Add support for monocrome cmos ccd

Adapted mtu and packed size
Some minor fixes in gstreamer because not implemented support of v4l v4l2 in the wrapper
default beahvior must be v4l v4l2 or libv4l backends

modules/highgui/include/opencv2/highgui/highgui_c.h

@@ -291,7 +291,8 @@ enum
 	CV_CAP_PROP_EXPOSURE      =15,
 	CV_CAP_PROP_CONVERT_RGB   =16,
 	CV_CAP_PROP_WHITE_BALANCE =17,
-	CV_CAP_PROP_RECTIFICATION =18
+	CV_CAP_PROP_RECTIFICATION =18,
+	CV_CAP_PROP_MONOCROME	  =19
 };
 
 /* retrieve or set capture properties */

modules/highgui/src/cap_gstreamer.cpp

@@ -325,7 +325,7 @@ bool CvCapture_GStreamer::open( int type, const char* filename )
     bool stream=false;
     char *uri=NULL;
 	//const char *sourcetypes[] = {"dv1394src", "v4lsrc", "v4l2src", "filesrc"};
-	//printf("entered capturecreator %s\n", sourcetypes[type]);
+	//printf("entered capturecreator %d\n", type);
     if  (type == CV_CAP_GSTREAMER_FILE) {	
 		if (!gst_uri_is_valid(filename)) {
 			uri=realpath(filename,NULL);
@@ -346,8 +346,12 @@ bool CvCapture_GStreamer::open( int type, const char* filename )
 		}	
 		uridecodebin = gst_element_factory_make ("uridecodebin", NULL);
 		g_object_set(G_OBJECT(uridecodebin),"uri",uri, NULL);
-	}
-	if(!uridecodebin) {
+		if(!uridecodebin) {
+			close();
+			return false;
+		}		
+	}	
+	else {
 		close();
 		return false;
 	}	
@@ -595,10 +599,6 @@ void CvCapture_GStreamer::close()
 	}
 	if(buffer)
 		gst_buffer_unref(buffer);
-
-	if(frame)
-		cvReleaseImage(&frame);
-
 }
 
 double CvCapture_GStreamer::getProperty( int propId )

modules/highgui/src/cap_pvapi.cpp

@@ -52,9 +52,13 @@
 
 #if defined(_x64) || defined (__x86_64) || defined (_WIN64)
 #define _x64 1
+#elif defined(_x86) || defined(__i386) || defined (_WIN32)
+#define _x86 1
 #endif
 
 #include <PvApi.h>
+#include <unistd.h>
+//#include <arpa/inet.h>
 
 #define MAX_CAMERAS 10
 
@@ -81,16 +85,21 @@ public:
     }
 
 protected:
+	virtual void Sleep(unsigned int time);
+
     typedef struct
     {
         unsigned long   UID;
         tPvHandle       Handle;
         tPvFrame        Frame;
 
+
     } tCamera;
     IplImage *frame;
+    IplImage *grayframe;
     tCamera Camera;
     tPvErr          Errcode;
+    bool monocrome;
 
 
 };
@@ -100,61 +109,109 @@ CvCaptureCAM_PvAPI::CvCaptureCAM_PvAPI()
 {
 
 }
-
+void CvCaptureCAM_PvAPI::Sleep(unsigned int time)
+{
+    struct timespec t,r;
+    
+    t.tv_sec    = time / 1000;
+    t.tv_nsec   = (time % 1000) * 1000000;    
+    
+    while(nanosleep(&t,&r)==-1)
+        t = r;
+}
 void CvCaptureCAM_PvAPI::close()
 {
-
-    // Stop the acquisition & free the camera
-    PvCommandRun(Camera.Handle, "AcquisitionStop");
-
-    PvCaptureEnd(Camera.Handle);
-    PvCameraClose(Camera.Handle);
-
-    cvReleaseImage(&frame);
+	// Stop the acquisition & free the camera
+	PvCommandRun(Camera.Handle, "AcquisitionStop");
+	PvCaptureEnd(Camera.Handle);
+	PvCameraClose(Camera.Handle);	
 }
 
 // Initialize camera input
 bool CvCaptureCAM_PvAPI::open( int index )
 {
+    tPvCameraInfo cameraList[MAX_CAMERAS];
+    
+    tPvCameraInfo  camInfo;
+    tPvIpSettings ipSettings;
 
-    tPvCameraInfo cameraInfo[MAX_CAMERAS];
+ 
     if (PvInitialize())
         return false;
         
