bool PleoraVideo::GrabNewest( unsigned char* image, bool wait )
{
PvBuffer *lBuffer0 = NULL;
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
const uint32_t timeout = wait ? 0xFFFFFFFF : 0;
PvResult lResult = lStream->RetrieveBuffer( &lBuffer, &lOperationResult, timeout );
if ( !lResult.IsOK() ) {
pango_print_warn("Pleora error: %s\n", lResult.GetCodeString().GetAscii() );
return false;
}else if( !lOperationResult.IsOK() ) {
pango_print_warn("Pleora error: %s\n", lOperationResult.GetCodeString().GetAscii() );
lStream->QueueBuffer( lBuffer );
return false;
}
// We have at least one frame. Capture more until we fail, 0 timeout
while(true) {
PvResult lResult = lStream->RetrieveBuffer( &lBuffer0, &lOperationResult, 0 );
if ( !lResult.IsOK() ) {
break;
}else if( !lOperationResult.IsOK() ) {
lStream->QueueBuffer( lBuffer0 );
break;
}else{
lStream->QueueBuffer( lBuffer );
lBuffer = lBuffer0;
}
}
bool good = false;
PvPayloadType lType = lBuffer->GetPayloadType();
if ( lType == PvPayloadTypeImage )
{
PvImage *lImage = lBuffer->GetImage();
std::memcpy(image, lImage->GetDataPointer(), size_bytes);
good = true;
}
lStream->QueueBuffer( lBuffer );
return good;
}
void MLTCam::WaitForExecution()
{
qDebug() << "MLTCam::Wait for execution...";
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
// Retrieve next buffer
PvResult lResult = lStream->RetrieveBuffer( &lBuffer, &lOperationResult, 1000 );
if ( lResult.IsOK() )
{
if ( lOperationResult.IsOK() )
{
qDebug() << "MLTCam::Get image complete";
PvImage *lImage2 = lBuffer->GetImage();
ushort * tdata = (ushort*)lImage2->GetDataPointer();
memcpy(data, tdata, IMAGE_WIDTH*IMAGE_HEIGHT*2);
timer->stop();
delete timer;
emit GetDataComplete(data);
lDevice->StreamDisable();
}
// Re-queue the buffer in the stream object
lStream->QueueBuffer( lBuffer );
}
}
bool PleoraVideo::GrabNext( unsigned char* image, bool /*wait*/ )
{
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
// Retrieve next buffer
PvResult lResult = lStream->RetrieveBuffer( &lBuffer, &lOperationResult, 1000 );
if ( !lResult.IsOK() ) {
pango_print_warn("Pleora error: %s\n", lResult.GetCodeString().GetAscii() );
return false;
}
bool good = false;
if ( lOperationResult.IsOK() )
{
PvPayloadType lType = lBuffer->GetPayloadType();
if ( lType == PvPayloadTypeImage )
{
PvImage *lImage = lBuffer->GetImage();
std::memcpy(image, lImage->GetDataPointer(), size_bytes);
good = true;
}
} else {
pango_print_warn("Pleora error: %s\n", lOperationResult.GetCodeString().GetAscii() );
}
lStream->QueueBuffer( lBuffer );
return good;
}
int ImperxStream::Snap(cv::Mat &frame, int timeout)
{
// std::cout << "ImperxStream::Snap starting" << std::endl;
// The pipeline is already "armed", we just have to tell the device
// to start sending us images
lDeviceParams->ExecuteCommand( "AcquisitionStart" );
