = false;
return false;
}
bool CvCaptureCAM_PvAPI::setProperty( int property_id, double value )
{
switch ( property_id )
{
/* TODO: Camera works, but IplImage must be modified for the new size
case CV_CAP_PROP_FRAME_WIDTH:
PvAttrUint32Set(Camera.Handle, "Width", (tPvUint32)value);
break;
case CV_CAP_PROP_FRAME_HEIGHT:
PvAttrUint32Set(Camera.Handle, "Heigth", (tPvUint32)value);
break;
*/
case CV_CAP_PROP_MONOCROME:
if (value==1) {
char pixelFormat[256];
PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
if ((strcmp(pixelFormat, "Mono8")==0) || strcmp(pixelFormat, "Mono16")==0) {
monocrome=true;
}
else
return false;
}
else
monocrome=false;
break;
case CV_CAP_PROP_EXPOSURE:
if ((PvAttrUint32Set(Camera.Handle,"ExposureValue",(tPvUint32)value)==ePvErrSuccess))
break;
else
return false;
case CV_CAP_PROP_PVAPI_MULTICASTIP:
if (value==-1) {
if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "Off")==ePvErrSuccess))
break;
else
return false;
}
else {
std::string ip=cv::format("%d.%d.%d.%d", ((int)value>>24)&255, ((int)value>>16)&255, ((int)value>>8)&255, (int)value&255);
if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "On")==ePvErrSuccess) &&
(PvAttrStringSet(Camera.Handle, "MulticastIPAddress", ip.c_str())==ePvErrSuccess))
break;
else
return false;
}
default:
return false;
}
return true;
}
// setup and start streaming
// return value: true == success, false == fail
bool CameraStart()
{
tPvErr errCode;
bool failed = false;
// NOTE: This call sets camera PacketSize to largest sized test packet, up to 8228, that doesn't fail
// on network card. Some MS VISTA network card drivers become unresponsive if test packet fails.
// Use PvUint32Set(handle, "PacketSize", MaxAllowablePacketSize) instead. See network card properties
// for max allowable PacketSize/MTU/JumboFrameSize.
if((errCode = PvCaptureAdjustPacketSize(GCamera.Handle,8228)) != ePvErrSuccess)
{
printf("CameraStart: PvCaptureAdjustPacketSize err: %u\n", errCode);
return false;
}
// start driver capture stream
if((errCode = PvCaptureStart(GCamera.Handle)) != ePvErrSuccess)
{
printf("CameraStart: PvCaptureStart err: %u\n", errCode);
return false;
}
// queue frames with FrameDoneCB callback function. Each frame can use a unique callback function
// or, as in this case, the same callback function.
for(int i=0;i<FRAMESCOUNT && !failed;i++)
{
if((errCode = PvCaptureQueueFrame(GCamera.Handle,&(GCamera.Frames[i]),FrameDoneCB)) != ePvErrSuccess)
{
printf("CameraStart: PvCaptureQueueFrame err: %u\n", errCode);
failed = true;
}
}
if (failed)
return false;
// set the camera to 5 FPS, continuous mode, and start camera receiving triggers
if((PvAttrFloat32Set(GCamera.Handle,"FrameRate",5) != ePvErrSuccess) ||
(PvAttrEnumSet(GCamera.Handle,"FrameStartTriggerMode","FixedRate") != ePvErrSuccess) ||
(PvAttrEnumSet(GCamera.Handle,"AcquisitionMode","Continuous") != ePvErrSuccess) ||
(PvCommandRun(GCamera.Handle,"AcquisitionStart") != ePvErrSuccess))
{
printf("CameraStart: failed to set camera attributes\n");
return false;
}
return true;
}
// define pixel format
void cameraSetPixelFormat(tCamera* camera, string format) {
tPvErr err = PvAttrEnumSet(camera->Handle, "PixelFormat", format.c_str());
if (err != ePvErrSuccess){
stringstream buf;
buf << "failed to define pixel format : " << cameraGetError(err) << endl;
throw buf.str();
}
}
// setup and start streaming
// return value: true == success, false == fail
bool CameraStart()
{
tPvErr errCode;
// NOTE: This call sets camera PacketSize to largest sized test packet, up to 8228, that doesn't fail
// on network card. Some MS VISTA network card drivers become unresponsive if test packet fails.
// Use PvUint32Set(handle, "PacketSize", MaxAllowablePacketSize) instead. See network card properties
// for max allowable PacketSize/MTU/JumboFrameSize.
if((errCode = PvCaptureAdjustPacketSize(GCamera.Handle,8228)) != ePvErrSuccess)
{
printf("CameraStart: PvCaptureAdjustPacketSize err: %u\n", errCode);
return false;
}
// start driver capture stream
if((errCode = PvCaptureStart(GCamera.Handle)) != ePvErrSuccess)
{
printf("CameraStart: PvCaptureStart err: %u\n", errCode);
return false;
}
// queue frame
if((errCode = PvCaptureQueueFrame(GCamera.Handle,&(GCamera.Frame),NULL)) != ePvErrSuccess)
{
printf("CameraStart: PvCaptureQueueFrame err: %u\n", errCode);
// stop driver capture stream
PvCaptureEnd(GCamera.Handle);
return false;
}
// set the camera in hardware trigger, continuous mode, and start camera receiving triggers
if((PvAttrEnumSet(GCamera.Handle,"FrameStartTriggerMode","SyncIn1") != ePvErrSuccess) ||
(PvAttrEnumSet(GCamera.Handle,"AcquisitionMode","Continuous") != ePvErrSuccess) ||
(PvCommandRun(GCamera.Handle,"AcquisitionStart") != ePvErrSuccess))
{
printf("CameraStart: failed to set camera attributes\n");
// clear queued frame
PvCaptureQueueClear(GCamera.Handle);
// stop driver capture stream
PvCaptureEnd(GCamera.Handle);
return false;
}
return true;
}
void Camera::setExposure(unsigned int val, AutoSetting isauto)
{
CHECK_ERR( PvAttrEnumSet(handle_, "ExposureMode", autoValues[isauto]),
"Couldn't set exposure mode" );
if (isauto == Manual)
CHECK_ERR( PvAttrUint32Set(handle_, "ExposureValue", val),
"Couldn't set exposure value" );
}
// setup and start streaming
void cameraStart(tCamera* camera, tPvUint32 packetSize) {
cameraSetPixelFormat(camera, "Mono16");
cameraSetExpo(camera, 1000);
//tPvUint32 ROI[4]={0,0,493,659};
//cameraSetROI(camera,ROI);
// Auto adjust the packet size to max supported by the network, up to a max of 8228.
