bool CvCaptureCAM_Aravis::grabFrame()
{
// remove content of previous frame
framebuffer = NULL;
if(stream) {
ArvBuffer *arv_buffer = NULL;
int max_tries = 10;
int tries = 0;
for(; tries < max_tries; 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;
}
if(arv_buffer != NULL && tries < max_tries) {
size_t buffer_size;
framebuffer = (void*)arv_buffer_get_data (arv_buffer, &buffer_size);
// 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;
}
}
return false;
}
static GstFlowReturn
gst_aravis_create (GstPushSrc * push_src, GstBuffer ** buffer)
{
GstAravis *gst_aravis;
ArvBuffer *arv_buffer;
gst_aravis = GST_ARAVIS (push_src);
do {
arv_buffer = arv_stream_timeout_pop_buffer (gst_aravis->stream, gst_aravis->buffer_timeout_us);
if (arv_buffer != NULL && arv_buffer->status != ARV_BUFFER_STATUS_SUCCESS)
arv_stream_push_buffer (gst_aravis->stream, arv_buffer);
} while (arv_buffer != NULL && arv_buffer->status != ARV_BUFFER_STATUS_SUCCESS);
if (arv_buffer == NULL)
return GST_FLOW_ERROR;
*buffer = gst_buffer_new ();
GST_BUFFER_DATA (*buffer) = arv_buffer->data;
GST_BUFFER_MALLOCDATA (*buffer) = NULL;
GST_BUFFER_SIZE (*buffer) = gst_aravis->payload;
if (gst_aravis->timestamp_offset == 0) {
gst_aravis->timestamp_offset = arv_buffer->timestamp_ns;
gst_aravis->last_timestamp = arv_buffer->timestamp_ns;
}
GST_BUFFER_TIMESTAMP (*buffer) = arv_buffer->timestamp_ns - gst_aravis->timestamp_offset;
GST_BUFFER_DURATION (*buffer) = arv_buffer->timestamp_ns - gst_aravis->last_timestamp;
gst_aravis->last_timestamp = arv_buffer->timestamp_ns;
arv_stream_push_buffer (gst_aravis->stream, arv_buffer);
gst_buffer_set_caps (*buffer, gst_aravis->fixed_caps);
return GST_FLOW_OK;
}
bool CvCaptureCAM_Aravis::grabFrame()
{
ArvBuffer *arv_buffer = NULL;
int max_tries = 10;
int tries = 0;
for(; tries < max_tries; 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;
}
if (tries == max_tries)
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;
}
int main(int argc, char *argv[])
{
ArvDevice *device;
ArvStream *stream;
ArvCamera *camera;
ArvGcFeatureNode *feature;
guint64 n_completed_buffers;
guint64 n_failures;
guint64 n_underruns;
GOptionContext *context;
GError *error = NULL;
void (*old_sigint_handler)(int);
int i, payload;
arv_g_thread_init (NULL);
arv_g_type_init ();
context = g_option_context_new (NULL);
g_option_context_set_summary (context, "Test of heartbeat robustness while continuously changing a feature.");
g_option_context_add_main_entries (context, arv_option_entries, NULL);
if (!g_option_context_parse (context, &argc, &argv, &error)) {
g_option_context_free (context);
g_print ("Option parsing failed: %s\n", error->message);
g_error_free (error);
return EXIT_FAILURE;
}
g_option_context_free (context);
arv_debug_enable (arv_option_debug_domains);
camera = arv_camera_new (arv_option_camera_name);
if (!ARV_IS_CAMERA (camera)) {
printf ("Device not found\n");
return EXIT_FAILURE;
}
device = arv_camera_get_device (camera);
stream = arv_camera_create_stream (camera, NULL, NULL);
if (!ARV_IS_STREAM (stream)) {
printf ("Invalid device\n");
} else {
