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Refactored the PvAPI capture class to better facilitate dynamic property changes

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- Added Gain control
- Changed default acquisition mode to grayscale
- Fixed a signed/unsigned compare issue
- Implemented frame resizing
- Implemented automatic buffer resizing on frame resize
- Corrected camera initialization so that it attempts to put the camera in Mono8
  but does not fail if this doesn't succeed.
This commit is contained in:
askforeric 2012-11-13 16:10:22 -05:00 committed by Andrey Kamaev
parent 4d059e9e5b
commit 3923484341
1 changed files with 230 additions and 99 deletions
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329
modules/highgui/src/cap_pvapi.cpp
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@ -95,6 +95,10 @@ protected:
virtual void Sleep(unsigned int time);
#endif
void stopCapture();
bool startCapture();
bool resizeCaptureFrame (int frameWidth, int frameHeight);
typedef struct
{
unsigned long UID;
@ -113,6 +117,8 @@ protected:
CvCaptureCAM_PvAPI::CvCaptureCAM_PvAPI()
{
monocrome=false;
frame = NULL;
grayframe = NULL;
memset(&this->Camera, 0, sizeof(this->Camera));
}
@ -132,8 +138,7 @@ void CvCaptureCAM_PvAPI::Sleep(unsigned int time)
void CvCaptureCAM_PvAPI::close()
{
// Stop the acquisition & free the camera
PvCommandRun(Camera.Handle, "AcquisitionStop");
PvCaptureEnd(Camera.Handle);
stopCapture();
PvCameraClose(Camera.Handle);
PvUnInitialize();
}
@ -162,7 +167,8 @@ bool CvCaptureCAM_PvAPI::open( int index )
Camera.UID = cameraList[index].UniqueId;
if (!PvCameraInfo(Camera.UID,&camInfo) && !PvCameraIpSettingsGet(Camera.UID,&ipSettings)) {
if (!PvCameraInfo(Camera.UID,&camInfo) && !PvCameraIpSettingsGet(Camera.UID,&ipSettings))
{
/*
struct in_addr addr;
addr.s_addr = ipSettings.CurrentIpAddress;
@ -173,7 +179,8 @@ bool CvCaptureCAM_PvAPI::open( int index )
printf("Current gateway:\t%s\n",inet_ntoa(addr));
*/
}
else {
else
{
fprintf(stderr,"ERROR: could not retrieve camera IP settings.\n");
return false;
}
@ -181,73 +188,33 @@ bool CvCaptureCAM_PvAPI::open( int index )
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;
tPvUint32 frameWidth, frameHeight;
unsigned long maxSize;
char pixelFormat[256];
PvAttrUint32Get(Camera.Handle, "TotalBytesPerFrame", &frameSize);
// 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);
PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
// 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;
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;
}
resizeCaptureFrame(frameWidth, frameHeight);
if(PvCommandRun(Camera.Handle, "AcquisitionStart")!= ePvErrSuccess)
{
fprintf(stderr,"Could not start Prosilica acquisition\n");
return false;
}
return startCapture();
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;
@ -264,8 +231,10 @@ bool CvCaptureCAM_PvAPI::grabFrame()
IplImage* CvCaptureCAM_PvAPI::retrieveFrame(int)
{
if (PvCaptureWaitForFrameDone(Camera.Handle, &(Camera.Frame), 1000) == ePvErrSuccess) {
if (!monocrome) {
if (PvCaptureWaitForFrameDone(Camera.Handle, &(Camera.Frame), 1000) == ePvErrSuccess)
{
if (!monocrome)
{
cvMerge(grayframe,grayframe,grayframe,NULL,frame);
return frame;
}
@ -287,26 +256,31 @@ double CvCaptureCAM_PvAPI::getProperty( int property_id )
PvAttrUint32Get(Camera.Handle, "Height", &nTemp);
return (double)nTemp;
case CV_CAP_PROP_EXPOSURE:
PvAttrUint32Get(Camera.Handle,"ExposureValue",&nTemp);
return (double)nTemp;
PvAttrUint32Get(Camera.Handle,"ExposureValue",&nTemp);
return (double)nTemp;
case CV_CAP_PROP_FPS:
tPvFloat32 nfTemp;
tPvFloat32 nfTemp;
PvAttrFloat32Get(Camera.Handle, "StatFrameRate", &nfTemp);
return (double)nfTemp;
case CV_CAP_PROP_PVAPI_MULTICASTIP:
char mEnable[2];
char mIp[11];
PvAttrEnumGet(Camera.Handle,"MulticastEnable",mEnable,sizeof(mEnable),NULL);
if (strcmp(mEnable, "Off") == 0) {
return -1;
}
else {
long int ip;
int a,b,c,d;
PvAttrStringGet(Camera.Handle, "MulticastIPAddress",mIp,sizeof(mIp),NULL);
sscanf(mIp, "%d.%d.%d.%d", &a, &b, &c, &d); ip = ((a*256 + b)*256 + c)*256 + d;
return (double)ip;
}
char mEnable[2];
char mIp[11];
PvAttrEnumGet(Camera.Handle,"MulticastEnable",mEnable,sizeof(mEnable),NULL);
if (strcmp(mEnable, "Off") == 0)
{
return -1;
}
else
{
long int ip;
int a,b,c,d;
PvAttrStringGet(Camera.Handle, "MulticastIPAddress",mIp,sizeof(mIp),NULL);
sscanf(mIp, "%d.%d.%d.%d", &a, &b, &c, &d); ip = ((a*256 + b)*256 + c)*256 + d;
return (double)ip;
}
