diff --git a/inc/MindVisionCamera.h b/inc/MindVisionCamera.h index a6c29af..38115ea 100644 --- a/inc/MindVisionCamera.h +++ b/inc/MindVisionCamera.h @@ -12,13 +12,15 @@ extern "C" { class MindVisionCamera { public: - int camera_handle; // MindVision SDK中的相机句柄 + CameraHandle camera_handle; // MindVision SDk中的相机句柄 bool is_opened; std::string target_color; int width; int height; int fps; unsigned char* g_pRgbBuffer; // 处理后数据缓存区 + tSdkCameraCapbility capability; // 相机能力信息 + tSdkImageResolution image_resolution; // 分辨率信息 MindVisionCamera(int cam_id = 0, const std::string& target_color = "red"); ~MindVisionCamera(); @@ -29,6 +31,10 @@ public: void release(); bool switch_color(const std::string& target_color); + int get_width() const { return width; } + int get_height() const { return height; } + bool set_resolution(int width, int height); + private: void set_camera_parameters(); bool initialize_camera(int cam_id); diff --git a/src/MindVisionCamera.cpp b/src/MindVisionCamera.cpp index 905efe5..fe38b12 100644 --- a/src/MindVisionCamera.cpp +++ b/src/MindVisionCamera.cpp @@ -59,21 +59,19 @@ bool MindVisionCamera::initialize_camera(int cam_id) { } // 获取相机能力 - tSdkCameraCapbility capability; iStatus = CameraGetCapability(camera_handle, &capability); if (iStatus != CAMERA_STATUS_SUCCESS) { std::cerr << "Failed to get camera capability! Error code: " << iStatus << std::endl; return false; } - - // 让SDK进入工作模式 - 根据原始OpenCv项目，应该在设置格式前调用 - CameraPlay(camera_handle); // 设置输出格式 - 保持与原始工作项目一致，直接设置为BGR8格式 CameraSetIspOutFormat(camera_handle, CAMERA_MEDIA_TYPE_BGR8); + // 让SDK进入工作模式 - 根据原始OpenCv项目，应该在设置格式前调用 + CameraPlay(camera_handle); + // 获取并设置分辨率为 640x480 - tSdkImageResolution image_resolution; int status = CameraGetImageResolution(camera_handle, &image_resolution); std::cout << "Default resolution query returned: " << status << std::endl; @@ -166,6 +164,18 @@ bool MindVisionCamera::read_frame(cv::Mat& frame) { // 获取一帧数据 if (CameraGetImageBuffer(camera_handle, &sFrameInfo, &pbyBuffer, 1000) == CAMERA_STATUS_SUCCESS) { + // 直接使用CameraGetImageBufferEx获取处理后的RGB数据，提高效率 + INT width, height; + unsigned char* pData = CameraGetImageBufferEx(camera_handle, &width, &height, 2000); + if(pData != NULL) { + // 创建OpenCV Mat对象，直接使用获取的数据 + cv::Mat temp_mat(height, width, CV_8UC3, pData); + frame = temp_mat.clone(); // clone()确保数据被复制，而不是共享指针 + + // CameraGetImageBufferEx方式不需要手动释放缓冲区 + return true; + } + // 使用全局缓冲区处理图像数据 - 与原始项目一致 int status = CameraImageProcess(camera_handle, pbyBuffer, g_pRgbBuffer, &sFrameInfo); if (status != CAMERA_STATUS_SUCCESS) { @@ -192,6 +202,38 @@ bool MindVisionCamera::read_frame_with_color_filter(cv::Mat& frame, cv::Mat& raw return false; } + // 尝试使用CameraGetImageBufferEx方式获取图像 + INT width, height; + unsigned char* pData = CameraGetImageBufferEx(camera_handle, &width, &height, 2000); + if(pData != NULL) { + // 创建OpenCV Mat对象，直接使用获取的数据 + cv::Mat original_img(height, width, CV_8UC3, pData); + frame = original_img.clone(); // clone()确保数据被复制，而不是共享指针 + + // 创建HSV图像用于颜色过滤 + cv::Mat hsv_img; + cv::cvtColor(frame, hsv_img, cv::COLOR_BGR2HSV); + + // 根据颜色创建原始掩码 + if (target_color == "red") { + // Red color range in HSV + cv::Mat mask1, mask2; + cv::inRange(hsv_img, cv::Scalar(0, 43, 49), cv::Scalar(25, 255, 255), mask1); + cv::inRange(hsv_img, cv::Scalar(156, 46, 49), cv::Scalar(180, 255, 255), mask2); + raw_mask = mask1 | mask2; + } else if (target_color == "blue") { + // Blue color range in HSV + cv::inRange(hsv_img, cv::Scalar(83, 200, 44), cv::Scalar(130, 255, 255), raw_mask); + } else { + raw_mask = cv::Mat::zeros(hsv_img.size(), CV_8UC1); + } + + // CameraGetImageBufferEx方式不需要手动释放缓冲区 + return true; + } + + // 如果CameraGetImageBufferEx失败，回退到原来的方式 + tSdkFrameHead sFrameInfo; BYTE* pbyBuffer; @@ -239,11 +281,16 @@ bool MindVisionCamera::read_frame_with_color_filter(cv::Mat& frame, cv::Mat& raw } void MindVisionCamera::release() { - if (camera_handle >= 0) { + if (camera_handle != 0) { // 停止采集，不管is_opened状态如何都尝试释放 + CameraPause(camera_handle); CameraUnInit(camera_handle); camera_handle = -1; } + if(g_pRgbBuffer) { + free(g_pRgbBuffer); + g_pRgbBuffer = nullptr; + } is_opened = false; } @@ -259,4 +306,30 @@ bool MindVisionCamera::switch_color(const std::string& new_color) { return set_cam_params(); // 返回set_cam_params的结果 } return false; +} + +bool MindVisionCamera::set_resolution(int width, int height){ + if (!is_opened) { + return false; + } + + tSdkImageResolution res; + int status = CameraGetImageResolution(camera_handle, &res); + + res.iIndex = 0xFF; + res.iWidth = width; + res.iHeight = height; + res.iWidthFOV = res.iWidth; + res.iHeightFOV = res.iHeight; + res.iHOffsetFOV = 0; + res.iVOffsetFOV = 0; + + status = CameraSetImageResolution(camera_handle, &res); + if (status == CAMERA_STATUS_SUCCESS) { + this->width = width; + this->height = height; + image_resolution = res; + return false; + } + return false; } \ No newline at end of file diff --git a/src/MindVisionMain.cpp b/src/MindVisionMain.cpp index 3e96743..be33365 100644 --- a/src/MindVisionMain.cpp +++ b/src/MindVisionMain.cpp @@ -50,18 +50,22 @@ void output_control_data(const cv::Point2f* ballistic_point, } } -void set_camera_resolution(MindVisionCamera& , int width, int height) { +void set_camera_resolution(MindVisionCamera& camera, int width, int height) { // The resolution is set during camera initialization in MindVision // We need to implement a method in MindVisionCamera to change resolution // For now, we'll just log the intended change - std::cout << "Setting camera resolution to: " << width << "x" << height << std::endl; + if (camera.set_resolution(width, height)){ + std::cout << "Successfully set camera resolution to: " << width << "x" << height << std::endl; + } else { + std::cerr << "Failed to set camera resolution to: " << width << "x" << height << std::endl; + } } int main(int /*argc*/, char* /*argv*/[]) { std::string target_color = "red"; int cam_id = 0; cv::Size default_resolution(640, 480); - bool use_ttl = true; // Set to false to disable TTL communication + bool use_ttl = false; // Set to false to disable TTL communication // Define optional resolution list (adjust based on camera support) std::vector resolutions = {