// NOTE: In Vista, if the packet size on the network card is set lower than 8228,
// this call may break the network card's driver. See release notes.
//
tPvErr err = PvCaptureAdjustPacketSize(camera->Handle,packetSize);
//err = PvAttrUint32Set(camera->Handle, "PacketSize", 1500);
if (err != ePvErrSuccess){
stringstream buf;
buf << "failed to adjust packet size : " << cameraGetError(err) << endl;
throw buf.str();
}
unsigned long FrameSize = 0;
err = PvAttrUint32Get(camera->Handle, "TotalBytesPerFrame", &FrameSize);
if (err != ePvErrSuccess){
stringstream buf;
buf << "failed to get TotalBytesPerFrame : " << cameraGetError(err) << endl;
throw buf.str();
}
// allocate the buffer for the single frame we need
camera->Frame.Context[0] = camera;
camera->Frame.ImageBuffer = new char[FrameSize];
if (camera->Frame.ImageBuffer)
camera->Frame.ImageBufferSize = FrameSize;
else
throw "failed allocate Frame.ImageBuffer";
// how big should the frame buffers be?
if (!err) {
// set the camera is capture mode
if (!PvCaptureStart(camera->Handle)) {
// set the camera in continuous acquisition mode
if (!PvAttrEnumSet(camera->Handle, "FrameStartTriggerMode",
"Freerun")) { //"FixedRate" / "Freerun"
// and set the acquisition mode into continuous
if (PvCommandRun(camera->Handle, "AcquisitionStart")) {
// if that fail, we reset the camera to non capture mode
PvCaptureEnd(camera->Handle);
throw "failed to set the acquisition mode into continuous";
}
} else
throw "failed to set the camera in continuous acquisition mode";
} else
throw "failed to set the camera is capture mode";
} else
throw "failed to get TotalBytesPerFrame parameter";
}
// setup and start streaming
bool CameraStart(tCamera* Camera)
{
unsigned long FrameSize = 0;
// Auto adjust the packet size to max supported by the network, up to a max of 8228.
// NOTE: In Vista, if the packet size on the network card is set lower than 8228,
// this call may break the network card's driver. See release notes.
//
//PvCaptureAdjustPacketSize(Camera->Handle,8228);
// how big should the frame buffers be?
if(!PvAttrUint32Get(Camera->Handle,"TotalBytesPerFrame",&FrameSize))
{
bool failed = false;
// allocate the buffer for the single frame we need
Camera->Frame.Context[0] = Camera;
Camera->Frame.ImageBuffer = new char[FrameSize];
if(Camera->Frame.ImageBuffer)
Camera->Frame.ImageBufferSize = FrameSize;
else
failed = true;
if(!failed)
{
// set the camera is capture mode
if(!PvCaptureStart(Camera->Handle))
{
// set the camera in continuous acquisition mode
if(!PvAttrEnumSet(Camera->Handle,"FrameStartTriggerMode","Freerun"))
{
// and set the acquisition mode into continuous
if(PvCommandRun(Camera->Handle,"AcquisitionStart"))
{
// if that fail, we reset the camera to non capture mode
PvCaptureEnd(Camera->Handle) ;
return false;
}
else
return true;
}
else
return false;
}
else
return false;
}
else
return false;
}
else
return false;
}
void Camera::setGain(unsigned int val, AutoSetting isauto)
{
/// @todo Here and in setWhiteBalance, would be better to split off setGainMode etc.
/// I didn't take into account there are cameras that don't support auto gain, auto white balance.
if (PvAttrIsAvailable(handle_, "GainMode") == ePvErrSuccess)
{
CHECK_ERR( PvAttrEnumSet(handle_, "GainMode", autoValues[isauto]),
"Couldn't set gain mode" );
}
if (isauto == Manual)
CHECK_ERR( PvAttrUint32Set(handle_, "GainValue", val),
"Couldn't set gain value" );
}
void Camera::setWhiteBalance(unsigned int blue, unsigned int red, AutoSetting isauto)
{
if (PvAttrIsAvailable(handle_, "WhitebalMode") == ePvErrSuccess)
{
CHECK_ERR( PvAttrEnumSet(handle_, "WhitebalMode", autoValues[isauto]),
"Couldn't set white balance mode" );
}
if (isauto == Manual && PvAttrIsAvailable(handle_, "WhitebalValueBlue"))
{
CHECK_ERR( PvAttrUint32Set(handle_, "WhitebalValueBlue", blue),
"Couldn't set white balance blue value" );
CHECK_ERR( PvAttrUint32Set(handle_, "WhitebalValueRed", red),
"Couldn't set white balance red value" );
}
}
// setup and start streaming
bool CameraStart(tCamera* Camera)
{
unsigned long FrameSize = 0;
// how big should the frame buffers be?
