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 );
}
}
void MLTCam::CreateStreamBuffers( PvDevice *aDevice, PvStream *aStream, BufferList *aBufferList )
{
// Reading payload size from device
uint32_t lSize = aDevice->GetPayloadSize();
// Use BUFFER_COUNT or the maximum number of buffers, whichever is smaller
uint32_t lBufferCount = ( aStream->GetQueuedBufferMaximum() < BUFFER_COUNT ) ?
aStream->GetQueuedBufferMaximum() :
BUFFER_COUNT;
// Allocate buffers
for ( uint32_t i = 0; i < lBufferCount; i++ )
{
// Create new buffer object
PvBuffer *lBuffer = new PvBuffer;
// Have the new buffer object allocate payload memory
lBuffer->Alloc( static_cast<uint32_t>( lSize ) );
// Add to external list - used to eventually release the buffers
aBufferList->push_back( lBuffer );
}
// Queue all buffers in the stream
BufferList::iterator lIt = aBufferList->begin();
while ( lIt != aBufferList->end() )
{
aStream->QueueBuffer( *lIt );
lIt++;
}
}
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 PleoraVideo::InitBuffers(size_t buffer_count)
{
// Reading payload size from device
const uint32_t lSize = lDevice->GetPayloadSize();
// Use buffer_count or the maximum number of buffers, whichever is smaller
const uint32_t lBufferCount = ( lStream->GetQueuedBufferMaximum() < buffer_count ) ?
lStream->GetQueuedBufferMaximum() :
buffer_count;
// Allocate buffers and queue
for( uint32_t i = 0; i < lBufferCount; i++ ) {
PvBuffer *lBuffer = new PvBuffer;
lBuffer->Alloc( static_cast<uint32_t>( lSize ) );
lBufferList.push_back( lBuffer );
}
}
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 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;
}
int main( int aCount, const char ** aArgs )
{
char lDeviceAddress[1024];
char lMulticastAddress[1024];
char lLocalAddress[1024];
memset( lLocalAddress, 0, 1024 );
sprintf( lMulticastAddress, "239.192.1.1" );
memset( lDeviceAddress, 0, 1024 );
bool lPassive = true;
PvUInt32 lChannel = 0;
PvUInt16 lHostPort = 1042;
PvResult lResult;
for ( int i=1; i<aCount; i++ )
{
std::string lString = aArgs[i];
if ( lString.find( "--hostport" ) != std::string::npos )
{
sscanf( aArgs[i], "--hostport=%d", &lHostPort );
}
else if ( lString.find( "--localaddress" ) != std::string::npos )
{
sscanf( aArgs[i], "--localaddress=%s", lLocalAddress );
}
else if ( lString.find( "--multicastaddress" ) != std::string::npos )
{
sscanf( aArgs[i], "--multicastaddress=%s", lMulticastAddress );
}
else if ( lString.find( "--deviceaddress" ) != std::string::npos )
{
sscanf( aArgs[i], "--deviceaddress=%s", lDeviceAddress );
}
else if ( lString.find( "--unicast" ) != std::string::npos )
{
memset( lMulticastAddress, 0, 1024 );
}
else if ( lString.find( "--connectdevice" ) != std::string::npos )
{
lPassive = false;
}
else if ( lString.find( "--channel" ) != std::string::npos )
{
sscanf( aArgs[i], "--channel=%d", &lChannel );
}
else if ( lString.find( "--help" ) != std::string::npos )
{
PrintHelp();
return 0;
}
else
{
printf( "Did not recognize argument %s\n", aArgs[i] );
PrintHelp();
return 1;
}
}
if ( strlen( lDeviceAddress ) == 0 )
{
// No device address specified. Prompt with the device finder.
