bool CvCaptureCAM_Aravis::open( int index )
{
if(create(index)) {
// 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_set_region(camera, 0, 0, widthMax, heightMax);
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);
// get initial values
pixelFormat = arv_camera_get_pixel_format(camera);
exposure = exposureAvailable ? arv_camera_get_exposure_time(camera) : 0;
gain = gainAvailable ? arv_camera_get_gain(camera) : 0;
fps = arv_camera_get_frame_rate(camera);
return startCapture();
}
return false;
}
double CvCaptureCAM_Aravis::getProperty( int property_id ) const
{
switch ( property_id ) {
case CV_CAP_PROP_EXPOSURE:
if(exposureAvailable) {
/* exposure time in seconds, like 1/100 s */
return arv_camera_get_exposure_time(camera) / 1e6;
}
break;
case CV_CAP_PROP_FPS:
if(fpsAvailable) {
return arv_camera_get_frame_rate(camera);
}
break;
case CV_CAP_PROP_GAIN:
if(gainAvailable) {
return arv_camera_get_gain(camera);
}
break;
case CV_CAP_PROP_FOURCC:
{
ArvPixelFormat currFormat = arv_camera_get_pixel_format(camera);
switch( currFormat ) {
case ARV_PIXEL_FORMAT_MONO_8:
return MODE_GRAY8;
case ARV_PIXEL_FORMAT_MONO_12:
return MODE_GRAY12;
}
}
}
return -1.0;
}
static unicap_status_t aravis_get_format( aravis_handle_t handle, unicap_format_t *format )
{
ArvPixelFormat pixel_fmt = arv_camera_get_pixel_format (handle->camera);
if (!pixel_fmt)
return STATUS_FAILURE;
unicap_void_format (format);
strcpy (format->identifier, aravis_tools_get_pixel_format_string (pixel_fmt));
format->fourcc = aravis_tools_get_fourcc (pixel_fmt);
format->bpp = aravis_tools_get_bpp (pixel_fmt);
arv_camera_get_region (handle->camera,
&format->size.x,
&format->size.y,
&format->size.width,
&format->size.height);
arv_camera_get_width_bounds (handle->camera,
&format->min_size.width,
&format->max_size.width);
arv_camera_get_height_bounds (handle->camera,
&format->min_size.height,
&format->max_size.height);
format->buffer_size = format->bpp * format->size.width * format->size.height / 8;
format->buffer_type = UNICAP_BUFFER_TYPE_SYSTEM;
return STATUS_SUCCESS;
}
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);
case CV_CAP_PROP_EXPOSURE:
if(exposureAvailable) {
/* exposure time in seconds, like 1/100 s */
return arv_camera_get_exposure_time(camera) / 1e6;
}
break;
case CV_CAP_PROP_FPS:
if(fpsAvailable) {
return arv_camera_get_frame_rate(camera);
}
break;
case CV_CAP_PROP_GAIN:
if(gainAvailable) {
return arv_camera_get_gain(camera);
}
break;
case CV_CAP_PROP_FOURCC:
{
ArvPixelFormat currFormat = arv_camera_get_pixel_format(camera);
switch( currFormat ) {
case ARV_PIXEL_FORMAT_MONO_8:
return MODE_Y800;
case ARV_PIXEL_FORMAT_MONO_12:
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;
}
bool CameraGigeAravis::grabInitialization(){
frameCounter = 0;
payload = arv_camera_get_payload (camera);
BOOST_LOG_SEV(logger, notification) << "Camera payload : " << payload;
pixFormat = arv_camera_get_pixel_format(camera);
arv_camera_get_exposure_time_bounds (camera, &exposureMin, &exposureMax);
BOOST_LOG_SEV(logger, notification) << "Camera exposure bound min : " << exposureMin;
BOOST_LOG_SEV(logger, notification) << "Camera exposure bound max : " << exposureMax;
arv_camera_get_gain_bounds (camera, &gainMin, &gainMax);
BOOST_LOG_SEV(logger, notification) << "Camera gain bound min : " << gainMin;
BOOST_LOG_SEV(logger, notification) << "Camera gain bound max : " << gainMax;
arv_camera_set_frame_rate(camera, 30);
fps = arv_camera_get_frame_rate(camera);
BOOST_LOG_SEV(logger, notification) << "Camera frame rate : " << fps;
capsString = arv_pixel_format_to_gst_caps_string(pixFormat);
BOOST_LOG_SEV(logger, notification) << "Camera format : " << capsString;
gain = arv_camera_get_gain(camera);
BOOST_LOG_SEV(logger, notification) << "Camera gain : " << gain;