if(!PvAttrUint32Get(Camera->Handle,"TotalBytesPerFrame",&FrameSize))
{
bool failed = false;
// allocate the buffer for the single frame we need
Camera->Frame.Context[0] = Camera;
Camera->Frame.ImageBuffer = new char[FrameSize];
if(Camera->Frame.ImageBuffer)
Camera->Frame.ImageBufferSize = FrameSize;
else
failed = true;
if(!failed)
{
// set the camera is capture mode
if(!PvCaptureStart(Camera->Handle))
{
// set the camera in continuous acquisition mode
if(!PvAttrEnumSet(Camera->Handle,"FrameStartTriggerMode","Freerun"))
{
// and set the acquisition mode into continuous
if(PvCommandRun(Camera->Handle,"AcquisitionStart"))
{
// if that fail, we reset the camera to non capture mode
PvCaptureEnd(Camera->Handle) ;
return false;
}
else
return true;
}
else
return false;
}
else
return false;
}
else
return false;
}
else
return false;
}
//
// idlPvAttrEnumSet
//
// Set the value of an enumerated attribute
//
// command line arguments
// argv[0]: IN/FLAG debug
// argv[1]: IN camera index
// argv[2]: IN attribute name
// argv[3]: IN attribute value
int idlPvAttrEnumSet (int argc, char *argv[])
{
unsigned long n;
unsigned long err;
IDL_STRING *name;
IDL_STRING *value;
debug = *(IDL_INT *) argv[0];
n = *(unsigned long *) argv[1];
name = (IDL_STRING *) argv[2];
value = (IDL_STRING *) argv[3];
CHECKINDEX(n);
err = PvAttrEnumSet(camera[n],
(const char *) IDL_STRING_STR(name),
(const char *) IDL_STRING_STR(value));
return idlPvErrCode(err);
}
// setup and start streaming
bool CameraStart()
{
unsigned long FrameSize = 0;
// how big should the frame buffers be?
if(!PvAttrUint32Get(GCamera.Handle,"TotalBytesPerFrame",&FrameSize))
{
bool failed = false;
// allocate the buffer for the single frame we need
GCamera.Frame.ImageBuffer = new char[FrameSize];
if(GCamera.Frame.ImageBuffer)
GCamera.Frame.ImageBufferSize = FrameSize;
else
failed = true;
if(!failed)
{
// set the camera is capture mode
if(!PvCaptureStart(GCamera.Handle))
{
// and set the acquisition mode into continuous and software trigger mode
if(PvAttrEnumSet(GCamera.Handle,"FrameStartTriggerMode","SyncIn1") ||
PvCommandRun(GCamera.Handle,"AcquisitionStart"))
{
// if that fail, we reset the camera to non capture mode
PvCaptureEnd(GCamera.Handle) ;
return false;
}
else
return true;
}
else
return false;
}
else
return false;
}
else
return false;
}
//--------------------------------------------------------------------
bool ofxVideoGrabberPvAPI::initGrabber(int w, int h, bool setUseTexture){
width = w;
height = h;
tPvErr ret; //PvAPI return codes
bUseTexture = setUseTexture;
memset( &cameraUID, 0, sizeof(cameraUID) );
memset( &cameraHandle, 0, sizeof(cameraHandle) );
memset( &cameraFrame, 0, sizeof(cameraFrame) );
//---------------------------------- 1 - open the sequence grabber
// lazy initialization of the Prosilica API
if( !bPvApiInitiated ){
ret = PvInitialize();
if( ret == ePvErrSuccess ) {
ofLog(OF_LOG_VERBOSE, "PvAPI initialized");
} else {
ofLog(OF_LOG_ERROR, "unable to initialize PvAPI");
return false;
}
bPvApiInitiated = true;
}
//---------------------------------- 3 - buffer allocation
// Create a buffer big enough to hold the video data,
// make sure the pointer is 32-byte aligned.