PvDeviceFinderWnd lWnd;
if ( !lWnd.ShowModal().IsOK() )
{
printf( "No GEV device selected.\n" );
return 1;
}
PvDeviceInfo* lInfo = lWnd.GetSelected();
sprintf( lDeviceAddress, "%s", lInfo->GetIPAddress().GetAscii() );
}
PvStream lStream;
if ( strlen( lMulticastAddress ) == 0 )
{
lResult = lStream.Open( lDeviceAddress, lHostPort, lChannel, lLocalAddress );
printf( "Receiving from device %s on interface %s:%d\n",
lDeviceAddress, lStream.GetLocalIPAddress().GetAscii(), lStream.GetLocalPort() );
}
else
{
lResult = lStream.Open( lDeviceAddress, lMulticastAddress, lHostPort, lChannel, lLocalAddress );
printf( "Receiving from multicast address %s:%d (device %s) on interface %s:%d\n",
lMulticastAddress, lHostPort, lDeviceAddress, lStream.GetLocalIPAddress().GetAscii(), lStream.GetLocalPort() );
}
if ( !lResult.IsOK() )
{
printf( "Failed opening the incoming stream: %s\n", lResult.GetDescription().GetAscii() );
return 1;
}
PvPipeline lPipeline( &lStream );
PvDevice lDevice;
PvGenParameterArray *lDeviceParams = NULL;
if ( !lPassive )
{
lResult = lDevice.Connect( lDeviceAddress );
if ( !lResult.IsOK() )
{
printf( "Failed connecting to the device to set its destination and initiate an AcquisitionStart: %s\n",
lResult.GetDescription().GetAscii() );
printf( "If the eBUS Transmitter to receive from doesn't have full device capabilities, add the --passive command line option and initiate streaming manually.\n" );
return 1;
}
lDevice.SetStreamDestination( lStream.GetLocalIPAddress(), lStream.GetLocalPort(), lChannel );
// Get device parameters need to control streaming
lDeviceParams = lDevice.GetGenParameters();
// Reading payload size from device. Otherwise, the pipeline may miss the first several images.
PvInt64 lReceivePayloadSize = 0;
lDeviceParams->GetIntegerValue( "PayloadSize", lReceivePayloadSize );
// Set the Buffer size and the Buffer count
lPipeline.SetBufferSize( static_cast<PvUInt32>( lReceivePayloadSize ) );
}
lPipeline.SetBufferCount( 16 ); // Increase for high frame rate without missing block IDs
lPipeline.Start();
if ( !lPassive )
{
// TLParamsLocked is optional but when present, it MUST be set to 1
// before sending the AcquisitionStart command
lDeviceParams->SetIntegerValue( "TLParamsLocked", 1 );
lDeviceParams->ExecuteCommand( "GevTimestampControlReset" );
// The pipeline is already "armed", we just have to tell the device
// to start sending us images
lDeviceParams->ExecuteCommand( "AcquisitionStart" );
}
// Get stream parameters/stats
PvGenParameterArray *lStreamParams = lStream.GetParameters();
printf( "Press any key to stop receiving. \n" );
char lDoodle[] = "|\\-|-/";
int lDoodleIndex = 0;
PvInt64 lImageCountVal = 0;
double lFrameRateVal = 0.0;
double lBandwidthVal = 0.0;
while ( !PvKbHit() )
{
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.
// -----------------------------------------------------------------------------------------
// ...
lStreamParams->GetIntegerValue( "ImagesCount", lImageCountVal );
lStreamParams->GetFloatValue( "AcquisitionRateAverage", lFrameRateVal );
lStreamParams->GetFloatValue( "BandwidthAverage", lBandwidthVal );
printf( "%c BlockID: %016llX %.01f FPS %.01f Mb/s\r",
lDoodle[ lDoodleIndex ],
lBuffer->GetBlockID(),
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
{
printf( "%c Timeout\r", lDoodle[ lDoodleIndex ] );
}
++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 );
// Create video source
VideoSource lSource( lConfig.GetDeviceAddress() );
lSource.Connect();
lSource.StartAcquisition();
// Get video source properties
PvUInt32 lWidth = lSource.GetWidth();
PvUInt32 lHeight = lSource.GetHeight();
PvPixelType lPixelFormat = lSource.GetPixelFormat();
PvUInt32 lSize = lWidth * lHeight;
// Allocate transmit buffers
PvBufferList lBuffers;
PvBufferList lFreeBuffers;
for ( PvUInt32 i = 0; i < lConfig.GetBufferCount(); i++ )
{
// Alloc new buffer
PvBuffer *lBuffer = new PvBuffer();
lBuffer->SetID( i );
// Add to both buffer list 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;
// Seed used to generate the test pattern
unsigned char lSeed = 0;
// Acquisition/transmission loop
while( !PvKbHit() )
{
// Step 1: If timing is right to meet desired FPS, generate pattern, transmit
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();
// Get, transform and copy image into buffer
if ( lSource.FillBuffer( lBuffer, &lTransmitter ) )
{
// Queue the buffer for transmission
lTransmitter.QueueBuffer( lBuffer );
}
else
{
// No source image, put buffer back in free list
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 also abort buffers)
lTransmitter.Close();
// Free buffers
PvBufferList::iterator lIt = lBuffers.begin();
while ( lIt != lBuffers.end() )
{
delete ( *lIt );
lIt++;
}
// Stop video source
lSource.StopAcquisition();
lSource.Disconnect();
// Stop virtual device
lDevice.StopListening();
}
bool AcquireImages(CamInfo* cams, int numCams)
{
int i;
PvResult result;
// Initialize Camera System
PvSystem system;
system.SetDetectionTimeout(2000);
result = system.Find();
if(!result.IsOK()){
printf("PvSystem::Find Error: %s", result.GetCodeString().GetAscii());
return false;
}
PvDevice lDevice[numCams];
PvGenParameterArray *lDeviceParams[numCams];
PvStream lStream[numCams];
PvPipeline *lPipeline[numCams];
for(i=0; i < numCams; i++){
PvDeviceInfo* lDeviceInfo = NULL;
PvDeviceInfo* tempInfo;
// Get the number of GEV Interfaces that were found using GetInterfaceCount.