payload = arv_camera_get_payload (camera);
if (ARV_IS_GV_STREAM (stream)) {
g_object_set (stream,
//"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO,
"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_FIXED,
"socket-buffer-size", payload*6,
"packet-timeout", 1000 * 1000,
"frame-retention", 100 * 1000,
"packet-resend", ARV_GV_STREAM_PACKET_RESEND_ALWAYS,
NULL);
}
for (i = 0; i < 100; i++)
arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL));
arv_camera_set_acquisition_mode(camera, ARV_ACQUISITION_MODE_CONTINUOUS);
feature = ARV_GC_FEATURE_NODE (arv_device_get_feature (device, arv_option_feature_name));
arv_camera_start_acquisition (camera);
old_sigint_handler = signal (SIGINT, set_cancel);
while (!cancel) {
ArvBuffer *buffer = arv_stream_timeout_pop_buffer(stream, 2000000);
if (buffer) {
usleep(10);
arv_stream_push_buffer (stream, buffer);
}
if (!(++i%5)) {
char *value;
if ((i/100) % 2 == 0)
value = g_strdup_printf ("%d", arv_option_min);
else
value = g_strdup_printf ("%d", arv_option_max);
fprintf (stderr, "Setting %s from %s to %s\n",
arv_option_feature_name,
arv_gc_feature_node_get_value_as_string (feature, NULL),
value);
arv_gc_feature_node_set_value_from_string (feature, value, NULL);
g_free (value);
}
}
signal (SIGINT, old_sigint_handler);
arv_stream_get_statistics (stream, &n_completed_buffers, &n_failures, &n_underruns);
printf ("\nCompleted buffers = %Lu\n", (unsigned long long) n_completed_buffers);
printf ("Failures = %Lu\n", (unsigned long long) n_failures);
printf ("Underruns = %Lu\n", (unsigned long long) n_underruns);
arv_camera_stop_acquisition (camera);
}
g_object_unref (camera);
return 0;
}
static GstFlowReturn
gst_aravis_create (GstPushSrc * push_src, GstBuffer ** buffer)
{
GstAravis *gst_aravis;
ArvBuffer *arv_buffer;
int arv_row_stride;
int width, height;
char *buffer_data;
size_t buffer_size;
guint64 timestamp_ns;
gst_aravis = GST_ARAVIS (push_src);
do {
arv_buffer = arv_stream_timeout_pop_buffer (gst_aravis->stream, gst_aravis->buffer_timeout_us);
if (arv_buffer != NULL && arv_buffer_get_status (arv_buffer) != ARV_BUFFER_STATUS_SUCCESS)
arv_stream_push_buffer (gst_aravis->stream, arv_buffer);
} while (arv_buffer != NULL && arv_buffer_get_status (arv_buffer) != ARV_BUFFER_STATUS_SUCCESS);
if (arv_buffer == NULL)
return GST_FLOW_ERROR;
*buffer = gst_buffer_new ();
buffer_data = (char *) arv_buffer_get_data (arv_buffer, &buffer_size);
arv_buffer_get_image_region (arv_buffer, NULL, NULL, &width, &height);
arv_row_stride = width * ARV_PIXEL_FORMAT_BIT_PER_PIXEL (arv_buffer_get_image_pixel_format (arv_buffer)) / 8;
timestamp_ns = arv_buffer_get_timestamp (arv_buffer);
/* Gstreamer requires row stride to be a multiple of 4 */
if ((arv_row_stride & 0x3) != 0) {
int gst_row_stride;
size_t size;
void *data;
int i;
gst_row_stride = (arv_row_stride & ~(0x3)) + 4;
size = height * gst_row_stride;
data = g_malloc (size);
for (i = 0; i < height; i++)
memcpy (((char *) data) + i * gst_row_stride, buffer_data + i * arv_row_stride, arv_row_stride);
GST_BUFFER_DATA (buffer) = data;
GST_BUFFER_MALLOCDATA (buffer) = data;