// also the rgb image that people will grab
pixels = new unsigned char[width*height];
// check for any cameras plugged in
int waitIterations = 0;
while( PvCameraCount() < 1 ) {
ofSleepMillis(250);
waitIterations++;
if( waitIterations > 8 ) {
ofLog(OF_LOG_ERROR, "error: no camera found");
return false;
}
}
//---------------------------------- 4 - device selection
tPvUint32 count, connected;
tPvCameraInfo list[maxConcurrentCams];
count = PvCameraList( list, maxConcurrentCams, &connected );
if(count >= 1) {
bool bSelectedDevicePresent = false;
if(bChooseDevice) {
//check if selected device is available
for( int i=0; i<count; ++i) {
if( deviceID == list[i].UniqueId ) {
bSelectedDevicePresent = true;
cameraUID = list[i].UniqueId;
}
}
}
if( !bSelectedDevicePresent ){
cameraUID = list[0].UniqueId;
ofLog(OF_LOG_NOTICE, "cannot find selected camera -> defaulting to first available");
ofLog(OF_LOG_VERBOSE, "there is currently an arbitrary hard limit of %i concurrent cams", maxConcurrentCams);
}
} else {
ofLog(OF_LOG_ERROR, "no cameras available");
return false;
}
//---------------------------------- 5 - final initialization steps
ret = PvCameraOpen( cameraUID, ePvAccessMaster, &cameraHandle );
if( ret == ePvErrSuccess ){
ofLog(OF_LOG_VERBOSE, "camera opened");
} else {
if( ret == ePvErrAccessDenied ) {
ofLog(OF_LOG_ERROR, "camera access denied, probably already in use");
}
ofLog(OF_LOG_ERROR, "failed to open camera");
return false;
}
unsigned long FrameSize = 0;
ret = PvAttrUint32Get( cameraHandle, "TotalBytesPerFrame", &FrameSize );
if( ret == ePvErrSuccess ){
// allocate the buffer for the single frame we need
cameraFrame.ImageBuffer = new char[FrameSize];
cameraFrame.ImageBufferSize = FrameSize;
ofLog(OF_LOG_VERBOSE, "camera asked for TotalBytesPerFrame");
} else {
ofLog(OF_LOG_ERROR, "failed to allocate capture buffer");
return false;
}
ret = PvCaptureStart(cameraHandle);
if( ret == ePvErrSuccess ){
ofLog(OF_LOG_VERBOSE, "camera set to capture mode");
} else {
if( ret == ePvErrUnplugged ){
ofLog(OF_LOG_ERROR, "cannot start capture, camera was unplugged");
}
ofLog(OF_LOG_ERROR, "cannot set to capture mode");
return false;
}
ret = PvAttrEnumSet(cameraHandle,"FrameStartTriggerMode","Freerun");
if( ret == ePvErrSuccess ){
ofLog(OF_LOG_VERBOSE, "camera set to continuous mode");
} else {
ofLog(OF_LOG_ERROR, "cannot set to continous mode");
return false;
}
ret = PvCommandRun(cameraHandle,"AcquisitionStart");
if( ret == ePvErrSuccess ){
ofLog(OF_LOG_VERBOSE, "camera continuous acquisition started");
} else {
// if that fail, we reset the camera to non capture mode
PvCaptureEnd(cameraHandle) ;
ofLog(OF_LOG_ERROR, "cannot start continuous acquisition");
return false;
}
bGrabberInited = true;
//loadSettings();
ofLog(OF_LOG_NOTICE,"camera is ready now");
//---------------------------------- 6 - setup texture if needed
if (bUseTexture){
// create the texture, set the pixels to black and
// upload them to the texture (so at least we see nothing black the callback)
tex.allocate(width,height,GL_LUMINANCE);
memset(pixels, 0, width*height);
tex.loadData(pixels, width, height, GL_LUMINANCE);
}
// we are done
return true;
}
// setup event channel
// return value: true == success, false == fail
bool EventSetup()
{
unsigned long EventBitmask;
tPvErr errCode;
// check if events supported with this camera firmware
if (PvAttrExists(GCamera.Handle,"EventsEnable1") == ePvErrNotFound)
{
printf("This camera does not support event notifications.\n");
return false;
}
//Clear all events
//EventsEnable1 is a bitmask of all events. Bits correspond to last two digits of EventId.
// e.g: Bit 1 is EventAcquisitionStart, Bit 2 is EventAcquisitionEnd, Bit 10 is EventSyncIn1Rise.
if ((errCode = PvAttrUint32Set(GCamera.Handle,"EventsEnable1",0)) != ePvErrSuccess)
{
printf("Set EventsEnable1 err: %u\n", errCode);
return false;
}
//Set individual events (could do in one step with EventsEnable1).
if ((errCode = PvAttrEnumSet(GCamera.Handle,"EventSelector","AcquisitionStart")) != ePvErrSuccess)
{
printf("Set EventsSelector err: %u\n", errCode);
return false;
}
if ((errCode = PvAttrEnumSet(GCamera.Handle,"EventNotification","On")) != ePvErrSuccess)
{
printf("Set EventsNotification err: %u\n", errCode);
return false;
}
if ((errCode = PvAttrEnumSet(GCamera.Handle,"EventSelector","AcquisitionEnd")) != ePvErrSuccess)
{
printf("Set EventsSelector err: %u\n", errCode);
return false;
}
if ((errCode = PvAttrEnumSet(GCamera.Handle,"EventNotification","On")) != ePvErrSuccess)
{
printf("Set EventsNotification err: %u\n", errCode);
return false;
}
if ((errCode = PvAttrEnumSet(GCamera.Handle,"EventSelector","FrameTrigger")) != ePvErrSuccess)
{
printf("Set EventsSelector err: %u\n", errCode);
return false;
}
if ((errCode = PvAttrEnumSet(GCamera.Handle,"EventNotification","On")) != ePvErrSuccess)
{
printf("Set EventsNotification err: %u\n", errCode);
return false;
}
//Get and print bitmask
PvAttrUint32Get(GCamera.Handle,"EventsEnable1", &EventBitmask);
