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////////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//
//
// The code has been contributed by Arkadiusz Raj on 2016 Oct
//
#include "precomp.hpp"
#ifdef HAVE_ARAVIS_API
#include <arv.h>
//
// This file provides wrapper for using Aravis SDK library to access GigE Vision cameras.
// Aravis library (version 0.4 or 0.6) shall be installed else this code will not be included in build.
//
// To include this module invoke cmake with -DWITH_ARAVIS=ON
//
// Please obvserve, that jumbo frames are required when high fps & 16bit data is selected.
// (camera, switches/routers and the computer this software is running on)
//
// Basic usage: VideoCapture cap(CAP_ARAVIS + <camera id>);
//
// Supported properties:
// read/write
// CAP_PROP_AUTO_EXPOSURE(0|1)
// CAP_PROP_EXPOSURE(t), t in seconds
// CAP_PROP_BRIGHTNESS (ev), exposure compensation in EV for auto exposure algorithm
// CAP_PROP_GAIN(g), g >=0 or -1 for automatic control if CAP_PROP_AUTO_EXPOSURE is true
// CAP_PROP_FPS(f)
// CAP_PROP_FOURCC(type)
// CAP_PROP_BUFFERSIZE(n)
// read only:
// CAP_PROP_POS_MSEC
// CAP_PROP_FRAME_WIDTH
// CAP_PROP_FRAME_HEIGHT
//
// Supported types of data:
// video/x-raw, fourcc:'GREY' -> 8bit, 1 channel
// video/x-raw, fourcc:'Y800' -> 8bit, 1 channel
// video/x-raw, fourcc:'Y12 ' -> 12bit, 1 channel
// video/x-raw, fourcc:'Y16 ' -> 16bit, 1 channel
// video/x-raw, fourcc:'GRBG' -> 8bit, 1 channel
//
#define MODE_GREY CV_FOURCC_MACRO('G','R','E','Y')
#define MODE_Y800 CV_FOURCC_MACRO('Y','8','0','0')
#define MODE_Y12 CV_FOURCC_MACRO('Y','1','2',' ')
#define MODE_Y16 CV_FOURCC_MACRO('Y','1','6',' ')
#define MODE_GRBG CV_FOURCC_MACRO('G','R','B','G')
#define CLIP(a,b,c) (cv::max(cv::min((a),(c)),(b)))
/********************* Capturing video from camera via Aravis *********************/
class CvCaptureCAM_Aravis : public CvCapture
{
public:
CvCaptureCAM_Aravis();
virtual ~CvCaptureCAM_Aravis()
{
close();
}
virtual bool open(int);
virtual void close();
virtual double getProperty(int) const;
virtual bool setProperty(int, double);
virtual bool grabFrame();
virtual IplImage* retrieveFrame(int);
virtual int getCaptureDomain()
{
return cv::CAP_ARAVIS;
}
protected:
bool create(int);
bool init_buffers();
void stopCapture();
bool startCapture();
bool getDeviceNameById(int id, std::string &device);
void autoExposureControl(IplImage*);
ArvCamera *camera; // Camera to control.
ArvStream *stream; // Object for video stream reception.
void *framebuffer; //
unsigned int payload; // Width x height x Pixel width.
int widthMin; // Camera sensor minium width.
int widthMax; // Camera sensor maximum width.
int heightMin; // Camera sensor minium height.
int heightMax; // Camera sensor maximum height.
bool fpsAvailable;
double fpsMin; // Camera minium fps.
double fpsMax; // Camera maximum fps.
bool gainAvailable;
double gainMin; // Camera minimum gain.
double gainMax; // Camera maximum gain.
bool exposureAvailable;
double exposureMin; // Camera's minimum exposure time.
double exposureMax; // Camera's maximum exposure time.
