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; }
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; }
void gst_aravis_init_camera (GstAravis *gst_aravis) { if (gst_aravis->camera != NULL) g_object_unref (gst_aravis->camera); gst_aravis->camera = arv_camera_new (gst_aravis->camera_name); gst_aravis->gain = arv_camera_get_gain(gst_aravis->camera); gst_aravis->gain_auto = arv_camera_is_gain_available(gst_aravis->camera); gst_aravis->exposure_time_us = arv_camera_get_exposure_time(gst_aravis->camera); if (arv_camera_get_exposure_time_auto(gst_aravis->camera) == ARV_AUTO_OFF) gst_aravis->exposure_auto = FALSE; else gst_aravis->exposure_auto = TRUE; arv_camera_get_region (gst_aravis->camera, &gst_aravis->offset_x, &gst_aravis->offset_y, NULL, NULL); arv_camera_get_binning (gst_aravis->camera, &gst_aravis->h_binning, &gst_aravis->v_binning); gst_aravis->payload = 0; }
static gboolean gst_aravis_set_caps (GstBaseSrc *src, GstCaps *caps) { GstAravis* gst_aravis = GST_ARAVIS(src); GstStructure *structure; ArvPixelFormat pixel_format; int height, width; int bpp, depth; const GValue *frame_rate; const char *caps_string; unsigned int i; guint32 fourcc; GST_LOG_OBJECT (gst_aravis, "Requested caps = %" GST_PTR_FORMAT, caps); arv_camera_stop_acquisition (gst_aravis->camera); if (gst_aravis->stream != NULL) g_object_unref (gst_aravis->stream); structure = gst_caps_get_structure (caps, 0); gst_structure_get_int (structure, "width", &width); gst_structure_get_int (structure, "height", &height); frame_rate = gst_structure_get_value (structure, "framerate"); gst_structure_get_int (structure, "bpp", &bpp); gst_structure_get_int (structure, "depth", &depth); if (gst_structure_get_field_type (structure, "format") == G_TYPE_STRING) { const char *string; string = gst_structure_get_string (structure, "format"); fourcc = GST_STR_FOURCC (string); } else if (gst_structure_get_field_type (structure, "format") == GST_TYPE_FOURCC) { gst_structure_get_fourcc (structure, "format", &fourcc); } else fourcc = 0; pixel_format = arv_pixel_format_from_gst_0_10_caps (gst_structure_get_name (structure), bpp, depth, fourcc); arv_camera_set_region (gst_aravis->camera, gst_aravis->offset_x, gst_aravis->offset_y, width, height); arv_camera_set_binning (gst_aravis->camera, gst_aravis->h_binning, gst_aravis->v_binning); arv_camera_set_pixel_format (gst_aravis->camera, pixel_format); if (frame_rate != NULL) { double dbl_frame_rate; dbl_frame_rate = (double) gst_value_get_fraction_numerator (frame_rate) / (double) gst_value_get_fraction_denominator (frame_rate); GST_DEBUG_OBJECT (gst_aravis, "Frame rate = %g Hz", dbl_frame_rate); arv_camera_set_frame_rate (gst_aravis->camera, dbl_frame_rate); if (dbl_frame_rate > 0.0) gst_aravis->buffer_timeout_us = MAX (GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT, 3e6 / dbl_frame_rate); else gst_aravis->buffer_timeout_us = GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT; } else gst_aravis->buffer_timeout_us = GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT; GST_DEBUG_OBJECT (gst_aravis, "Buffer timeout = %" G_GUINT64_FORMAT " µs", gst_aravis->buffer_timeout_us); GST_DEBUG_OBJECT (gst_aravis, "Actual frame rate = %g Hz", arv_camera_get_frame_rate (gst_aravis->camera)); if(gst_aravis->gain_auto) { arv_camera_set_gain_auto (gst_aravis->camera, ARV_AUTO_CONTINUOUS); GST_DEBUG_OBJECT (gst_aravis, "Auto Gain = continuous"); } else { if (gst_aravis->gain >= 0) { GST_DEBUG_OBJECT (gst_aravis, "Gain = %g", gst_aravis->gain); arv_camera_set_gain_auto (gst_aravis->camera, ARV_AUTO_OFF); arv_camera_set_gain (gst_aravis->camera, gst_aravis->gain); } GST_DEBUG_OBJECT (gst_aravis, "Actual