printf("Events set. EventsEnable1 bitmask: %u\n", EventBitmask);
//register callback function
if ((errCode = PvCameraEventCallbackRegister(GCamera.Handle,F_CameraEventCallback,NULL)) != ePvErrSuccess)
{
printf("PvCameraEventCallbackRegister err: %u\n", errCode);
return false;
}
return true;
}
bool CvCaptureCAM_PvAPI::setProperty( int property_id, double value )
{
tPvErr error;
switch ( property_id )
{
case CV_CAP_PROP_FRAME_WIDTH:
{
tPvUint32 currHeight;
PvAttrUint32Get(Camera.Handle, "Height", &currHeight);
stopCapture();
// Reallocate Frames
if (!resizeCaptureFrame(value, currHeight))
{
startCapture();
return false;
}
startCapture();
break;
}
case CV_CAP_PROP_FRAME_HEIGHT:
{
tPvUint32 currWidth;
PvAttrUint32Get(Camera.Handle, "Width", &currWidth);
stopCapture();
// Reallocate Frames
if (!resizeCaptureFrame(currWidth, value))
{
startCapture();
return false;
}
startCapture();
break;
}
case CV_CAP_PROP_MONOCROME:
if (value==1)
{
char pixelFormat[256];
PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
if ((strcmp(pixelFormat, "Mono8")==0) || strcmp(pixelFormat, "Mono16")==0)
{
monocrome=true;
}
else
return false;
}
else
monocrome=false;
break;
case CV_CAP_PROP_EXPOSURE:
if ((PvAttrUint32Set(Camera.Handle,"ExposureValue",(tPvUint32)value)==ePvErrSuccess))
break;
else
return false;
case CV_CAP_PROP_PVAPI_MULTICASTIP:
if (value==-1)
{
if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "Off")==ePvErrSuccess))
break;
else
return false;
}
else
{
cv::String ip=cv::format("%d.%d.%d.%d", ((unsigned int)value>>24)&255, ((unsigned int)value>>16)&255, ((unsigned int)value>>8)&255, (unsigned int)value&255);
if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "On")==ePvErrSuccess) &&
(PvAttrStringSet(Camera.Handle, "MulticastIPAddress", ip.c_str())==ePvErrSuccess))
break;
else
return false;
}
case CV_CAP_PROP_GAIN:
if (PvAttrUint32Set(Camera.Handle,"GainValue",(tPvUint32)value)!=ePvErrSuccess)
{
return false;
}
break;
case CV_CAP_PROP_PVAPI_FRAMESTARTTRIGGERMODE:
if (value==0)
error = PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Freerun");
else if (value==1)
error = PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "SyncIn1");
else if (value==2)
error = PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "SyncIn2");
else if (value==3)
error = PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "FixedRate");
else if (value==4)
error = PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Software");
else
error = ePvErrOutOfRange;
if(error==ePvErrSuccess)
break;
else
return false;
case CV_CAP_PROP_PVAPI_DECIMATIONHORIZONTAL:
if (value >= 1 && value <= 8)
error = PvAttrUint32Set(Camera.Handle, "DecimationHorizontal", value);
else
error = ePvErrOutOfRange;
if(error==ePvErrSuccess)
break;
else
return false;
case CV_CAP_PROP_PVAPI_DECIMATIONVERTICAL:
if (value >= 1 && value <= 8)
error = PvAttrUint32Set(Camera.Handle, "DecimationVertical", value);
else
error = ePvErrOutOfRange;
if(error==ePvErrSuccess)
break;
else
return false;
case CV_CAP_PROP_PVAPI_BINNINGX:
error = PvAttrUint32Set(Camera.Handle, "BinningX", value);
if(error==ePvErrSuccess)
break;
else
return false;
case CV_CAP_PROP_PVAPI_BINNINGY:
error = PvAttrUint32Set(Camera.Handle, "BinningY", value);
if(error==ePvErrSuccess)
break;
else
return false;
default:
return false;
}
return true;
}
// Initialize camera input
bool CvCaptureCAM_PvAPI::open( int index )
{
tPvCameraInfo cameraList[MAX_CAMERAS];
tPvCameraInfo camInfo;
tPvIpSettings ipSettings;
if (PvInitialize()) {
}
//return false;
Sleep(1000);
//close();
int numCameras=PvCameraList(cameraList, MAX_CAMERAS, NULL);
if (numCameras <= 0 || index >= numCameras)
return false;
Camera.UID = cameraList[index].UniqueId;
if (!PvCameraInfo(Camera.UID,&camInfo) && !PvCameraIpSettingsGet(Camera.UID,&ipSettings))
{
/*
struct in_addr addr;
addr.s_addr = ipSettings.CurrentIpAddress;
printf("Current address:\t%s\n",inet_ntoa(addr));
addr.s_addr = ipSettings.CurrentIpSubnet;
printf("Current subnet:\t\t%s\n",inet_ntoa(addr));
addr.s_addr = ipSettings.CurrentIpGateway;
printf("Current gateway:\t%s\n",inet_ntoa(addr));
*/
}
else
{
fprintf(stderr,"ERROR: could not retrieve camera IP settings.\n");
return false;
}
if (PvCameraOpen(Camera.UID, ePvAccessMaster, &(Camera.Handle))==ePvErrSuccess)
{
tPvUint32 frameWidth, frameHeight;
unsigned long maxSize;
// By Default, try to set the pixel format to Mono8. This can be changed later
// via calls to setProperty. Some colour cameras (i.e. the Manta line) have a default
// image mode of Bayer8, which is currently unsupported, so Mono8 is a safe bet for
// startup.
monocrome = (PvAttrEnumSet(Camera.Handle, "PixelFormat", "Mono8") == ePvErrSuccess);
PvAttrUint32Get(Camera.Handle, "Width", &frameWidth);
PvAttrUint32Get(Camera.Handle, "Height", &frameHeight);
// Determine the maximum packet size supported by the system (ethernet adapter)
// and then configure the camera to use this value. If the system's NIC only supports
// an MTU of 1500 or lower, this will automatically configure an MTU of 1500.
