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;
}
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;
}
T GetParam(PvGenParameterArray* params, const char* name)
{
typedef typename PleoraParamTraits<T>::PvType PvType;
PvType* param = dynamic_cast<PvType*>( params->Get(name) );
if(!param) {
throw std::runtime_error("Incorrect type");
}
T ret;
PvResult res = param->GetValue(ret);
if(res.IsFailure()) {
throw std::runtime_error("Cannot get value: " + std::string(res.GetCodeString().GetAscii()) );
}
return ret;
}
bool SetParam(PvGenParameterArray* params, const char* name, T val)
{
typedef typename PleoraParamTraits<T>::PvType PvType;
PvType* param = dynamic_cast<PvType*>( params->Get(name) );
if(!param) {
throw std::runtime_error("Unable to get parameter handle: " + std::string(name) );
}
if(!param->IsWritable()) {
throw std::runtime_error("Cannot set value for " + std::string(name) );
}
PvResult res = param->SetValue(val);
if(res.IsFailure()) {
throw std::runtime_error("Cannot set value: " + std::string(res.GetCodeString().GetAscii()) );
}
return true;
}
int ImperxStream::Connect(const std::string &IP)
{
PvResult lResult;
// Create an GEV system and an interface.
PvSystem lSystem;
// Find all GEV Devices on the network.
lSystem.SetDetectionTimeout( 2000 );
lResult = lSystem.Find();
if( !lResult.IsOK() )
{
//Failed to find PvAnything
printf( "PvSystem::Find Error: %s", lResult.GetCodeString().GetAscii() );
return -1;
}
// Get the number of GEV Interfaces that were found using GetInterfaceCount.
PvUInt32 lInterfaceCount = lSystem.GetInterfaceCount();
// Search through interfaces for any devices
// Check devices for correct target IP
for( PvUInt32 x = 0; x < lInterfaceCount; x++ )
{
// get pointer to each of interface
PvInterface * lInterface = lSystem.GetInterface( x );
// Get the number of GEV devices that were found using GetDeviceCount.
PvUInt32 lDeviceCount = lInterface->GetDeviceCount();
for( PvUInt32 y = 0; y < lDeviceCount ; y++ )
{
PvDeviceInfo *tDeviceInfo = lInterface->GetDeviceInfo( y );
std::string laddress(tDeviceInfo->GetIPAddress().GetAscii());
if (!laddress.compare(IP))
{
lDeviceInfo = tDeviceInfo;
printf( "Interface %i\nMAC Address: %s\nIP Address: %s\nSubnet Mask: %s\n\n",
x,
lInterface->GetMACAddress().GetAscii(),
lInterface->GetIPAddress().GetAscii(),
lInterface->GetSubnetMask().GetAscii() );
printf( "Device %i\nMAC Address: %s\nIP Address: %s\nSerial number: %s\n\n",
y,
tDeviceInfo->GetMACAddress().GetAscii(),
tDeviceInfo->GetIPAddress().GetAscii(),
tDeviceInfo->GetSerialNumber().GetAscii() );
}
}
}
// Connect to the last GEV Device found.
if( lDeviceInfo != NULL )
{
printf( "Connecting to %s\n",
lDeviceInfo->GetMACAddress().GetAscii() );
lResult = lDevice.Connect( lDeviceInfo );
if ( !lResult.IsOK() )
{
printf( "Unable to connect to %s\n",
lDeviceInfo->GetMACAddress().GetAscii() );
}
else
{
printf( "Successfully connected to %s\n",
lDeviceInfo->GetMACAddress().GetAscii() );
}
}
else
{
printf( "No device found\n" );
}
// Get device parameters need to control streaming
PvGenParameterArray *lDeviceParams = lDevice.GetGenParameters();
return 0;
}
int ImperxStream::Connect()
{
PvResult lResult;
// Create an GEV system and an interface.
PvSystem lSystem;
// Find all GEV Devices on the network.
lSystem.SetDetectionTimeout( 2000 );
lResult = lSystem.Find();
if( !lResult.IsOK() )
{
printf( "PvSystem::Find Error: %s", lResult.GetCodeString().GetAscii() );
return -1;
}
// Get the number of GEV Interfaces that were found using GetInterfaceCount.
PvUInt32 lInterfaceCount = lSystem.GetInterfaceCount();
// Display information about all found interface
// For each interface, display information about all devices.
for( PvUInt32 x = 0; x < lInterfaceCount; x++ )
{
// get pointer to each of interface
PvInterface * lInterface = lSystem.GetInterface( x );
printf( "Interface %i\nMAC Address: %s\nIP Address: %s\nSubnet Mask: %s\n\n",
x,
lInterface->GetMACAddress().GetAscii(),
lInterface->GetIPAddress().GetAscii(),
lInterface->GetSubnetMask().GetAscii() );
// Get the number of GEV devices that were found using GetDeviceCount.
PvUInt32 lDeviceCount = lInterface->GetDeviceCount();
for( PvUInt32 y = 0; y < lDeviceCount ; y++ )
{
lDeviceInfo = lInterface->GetDeviceInfo( y );
printf( "Device %i\nMAC Address: %s\nIP Address: %s\nSerial number: %s\n\n",
y,
lDeviceInfo->GetMACAddress().GetAscii(),
lDeviceInfo->GetIPAddress().GetAscii(),
lDeviceInfo->GetSerialNumber().GetAscii() );
}
}
// Connect to the last GEV Device found.
if( lDeviceInfo != NULL )
{
printf( "Connecting to %s\n",
lDeviceInfo->GetMACAddress().GetAscii() );
lResult = lDevice.Connect( lDeviceInfo );
if ( !lResult.IsOK() )
{
printf( "Unable to connect to %s\n",
lDeviceInfo->GetMACAddress().GetAscii() );
}
else
{
printf( "Successfully connected to %s\n",
lDeviceInfo->GetMACAddress().GetAscii() );
}
}
else
{
printf( "No device found\n" );
}
// Get device parameters need to control streaming
lDeviceParams = lDevice.GetGenParameters();
return 0;
}
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;
}