GST_BUFFER_SIZE (buffer) = size;
} else {
GST_BUFFER_DATA (*buffer) = buffer_data;
GST_BUFFER_MALLOCDATA (*buffer) = NULL;
GST_BUFFER_SIZE (*buffer) = buffer_size;
}
if (!gst_base_src_get_do_timestamp(GST_BASE_SRC(push_src))) {
if (gst_aravis->timestamp_offset == 0) {
gst_aravis->timestamp_offset = timestamp_ns;
gst_aravis->last_timestamp = timestamp_ns;
}
GST_BUFFER_TIMESTAMP (*buffer) = timestamp_ns - gst_aravis->timestamp_offset;
GST_BUFFER_DURATION (*buffer) = timestamp_ns - gst_aravis->last_timestamp;
gst_aravis->last_timestamp = timestamp_ns;
}
arv_stream_push_buffer (gst_aravis->stream, arv_buffer);
gst_buffer_set_caps (*buffer, gst_aravis->fixed_caps);
return GST_FLOW_OK;
}
static GstFlowReturn
gst_aravis_create (GstPushSrc * push_src, GstBuffer ** buffer)
{
GstAravis *gst_aravis;
ArvBuffer *arv_buffer;
int arv_row_stride;
gst_aravis = GST_ARAVIS (push_src);
do {
arv_buffer = arv_stream_timeout_pop_buffer (gst_aravis->stream, gst_aravis->buffer_timeout_us);
if (arv_buffer != NULL && arv_buffer->status != ARV_BUFFER_STATUS_SUCCESS)
arv_stream_push_buffer (gst_aravis->stream, arv_buffer);
} while (arv_buffer != NULL && arv_buffer->status != ARV_BUFFER_STATUS_SUCCESS);
if (arv_buffer == NULL)
return GST_FLOW_ERROR;
arv_row_stride = arv_buffer->width * ARV_PIXEL_FORMAT_BIT_PER_PIXEL (arv_buffer->pixel_format) / 8;
/* Gstreamer requires row stride to be a multiple of 4 */
if ((arv_row_stride & 0x3) != 0) {
int gst_row_stride;
size_t size;
void *data;
int i;
gst_row_stride = (arv_row_stride & ~(0x3)) + 4;
size = arv_buffer->height * gst_row_stride;
data = g_malloc (size);
for (i = 0; i < arv_buffer->height; i++)
memcpy (((char *) data) + i * gst_row_stride, ((char *) arv_buffer->data) + i * arv_row_stride, arv_row_stride);
*buffer = gst_buffer_new_wrapped (data, size);
} else {
*buffer = gst_buffer_new_wrapped_full (0,
arv_buffer->data,
arv_buffer->size,
0,
arv_buffer->size,
NULL,
NULL);
}
if (!gst_base_src_get_do_timestamp(GST_BASE_SRC(push_src))) {
if (gst_aravis->timestamp_offset == 0) {
gst_aravis->timestamp_offset = arv_buffer->timestamp_ns;
gst_aravis->last_timestamp = arv_buffer->timestamp_ns;
}
GST_BUFFER_PTS (*buffer) = arv_buffer->timestamp_ns - gst_aravis->timestamp_offset;
GST_BUFFER_DURATION (*buffer) = arv_buffer->timestamp_ns - gst_aravis->last_timestamp;
gst_aravis->last_timestamp = arv_buffer->timestamp_ns;
}
arv_stream_push_buffer (gst_aravis->stream, arv_buffer);
return GST_FLOW_OK;
}
int main (int argc, char **argv)
{
ArvCamera * camera;
ArvStream *stream;
ArvBuffer *buffer;
GOptionContext *context;
GError *error = NULL;
char memory_buffer[100000];
int i;
arv_g_thread_init (NULL);
arv_g_type_init ();
context = g_option_context_new (NULL);
g_option_context_add_main_entries (context, arv_option_entries, NULL);
if (!g_option_context_parse (context, &argc, &argv, &error)) {
g_option_context_free (context);
g_print ("Option parsing failed: %s\n", error->message);
g_error_free (error);
return EXIT_FAILURE;
}
g_option_context_free (context);
if (arv_option_max_frames < 0)
arv_option_max_errors_before_abort = -1;