// 8228 is the optimal size described by the API in order to enable jumbo frames
maxSize = 8228;
//PvAttrUint32Get(Camera.Handle,"PacketSize",&maxSize);
if (PvCaptureAdjustPacketSize(Camera.Handle,maxSize)!=ePvErrSuccess)
return false;
resizeCaptureFrame(frameWidth, frameHeight);
return startCapture();
}
fprintf(stderr,"Error cannot open camera\n");
return false;
}
// Initialize camera input
bool CvCaptureCAM_PvAPI::open( int index )
{
tPvCameraInfo cameraList[MAX_CAMERAS];
tPvCameraInfo camInfo;
tPvIpSettings ipSettings;
if (PvInitialize()) {
}
//return false;
Sleep(1000);
//close();
int numCameras=PvCameraList(cameraList, MAX_CAMERAS, NULL);
if (numCameras <= 0 || index >= numCameras)
return false;
Camera.UID = cameraList[index].UniqueId;
if (!PvCameraInfo(Camera.UID,&camInfo) && !PvCameraIpSettingsGet(Camera.UID,&ipSettings)) {
/*
struct in_addr addr;
addr.s_addr = ipSettings.CurrentIpAddress;
printf("Current address:\t%s\n",inet_ntoa(addr));
addr.s_addr = ipSettings.CurrentIpSubnet;
printf("Current subnet:\t\t%s\n",inet_ntoa(addr));
addr.s_addr = ipSettings.CurrentIpGateway;
printf("Current gateway:\t%s\n",inet_ntoa(addr));
*/
}
else {
fprintf(stderr,"ERROR: could not retrieve camera IP settings.\n");
return false;
}
if (PvCameraOpen(Camera.UID, ePvAccessMaster, &(Camera.Handle))==ePvErrSuccess)
{
//Set Pixel Format to BRG24 to follow conventions
/*Errcode = PvAttrEnumSet(Camera.Handle, "PixelFormat", "Bgr24");
if (Errcode != ePvErrSuccess)
{
fprintf(stderr, "PvAPI: couldn't set PixelFormat to Bgr24\n");
return NULL;
}
*/
tPvUint32 frameWidth, frameHeight, frameSize;
unsigned long maxSize;
char pixelFormat[256];
PvAttrUint32Get(Camera.Handle, "TotalBytesPerFrame", &frameSize);
PvAttrUint32Get(Camera.Handle, "Width", &frameWidth);
PvAttrUint32Get(Camera.Handle, "Height", &frameHeight);
PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
maxSize = 8228;
//PvAttrUint32Get(Camera.Handle,"PacketSize",&maxSize);
if (PvCaptureAdjustPacketSize(Camera.Handle,maxSize)!=ePvErrSuccess)
return false;
if (strcmp(pixelFormat, "Mono8")==0) {
grayframe = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 1);
grayframe->widthStep = (int)frameWidth;
frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 3);
frame->widthStep = (int)frameWidth*3;
Camera.Frame.ImageBufferSize = frameSize;
Camera.Frame.ImageBuffer = grayframe->imageData;
}
else if (strcmp(pixelFormat, "Mono16")==0) {
grayframe = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_16U, 1);
grayframe->widthStep = (int)frameWidth;
frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_16U, 3);
frame->widthStep = (int)frameWidth*3;
Camera.Frame.ImageBufferSize = frameSize;
Camera.Frame.ImageBuffer = grayframe->imageData;
}
else if (strcmp(pixelFormat, "Bgr24")==0) {
frame = cvCreateImage(cvSize((int)frameWidth, (int)frameHeight), IPL_DEPTH_8U, 3);
frame->widthStep = (int)frameWidth*3;
Camera.Frame.ImageBufferSize = frameSize;
Camera.Frame.ImageBuffer = frame->imageData;
}
else
return false;
// Start the camera
PvCaptureStart(Camera.Handle);
// Set the camera to capture continuously
if(PvAttrEnumSet(Camera.Handle, "AcquisitionMode", "Continuous")!= ePvErrSuccess)
{
fprintf(stderr,"Could not set Prosilica Acquisition Mode\n");
return false;
}
if(PvCommandRun(Camera.Handle, "AcquisitionStart")!= ePvErrSuccess)
{
fprintf(stderr,"Could not start Prosilica acquisition\n");
return false;
}
if(PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Freerun")!= ePvErrSuccess)
{
fprintf(stderr,"Error setting Prosilica trigger to \"Freerun\"");
return false;
}
return true;
}
fprintf(stderr,"Error cannot open camera\n");
return false;
}
void Camera::setAttributeEnum(const std::string &name, const std::string &value)
{
std::string err_msg = "Couldn't get attribute " + name;
CHECK_ERR( PvAttrEnumSet(handle_, name.c_str(), value.c_str()),
err_msg.c_str());
}
bool CvCaptureCAM_PvAPI::setProperty( int property_id, double value )
{
switch ( property_id )
{
case CV_CAP_PROP_FRAME_WIDTH:
{
tPvUint32 currHeight;
PvAttrUint32Get(Camera.Handle, "Height", &currHeight);
stopCapture();
// Reallocate Frames
if (!resizeCaptureFrame(value, currHeight))
{
startCapture();
return false;
}
startCapture();
break;
}
case CV_CAP_PROP_FRAME_HEIGHT:
{
tPvUint32 currWidth;
PvAttrUint32Get(Camera.Handle, "Width", &currWidth);
stopCapture();
// Reallocate Frames
if (!resizeCaptureFrame(value, currWidth))
{
startCapture();
return false;
}
startCapture();
break;
}
case CV_CAP_PROP_MONOCROME:
if (value==1)
{
char pixelFormat[256];
PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