-    usleep(250000);
-    
+    Sleep(1000);
+
     //close();
-    int numCameras = PvCameraList(cameraInfo, MAX_CAMERAS, NULL);
+    
+    int numCameras=PvCameraList(cameraList, MAX_CAMERAS, NULL);
+
     if (numCameras <= 0 || index >= numCameras)
         return false;
 
-    Camera.UID = cameraInfo[index].UniqueId;
+    Camera.UID = cameraList[index].UniqueId;    
+
+    if (!PvCameraInfo(Camera.UID,&camInfo) && !PvCameraIpSettingsGet(Camera.UID,&ipSettings)) {
+		/*
+		struct in_addr addr;
+		addr.s_addr = ipSettings.CurrentIpAddress;
+		printf("Current address:\t%s\n",inet_ntoa(addr));
+		addr.s_addr = ipSettings.CurrentIpSubnet;
+		printf("Current subnet:\t\t%s\n",inet_ntoa(addr));
+		addr.s_addr = ipSettings.CurrentIpGateway;
+		printf("Current gateway:\t%s\n",inet_ntoa(addr));
+		*/
+	}	
+	else {
+		fprintf(stderr,"ERROR: could not retrieve camera IP settings.\n");
+		return false;
+	}	
+
+
     if (PvCameraOpen(Camera.UID, ePvAccessMaster, &(Camera.Handle))==ePvErrSuccess)
     {
     
-
         //Set Pixel Format to BRG24 to follow conventions 
-        Errcode = PvAttrEnumSet(Camera.Handle, "PixelFormat", "Bgr24");
+        /*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, frameSize, maxSize;
+		char pixelFormat[256];
         PvAttrUint32Get(Camera.Handle, "TotalBytesPerFrame", &frameSize);
         PvAttrUint32Get(Camera.Handle, "Width", &frameWidth);
         PvAttrUint32Get(Camera.Handle, "Height", &frameHeight);
-        
-
-        // Create an image (24 bits RGB Color image)
-        frame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3);
-        frame->widthStep = frameWidth*3;
-
-        Camera.Frame.ImageBufferSize = frameSize;
-        Camera.Frame.ImageBuffer = frame->imageData;
-
+        //PvAttrEnumGet(Camera.Handle, "pixelFormat", pixelFormat,256,NULL);
+        maxSize = 8228;
+        PvAttrUint32Get(Camera.Handle,"PacketSize",&maxSize);
+        PvCaptureAdjustPacketSize(Camera.Handle,maxSize);
+        //printf ("Pixel Format %s  %d %d\n ", pixelFormat,frameWidth,frameHeight);
+        if (strncmp(pixelFormat, "Mono8",NULL)==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 (strncmp(pixelFormat, "Mono16",NULL)==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	(strncmp(pixelFormat, "Bgr24",NULL)==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);
 
@@ -179,21 +236,27 @@ bool CvCaptureCAM_PvAPI::open( int index )
         
         return true;
     }
+    fprintf(stderr,"Error cannot open camera\n");
     return false;
 
 }
 
 bool CvCaptureCAM_PvAPI::grabFrame()
 {
-    return PvCaptureQueueFrame(Camera.Handle, &(Camera.Frame), NULL) == ePvErrSuccess;
+	//if(Camera.Frame.Status != ePvErrUnplugged && Camera.Frame.Status != ePvErrCancelled)
+	return PvCaptureQueueFrame(Camera.Handle, &(Camera.Frame), NULL) == ePvErrSuccess;
 }
 
 
 IplImage* CvCaptureCAM_PvAPI::retrieveFrame(int)
 {
 
-    return (PvCaptureWaitForFrameDone(Camera.Handle, &(Camera.Frame), 1000) == ePvErrSuccess) 
-	? frame : NULL;
+    if (PvCaptureWaitForFrameDone(Camera.Handle, &(Camera.Frame), 1000) == ePvErrSuccess) {
+		if (!monocrome)
+			cvMerge(grayframe,grayframe,grayframe,NULL,frame); 
+		return frame;
+	}		
+	else return NULL;		
 }
 
 double CvCaptureCAM_PvAPI::getProperty( int property_id )
@@ -224,6 +287,15 @@ bool CvCaptureCAM_PvAPI::setProperty( int property_id, double value )
         PvAttrUint32Set(Camera.Handle, "Heigth", (tPvUint32)value);
         break;
     */
+    case CV_CAP_PROP_MONOCROME:
+		char pixelFormat[256];
+        PvAttrEnumGet(Camera.Handle, "PixelFormat", pixelFormat,256,NULL);
+        if ((strncmp(pixelFormat, "Mono8",NULL)==0) || strncmp(pixelFormat, "Mono16",NULL)==0) {
+			monocrome=true;
+			break;
+		}	
+		else
+			return false;
     default:
         return false;
     }