// get the first camera found
void cameraGet(tCamera* camera) {
tPvUint32 count, connected;
tPvCameraInfo list;
count = PvCameraList(&list, 1, &connected);
if (count == 1) {
camera->UID = list.UniqueId;
cout << "got camera " << list.SerialString << endl;
} else
throw "failed to find a camera\n";
}
// get the first camera found
bool CameraGet(tCamera* Camera)
{
tPvUint32 count,connected;
tPvCameraInfo list;
count = PvCameraList(&list,1,&connected);
if(count == 1)
{
Camera->UID = list.UniqueId;
printf("got camera %s\n",list.SerialString);
return true;
}
else
return false;
}
void init()
{
CHECK_ERR( PvInitialize(), "Failed to initialize Prosilica API" );
// Spend up to 1s trying to find a camera. Finding no camera is not
// an error; the user may still be able open one by IP address.
for (int tries = 0; tries < 5; ++tries)
{
cameraNum = PvCameraList(cameraList, MAX_CAMERA_LIST, NULL);
if (cameraNum)
return;
usleep(200000);
}
/// @todo Callbacks for add/remove camera?
}
void ListCameras()
{
tPvCameraInfo cameraList[MAX_CAMERA_LIST];
unsigned long cameraNum = 0;
unsigned long cameraRle;
// first, get list of reachable cameras.
cameraNum = PvCameraList(cameraList,MAX_CAMERA_LIST,NULL);
// keep how many cameras listed are reachable
cameraRle = cameraNum;
// then we append the list of unreachable cameras.
if (cameraNum < MAX_CAMERA_LIST)
{
cameraNum += PvCameraListUnreachable(&cameraList[cameraNum],
MAX_CAMERA_LIST-cameraNum,
NULL);
}
if(cameraNum)
{
// and display them
for(unsigned int i=0;i<cameraNum;i++)
{
if(i < cameraRle)
printf("%s - %7s - Unique ID = %lu\n",cameraList[i].SerialString,
cameraList[i].DisplayName,
cameraList[i].UniqueId);
else
printf("%s - %7s - Unique ID = %lu (*)\n",cameraList[i].SerialString,
cameraList[i].DisplayName,
cameraList[i].UniqueId);
}
if(cameraNum != cameraRle)
printf("(*) camera is not reachable\n");
}
else
printf("sorry, no camera was detected. Is there any plugged?\n");
}
//--------------------------------------------------------------------
void ofxVideoGrabberPvAPI::listDevices(){
// lazy initialization of the Prosilica API
if( !bPvApiInitiated ){
int ret = PvInitialize();
if( ret == ePvErrSuccess ) {
ofLog(OF_LOG_VERBOSE, "PvAPI initialized");
} else {
ofLog(OF_LOG_ERROR, "unable to initialize PvAPI");
return;
}
bPvApiInitiated = true;
}
ofLog(OF_LOG_NOTICE, "-------------------------------------");
// get a camera from the list
tPvUint32 count, connected;
tPvCameraInfo list[maxConcurrentCams];
count = PvCameraList( list, maxConcurrentCams, &connected );
if( connected > maxConcurrentCams ) {
ofLog(OF_LOG_NOTICE, "more cameras connected than will be listed");
}
if(count >= 1) {
ofLog(OF_LOG_NOTICE, "listing available capture devices");
for( int i=0; i<count; ++i) {
ofLog(OF_LOG_NOTICE, "got camera %s - %s - id: %i\n", list[i].DisplayName, list[i].SerialString, list[i].UniqueId);
}
} else {
ofLog(OF_LOG_NOTICE, "no cameras found");
}
ofLog(OF_LOG_NOTICE, "-------------------------------------");
}
// get the first camera found
bool CameraGrab()
{
return PvCameraList(&(GCamera.Info),1,NULL) >= 1;
}
// 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;
}
// 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 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;
}
//--------------------------------------------------------------------
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;
}
void ListCameras()
{
tPvCameraInfo cameraList[MAX_CAMERA_LIST];
unsigned long cameraNum = 0;
unsigned long cameraRle;
while(gStop == false)
{
printf("***********************************\n");
// first, get list of reachable cameras.
cameraNum = PvCameraList(cameraList,MAX_CAMERA_LIST,NULL);
// keep how many cameras listed are reachable
cameraRle = cameraNum;
// then we append the list of unreachable cameras.
if (cameraNum < MAX_CAMERA_LIST)
{
cameraNum += PvCameraListUnreachable(&cameraList[cameraNum],
MAX_CAMERA_LIST-cameraNum,
NULL);
}
if(cameraNum)
{
struct in_addr addr;
tPvIpSettings Conf;
tPvErr lErr;
// display info
for(unsigned long i=0;i<cameraNum;i++)
{
if(i < cameraRle)
{
// get the camera's IP configuration
if((lErr = PvCameraIpSettingsGet(cameraList[i].UniqueId,&Conf)) == ePvErrSuccess)
{
addr.s_addr = Conf.CurrentIpAddress;
printf("%s - %8s - Unique ID = % 8lu IP@ = %15s [%s]\n",cameraList[i].SerialString,
cameraList[i].DisplayName,
cameraList[i].UniqueId,
inet_ntoa(addr),
cameraList[i].PermittedAccess & ePvAccessMaster ? "available" : "in use");
}
else
printf("%s - %8s - Unique ID = % 8lu (unavailable, %u)\n",cameraList[i].SerialString,
cameraList[i].DisplayName,
cameraList[i].UniqueId,lErr);
}
else
printf("%s - %8s - Unique ID = % 8lu (*)\n",cameraList[i].SerialString,
cameraList[i].DisplayName,
cameraList[i].UniqueId);
}
if(cameraNum != cameraRle)
printf("(*) camera is not reachable\n");
}
else
printf("No camera detected ...\n");
fflush(stdout);
Sleep(1500);
}
printf("**************************************\n");
}
