static void
gst_aravis_set_property (GObject * object, guint prop_id,
const GValue * value, GParamSpec * pspec)
{
GstAravis *gst_aravis = GST_ARAVIS (object);
switch (prop_id) {
case PROP_CAMERA_NAME:
g_free (gst_aravis->camera_name);
/* check if we are currently active
prevent setting camera and other values to something not representing the active camera */
if (gst_aravis->stream == NULL) {
gst_aravis->camera_name = g_strdup (g_value_get_string (value));
gst_aravis_init_camera (gst_aravis);
}
GST_LOG_OBJECT (gst_aravis, "Set camera name to %s", gst_aravis->camera_name);
break;
case PROP_GAIN:
gst_aravis->gain = g_value_get_double (value);
if (gst_aravis->camera != NULL)
arv_camera_set_gain (gst_aravis->camera, gst_aravis->gain);
break;
case PROP_GAIN_AUTO:
gst_aravis->gain_auto = g_value_get_boolean (value);
if (gst_aravis->camera != NULL)
arv_camera_set_gain_auto (gst_aravis->camera, gst_aravis->gain_auto);
break;
case PROP_EXPOSURE:
gst_aravis->exposure_time_us = g_value_get_double (value);
if (gst_aravis->camera != NULL)
arv_camera_set_exposure_time (gst_aravis->camera, gst_aravis->exposure_time_us);
break;
case PROP_EXPOSURE_AUTO:
gst_aravis->exposure_auto = g_value_get_boolean (value);
if (gst_aravis->camera != NULL)
arv_camera_set_exposure_time_auto (gst_aravis->camera, gst_aravis->exposure_auto);
break;
case PROP_OFFSET_X:
gst_aravis->offset_x = g_value_get_int (value);
break;
case PROP_OFFSET_Y:
gst_aravis->offset_y = g_value_get_int (value);
break;
case PROP_H_BINNING:
gst_aravis->h_binning = g_value_get_int (value);
break;
case PROP_V_BINNING:
gst_aravis->v_binning = g_value_get_int (value);
break;
case PROP_PACKET_RESEND:
gst_aravis->packet_resend = g_value_get_boolean (value);
break;
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break;
}
}
CamGigE::CamGigE(int id):
Cam(id)
{
mWidth = XSIZE;
mHeight = YSIZE;
xshift = 0;
yshift = 0;
exposure = 2*1000;
gain = 300;
isCapturing = false;
framerate = 15.0f;
mId = id;
g_type_init ();
camera = arv_camera_new(NULL);
if(camera == NULL)
{
throw "No camera found";
}
arv_camera_set_region(camera, xshift, yshift, mWidth, mHeight);
arv_camera_set_exposure_time(camera, exposure);
arv_camera_set_gain(camera, gain);
arv_camera_set_pixel_format(camera, ARV_PIXEL_FORMAT_MONO_8);
//arv_camera_set_pixel_format(camera, ARV_PIXEL_FORMAT_BAYER_BG_8);
width = (int)mWidth;
height = (int)mHeight;
arv_camera_get_region (camera, &xshift, &yshift, &width, &height);
payload = arv_camera_get_payload (camera);
stream = arv_camera_create_stream (camera, NULL, NULL);
if(stream == NULL) {
throw "Cannot create stream";
}
g_object_set(stream, "packet-timeout", (unsigned) 20 * 1000,
"frame-retention", (unsigned) 100 * 1000,
NULL);
for(int i = 0; i < 4; i++)
arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL));
arv_camera_set_acquisition_mode(camera, ARV_ACQUISITION_MODE_CONTINUOUS);
arv_camera_set_frame_rate(camera, framerate);
rawdata = new unsigned char[width*height];
}
bool CvCaptureCAM_Aravis::setProperty( int property_id, double value )
{
switch ( property_id ) {
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 = BETWEEN(value, exposureMin, exposureMax));
break;
} else return false;
case CV_CAP_PROP_FPS:
if(fpsAvailable) {
arv_camera_set_frame_rate(camera, fps = BETWEEN(value, fpsMin, fpsMax));
break;
} else return false;
case CV_CAP_PROP_GAIN:
if(gainAvailable) {
arv_camera_set_gain(camera, gain = BETWEEN(value, gainMin, gainMax));
break;
} else return false;
case CV_CAP_PROP_FOURCC:
{
ArvPixelFormat newFormat = pixelFormat;
switch((int)value) {
case MODE_GRAY8:
newFormat = ARV_PIXEL_FORMAT_MONO_8;
break;
case MODE_GRAY12:
newFormat = ARV_PIXEL_FORMAT_MONO_12;
break;
}
if(newFormat != pixelFormat) {
stopCapture();
arv_camera_set_pixel_format(camera, pixelFormat = newFormat);
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_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;
}
void CvCaptureCAM_Aravis::autoExposureControl(IplImage* image)
{
// Software control of exposure parameters utilizing
// automatic change of exposure time & gain
// Priority is set as follows:
// - to increase brightness, first increase time then gain
// - to decrease brightness, first decrease gain then time
cv::Mat m = cv::cvarrToMat(image);
// calc mean value for luminance or green channel
double brightness = cv::mean(m)[image->nChannels > 1 ? 1 : 0];
if(brightness < 1) brightness = 1;
// mid point - 100 % means no change
static const double dmid = 100;
// distance from optimal value as a percentage
double d = (targetGrey * dmid) / brightness;
if(d >= dmid) d = ( d + (dmid * 2) ) / 3;
prevFrameID = frameID;
midGrey = brightness;
double maxe = 1e6 / fps;
double ne = CLIP( ( exposure * d ) / ( dmid * pow(sqrt(2), -2 * exposureCompensation) ), exposureMin, maxe);
// if change of value requires intervention
if(std::fabs(d-dmid) > 5) {
double ev, ng = 0;
if(gainAvailable && autoGain) {
ev = log( d / dmid ) / log(2);
ng = CLIP( gain + ev + exposureCompensation, gainMin, gainMax);
if( ng < gain ) {
// priority 1 - reduce gain
arv_camera_set_gain(camera, (gain = ng));
return;
}
}
if(exposureAvailable) {
// priority 2 - control of exposure time
if(std::fabs(exposure - ne) > 2) {
// we have not yet reach the max-e level
arv_camera_set_exposure_time(camera, (exposure = ne) );
return;
}
}
if(gainAvailable && autoGain) {
if(exposureAvailable) {
// exposure at maximum - increase gain if possible
if(ng > gain && ng < gainMax && ne >= maxe) {
arv_camera_set_gain(camera, (gain = ng));
return;
}
} else {
// priority 3 - increase gain
arv_camera_set_gain(camera, (gain = ng));
return;
}
}
}
// if gain can be reduced - do it
if(gainAvailable && autoGain && exposureAvailable) {
if(gain > gainMin && exposure < maxe) {
exposure = CLIP( ne * 1.05, exposureMin, maxe);
arv_camera_set_exposure_time(camera, exposure );
}
}
}
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;
}
