133 lines
3.4 KiB
C++
133 lines
3.4 KiB
C++
/**
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* uvoscam
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* Copyright (C) 2021 Carl Klemm
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* version 3 as published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the
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* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
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* Boston, MA 02110-1301, USA.
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*/
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#pragma once
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#include <string>
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#include <functional>
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#include <condition_variable>
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#include <stdint.h>
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#include <thread>
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#include <atomic>
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#include <opencv2/core/mat.hpp>
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typedef struct _ArvStream ArvStream;
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typedef struct _ArvBuffer ArvBuffer;
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typedef struct _ArvCamera ArvCamera;
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namespace cam
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{
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class Camera
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{
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public:
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struct Description
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{
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std::string vendor;
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std::string serial;
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std::string id;
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std::string model;
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};
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static constexpr size_t BUFFER_DEPTH = 8;
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typedef int TriggerMode;
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static constexpr TriggerMode TRIGGER_FREE = 0;
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static constexpr TriggerMode TRIGGER_SOFTWARE = 1;
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static constexpr TriggerMode TRIGGER_HARDWARE = 2;
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typedef int BayerMode;
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static constexpr BayerMode BAYER_RED = 0;
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static constexpr BayerMode BAYER_GREEN = 1;
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static constexpr BayerMode BAYER_BLUE = 2;
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static constexpr BayerMode BAYER_PASSTHOUGH = 3;
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static constexpr BayerMode BAYER_DEBAYER = 4;
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typedef int AquisitionMode;
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static constexpr AquisitionMode MODE_FREE = 0;
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static constexpr AquisitionMode MODE_SINGLE = 1;
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private:
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ArvStream* aStream_ = nullptr;
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ArvCamera* aCamera_ = nullptr;
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unsigned int width_;
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unsigned int height_;
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int64_t format = -1;
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inline static bool scanned_ = false;
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ArvBuffer* imageBuffers[BUFFER_DEPTH] = {0};
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BayerMode bayerMode = BAYER_DEBAYER;
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ArvBuffer* decodeBuffer = nullptr;
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std::mutex decodeBufferMutex;
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std::condition_variable bufferCondition;
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std::mutex bufferConditionMutex;
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std::thread* decoderThread = nullptr;
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std::atomic_bool join;
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std::atomic_bool run;
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AquisitionMode aqmode = MODE_FREE;
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void decoderThreadFunc();
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std::function<void(cv::Mat)> callback_;
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bool setupCamera();
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bool chooseFormat();
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cv::Mat debayer(ArvBuffer *buffer);
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cv::Mat pack8(ArvBuffer *buffer, bool color);
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cv::Mat pack16(ArvBuffer *buffer);
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public:
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static std::vector<Camera::Description> getAvailableCameras(bool update = false);
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Camera(std::function<void(cv::Mat)> callback);
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bool openCamera(const std::string& name);
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bool openCamera(const Camera::Description& camera);
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bool openCamera(const size_t index);
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~Camera();
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bool isOpen();
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bool setAcquisitionMode(AquisitionMode mode);
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bool setExposureTime(uint64_t us);
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uint64_t getExposureTime();
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double getFrameRate();
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bool setFrameRate(double rate);
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int64_t getPixelFormat();
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bool setExposureAuto(bool enable);
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bool startAcquisition();
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bool stopAcquisition();
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void getSize(unsigned int* x, unsigned int* y);
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void setBayerMode(Camera::BayerMode mode);
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Camera::BayerMode getBayerMode();
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void setTriggerMode(Camera::TriggerMode mode);
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void trigger();
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Camera::Description getDescription();
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static void aCallback(void* instance, int type, ArvBuffer *buffer);
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};
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}
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