case CV_CAP_PROP_GAIN:
PvAttrUint32Get(Camera.Handle, "GainValue", &nTemp);
return (double)nTemp;
}
return -1.0;
}
@ -315,19 +289,50 @@ bool CvCaptureCAM_PvAPI::setProperty( int property_id, double value )
{
switch ( property_id )
{
/* TODO: Camera works, but IplImage must be modified for the new size
case CV_CAP_PROP_FRAME_WIDTH:
PvAttrUint32Set(Camera.Handle, "Width", (tPvUint32)value);
{
tPvUint32 currHeight;
PvAttrUint32Get(Camera.Handle, "Height", &currHeight);
stopCapture();
// Reallocate Frames
if (!resizeCaptureFrame(value, currHeight))
{
startCapture();
return false;
}
startCapture();
break;
}
case CV_CAP_PROP_FRAME_HEIGHT:
PvAttrUint32Set(Camera.Handle, "Heigth", (tPvUint32)value);
{
tPvUint32 currWidth;
PvAttrUint32Get(Camera.Handle, "Width", &currWidth);
stopCapture();
// Reallocate Frames
if (!resizeCaptureFrame(value, currWidth))
{
startCapture();
return false;
}
startCapture();
break;
*/
}
case CV_CAP_PROP_MONOCROME:
if (value==1) {
if (value==1)
{
char pixelFormat[256];
PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
if ((strcmp(pixelFormat, "Mono8")==0) || strcmp(pixelFormat, "Mono16")==0) {
if ((strcmp(pixelFormat, "Mono8")==0) || strcmp(pixelFormat, "Mono16")==0)
{
monocrome=true;
}
else
@ -338,31 +343,157 @@ bool CvCaptureCAM_PvAPI::setProperty( int property_id, double value )
break;
case CV_CAP_PROP_EXPOSURE:
if ((PvAttrUint32Set(Camera.Handle,"ExposureValue",(tPvUint32)value)==ePvErrSuccess))
break;
break;
else
return false;
return false;
case CV_CAP_PROP_PVAPI_MULTICASTIP:
if (value==-1) {
if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "Off")==ePvErrSuccess))
break;
else
return false;
}
else {
std::string ip=cv::format("%d.%d.%d.%d", ((int)value>>24)&255, ((int)value>>16)&255, ((int)value>>8)&255, (int)value&255);
if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "On")==ePvErrSuccess) &&
(PvAttrStringSet(Camera.Handle, "MulticastIPAddress", ip.c_str())==ePvErrSuccess))
break;
if (value==-1)
{
if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "Off")==ePvErrSuccess))
break;
else
return false;
}
else
{
std::string ip=cv::format("%d.%d.%d.%d", ((int)value>>24)&255, ((int)value>>16)&255, ((int)value>>8)&255, (int)value&255);
if ((PvAttrEnumSet(Camera.Handle,"MulticastEnable", "On")==ePvErrSuccess) &&
(PvAttrStringSet(Camera.Handle, "MulticastIPAddress", ip.c_str())==ePvErrSuccess))
break;
else
return false;
}
case CV_CAP_PROP_GAIN:
if (PvAttrUint32Set(Camera.Handle,"GainValue",(tPvUint32)value)!=ePvErrSuccess)
{
return false;
}
break;
default:
return false;
}
return true;
}
void CvCaptureCAM_PvAPI::stopCapture()
{
PvCommandRun(Camera.Handle, "AcquisitionStop");
PvCaptureEnd(Camera.Handle);
}
bool CvCaptureCAM_PvAPI::startCapture()
{
// Start the camera
PvCaptureStart(Camera.Handle);
// Set the camera to capture continuously
if(PvAttrEnumSet(Camera.Handle, "AcquisitionMode", "Continuous")!= ePvErrSuccess)
{
fprintf(stderr,"Could not set PvAPI Acquisition Mode\n");
return false;
}
if(PvCommandRun(Camera.Handle, "AcquisitionStart")!= ePvErrSuccess)
{
fprintf(stderr,"Could not start PvAPI acquisition\n");
return false;
}
if(PvAttrEnumSet(Camera.Handle, "FrameStartTriggerMode", "Freerun")!= ePvErrSuccess)
{
fprintf(stderr,"Error setting PvAPI trigger to \"Freerun\"");
return false;
}
return true;
}
bool CvCaptureCAM_PvAPI::resizeCaptureFrame (int frameWidth, int frameHeight)
{
char pixelFormat[256];
tPvUint32 frameSize;
tPvUint32 sensorHeight;
tPvUint32 sensorWidth;
if (grayframe)
{
cvReleaseImage(&grayframe);
grayframe = NULL;
}
if (frame)
{
cvReleaseImage(&frame);
frame = NULL;
}
if (PvAttrUint32Get(Camera.Handle, "SensorWidth", &sensorWidth) != ePvErrSuccess)
{
return false;
}
if (PvAttrUint32Get(Camera.Handle, "SensorHeight", &sensorHeight) != ePvErrSuccess)
{
return false;
}
// Cap out of bounds widths to the max supported by the sensor
if ((frameWidth < 0) || ((tPvUint32)frameWidth > sensorWidth))
{
frameWidth = sensorWidth;
}
if ((frameHeight < 0) || ((tPvUint32)frameHeight > sensorHeight))
{
frameHeight = sensorHeight;
}
if (PvAttrUint32Set(Camera.Handle, "Height", frameHeight) != ePvErrSuccess)
{
return false;
}
if (PvAttrUint32Set(Camera.Handle, "Width", frameWidth) != ePvErrSuccess)
{
return false;
}
PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
PvAttrUint32Get(Camera.Handle, "TotalBytesPerFrame", &frameSize);
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;
return true;
}
CvCapture* cvCreateCameraCapture_PvAPI( int index )
{