gain = %g", arv_camera_get_gain (gst_aravis->camera)); } if(gst_aravis->exposure_auto) { arv_camera_set_exposure_time_auto (gst_aravis->camera, ARV_AUTO_CONTINUOUS); GST_DEBUG_OBJECT (gst_aravis, "Auto Exposure = continuous"); } else { if (gst_aravis->exposure_time_us > 0.0) { GST_DEBUG_OBJECT (gst_aravis, "Exposure = %g µs", gst_aravis->exposure_time_us); arv_camera_set_exposure_time_auto (gst_aravis->camera, ARV_AUTO_OFF); arv_camera_set_exposure_time (gst_aravis->camera, gst_aravis->exposure_time_us); } GST_DEBUG_OBJECT (gst_aravis, "Actual exposure = %g µs", arv_camera_get_exposure_time (gst_aravis->camera)); } if (gst_aravis->fixed_caps != NULL) gst_caps_unref (gst_aravis->fixed_caps); caps_string = arv_pixel_format_to_gst_0_10_caps_string (pixel_format); if (caps_string != NULL) { GstStructure *structure; GstCaps *caps; caps = gst_caps_new_empty (); structure = gst_structure_from_string (caps_string, NULL); gst_structure_set (structure, "width", G_TYPE_INT, width, "height", G_TYPE_INT, height, NULL); if (frame_rate != NULL) gst_structure_set_value (structure, "framerate", frame_rate); gst_caps_append_structure (caps, structure); gst_aravis->fixed_caps = caps; } else gst_aravis->fixed_caps = NULL; gst_aravis->payload = arv_camera_get_payload (gst_aravis->camera); gst_aravis->stream = arv_camera_create_stream (gst_aravis->camera, NULL, NULL); if (ARV_IS_GV_STREAM (gst_aravis->stream) && gst_aravis->packet_resend) g_object_set (gst_aravis->stream, "packet-resend", ARV_GV_STREAM_PACKET_RESEND_ALWAYS, NULL); else g_object_set (gst_aravis->stream, "packet-resend", ARV_GV_STREAM_PACKET_RESEND_NEVER, NULL); for (i = 0; i < GST_ARAVIS_N_BUFFERS; i++) arv_stream_push_buffer (gst_aravis->stream, arv_buffer_new (gst_aravis->payload, NULL)); GST_LOG_OBJECT (gst_aravis, "Start acquisition"); arv_camera_start_acquisition (gst_aravis->camera); gst_aravis->timestamp_offset = 0; gst_aravis->last_timestamp = 0; return TRUE; }
bool CvCaptureCAM_Aravis::setProperty( int property_id, double value ) { switch(property_id) { case CV_CAP_PROP_AUTO_EXPOSURE: if(exposureAvailable || gainAvailable) { if( (controlExposure = (bool)(int)value) ) { exposure = exposureAvailable ? arv_camera_get_exposure_time(camera) : 0; gain = gainAvailable ? arv_camera_get_gain(camera) : 0; } } break; case CV_CAP_PROP_BRIGHTNESS: exposureCompensation = CLIP(value, -3., 3.); break; case CV_CAP_PROP_EXPOSURE: if(exposureAvailable) { /* exposure time in seconds, like 1/100 s */ value *= 1e6; // -> from s to us arv_camera_set_exposure_time(camera, exposure = CLIP(value, exposureMin, exposureMax)); break; } else return false; case CV_CAP_PROP_FPS: if(fpsAvailable) { arv_camera_set_frame_rate(camera, fps = CLIP(value, fpsMin, fpsMax)); break; } else return false; case CV_CAP_PROP_GAIN: if(gainAvailable) { if ( (autoGain = (-1 == value) ) ) break; arv_camera_set_gain(camera, gain = CLIP(value, gainMin, gainMax)); break; } else return false; case CV_CAP_PROP_FOURCC: { ArvPixelFormat newFormat = pixelFormat; switch((int)value) { case MODE_GREY: case MODE_Y800: newFormat = ARV_PIXEL_FORMAT_MONO_8; targetGrey = 128; break; case MODE_Y12: newFormat = ARV_PIXEL_FORMAT_MONO_12; targetGrey = 2048; break; case MODE_Y16: newFormat = ARV_PIXEL_FORMAT_MONO_16; targetGrey = 32768; break; case MODE_GRBG: newFormat = ARV_PIXEL_FORMAT_BAYER_GR_8; targetGrey = 128; break; } if(newFormat != pixelFormat) { stopCapture(); arv_camera_set_pixel_format(camera, pixelFormat = newFormat); startCapture(); } } break; case CV_CAP_PROP_BUFFERSIZE: { int x = (int)value; if((x > 0) && (x != num_buffers)) { stopCapture(); num_buffers = x; startCapture(); } } break; default: return false; } return true; }