int lWidth, lHeight, result = 0;
// Retrieve next buffer
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
PvResult lResult = lPipeline.RetrieveNextBuffer( &lBuffer, timeout, &lOperationResult );
if ( lResult.IsOK() )
{
if ( lOperationResult.IsOK() )
{
// Process Buffer
if ( lBuffer->GetPayloadType() == PvPayloadTypeImage )
{
// std::cout << "ImperxStream::Snap Copying frame" << std::endl;
// Get image specific buffer interface
PvImage *lImage = lBuffer->GetImage();
// Read width, height
lWidth = (int) lImage->GetWidth();
lHeight = (int) lImage->GetHeight();
unsigned char *img = lImage->GetDataPointer();
cv::Mat lframe(lHeight,lWidth,CV_8UC1,img, cv::Mat::AUTO_STEP);
lframe.copyTo(frame);
result = 0;
}
else
{
std::cout << "ImperxStream::Snap No image in buffer" << std::endl;
result = 1;
}
}
else
{
std::cout << "ImperxStream::Snap Operation result: " << lOperationResult << std::endl;
result = 1;;
}
// We have an image - do some processing (...) and VERY IMPORTANT,
// release the buffer back to the pipeline
}
else
{
std::cout << "ImperxStream::Snap Timeout: " << lResult << std::endl;
result = 1;
}
lPipeline.ReleaseBuffer( lBuffer );
// std::cout << "ImperxStream::Snap Exiting" << std::endl;
return result;
}
void ImperxStream::Stream(unsigned char *frame, Semaphore &frame_semaphore, Flag &stream_flag)
{
// The pipeline is already "armed", we just have to tell the device
// to start sending us images
printf( "Sending StartAcquisition command to device\n" );
lDeviceParams->ExecuteCommand( "AcquisitionStart" );
char lDoodle[] = "|\\-|-/";
int lDoodleIndex = 0;
PvInt64 lImageCountVal = 0;
double lFrameRateVal = 0.0;
double lBandwidthVal = 0.0;
// Acquire images until the user instructs us to stop
printf( "\n<press a key to stop streaming>\n" );
while ( stream_flag.check() )
{
std::cout << "here\n";
// Retrieve next buffer
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
PvResult lResult = lPipeline.RetrieveNextBuffer( &lBuffer, 1000, &lOperationResult );
if ( lResult.IsOK() )
{
if ( lOperationResult.IsOK() )
{
// Process Buffer
lStreamParams->GetIntegerValue( "ImagesCount", lImageCountVal );
lStreamParams->GetFloatValue( "AcquisitionRateAverage", lFrameRateVal );
lStreamParams->GetFloatValue( "BandwidthAverage", lBandwidthVal );
// If the buffer contains an image, display width and height
PvUInt32 lWidth = 0, lHeight = 0;
if ( lBuffer->GetPayloadType() == PvPayloadTypeImage )
{
// Get image specific buffer interface
PvImage *lImage = lBuffer->GetImage();
// Read width, height
lWidth = lBuffer->GetImage()->GetWidth();
lHeight = lBuffer->GetImage()->GetHeight();
stream_flag.raise();
}
std::cout << lWidth << " " << lHeight << "\n";
}
// We have an image - do some processing (...) and VERY IMPORTANT,
// release the buffer back to the pipeline
//semaphore thing
//get all in there.