save_buffer_fn = GetSaveBufferFn(arv_option_save_type);
arv_debug_enable (arv_option_debug_domains);
if (arv_option_camera_name == NULL)
g_print ("Looking for the first available camera\n");
else
g_print ("Looking for camera '%s'\n", arv_option_camera_name);
camera = arv_camera_new (arv_option_camera_name);
int errors = 0;
if (camera == NULL)
{
g_print("No device found");
return 1;
}
guint payload_size = arv_camera_get_payload(camera);
g_print ("payload size = %d (0x%x)\n", payload_size, payload_size);
stream = arv_camera_create_stream (camera, NULL, NULL);
if (arv_option_auto_buffer)
{
g_object_set (stream,"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO,"socket-buffer-size", 0,NULL);
}
for (i = 0; i < 30; i++)
{
arv_stream_push_buffer (stream, arv_buffer_new (payload_size, NULL));
}
arv_camera_stop_acquisition(camera);
// set the bit depth
ArvDevice * device = arv_camera_get_device(camera);
ArvGcNode * feature = arv_device_get_feature(device, "PixelFormat");
char * pix_format = "Mono8";
if (arv_option_pixel_format == 14)
pix_format = "Mono14";
arv_gc_feature_node_set_value_from_string(ARV_GC_FEATURE_NODE(feature), pix_format, NULL);
if (arv_option_pixel_format == 14)
{
feature = arv_device_get_feature(device, "CMOSBitDepth");
arv_gc_feature_node_set_value_from_string(ARV_GC_FEATURE_NODE(feature), "bit14bit", NULL);
}
signal (SIGINT, set_cancel);
signal (SIGQUIT, set_cancel);
int captured_frames = 0;
guint64 timeout=1000000;
#define _CAN_STOP (arv_option_max_frames > 0 && captured_frames >= arv_option_max_frames)
arv_camera_start_acquisition(camera);
do {
g_usleep (100000);
do {
buffer = arv_stream_timeout_pop_buffer (stream, timeout);
if (buffer == NULL) break;
ArvBufferStatus status = arv_buffer_get_status(buffer);
fprintf(stderr, "Status is %d\n", status);
if (status == ARV_BUFFER_STATUS_SUCCESS)
{
if (timeout > 100000) timeout -= 1000;
errors = 0;
if (save_buffer_fn != NULL)
{
struct timespec timestamp;
clock_gettime(CLOCK_REALTIME, ×tamp);
char filename[BUFSIZ];
if (strcmp(arv_option_save_prefix,"") != 0)
{
sprintf(filename, "%s/%s%d.%s", arv_option_save_dir,arv_option_save_prefix, captured_frames, arv_option_save_type);
}
else
{
sprintf(filename, "%s/%d.%03ld.%s", arv_option_save_dir, (int)timestamp.tv_sec, (long)(timestamp.tv_nsec/1.0e6), arv_option_save_type);
}
if ((*save_buffer_fn)(buffer, filename) == false)
{
g_print("Couldn't save frame %d to %s\n", captured_frames, filename);
set_cancel(SIGQUIT);
}
g_print("Saved frame %d to %s\n", captured_frames, filename);
char latest[] = "latest.png";
sprintf(latest, "latest.%s", arv_option_save_type);
unlink(latest);
symlink(filename, latest);
}
captured_frames++;
g_usleep(arv_option_sample_period);
}
else
{
if (timeout < 10000000) timeout+=1000;
fprintf(stderr, "%d errors out of %d allowed\n", errors, arv_option_max_errors_before_abort);
arv_camera_stop_acquisition(camera);
if (++errors > arv_option_max_errors_before_abort && arv_option_max_errors_before_abort >= 0)
{
set_cancel(SIGQUIT);
}
else
{
arv_camera_start_acquisition(camera);
}
}