if ((strcmp(pixelFormat, "Mono8")==0) || strcmp(pixelFormat, "Mono16")==0)
{
monocrome=true;
}
else
return false;
}
else
monocrome=false;
break;
case CV_CAP_PROP_EXPOSURE:
if ((PvAttrUint32Set(Camera.Handle,"ExposureValue",(tPvUint32)value)==ePvErrSuccess))
break;
else
return false;
case CV_CAP_PROP_PVAPI_MULTICASTIP:
if (value==-1)
{
if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "Off")==ePvErrSuccess))
break;
else
return false;
}
else
{
cv::String ip=cv::format("%d.%d.%d.%d", ((int)value>>24)&255, ((int)value>>16)&255, ((int)value>>8)&255, (int)value&255);
if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "On")==ePvErrSuccess) &&
(PvAttrStringSet(Camera.Handle, "MulticastIPAddress", ip.c_str())==ePvErrSuccess))
break;
else
return false;
}
case CV_CAP_PROP_GAIN:
if (PvAttrUint32Set(Camera.Handle,"GainValue",(tPvUint32)value)!=ePvErrSuccess)
{
return false;
}
break;
default:
return false;
}
return true;
}
bool CameraGigE::onInit() {
LOG(LTRACE) << "CameraGigE::initialize\n";
h_onTrigger.setup(this, &CameraGigE::onTrigger);
registerHandler("onTrigger", &h_onTrigger);
newImage = registerEvent("newImage");
endOfSequence = registerEvent("endOfSequence");
registerStream("out_img", &out_img);
if (!props.address.empty()) {
unsigned long ip = inet_addr(props.address.c_str());
if (PvCameraOpenByAddr(ip, ePvAccessMaster, &cHandle) != ePvErrSuccess) {
LOG(LERROR) << "Unable to open camera on adress "
<< props.address << " \n";
return false;
}
} else if (props.uid != 0) {
if (PvCameraOpen(props.uid, ePvAccessMaster, &cHandle) != ePvErrSuccess) {
LOG(LERROR) << "Unable to open camera with uid " << props.uid
<< " \n";
return false;
}
} else {
return false;
}
// Set parameters
tPvErr err;
/// Exposure
if (!props.exposureMode.empty()) {
if ((err = PvAttrEnumSet(cHandle, "ExposureMode",
props.exposureMode.c_str())) == ePvErrSuccess) {
if (props.exposureMode == "Manual") {
if ((err = PvAttrUint32Set(cHandle, "ExposureValue",
props.exposureValue / 1000000.0)) != ePvErrSuccess) {
if (err == ePvErrOutOfRange) {
tPvUint32 min, max;
PvAttrRangeUint32(cHandle, "ExposureValue", &min, &max);
LOG(LWARNING) << "ExposureValue : "
<< props.exposureValue
<< " is out of range, valid range [ "
<< (double) min / 1000000.0 << " , "
<< (double) max / 1000000.0 << " ]\n";
}
}
}
} else {
LOG(LWARNING) << "Unable to set ExposureMode \n";
}
}
/// Gain
if (!props.gainMode.empty()) {
if ((err = PvAttrEnumSet(cHandle, "GainMode", props.gainMode.c_str()))
== ePvErrSuccess) {
if (props.gainMode == "Manual") {
if ((err = PvAttrUint32Set(cHandle, "gainValue",
props.gainValue)) != ePvErrSuccess) {
if (err == ePvErrOutOfRange) {
tPvUint32 min, max;
PvAttrRangeUint32(cHandle, "GainValue", &min, &max);
LOG(LWARNING) << "GainValue : " << props.gainValue
<< " is out of range, valid range [ "
<< (double) min << " , " << (double) max
<< " ]\n";
}
}
}
} else {
LOG(LWARNING) << "Unable to set GainMode \n";
}
}
/// White Balance
if (!props.whitebalMode.empty()) {
if ((err = PvAttrEnumSet(cHandle, "WhitebalMode",
props.gainMode.c_str())) == ePvErrSuccess) {
if (props.whitebalMode == "Manual") {
if ((err = PvAttrUint32Set(cHandle, "WhitebalValueRed",
props.whitebalValueRed)) != ePvErrSuccess) {
if (err == ePvErrOutOfRange) {
tPvUint32 min, max;
PvAttrRangeUint32(cHandle, "WhitebalValueRed", &min,
&max);
LOG(LWARNING) << "WhitebalValueRed : "
<< props.whitebalValueRed
<< " is out of range, valid range [ "
<< (double) min << " , " << (double) max
<< " ]\n";
}
}
if ((err = PvAttrUint32Set(cHandle, "WhitebalValueBlue",
props.whitebalValueBlue)) != ePvErrSuccess) {
if (err == ePvErrOutOfRange) {
tPvUint32 min, max;
PvAttrRangeUint32(cHandle, "WhitebalValueBlue", &min,
&max);
LOG(LWARNING) << "WhitebalValueBlue : "
<< props.whitebalValueBlue
<< " is out of range, valid range [ "
<< (double) min << " , " << (double) max
<< " ]\n";
}
}
}
} else {
LOG(LWARNING) << "Unable to set WhitebalMode" << err << "\n";
}
}
if ((err = PvAttrEnumSet(cHandle, "MirrorX", props.mirrorX ? "On" : "Off"))
!= ePvErrSuccess) {
}
if ((err = PvAttrEnumSet(cHandle, "PixelFormat", props.pixelFormat.c_str()))
!= ePvErrSuccess) {
LOG(LERROR) << "Unable to set pixelformat " << err;
}
if ((err = PvAttrUint32Set(cHandle, "Height", props.height))
!= ePvErrSuccess) {
if (err == ePvErrOutOfRange) {
tPvUint32 min, max;
PvAttrRangeUint32(cHandle, "Height", &min, &max);
LOG(LWARNING) << "Height : " << props.height
<< " is out of range, valid range [ " << (double) min
<< " , " << (double) max << " ]";
}
}
if ((err = PvAttrUint32Set(cHandle, "Width", props.width)) != ePvErrSuccess) {