//a semaphore thing
lPipeline.ReleaseBuffer( lBuffer );
}
else
{
// Timeout
printf( "%c Timeout\r", lDoodle[ lDoodleIndex ] );
}
++lDoodleIndex %= 6;
}
}
void ImperxStream::Snap(cv::Mat &frame)
{
// The pipeline is already "armed", we just have to tell the device
// to start sending us images
printf( "Sending StartAcquisition command to device\n" );
lDeviceParams->ExecuteCommand( "AcquisitionStart" );
char lDoodle[] = "|\\-|-/";
int lDoodleIndex = 0;
PvInt64 lImageCountVal = 0;
double lFrameRateVal = 0.0;
double lBandwidthVal = 0.0;
std::cout << "here\n";
// Retrieve next buffer
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
PvResult lResult = lPipeline.RetrieveNextBuffer( &lBuffer, 1000, &lOperationResult );
if ( lResult.IsOK() )
{
if ( lOperationResult.IsOK() )
{
// Process Buffer
lStreamParams->GetIntegerValue( "ImagesCount", lImageCountVal );
lStreamParams->GetFloatValue( "AcquisitionRateAverage", lFrameRateVal );
lStreamParams->GetFloatValue( "BandwidthAverage", lBandwidthVal );
// If the buffer contains an image, display width and height
int lWidth = 0, lHeight = 0;
if ( lBuffer->GetPayloadType() == PvPayloadTypeImage )
{
// Get image specific buffer interface
PvImage *lImage = lBuffer->GetImage();
// Read width, height
lWidth = (int) lImage->GetWidth();
lHeight = (int) lImage->GetHeight();
unsigned char *img = lImage->GetDataPointer();
// cv::Mat lframe(lHeight,lWidth,CV_8UC1,img, cv::Mat::AUTO_STEP);
// lframe.copyTo(frame);
for (int m = 0; m < lHeight; m++)
{
for (int n = 0; n < lWidth; n++)
{
frame.at<unsigned char>(m,n) = img[m*lWidth + n];
// std::cout << (short int) img[n*lHeight +m] << " ";
}
}
}
else
{
std::cout << "No image\n";
}
std::cout << lWidth << " " << lHeight << "\n";
}
else
{
std::cout << "Damaged Result\n";
}
// We have an image - do some processing (...) and VERY IMPORTANT,
// release the buffer back to the pipeline
//semaphore thing
//get all in there.
//a semaphore thing
lPipeline.ReleaseBuffer( lBuffer );
}
else
{
std::cout << "Timeout\n";
}
++lDoodleIndex %= 6;
}
bool StartSlave()
{
// Let the user select the device to receive from
PvString lDeviceIP;
if ( !SelectDevice( lDeviceIP ) )
{
return false;
}
// Create the PvStream object
PvStream lStream;
// Create the PvPipeline object
PvPipeline lPipeline( &lStream );
// Create a PvPipeline event sink (used to trap buffer too small events)
PipelineEventSink lPipelineEventSink;
lPipeline.RegisterEventSink( &lPipelineEventSink );
// Open stream
printf( "Opening stream\n" );
lStream.Open( lDeviceIP, "239.192.1.1", 1042 );
// IMPORTANT: the pipeline needs to be "armed", or started before
// we instruct the device to send us images
printf( "Starting pipeline\n" );
lPipeline.SetBufferCount( 16 );
lPipeline.Start();
// Get stream parameters/stats
PvGenParameterArray *lStreamParams = lStream.GetParameters();
PvGenInteger *lCount = dynamic_cast<PvGenInteger *>( lStreamParams->Get( "ImagesCount" ) );
PvGenFloat *lFrameRate = dynamic_cast<PvGenFloat *>( lStreamParams->Get( "AcquisitionRateAverage" ) );
PvGenFloat *lBandwidth = dynamic_cast<PvGenFloat *>( lStreamParams->Get( "BandwidthAverage" ) );
PvGenBoolean *lIgnoreMissingPackets = dynamic_cast<PvGenBoolean *>( lStreamParams->Get( "IgnoreMissingPackets" ) );
// Disabling resend packets
lIgnoreMissingPackets->SetValue( true );
char lDoodle[] = "|\\-|-/";
int lDoodleIndex = 0;
PvInt64 lImageCountVal = 0;
double lFrameRateVal = 0.0;
double lBandwidthVal = 0.0;
// Acquire images until the user instructs us to stop
printf( "\n<press a key to stop receiving>\n" );
while ( !PvKbHit() )
{
// Retrieve next buffer
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
PvResult lResult = lPipeline.RetrieveNextBuffer( &lBuffer, 1000, &lOperationResult );
if ( lResult.IsOK() )
{
if (lOperationResult.IsOK())
{
//
// We now have a valid buffer. This is where you would typically process the buffer.