arv_stream_push_buffer (stream, buffer);
} while (!cancel && buffer != NULL && !_CAN_STOP);
} while (!cancel && !_CAN_STOP);
arv_camera_stop_acquisition(camera);
guint64 n_processed_buffers; guint64 n_failures; guint64 n_underruns;
arv_stream_get_statistics (stream, &n_processed_buffers, &n_failures, &n_underruns);
g_print ("Processed buffers = %Lu\n", (unsigned long long) n_processed_buffers);
g_print ("Failures = %Lu\n", (unsigned long long) n_failures);
g_print ("Underruns = %Lu\n", (unsigned long long) n_underruns);
g_object_unref (stream);
g_object_unref (camera);
return (errors > 0);
}
bool CameraGigeAravis::grabImage(Frame &newFrame){
ArvBuffer *arv_buffer;
//exp = arv_camera_get_exposure_time(camera);
arv_buffer = arv_stream_timeout_pop_buffer(stream,2000000); //us
char *buffer_data;
size_t buffer_size;
if(arv_buffer == NULL){
throw runtime_error("arv_buffer is NULL");
return false;
}else{
try{
if(arv_buffer_get_status(arv_buffer) == ARV_BUFFER_STATUS_SUCCESS){
//BOOST_LOG_SEV(logger, normal) << "Success to grab a frame.";
buffer_data = (char *) arv_buffer_get_data (arv_buffer, &buffer_size);
//Timestamping.
//string acquisitionDate = TimeDate::localDateTime(microsec_clock::universal_time(),"%Y:%m:%d:%H:%M:%S");
//BOOST_LOG_SEV(logger, normal) << "Date : " << acquisitionDate;
boost::posix_time::ptime time = boost::posix_time::microsec_clock::universal_time();
string acquisitionDate = to_iso_extended_string(time);
//BOOST_LOG_SEV(logger, normal) << "Date : " << acqDateInMicrosec;
Mat image;
CamPixFmt imgDepth = MONO8;
int saturateVal = 0;
if(pixFormat == ARV_PIXEL_FORMAT_MONO_8){
//BOOST_LOG_SEV(logger, normal) << "Creating Mat 8 bits ...";
image = Mat(mHeight, mWidth, CV_8UC1, buffer_data);
imgDepth = MONO8;
saturateVal = 255;
}else if(pixFormat == ARV_PIXEL_FORMAT_MONO_12){
//BOOST_LOG_SEV(logger, normal) << "Creating Mat 16 bits ...";
image = Mat(mHeight, mWidth, CV_16UC1, buffer_data);
imgDepth = MONO12;
saturateVal = 4095;
//double t3 = (double)getTickCount();
if(shiftBitsImage){
//BOOST_LOG_SEV(logger, normal) << "Shifting bits ...";
unsigned short * p;
for(int i = 0; i < image.rows; i++){
p = image.ptr<unsigned short>(i);
for(int j = 0; j < image.cols; j++)
p[j] = p[j] >> 4;
}
//BOOST_LOG_SEV(logger, normal) << "Bits shifted.";
}
//t3 = (((double)getTickCount() - t3)/getTickFrequency())*1000;
//cout << "> Time shift : " << t3 << endl;
}
//BOOST_LOG_SEV(logger, normal) << "Creating frame object ...";
newFrame = Frame(image, gain, exp, acquisitionDate);
//BOOST_LOG_SEV(logger, normal) << "Setting date of frame ...";
//newFrame.setAcqDateMicro(acqDateInMicrosec);
//BOOST_LOG_SEV(logger, normal) << "Setting fps of frame ...";
newFrame.mFps = fps;
newFrame.mFormat = imgDepth;
//BOOST_LOG_SEV(logger, normal) << "Setting saturated value of frame ...";
newFrame.mSaturatedValue = saturateVal;
newFrame.mFrameNumber = frameCounter;
frameCounter++;
//BOOST_LOG_SEV(logger, normal) << "Re-pushing arv buffer in stream ...";
arv_stream_push_buffer(stream, arv_buffer);
return true;
}else{
switch(arv_buffer_get_status(arv_buffer)){