bool controlExposure; // Flag if automatic exposure shall be done by this SW
double exposureCompensation;
bool autoGain;
double targetGrey; // Target grey value (mid grey))
gint64 *pixelFormats;
guint pixelFormatsCnt;
int num_buffers; // number of payload transmission buffers
ArvPixelFormat pixelFormat; // pixel format
int xoffset; // current frame region x offset
int yoffset; // current frame region y offset
int width; // current frame width of frame
int height; // current frame height of image
double fps; // current value of fps
double exposure; // current value of exposure time
double gain; // current value of gain
double midGrey; // current value of mid grey (brightness)
unsigned frameID; // current frame id
unsigned prevFrameID;
IplImage *frame; // local frame copy
};
CvCaptureCAM_Aravis::CvCaptureCAM_Aravis()
{
camera = NULL;
stream = NULL;
framebuffer = NULL;
payload = 0;
widthMin = widthMax = heightMin = heightMax = 0;
xoffset = yoffset = width = height = 0;
fpsMin = fpsMax = gainMin = gainMax = exposureMin = exposureMax = 0;
controlExposure = false;
exposureCompensation = 0;
targetGrey = 0;
frameID = prevFrameID = 0;
num_buffers = 10;
frame = NULL;
}
void CvCaptureCAM_Aravis::close()
{
if(camera) {
stopCapture();
g_object_unref(camera);
camera = NULL;
}
}
bool CvCaptureCAM_Aravis::getDeviceNameById(int id, std::string &device)
{
arv_update_device_list();
if((id >= 0) && (id < (int)arv_get_n_devices())) {
device = arv_get_device_id(id);
return true;
}
return false;
}
bool CvCaptureCAM_Aravis::create( int index )
{
std::string deviceName;
if(!getDeviceNameById(index, deviceName))
return false;
return NULL != (camera = arv_camera_new(deviceName.c_str()));
}
bool CvCaptureCAM_Aravis::init_buffers()
{
if(stream) {
g_object_unref(stream);
stream = NULL;
}
if( (stream = arv_camera_create_stream(camera, NULL, NULL)) ) {
g_object_set(stream,
"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO,
"socket-buffer-size", 0, NULL);
g_object_set(stream,
"packet-resend", ARV_GV_STREAM_PACKET_RESEND_NEVER, NULL);
g_object_set(stream,
"packet-timeout", (unsigned) 40000,
"frame-retention", (unsigned) 200000, NULL);
payload = arv_camera_get_payload (camera);
for (int i = 0; i < num_buffers; i++)
arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL));
return true;
}
return false;
}
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;
}
bool CvCaptureCAM_Aravis::grabFrame()
{
// remove content of previous frame
framebuffer = NULL;
if(stream) {
ArvBuffer *arv_buffer = NULL;
int max_tries = 10;
int tries = 0;
for(; tries < max_tries; tries ++) {
arv_buffer = arv_stream_timeout_pop_buffer (stream, 200000);
if (arv_buffer != NULL && arv_buffer_get_status (arv_buffer) != ARV_BUFFER_STATUS_SUCCESS) {
arv_stream_push_buffer (stream, arv_buffer);
} else break;
}
if(arv_buffer != NULL && tries < max_tries) {
size_t buffer_size;
framebuffer = (void*)arv_buffer_get_data (arv_buffer, &buffer_size);
// retieve image size properites
arv_buffer_get_image_region (arv_buffer, &xoffset, &yoffset, &width, &height);
// retieve image ID set by camera
frameID = arv_buffer_get_frame_id(arv_buffer);
arv_stream_push_buffer(stream, arv_buffer);
return true;
}
}
return false;
}
IplImage* CvCaptureCAM_Aravis::retrieveFrame(int)
{
if(framebuffer) {
int depth = 0, channels = 0;
switch(pixelFormat) {
case ARV_PIXEL_FORMAT_MONO_8:
case ARV_PIXEL_FORMAT_BAYER_GR_8:
depth = IPL_DEPTH_8U;
channels = 1;
break;
case ARV_PIXEL_FORMAT_MONO_12:
case ARV_PIXEL_FORMAT_MONO_16:
depth = IPL_DEPTH_16U;
channels = 1;
break;
}
if(depth && channels) {
IplImage src;
cvInitImageHeader( &src, cvSize( width, height ), depth, channels, IPL_ORIGIN_TL, 4 );
cvSetData( &src, framebuffer, src.widthStep );
if( !frame ||
frame->width != src.width ||
frame->height != src.height ||
frame->depth != src.depth ||
frame->nChannels != src.nChannels) {
cvReleaseImage( &frame );
frame = cvCreateImage( cvGetSize(&src), src.depth, channels );
}
cvCopy(&src, frame);
if(controlExposure && ((frameID - prevFrameID) >= 3)) {
// control exposure every third frame
// i.e. skip frame taken with previous exposure setup
autoExposureControl(frame);
}
return frame;
}
}
return NULL;
}
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 ) {
// piority 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 );
}
}
}
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_BRIGHTNESS:
return exposureCompensation;
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;
case ARV_PIXEL_FORMAT_MONO_16:
return MODE_Y16;
case ARV_PIXEL_FORMAT_BAYER_GR_8:
return MODE_GRBG;
}
}
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;
}
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::stopCapture()
{
arv_camera_stop_acquisition(camera);
if(stream) {
g_object_unref(stream);
stream = NULL;
}
}
bool CvCaptureCAM_Aravis::startCapture()
{
if(init_buffers() ) {
arv_camera_set_acquisition_mode(camera, ARV_ACQUISITION_MODE_CONTINUOUS);
arv_camera_start_acquisition(camera);
return true;
}
return false;
}
CvCapture* cvCreateCameraCapture_Aravis( int index )
{
CvCaptureCAM_Aravis* capture = new CvCaptureCAM_Aravis;
if(capture->open(index)) {
return capture;
}
delete capture;
return NULL;
}
#endif