// -----------------------------------------------------------------------------------------
// ...
lCount->GetValue( lImageCountVal );
lFrameRate->GetValue( lFrameRateVal );
lBandwidth->GetValue( lBandwidthVal );
// If the buffer contains an image, display width and height
PvUInt32 lWidth = 0, lHeight = 0;
if ( lBuffer->GetPayloadType() == PvPayloadTypeImage )
{
// Get image specific buffer interface
PvImage *lImage = lBuffer->GetImage();
// Read width, height
lWidth = lBuffer->GetImage()->GetWidth();
lHeight = lBuffer->GetImage()->GetHeight();
}
printf( "%c BlockID: %016llX W: %i H: %i %.01f FPS %.01f Mb/s\r",
lDoodle[ lDoodleIndex ],
lBuffer->GetBlockID(),
lWidth,
lHeight,
lFrameRateVal,
lBandwidthVal / 1000000.0 );
}
// We have an image - do some processing (...) and VERY IMPORTANT,
// release the buffer back to the pipeline
lPipeline.ReleaseBuffer( lBuffer );
}
else
{
// Timeout
printf( "%c Timeout\r", lDoodle[ lDoodleIndex ] );
}
++lDoodleIndex %= 6;
}
PvGetChar(); // Flush key buffer for next stop
printf( "\n\n" );
// We stop the pipeline - letting the object lapse out of
// scope would have had the destructor do the same, but we do it anyway
printf( "Stop pipeline\n" );
lPipeline.Stop();
// Now close the stream. Also optionnal but nice to have
printf( "Closing stream\n" );
lStream.Close();
// Unregister pipeline event sink. Optional but nice to have.
lPipeline.UnregisterEventSink( &lPipelineEventSink );
return true;
}
int main( int aCount, const char ** aArgs )
{
// Creates default configuration, parse command line parameters.
Config lConfig;
lConfig.ParseCommandLine( aCount, aArgs );
const std::string lVideoFile = lConfig.GetVideoFile();
cout << "Video file: " << lVideoFile << endl;
// Open the video source.
VideoSource lSource( lVideoFile );
lSource.OpenVideoFile();
// Get video source properties.
PvUInt32 lWidth = lSource.GetWidth();
PvUInt32 lHeight = lSource.GetHeight();
PvPixelType lPixelFormat = PvPixelBGR8;
PvUInt32 lBitsPerPixel = PvGetPixelBitCount( lPixelFormat );
PvUInt32 lSize = ( lWidth * lHeight * lBitsPerPixel ) / 8;
// Allocate transmit buffers.
PvBufferList lBuffers;
PvBufferList lFreeBuffers;
for ( PvUInt32 i = 0; i < lConfig.GetBufferCount(); i++ )
{
// Create, allocate buffer.
PvBuffer *lBuffer = new PvBuffer();
lBuffer->GetImage()->Alloc( lWidth, lHeight, lPixelFormat );
// Add to both buffer and free buffer list.
lBuffers.push_back( lBuffer );
lFreeBuffers.push_back( lBuffer );
}
// Create transmitter, set packet size.
PvTransmitterRaw lTransmitter;
lTransmitter.SetPacketSize( lConfig.GetPacketSize() );
// Create virtual device (used for discovery).
PvVirtualDevice lDevice;
lDevice.StartListening( lConfig.GetSourceAddress() );
cout << "Listening for device discovery requests on " << lConfig.GetSourceAddress() << endl;
// Open transmitter - sets destination and source.
PvResult lResult = lTransmitter.Open(
lConfig.GetDestinationAddress(), lConfig.GetDestinationPort(),
lConfig.GetSourceAddress(), lConfig.GetSourcePort() );
if ( !lResult.IsOK() )
{
cout << "Failed to open a connection to the transmitter." << endl;
return 1;
}
cout << "Transmission stream opened:" << endl;
cout << "Source: " << lTransmitter.GetSourceIPAddress().GetAscii() << " port " << lTransmitter.GetSourcePort() << endl;
cout << "Destination: " << lConfig.GetDestinationAddress() << " port " << lConfig.GetDestinationPort() << endl;
if ( !lConfig.GetSilent() )
{
cout << "Press any key to begin transmitting.\r";
PvWaitForKeyPress();
}
cout << "Press any key to stop transmitting." << endl;
// Set maximum throughput (just to even out traffic, as we control throughput at the source).