PvUInt32 lInterfaceCount = system.GetInterfaceCount();
// For each interface, check MAC Address against passed address
for( PvUInt32 x = 0; x < lInterfaceCount; x++ )
{
// get pointer to each of interface
PvInterface * lInterface = system.GetInterface( x );
// Get the number of GEV devices that were found using GetDeviceCount.
PvUInt32 lDeviceCount = lInterface->GetDeviceCount();
for( PvUInt32 y = 0; y < lDeviceCount ; y++ )
{
tempInfo = lInterface->GetDeviceInfo( y );
if(strlen(cams[i].MACAddress) == strlen(tempInfo->GetMACAddress().GetAscii()) && strncmp(cams[i].MACAddress,tempInfo->GetMACAddress().GetAscii(),strlen(cams[i].MACAddress)) == 0){
lDeviceInfo = tempInfo;
break;
}
}
}
// If no device is selected, abort
if( lDeviceInfo == NULL )
{
printf( "No device selected.\n" );
return false;
}
// Connect to the GEV Device
printf( "Connecting to %s\n", lDeviceInfo->GetMACAddress().GetAscii() );
if ( !lDevice[i].Connect( lDeviceInfo ).IsOK() )
{
printf( "Unable to connect to %s\n", lDeviceInfo->GetMACAddress().GetAscii() );
return false;
}
printf( "Successfully connected to %s\n", lDeviceInfo->GetMACAddress().GetAscii() );
printf( "\n" );
// Get device parameters need to control streaming
lDeviceParams[i] = lDevice[i].GetGenParameters();
// Negotiate streaming packet size
lDevice[i].NegotiatePacketSize();
// Open stream - have the PvDevice do it for us
printf( "Opening stream to device\n" );
lStream[i].Open( lDeviceInfo->GetIPAddress() );
// Create the PvPipeline object
lPipeline[i] = new PvPipeline( &lStream[i] );
// Reading payload size from device
PvInt64 lSize = 0;
lDeviceParams[i]->GetIntegerValue( "PayloadSize", lSize );
// Set the Buffer size and the Buffer count
lPipeline[i]->SetBufferSize( static_cast<PvUInt32>( lSize ) );
lPipeline[i]->SetBufferCount( 16 ); // Increase for high frame rate without missing block IDs
// Have to set the Device IP destination to the Stream
lDevice[i].SetStreamDestination( lStream[i].GetLocalIPAddress(), lStream[i].GetLocalPort() );
}
PvGenParameterArray *lStreamParams[numCams];
for(i=0; i < numCams; i++){
// IMPORTANT: the pipeline needs to be "armed", or started before
// we instruct the device to send us images
printf( "Starting pipeline %d\n",i);
lPipeline[i]->Start();
// Get stream parameters/stats
lStreamParams[i] = lStream[i].GetParameters();
// TLParamsLocked is optional but when present, it MUST be set to 1
// before sending the AcquisitionStart command
lDeviceParams[i]->SetIntegerValue( "TLParamsLocked", 1 );
printf( "Resetting timestamp counter...\n" );
lDeviceParams[i]->ExecuteCommand( "GevTimestampControlReset" );
// 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[i]->ExecuteCommand( "AcquisitionStart" );
}
char lDoodle[] = "|\\-|-/";
int lDoodleIndex = 0;
PvInt64 lImageCountVal = 0;
double lFrameRateVal = 0.0;
double lBandwidthVal = 0.0;
PvInt64 lPipelineBlocksDropped = 0;
// Acquire images until the user instructs us to stop
printf( "\n<press the enter key to stop streaming>\n" );
//PvBufferWriter writer;
char filePath[MAXFILEPATH];
PvUInt32 lWidth = 4096, lHeight = 9250;
while ( running )
{
for(i=0; i < numCams; i++){
