diff --git a/README.md b/README.md new file mode 100644 index 0000000..260aaea --- /dev/null +++ b/README.md @@ -0,0 +1,34 @@ +UVOS libuvoscam and uvoscam_cli +============== + +This is a library and cli application that wraps aravis to avoid GOBJECT leakage into a c++ application using aravis. On top of this it also implements color space conversions and demosaicing +license: GPL v3.0 or later + +Building and Installing +---------- + +Requirements: + +* cmake +* pkg-config +* openCV v3.0 or later +* aravis-0.8 + +Build instructions: + +1. run 'cmake .' +2. run 'make' + +To install run 'make install' as root. + + +uvoscam_cli usage +---------- + +To unwrap a object: + +1. run 'uvoscam_cli' +2. at the > prompt type 'list' to show the cameras available +3. open a camera with 'open $(index)' +4. use 'capture $(imageFileName)' to save an image +5. for more available commands type 'help' diff --git a/gpl-3.0.txt b/gpl-3.0.txt new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/gpl-3.0.txt @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/log.h b/log.h index 5052a26..73b0f7e 100644 --- a/log.h +++ b/log.h @@ -21,6 +21,9 @@ #include #include +namespace cam +{ + class Log { public: @@ -37,51 +40,17 @@ private: bool opened = false; Level msglevel = DEBUG; - inline std::string getLabel(Level level) - { - std::string label; - switch(level) - { - case DEBUG: - label = "DEBUG"; - break; - case INFO: - label = "INFO "; - break; - case WARN: - label = "WARN "; - break; - case ERROR: - label = "ERROR"; - break; - } - return label; - } + std::string getLabel(Level level); public: - - inline static bool headers = false; - inline static Level level = WARN; + static bool headers; + static Level level; + static bool endline; Log() {} - Log(Level type) - { - msglevel = type; - if(headers) - { - operator << ("["+getLabel(type)+"]"); - } - } - - ~Log() - { - if(opened) - { - std::cout<<'\n'; - } - opened = false; - } + Log(Level type); + ~Log(); template Log &operator<<(const T &msg) { @@ -93,3 +62,5 @@ public: return *this; } }; + +} diff --git a/main.cpp b/main.cpp index 8990d4c..4fb4d5f 100644 --- a/main.cpp +++ b/main.cpp @@ -40,7 +40,7 @@ void listDevices() std::vector cameras = Camera::getAvailableCameras(); size_t i = 0; for(auto camera : cameras) - std::cout< "< tokenize(const std::string& in, char delim = ' ') @@ -85,8 +87,6 @@ int main(int argc, char* argv[]) std::getline(std::cin, line); std::vector tokens = tokenize(line); - int ret = -1; - if(!tokens.empty()) { if(tokens[0].find("help") != std::string::npos) @@ -95,21 +95,20 @@ int main(int argc, char* argv[]) break; else if(tokens[0].find("list") != std::string::npos) listDevices(); - else if(tokens[0].find("open") != std::string::npos) + else if(tokens[0].find("open") != std::string::npos || tokens[0] == "o") { if(tokens.size() > 1) { - ret = -1; size_t index = std::stoul(tokens[1]); if(index < Camera::getAvailableCameras().size()) { camera.openCamera(index); if(camera.isOpen()) { - ret = 0; camera.setAcquisitionMode(Camera::MODE_SINGLE); camera.setBayerMode(Camera::BAYER_GREEN); camera.setTriggerMode(Camera::TRIGGER_SOFTWARE); + camera.startAcquisition(); } } else @@ -118,22 +117,66 @@ int main(int argc, char* argv[]) } } } - else if(tokens[0].find("capture") != std::string::npos) + else if(tokens[0].find("capture") != std::string::npos || tokens[0] == "c") { - if(tokens.size() > 1) + if(camera.isOpen()) { - ret = -1; - if(camera.isOpen()) - { + if(tokens.size() > 1) filename = tokens[1] + ".png"; - camera.startAcquisition(); - camera.trigger(); - } + else + filename = "testimg.png"; + camera.startAcquisition(); + camera.trigger(); + } + else + { + std::cout<<"Camera not open\n"; } } + else if(tokens[0].find("exposure") != std::string::npos || tokens[0] == "e") + { + if(camera.isOpen()) + { + if(tokens.size() > 1) + { + if(!camera.setExposureTime(atof(tokens[1].c_str())*1000000.0)) + std::cout<<"setting exposure time failed\n"; + } + else + { + uint64_t min, max; + camera.getExposureTimeLimits(min, max); + std::cout<<"Exposure time: "< 1) + { + if(!camera.setGain(atof(tokens[1].c_str()))) + std::cout<<"setting exposure time failed\n"; + } + else + std::cout<<"Gain: "<(height_), static_cast(width_), CV_8U, const_cast(data), bufferSize/width_); - cv::Mat cvResult; + const cv::Mat cvBuffer(static_cast(height_), static_cast(width_), CV_8UC1, const_cast(data)); + cv::Mat cvResult(static_cast(height_), static_cast(width_), CV_8UC3); if(bayerMode == BAYER_DEBAYER) { cv::cvtColor(cvBuffer, cvResult, cv::COLOR_BayerBG2BGR); @@ -77,6 +77,52 @@ cv::Mat Camera::debayer(ArvBuffer *buffer) return cvResult; } +cv::Mat Camera::debayerGB(ArvBuffer *buffer) +{ + size_t bufferSize; + const void* data = arv_buffer_get_data(buffer, &bufferSize); + const cv::Mat cvBuffer(static_cast(height_), static_cast(width_), CV_8UC1, const_cast(data)); + cv::Mat cvResult(static_cast(height_), static_cast(width_), CV_8UC3); + if(bayerMode == BAYER_DEBAYER) + { + cv::cvtColor(cvBuffer, cvResult, cv::COLOR_BayerGB2BGR); + } + else if(bayerMode == BAYER_RED || bayerMode == BAYER_BLUE) + { + cvBuffer.copyTo(cvResult); + for(int y = 0; y < cvResult.rows; y+=2) + { + uint8_t* colH = cvResult.ptr(y); + uint8_t* colL = cvResult.ptr(y+1); + for(int x = 0; x < cvResult.cols; x+=2) + { + if(bayerMode == BAYER_BLUE) + { + colH[x] = colH[x+1]; + colL[x] = colH[x+1]; + colL[x+1] = colH[x+1]; + } else + { + colH[x] = colL[x]; + colH[x+1] = colL[x]; + colL[x+1] = colL[x]; + } + } + } + } + else if(bayerMode == BAYER_GREEN) + { + cvBuffer.copyTo(cvResult); + for(int y = 0; y < cvResult.rows; ++y) + { + uint8_t* col = cvResult.ptr(y); + for(int x = 0; x < cvResult.cols; x+=2) + col[x+(y & 1)] = col[x+!(y & 1)]; + } + } + return cvResult; +} + cv::Mat Camera::pack8(ArvBuffer *buffer, bool color) { size_t bufferSize; @@ -114,7 +160,14 @@ void Camera::decoderThreadFunc() if(format == ARV_PIXEL_FORMAT_BAYER_BG_8) { if(bayerMode != BAYER_PASSTHOUGH) - callback_(debayer(decodeBuffer)); + callback_(debayerBG(decodeBuffer)); + else + callback_(pack8(decodeBuffer, false)); + } + else if(format == ARV_PIXEL_FORMAT_BAYER_GB_8) + { + if(bayerMode != BAYER_PASSTHOUGH) + callback_(debayerGB(decodeBuffer)); else callback_(pack8(decodeBuffer, false)); } @@ -138,7 +191,7 @@ void Camera::aCallback(void* instance, int type, ArvBuffer *buffer) Camera* instance_ = reinterpret_cast(instance); if(type == ARV_STREAM_CALLBACK_TYPE_BUFFER_DONE) { - if(instance_->run) + if(instance_->run && instance_->aqmode != MODE_DISCARD) { gint inBuffers; gint outBuffers; @@ -147,8 +200,6 @@ void Camera::aCallback(void* instance, int type, ArvBuffer *buffer) std::unique_lock decodeBufferMutexLock(instance_->decodeBufferMutex); instance_->decodeBuffer = arv_stream_pop_buffer(instance_->aStream_); instance_->bufferCondition.notify_all(); - if(instance_->aqmode == MODE_SINGLE) - instance_->run = false; } else { @@ -170,18 +221,15 @@ bool Camera::chooseFormat() gint64* formats = arv_camera_dup_available_pixel_formats(aCamera_, &count, &error); if(error) return false; - for(guint i = 0; i < count && format < 0; ++i) + for(guint i = 0; i < count; ++i) { switch(formats[i]) { case ARV_PIXEL_FORMAT_MONO_8: - //case ARV_PIXEL_FORMAT_MONO_10: - //case ARV_PIXEL_FORMAT_MONO_12: case ARV_PIXEL_FORMAT_RGB_8_PLANAR: case ARV_PIXEL_FORMAT_BAYER_BG_8: + case ARV_PIXEL_FORMAT_BAYER_GB_8: format = formats[i]; - default: - break; } } @@ -194,13 +242,25 @@ bool Camera::chooseFormat() bool Camera::setupCamera() { + GError* error = nullptr; + bool doubleRate = arv_camera_is_feature_available(aCamera_, "DoubleRate_Enable", &error); + if(!error && doubleRate) + { + Log(Log::INFO)<<"Disable broken PhotonFocus DoubleRate implementation"; + arv_device_set_boolean_feature_value(arv_camera_get_device(aCamera_), "DoubleRate_Enable", false, &error); + if(error) + { + Log(Log::ERROR)<<"Failed to disable DoubleRate\n"; + return false; + } + } + if(!chooseFormat()) { Log(Log::ERROR)<<"Camera provides no supported pixel format"; return false; } - GError* error = nullptr; gint ymin, ymax; arv_camera_get_height_bounds(aCamera_, &ymin, &ymax, &error); if(error) @@ -270,12 +330,16 @@ bool Camera::setupCamera() imageBuffers[i] = arv_buffer_new(frameSize, nullptr); arv_stream_push_buffer(aStream_, imageBuffers[i]); } - setExposureAuto(false); + + arv_camera_stop_acquisition(aCamera_, nullptr); + + setExposureAuto(true); setTriggerMode(TRIGGER_FREE); setAcquisitionMode(ARV_ACQUISITION_MODE_CONTINUOUS); - setFrameRate(10); + setFrameRate(2); setExposureTime(100000); - arv_camera_stop_acquisition(aCamera_, nullptr); + setGain(1); + setMtu(1500); return true; } @@ -284,36 +348,28 @@ std::vector Camera::getAvailableCameras(bool update) { if(!scanned_ || update) { - arv_enable_interface("Fake"); arv_update_device_list(); scanned_ = true; } std::vector cameras; for(size_t i = 0; i < arv_get_n_devices(); ++i) { - Description camera; + const char* vendor = arv_get_device_vendor(i); const char* serial = arv_get_device_serial_nbr(i); - const char* id = arv_get_device_id(i); const char* model = arv_get_device_model(i); + const char* id = arv_get_device_id(i); - if(vendor) - camera.vendor = vendor; - if(serial) - camera.serial = serial; - if(id) - camera.id = id; - if(model) - camera.model = model; - - cameras.push_back(camera); + if(!vendor || !serial || !id || !model) + continue; + + cameras.push_back(Description(vendor, model, serial, id)); } return cameras; } Camera::Camera(std::function callback): join(false), run(false), callback_(callback) { - arv_enable_interface("Fake"); } bool Camera::openCamera(const std::string& name) @@ -328,7 +384,8 @@ bool Camera::openCamera(const std::string& name) bool Camera::openCamera(const Camera::Description& camera) { - aCamera_ = arv_camera_new(camera.id.c_str(), nullptr); + description = new Description(camera); + aCamera_ = arv_camera_new(camera.getIdString().c_str(), nullptr); if(ARV_IS_CAMERA(aCamera_)) setupCamera(); else @@ -339,11 +396,12 @@ bool Camera::openCamera(const Camera::Description& camera) bool Camera::openCamera(const size_t index) { Description camera = getAvailableCameras().at(index); - aCamera_ = arv_camera_new(camera.id.c_str(), nullptr); + description = new Description(camera); + aCamera_ = arv_camera_new(camera.getIdString().c_str(), nullptr); if(ARV_IS_CAMERA(aCamera_)) setupCamera(); else - Log(Log::ERROR)<<"Can not create camera from index "<(us), &error); + if(error) + Log(Log::WARN)<message; + return !error; } +bool Camera::getTemperature(double& temperature) +{ + GError* error = nullptr; + bool temperatureAvailable = arv_camera_is_feature_available(aCamera_, "DeviceTemperature", &error); + if(error || !temperatureAvailable ) + return false; + + temperature = arv_device_get_float_feature_value(arv_camera_get_device(aCamera_), "DeviceTemperature", &error); + + if(error) + { + Log(Log::WARN)<message; + return false; + } + return true; +} + uint64_t Camera::getExposureTime() { GError* error = nullptr; double ret = arv_camera_get_exposure_time(aCamera_, &error); + if(error) + Log(Log::WARN)<message; return !error ? static_cast(ret) : 0; } @@ -397,6 +477,8 @@ double Camera::getFrameRate() { GError* error = nullptr; double ret = arv_camera_get_frame_rate(aCamera_, &error); + if(error) + Log(Log::WARN)<message; return !error ? ret : -1; } @@ -404,6 +486,8 @@ bool Camera::setFrameRate(double rate) { GError* error = nullptr; arv_camera_set_frame_rate(aCamera_, rate, &error); + if(error) + Log(Log::WARN)<message; return !error; } @@ -412,13 +496,61 @@ int64_t Camera::getPixelFormat() return static_cast(format); } +double Camera::getGain() +{ + GError* error = nullptr; + double gain = arv_camera_get_gain(aCamera_, &error); + if(error) + { + Log(Log::WARN)<message; + return -1; + } + return gain; +} + +bool Camera::setGain(double gain) +{ + GError* error = nullptr; + arv_camera_set_gain(aCamera_, gain, &error); + if(error) + Log(Log::WARN)<message; + return !error; +} + +bool Camera::getExposureTimeLimits(uint64_t& min, uint64_t& max) +{ + double minD = 0; + double maxD = 0; + GError* error = nullptr; + arv_camera_get_exposure_time_bounds(aCamera_, &minD, &maxD, &error); + if(error) + Log(Log::WARN)<message; + min = static_cast(minD); + max = static_cast(maxD); + return !error; +} + +bool Camera::hasExposureAuto() +{ + GError* error = nullptr; + bool ret = arv_camera_is_exposure_auto_available(aCamera_, &error); + if(error) + { + Log(Log::WARN)<message; + return false; + } + return ret; +} + bool Camera::setExposureAuto(bool enable) { - if(!arv_camera_is_exposure_auto_available(aCamera_, nullptr)) + if(!hasExposureAuto()) return false; GError* error = nullptr; arv_camera_set_exposure_time(aCamera_, enable ? ARV_AUTO_CONTINUOUS : ARV_AUTO_OFF, &error); + if(error) + Log(Log::WARN)<message; return !error; } @@ -427,7 +559,14 @@ bool Camera::startAcquisition() GError* error = nullptr; arv_camera_start_acquisition(aCamera_, &error); if(!error) + { + aqRunning = true; run = true; + } + else + { + Log(Log::WARN)<message; + } return !error; } @@ -436,7 +575,12 @@ bool Camera::stopAcquisition() GError* error = nullptr; arv_camera_stop_acquisition(aCamera_, &error); if(!error) + { + aqRunning = false; run = false; + } + else + Log(Log::WARN)<message; return !error; } @@ -471,28 +615,37 @@ void Camera::trigger() arv_camera_software_trigger(aCamera_, nullptr); } +bool Camera::setMtu(int mtu) { + GError* error = nullptr; + arv_device_set_integer_feature_value(arv_camera_get_device(aCamera_), "GevSCPSPacketSize", mtu, &error); + if(!error) + arv_device_set_integer_feature_value(arv_camera_get_device(aCamera_), "GevSCBWR", 10, &error); + if(error) + Log(Log::WARN)<message; + return !error; +} + Camera::Description