if ( lConfig.GetFPS() != 0 )
{
// Multiply image size (in bits) by FPS.
float lMax = static_cast<float>( lSize ) * 8;
lMax *= lConfig.GetFPS();
// Since we control throughput at the source, make sure maximum throughput is slightly
// higher than what we need. We want to even out packet traffic, not slow down source frame rate.
lMax *= 1.1f;
// Set max throughput.
lTransmitter.SetMaxPayloadThroughput( lMax );
}
char lDoodle[] = "|\\-|-/";
int lDoodleIndex = 0;
// Reset transmitter stats.
lTransmitter.ResetStats();
// Used to transmit at a steady frame rate.
PvFPSStabilizer lStabilizer;
// Acquisition/transmission loop.
while( !PvKbHit() )
{
// Step 1: If timing is right to meet desired FPS, get the next image from the source and queue the buffer for transmission.
if ( ( lConfig.GetFPS() == 0 ) || lStabilizer.IsTimeToDisplay( (PvUInt32)lConfig.GetFPS() ) )
{
// Are there buffers available for transmission?
if ( lFreeBuffers.size() > 0 )
{
// Retrieve buffer from list.
PvBuffer *lBuffer = lFreeBuffers.front();
lFreeBuffers.pop_front();
// Copy a new video frame into the buffer.
if ( lSource.CopyImage( lBuffer ) )
{
// Queue the buffer for transmission.
lTransmitter.QueueBuffer( lBuffer );
}
else
{
// No video frame, just put the buffer back in free buffers
lFreeBuffers.push_front( lBuffer );
}
}
}
// Step 2: Retrieve free buffer(s), display stats and requeue.
PvBuffer *lBuffer = NULL;
while ( lTransmitter.RetrieveFreeBuffer( &lBuffer, 0 ).IsOK() )
{
// Queue buffers back in available buffer list.
lFreeBuffers.push_back( lBuffer );
// Buffer transmission complete, dislay stats.
cout << fixed << setprecision( 1 );
cout << lDoodle[ lDoodleIndex ] << " ";
cout << "Transmitted " << lTransmitter.GetBlocksTransmitted() << " blocks ";
cout << "at " << lTransmitter.GetAverageTransmissionRate() << " ";
cout << "(" << lTransmitter.GetInstantaneousTransmissionRate() << ") FPS ";
cout << lTransmitter.GetAveragePayloadThroughput() / 1000000.0f << " ";
cout << "(" << lTransmitter.GetInstantaneousPayloadThroughput() / 1000000.0f << ") Mb/s \r";
++lDoodleIndex %= 6;
}
}
// Close transmitter (will abort queued buffers).
lTransmitter.Close();
// Free buffers array, buffers.
PvBufferList::iterator lIt = lBuffers.begin();
while ( lIt != lBuffers.end() )
{
delete ( *lIt );
lIt++;
}
// Stop virtual device.