if (err == ePvErrOutOfRange) {
tPvUint32 min, max;
PvAttrRangeUint32(cHandle, "Width", &min, &max);
LOG(LWARNING) << "Width : " << props.width
<< " is out of range, valid range [ " << (double) min
<< " , " << (double) max << " ]\n";
}
}
if ((err = PvAttrUint32Set(cHandle, "RegionX", props.regionX))
!= ePvErrSuccess) {
if (err == ePvErrOutOfRange) {
tPvUint32 min, max;
PvAttrRangeUint32(cHandle, "RegionX", &min, &max);
LOG(LWARNING) << "RegionX : " << props.regionX
<< " is out of range, valid range [ " << (double) min
<< " , " << (double) max << " ]\n";
}
}
if ((err = PvAttrUint32Set(cHandle, "RegionY", props.regionY))
!= ePvErrSuccess) {
if (err == ePvErrOutOfRange) {
tPvUint32 min, max;
PvAttrRangeUint32(cHandle, "RegionY", &min, &max);
LOG(LWARNING) << "RegionY : " << props.regionY
<< " is out of range, valid range [ " << (double) min
<< " , " << (double) max << " ]\n";
}
}
if ((err = PvAttrUint32Set(cHandle, "BinningX", props.binningX))
!= ePvErrSuccess) {
if (err == ePvErrOutOfRange) {
tPvUint32 min, max;
PvAttrRangeUint32(cHandle, "BinningX", &min, &max);
LOG(LWARNING) << "BinningX : " << props.binningX
<< " is out of range, valid range [ " << (double) min
<< " , " << (double) max << " ]\n";
}
}
if ((err = PvAttrUint32Set(cHandle, "BinningY", props.binningY))
!= ePvErrSuccess) {
if (err == ePvErrOutOfRange) {
tPvUint32 min, max;
PvAttrRangeUint32(cHandle, "BinningY", &min, &max);
LOG(LWARNING) << "BinningY : " << props.binningY
<< " is out of range, valid range [ " << (double) min
<< " , " << (double) max << " ]\n";
}
}
// ----------------
PvAttrEnumSet(cHandle, "FrameStartTriggerMode", "Freerun");
unsigned long frameSize = 0;
if (PvAttrUint32Get(cHandle, "TotalBytesPerFrame", &frameSize)
!= ePvErrSuccess) {
return false;
}
frame.ImageBuffer = new char[frameSize];
frame.ImageBufferSize = frameSize;
return true;
}
// Initialize camera input
bool CvCaptureCAM_PvAPI::open( int index )
{
tPvCameraInfo cameraInfo[MAX_CAMERAS];
if (PvInitialize())
return false;
usleep(250000);
//close();
int numCameras = PvCameraList(cameraInfo, MAX_CAMERAS, NULL);
if (numCameras <= 0 || index >= numCameras)
return false;
Camera.UID = cameraInfo[index].UniqueId;
if (PvCameraOpen(Camera.UID, ePvAccessMaster, &(Camera.Handle))==ePvErrSuccess)
{
//Set Pixel Format to BRG24 to follow conventions
Errcode = PvAttrEnumSet(Camera.Handle, "PixelFormat", "Bgr24");
if (Errcode != ePvErrSuccess)
{
fprintf(stderr, "PvAPI: couldn't set PixelFormat to Bgr24\n");
return NULL;
}
tPvUint32 frameWidth, frameHeight, frameSize;
PvAttrUint32Get(Camera.Handle, "TotalBytesPerFrame", &frameSize);
PvAttrUint32Get(Camera.Handle, "Width", &frameWidth);
PvAttrUint32Get(Camera.Handle, "Height", &frameHeight);
// Create an image (24 bits RGB Color image)
frame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3);
frame->widthStep = frameWidth*3;
Camera.Frame.ImageBufferSize = frameSize;
Camera.Frame.ImageBuffer = frame->imageData;
// Start the camera
PvCaptureStart(Camera.Handle);
// Set the camera to capture continuously
if(PvAttrEnumSet(Camera.Handle, "AcquisitionMode", "Continuous")!= ePvErrSuccess)
{
fprintf(stderr,"Could not set Prosilica Acquisition Mode\n");
return false;
}
if(PvCommandRun(Camera.Handle, "AcquisitionStart")!= ePvErrSuccess)
{
fprintf(stderr,"Could not start Prosilica acquisition\n");
return false;
}
if(PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Freerun")!= ePvErrSuccess)
{
fprintf(stderr,"Error setting Prosilica trigger to \"Freerun\"");
return false;
}
return true;
}
return false;
}
// set the value of a given attribute from a value encoded in a string
bool String2Value(tPvHandle aCamera,const char* aLabel,tPvDatatype aType,char* aValue)
{
switch(aType)
{
case ePvDatatypeString:
{
if(!PvAttrStringSet(aCamera,aLabel,aValue))
return true;
else
return false;
}
case ePvDatatypeEnum:
{
if(!PvAttrEnumSet(aCamera,aLabel,aValue))
return true;
else
return false;
}
case ePvDatatypeUint32:
{
tPvUint32 lValue = atol(aValue);
tPvUint32 lMin,lMax;
if(!PvAttrRangeUint32(aCamera,aLabel,&lMin,&lMax))
{
if(lMin > lValue)
lValue = lMin;
else
if(lMax < lValue)
lValue = lMax;
if(!PvAttrUint32Set(aCamera,aLabel,lValue))
return true;
else
return false;
}
else
return false;
}
case ePvDatatypeFloat32:
{
tPvFloat32 lValue = (tPvFloat32)atof(aValue);
tPvFloat32 lMin,lMax;
if(!PvAttrRangeFloat32(aCamera,aLabel,&lMin,&lMax))
{
if(lMin > lValue)
lValue = lMin;
else
if(lMax < lValue)
lValue = lMax;
if(!PvAttrFloat32Set(aCamera,aLabel,lValue))
return true;
else
return false;
}
else
return false;
}
default:
return false;
}
}