static gboolean gst_aravis_set_caps (GstBaseSrc *src, GstCaps *caps) { GstAravis* gst_aravis = GST_ARAVIS(src); GstStructure *structure; ArvPixelFormat pixel_format; int height, width; int bpp, depth; const GValue *frame_rate; const char *caps_string; unsigned int i; guint32 fourcc; GST_LOG_OBJECT (gst_aravis, "Requested caps = %" GST_PTR_FORMAT, caps); arv_camera_stop_acquisition (gst_aravis->camera); if (gst_aravis->stream != NULL) g_object_unref (gst_aravis->stream); structure = gst_caps_get_structure (caps, 0); gst_structure_get_int (structure, "width", &width); gst_structure_get_int (structure, "height", &height); frame_rate = gst_structure_get_value (structure, "framerate"); gst_structure_get_fourcc (structure, "format", &fourcc); gst_structure_get_int (structure, "bpp", &bpp); gst_structure_get_int (structure, "depth", &depth); pixel_format = arv_pixel_format_from_gst_caps (gst_structure_get_name (structure), bpp, depth, fourcc); arv_camera_set_region (gst_aravis->camera, 0, 0, width, height); arv_camera_set_binning (gst_aravis->camera, gst_aravis->h_binning, gst_aravis->v_binning); arv_camera_set_pixel_format (gst_aravis->camera, pixel_format); if (frame_rate != NULL) { double dbl_frame_rate; dbl_frame_rate = (double) gst_value_get_fraction_numerator (frame_rate) / (double) gst_value_get_fraction_denominator (frame_rate); GST_DEBUG_OBJECT (gst_aravis, "Frame rate = %g Hz", dbl_frame_rate); arv_camera_set_frame_rate (gst_aravis->camera, dbl_frame_rate); if (dbl_frame_rate > 0.0) gst_aravis->buffer_timeout_us = MAX (GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT, 3e6 / dbl_frame_rate); else gst_aravis->buffer_timeout_us = GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT; } else gst_aravis->buffer_timeout_us = GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT; GST_DEBUG_OBJECT (gst_aravis, "Buffer timeout = %Ld µs", gst_aravis->buffer_timeout_us); GST_DEBUG_OBJECT (gst_aravis, "Actual frame rate = %g Hz", arv_camera_get_frame_rate (gst_aravis->camera)); GST_DEBUG_OBJECT (gst_aravis, "Gain = %d", gst_aravis->gain); arv_camera_set_gain (gst_aravis->camera, gst_aravis->gain); GST_DEBUG_OBJECT (gst_aravis, "Actual gain = %d", arv_camera_get_gain (gst_aravis->camera)); GST_DEBUG_OBJECT (gst_aravis, "Exposure = %g µs", gst_aravis->exposure_time_us); arv_camera_set_exposure_time (gst_aravis->camera, gst_aravis->exposure_time_us); GST_DEBUG_OBJECT (gst_aravis, "Actual exposure = %g µs", arv_camera_get_exposure_time (gst_aravis->camera)); if (gst_aravis->fixed_caps != NULL) gst_caps_unref (gst_aravis->fixed_caps); caps_string = arv_pixel_format_to_gst_caps_string (pixel_format); if (caps_string != NULL) { GstStructure *structure; GstCaps *caps; caps = gst_caps_new_empty (); structure = gst_structure_from_string (caps_string, NULL); gst_structure_set (structure, "width", G_TYPE_INT, width, "height", G_TYPE_INT, height, NULL); if (frame_rate != NULL) gst_structure_set_value (structure, "framerate", frame_rate); gst_caps_append_structure (caps, structure); gst_aravis->fixed_caps = caps; } else gst_aravis->fixed_caps = NULL; gst_aravis->payload = arv_camera_get_payload (gst_aravis->camera); gst_aravis->stream = arv_camera_create_stream (gst_aravis->camera, NULL, NULL); for (i = 0; i < GST_ARAVIS_N_BUFFERS; i++) arv_stream_push_buffer (gst_aravis->stream, arv_buffer_new (gst_aravis->payload, NULL)); GST_LOG_OBJECT (gst_aravis, "Start acquisition"); arv_camera_start_acquisition (gst_aravis->camera); gst_aravis->timestamp_offset = 0; gst_aravis->last_timestamp = 0; return TRUE; }
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; }