lDevice.StopListening();
}
bool AcquireImages()
{
PvResult lResult;
PvDeviceInfo *lDeviceInfo = NULL;
PvSystem lSystem;
PvStream lStream;
lSystem.SetDetectionTimeout( 20000 );
lResult = lSystem.Find();
if( !lResult.IsOK() )
{
cout << "PvSystem::Find Error: " << lResult.GetCodeString().GetAscii();
return -1;
}
PvUInt32 lInterfaceCount = lSystem.GetInterfaceCount();
for( PvUInt32 x = 0; x < lInterfaceCount; x++ )
{
PvInterface * lInterface = lSystem.GetInterface( x );
cout << "Ethernet Interface " << endl;
cout << "IP Address: " << lInterface->GetIPAddress().GetAscii() << endl;
cout << "Subnet Mask: " << lInterface->GetSubnetMask().GetAscii() << endl << endl;
PvUInt32 lDeviceCount = lInterface->GetDeviceCount();
for( PvUInt32 y = 0; y < lDeviceCount ; y++ )
{
lDeviceInfo = lInterface->GetDeviceInfo( y );
cout << "ThermoCam " << endl;
cout << "IP Address: " << lDeviceInfo->GetIPAddress().GetAscii() << endl;
}
}
if( lDeviceInfo != NULL )
{
cout << "Connecting to " << lDeviceInfo->GetIPAddress().GetAscii() << endl;
PvDevice lDevice;
lResult = lDevice.Connect( lDeviceInfo );
if ( !lResult.IsOK() )
{
cout << "Unable to connect to " << lDeviceInfo->GetIPAddress().GetAscii() << endl;
}
else
{
cout << "Successfully connected to " << lDeviceInfo->GetIPAddress().GetAscii() << endl;
lResult = lDevice.NegotiatePacketSize( );
if ( !lResult.IsOK() )
{
cout << endl;
cout << " Failed to negotiate a packet size setting GevSCPSPacketSize to original value";
PvSleepMs( 2500 );
}
cout << endl;
cout << "3. Open stream......";
lResult = lStream.Open( lDeviceInfo->GetIPAddress() );
if ( !lResult.IsOK() )
{
cout << endl;
cout << " Failed to open stream";
return 0;
}
lDevice.SetStreamDestination( lStream.GetLocalIPAddress(), lStream.GetLocalPort() );
PvInt64 lPayloadSize;
lDevice.GetGenParameters()->GetIntegerValue( "PayloadSize", lPayloadSize );
PvBuffer * lBuffer = new PvBuffer();
lBuffer->Alloc( static_cast<PvUInt32>( lPayloadSize ) );
PvBuffer *lPtr = NULL;
PvImage *lImage = NULL;
cout << endl;
cout << "5. Grab one image" << endl;
lStream.QueueBuffer( lBuffer );
lDevice.GetGenParameters()->SetIntegerValue( "TLParamsLocked", 1 );
lDevice.GetGenParameters()->ExecuteCommand( "AcquisitionStart" );
PvResult lStreamResult;
lResult = lStream.RetrieveBuffer( &lPtr, &lStreamResult, 10000 );
lDevice.GetGenParameters()->ExecuteCommand( "AcquisitionStop" );
lDevice.GetGenParameters()->SetIntegerValue( "TLParamsLocked", 0 );
PvInt64 lWidth = 0, lHeight = 0;
PvGenParameterArray *lDeviceParams = lDevice.GetGenParameters();
lDeviceParams->GetIntegerValue( "Width", lWidth);
lDeviceParams->GetIntegerValue( "Height", lHeight);
cvNamedWindow("OpenCV: ThermoCam",CV_WINDOW_NORMAL);
cv::Mat raw_lImage(cv::Size(lWidth,lHeight),CV_8U);
if ( lResult.IsOK() )
{
if ( lStreamResult.IsOK() )
{
cout << endl;
cout << "6. Using RGB Filter";
lImage=lPtr->GetImage();
lPtr->GetImage()->Alloc(lImage->GetWidth(),lImage->GetHeight(),PvPixelMono8);
cout << " a. Save the original image into ImageOriginal.bmp";
PvBufferWriter lBufferWriter;
lBufferWriter.Store(lPtr,"ThermoCam.bmp",PvBufferFormatBMP);
}
lImage->Attach(raw_lImage.data,lImage->GetWidth(),lImage->GetHeight(),PvPixelMono8);
//cv::imshow("OpenCV: ThermoCam",raw_lImage);
cv::FileStorage fs("ThermoCam.xml",cv::FileStorage::WRITE);
fs << "raw_lImage" << raw_lImage;
fs.release();
//if(cv::waitKey(1000) >= 0) break;
lPtr->Free();
}
lBuffer->Free();
lDevice.ResetStreamDestination();
lStream.Close();
lDevice.Disconnect();
return true;
}
}
else
{
cout << "No device found" << endl;
}
return 0;
}