Camera::getDescription() { if(!description) { if(ARV_IS_CAMERA(aCamera_)) { - description = new Description; + std::string vendor; + std::string serial; + std::string model; + GError* error = nullptr; + vendor = arv_camera_get_vendor_name(aCamera_, &error); if(!error) - description->vendor = arv_camera_get_vendor_name(aCamera_, &error); + serial = arv_camera_get_device_serial_number(aCamera_, &error); if(!error) - description->serial = arv_camera_get_device_serial_number(aCamera_, &error); - if(!error) - description->id = arv_camera_get_device_id(aCamera_, &error); - if(!error) - description->model = arv_camera_get_model_name(aCamera_, &error); + model = arv_camera_get_model_name(aCamera_, &error); if(error) - { - delete description; - description = nullptr; - } + Log(Log::WARN)<message; + else + description = new Description(vendor, model, serial); } } - return description ? *description : Description(); + return description ? *description : Description("VOID", "VOID", "VOID"); } diff --git a/uvoscam.h b/uvoscam.h index 0bfd215..b94bd99 100644 --- a/uvoscam.h +++ b/uvoscam.h @@ -40,23 +40,47 @@ public: class Description { private: - size_t hash = 0; + uint64_t hash = 0; + std::string vendor_; + std::string serial_; + std::string model_; + std::string id_; public: - std::string vendor; - std::string serial; - std::string id; - std::string model; - size_t getHash() const + Description(std::string const vendor, const std::string model, const std::string serial, const std::string id = ""): + vendor_(vendor), serial_(serial), model_(model), id_(id) { - //if(hash == 0) - return /*hash =*/ std::hash{}(vendor + serial + id + model); - //return hash; + hash = std::hash{}(vendor_ + serial_ + model_); + } + + uint64_t getId() const + { + return hash; + } + + std::string getIdString() const + { + return id_; + } + + std::string getVendor() const + { + return vendor_; + } + + std::string getSerial() const + { + return serial_; + } + + std::string getModel() const + { + return model_; } bool operator==(const Description& in) const { - return in.getHash() == getHash(); + return in.getId() == getId(); } bool operator!=(const Description& in) const { @@ -82,6 +106,7 @@ public: typedef int AquisitionMode; static constexpr AquisitionMode MODE_FREE = 0; static constexpr AquisitionMode MODE_SINGLE = 1; + static constexpr AquisitionMode MODE_DISCARD = 2; private: ArvStream* aStream_ = nullptr; @@ -108,6 +133,8 @@ private: std::atomic_bool run; AquisitionMode aqmode = MODE_FREE; + int discardCount = 0; + bool aqRunning = false; void decoderThreadFunc(); @@ -117,7 +144,8 @@ private: bool chooseFormat(); - cv::Mat debayer(ArvBuffer *buffer); + cv::Mat debayerBG(ArvBuffer *buffer); + cv::Mat debayerGB(ArvBuffer *buffer); cv::Mat pack8(ArvBuffer *buffer, bool color); cv::Mat pack16(ArvBuffer *buffer); @@ -132,14 +160,20 @@ public: ~Camera(); bool isOpen(); bool setAcquisitionMode(AquisitionMode mode); + bool setGain(double gain); + double getGain(); bool setExposureTime(uint64_t us); + bool getExposureTimeLimits(uint64_t& min, uint64_t& max); uint64_t getExposureTime(); double getFrameRate(); bool setFrameRate(double rate); int64_t getPixelFormat(); bool setExposureAuto(bool enable); + bool hasExposureAuto(); bool startAcquisition(); bool stopAcquisition(); + bool setMtu(int mtu); + bool getTemperature(double& temperature); void getSize(unsigned int* x, unsigned int* y); void setBayerMode(Camera::BayerMode mode); Camera::BayerMode getBayerMode();