// Retrieve next buffer
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
PvResult lResult = lPipeline[i]->RetrieveNextBuffer( &lBuffer, 1000, &lOperationResult );
if ( lResult.IsOK() )
{
if ( lOperationResult.IsOK() )
{
lStreamParams[i]->GetIntegerValue( "ImagesCount", lImageCountVal );
lStreamParams[i]->GetFloatValue( "AcquisitionRateAverage", lFrameRateVal );
lStreamParams[i]->GetFloatValue( "BandwidthAverage", lBandwidthVal );
lStreamParams[i]->GetIntegerValue("PipelineBlocksDropped", lPipelineBlocksDropped);
filePath[0] = '\0';
sprintf(filePath,"%s/%s%04X.tif",cams[i].filename,cams[i].prefix,lBuffer->GetBlockID());
TIFF *out = TIFFOpen(filePath,"w");
TIFFSetField(out, TIFFTAG_IMAGEWIDTH, lWidth);
TIFFSetField(out, TIFFTAG_IMAGELENGTH, lHeight);
TIFFSetField(out, TIFFTAG_SAMPLESPERPIXEL, 1);
TIFFSetField(out, TIFFTAG_BITSPERSAMPLE, 8);
TIFFSetField(out, TIFFTAG_ORIENTATION, ORIENTATION_TOPLEFT);
TIFFSetField(out, TIFFTAG_PLANARCONFIG, PLANARCONFIG_CONTIG);
TIFFSetField(out, TIFFTAG_PHOTOMETRIC, PHOTOMETRIC_MINISBLACK);
TIFFSetField(out, TIFFTAG_COMPRESSION, COMPRESSION_NONE);
TIFFWriteEncodedStrip(out,0,lBuffer->GetDataPointer(),lWidth*lHeight);
TIFFClose(out);
printf( "%d:%s%c Timestamp: %016llX BlockID: %04X %.01f FPS %d DROP %.01f Mb/s\r\n",i,
cams[i].prefix,
lDoodle[ lDoodleIndex ],
lBuffer->GetTimestamp(),
lBuffer->GetBlockID(),
lFrameRateVal,
lPipelineBlocksDropped,
lBandwidthVal / 1000000.0 );
} else {
printf("%d: ERROR Code: %s, Description: %s\r\n",i,lOperationResult.GetCodeString().GetAscii(),lOperationResult.GetDescription().GetAscii());
}
// We have an image - do some processing (...)
// VERY IMPORTANT:
// release the buffer back to the pipeline
lPipeline[i]->ReleaseBuffer( lBuffer );
usleep(200);
}
else
{
// Timeout
printf( "%d:%s%c Timeout\r\n",i, cams[i].prefix,lDoodle[ lDoodleIndex ]);
}
}
++lDoodleIndex %= 6;
}
//_getch(); // Flush key buffer for next stop
printf( "\n\n" );
for(i=0; i < numCams; i++){
// Tell the device to stop sending images
printf( "Sending AcquisitionStop command to the device\n" );
lDeviceParams[i]->ExecuteCommand( "AcquisitionStop" );
// If present reset TLParamsLocked to 0. Must be done AFTER the
// streaming has been stopped
lDeviceParams[i]->SetIntegerValue( "TLParamsLocked", 0 );
// 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[i]->Stop();
delete lPipeline[i];
// Now close the stream. Also optionnal but nice to have
printf( "Closing stream\n" );
lStream[i].Close();
// Finally disconnect the device. Optional, still nice to have
printf( "Disconnecting device\n" );
lDevice[i].Disconnect();
}
return true;
}
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;
}
PleoraVideo::PleoraVideo(const char* model_name, const char* serial_num, size_t index, size_t bpp, size_t binX, size_t binY, size_t buffer_count,
size_t desired_size_x, size_t desired_size_y, size_t desired_pos_x, size_t desired_pos_y)
: lPvSystem(0), lDevice(0), lStream(0)
{
lPvSystem = new PvSystem();
if ( !lPvSystem ) {
throw pangolin::VideoException("Pleora: Unable to create PvSystem");
}
const PvDeviceInfo *lDeviceInfo = SelectDevice(*lPvSystem, model_name, serial_num, index);