exp = arv_camera_get_exposure_time(camera);
BOOST_LOG_SEV(logger, notification) << "Camera exposure : " << exp;
cout << endl;
cout << "DEVICE SELECTED : " << arv_camera_get_device_id(camera) << endl;
cout << "DEVICE NAME : " << arv_camera_get_model_name(camera) << endl;
cout << "DEVICE VENDOR : " << arv_camera_get_vendor_name(camera) << endl;
cout << "PAYLOAD : " << payload << endl;
cout << "Width : " << mWidth << endl
<< "Height : " << mHeight << endl;
cout << "Exp Range : [" << exposureMin << " - " << exposureMax << "]" << endl;
cout << "Exp : " << exp << endl;
cout << "Gain Range : [" << gainMin << " - " << gainMax << "]" << endl;
cout << "Gain : " << gain << endl;
cout << "Fps : " << fps << endl;
cout << "Type : " << capsString << endl;
cout << endl;
// Create a new stream object. Open stream on Camera.
stream = arv_camera_create_stream(camera, NULL, NULL);
if(stream == NULL){
BOOST_LOG_SEV(logger, critical) << "Fail to create stream with arv_camera_create_stream()";
return false;
}
if (ARV_IS_GV_STREAM(stream)){
bool arv_option_auto_socket_buffer = true;
bool arv_option_no_packet_resend = true;
unsigned int arv_option_packet_timeout = 20;
unsigned int arv_option_frame_retention = 100;
if(arv_option_auto_socket_buffer){
g_object_set(stream,
// ARV_GV_STREAM_SOCKET_BUFFER_FIXED : socket buffer is set to a given fixed value.
// ARV_GV_STREAM_SOCKET_BUFFER_AUTO: socket buffer is set with respect to the payload size.
"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO,
// Socket buffer size, in bytes.
// Allowed values: >= G_MAXULONG
// Default value: 0
"socket-buffer-size", 0, NULL);
}
if(arv_option_no_packet_resend){
// # packet-resend : Enables or disables the packet resend mechanism
// If packet resend is disabled and a packet has been lost during transmission,
// the grab result for the returned buffer holding the image will indicate that
// the grab failed and the image will be incomplete.
//
// If packet resend is enabled and a packet has been lost during transmission,
// a request is sent to the camera. If the camera still has the packet in its
// buffer, it will resend the packet. If there are several lost packets in a
// row, the resend requests will be combined.
g_object_set(stream,
// ARV_GV_STREAM_PACKET_RESEND_NEVER: never request a packet resend
// ARV_GV_STREAM_PACKET_RESEND_ALWAYS: request a packet resend if a packet was missing
// Default value: ARV_GV_STREAM_PACKET_RESEND_ALWAYS
"packet-resend", ARV_GV_STREAM_PACKET_RESEND_NEVER, NULL);
}
g_object_set(stream,
// # packet-timeout
// The Packet Timeout parameter defines how long (in milliseconds) we will wait for
// the next expected packet before it initiates a resend request.
// Packet timeout, in µs.
// Allowed values: [1000,10000000]
// Default value: 40000
"packet-timeout",/* (unsigned) arv_option_packet_timeout * 1000*/(unsigned)40000,
// # frame-retention
// The Frame Retention parameter sets the timeout (in milliseconds) for the
// frame retention timer. Whenever detection of the leader is made for a frame,
// the frame retention timer starts. The timer resets after each packet in the
// frame is received and will timeout after the last packet is received. If the
// timer times out at any time before the last packet is received, the buffer for
// the frame will be released and will be indicated as an unsuccessful grab.
// Packet retention, in µs.
// Allowed values: [1000,10000000]
// Default value: 200000
"frame-retention", /*(unsigned) arv_option_frame_retention * 1000*/(unsigned) 200000,NULL);
}else
return false;
// Push 50 buffer in the stream input buffer queue.
for (int i = 0; i < 50; i++)
arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL));
return true;
}
