格式修正

Reviewed-on: #3

README.md

@@ -75,4 +75,7 @@ make -j$(nproc)
 1. 检查相机是否正确连接
 2. 确认MindVision相机驱动是否正确安装
 3. 验证相机ID是否正确
-4. 检查权限（可能需要将用户添加到video组）
+4. 检查权限（可能需要将用户添加到video组）
+
+## MindVision-SDK
+`Linux`: >**wget https://www.mindvision.com.cn/wp-content/uploads/2023/08/linuxSDK_V2.1.0.37.tar.gz**

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);

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 = capability.sResolutionRange.iWidthMax;
+    res.iHeightFOV =  capability.sResolutionRange.iHeightMax;
+    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 true;
+    }
+    return false;
 }

src/MindVisionMain.cpp

@@ -1,3 +1,4 @@
+#include <cstdlib>  
 #include <iostream>
 #include <string>
 #include <vector>
@@ -29,8 +30,14 @@ void output_control_data(const cv::Point2f* ballistic_point,
         std::ostringstream send_str;
 
         // Calculate offset (based on actual image center)
-        int ballistic_offset_x = static_cast<int>(ballistic_point->x - img_center.x);
-        int ballistic_offset_y = static_cast<int>(img_center.y - ballistic_point->y);
+        int ballistic_offset_x = -static_cast<int>(ballistic_point->x - img_center.x);
+        if ( abs(ballistic_offset_x) > 320){
+            ballistic_offset_x = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 320 ;
+        }
+        int ballistic_offset_y = -static_cast<int>(img_center.y - ballistic_point->y);
+        if ( abs(ballistic_offset_y) > 180 ) {
+            ballistic_offset_y = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 180 ;
+        }
 
         // Color simplification mapping
         std::string simplified_color = target_color;
@@ -38,7 +45,7 @@ void output_control_data(const cv::Point2f* ballistic_point,
         else if (target_color == "blue") simplified_color = "b";
 
         // Construct send string
-        send_str << "s " << simplified_color << " " << std::to_string(ballistic_offset_x) << " " << std::to_string(ballistic_offset_y) << "\n";
+        send_str << "#s " << simplified_color << " " << std::to_string(ballistic_offset_x) << " " << std::to_string(ballistic_offset_y) << "*\n";
 
         // Send data
         if (ttl_communicator != nullptr) {
@@ -50,19 +57,32 @@ 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*/[]) {
+    static int Numbe = 0;
     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
+    cv::Size default_resolution(1280, 720);
+    bool use_ttl = false; // Set to false to disable TTL communication
+    
 
+    if (Numbe == 0) {
+        // 执行 shell 命令（注意安全风险！）
+        std::system("sudo chmod 777 /dev/tty*");
+        Numbe++;
+    }
+
+    return 0;
     // Define optional resolution list (adjust based on camera support)
     std::vector<cv::Size> resolutions = {
         cv::Size(320, 240),   // Low resolution, high frame rate
@@ -125,6 +145,7 @@ int main(int /*argc*/, char* /*argv*/[]) {
     try {
         while (true) {
             // 使用新的颜色过滤方法同时获取图像和原始掩码
+        
             cv::Mat raw_mask;
             if (!camera.read_frame_with_color_filter(frame, raw_mask, target_color)) {
                 std::cout << "Cannot read from MindVision camera, exiting!，HERERER" << std::endl;