if ( !lDeviceInfo ) {
throw pangolin::VideoException("Pleora: Unable to select device");
}
PvResult lResult;
lDevice = PvDevice::CreateAndConnect( lDeviceInfo, &lResult );
if ( !lDevice ) {
throw pangolin::VideoException("Pleora: Unable to connect to device", lResult.GetDescription().GetAscii() );
}
lStream = PvStream::CreateAndOpen( lDeviceInfo->GetConnectionID(), &lResult );
if ( !lStream ) {
lDevice->Disconnect();
PvDevice::Free(lDevice);
throw pangolin::VideoException("Pleora: Unable to open stream", lResult.GetDescription().GetAscii() );
}
lDeviceParams = lDevice->GetParameters();
lStart = dynamic_cast<PvGenCommand*>( lDeviceParams->Get( "AcquisitionStart" ) );
lStop = dynamic_cast<PvGenCommand*>( lDeviceParams->Get( "AcquisitionStop" ) );
if( bpp == 8) {
lDeviceParams->SetEnumValue("PixelFormat", PvString("Mono8") );
}else if(bpp == 10) {
lDeviceParams->SetEnumValue("PixelFormat", PvString("Mono10p") );
}else if(bpp == 12) {
lDeviceParams->SetEnumValue("PixelFormat", PvString("Mono12p") );
}
// Height and width will fail if not multiples of 8.
lDeviceParams->SetIntegerValue("Height", desired_size_y );
if(lResult.IsFailure()){
pango_print_error("Height %zu fail\n", desired_size_y);
int64_t max, min;
lDeviceParams->GetIntegerRange("Height", max, min );
lDeviceParams->SetIntegerValue("Height", max );
}
lDeviceParams->SetIntegerValue("Width", desired_size_x );
if(lResult.IsFailure()){
pango_print_error("Width %zu fail\n", desired_size_x);
int64_t max, min;
lDeviceParams->GetIntegerRange("Width", max, min );
lDeviceParams->SetIntegerValue("Width", max );
}
lDeviceParams = lDevice->GetParameters();
const int w = DeviceParam<int64_t>("Width");
const int h = DeviceParam<int64_t>("Height");
// Offset will fail if not multiple of 8.
lDeviceParams->SetIntegerValue("OffsetX", desired_pos_x );
if(lResult.IsFailure()){
pango_print_error("OffsetX %zu fail\n", desired_pos_x);
}
lDeviceParams->SetIntegerValue("OffsetX", desired_pos_y );
if(lResult.IsFailure()){
pango_print_error("OffsetY %zu fail\n", desired_pos_y);
}
lResult =lDeviceParams->SetIntegerValue("BinningHorizontal", binX );
if(lResult.IsFailure()){
pango_print_error("BinningHorizontal %zu fail\n", binX);
}
lResult =lDeviceParams->SetIntegerValue("BinningVertical", binY );
if(lResult.IsFailure()){
pango_print_error("BinningVertical %zu fail\n", binY);
}
lStreamParams = lStream->GetParameters();
// Reading payload size from device
const uint32_t lSize = lDevice->GetPayloadSize();
// Use buffer_count or the maximum number of buffers, whichever is smaller
const uint32_t lBufferCount = ( lStream->GetQueuedBufferMaximum() < buffer_count ) ?
lStream->GetQueuedBufferMaximum() :
buffer_count;
// Allocate buffers and queue
for ( uint32_t i = 0; i < lBufferCount; i++ )
{
PvBuffer *lBuffer = new PvBuffer;
lBuffer->Alloc( static_cast<uint32_t>( lSize ) );
lBufferList.push_back( lBuffer );
}
// Setup pangolin for stream
PvGenEnum* lpixfmt = dynamic_cast<PvGenEnum*>( lDeviceParams->Get("PixelFormat") );
const VideoPixelFormat fmt = PleoraFormat(lpixfmt);
streams.push_back(StreamInfo(fmt, w, h, (w*fmt.bpp)/8));
size_bytes = lSize;
Start();
}
