OpenCV4 + XMake

others/include/camera/camera_wrapper.h

@@ -6,7 +6,7 @@
 #define _CAMERA_WRAPPER_H_
 
 #include <additions.h>
-#include <opencv2/core/core.hpp>
+#include <opencv2/core.hpp>
 #include <camera/wrapper_head.h>
 
 #ifdef Windows
@@ -33,7 +33,7 @@ private:
     tSdkCameraCapbility tCapability;
     tSdkFrameHead frame_info;
     BYTE *pby_buffer;
-    IplImage* iplImage;
+    cv::Mat image_header;
     int channel;
 
     RoundQueue<cv::Mat, 2> src_queue;
@@ -52,4 +52,4 @@ public:
 };
 
 
-#endif /* _CAMERA_WRAPPER_H_ */
+#endif /* _CAMERA_WRAPPER_H_ */

others/include/log.h

@@ -32,6 +32,7 @@
 
 #include <stdio.h>
 #include <systime.h>
+#include <iostream>
 
 /************** Define the control code *************/
 #define START_CTR           "\033[0"

others/src/camera/camera_wrapper.cpp

@@ -17,7 +17,6 @@ CameraWrapper::CameraWrapper(int exposure, int gain, int camera_mode, const std:
         mode(camera_mode),
         camera_cnts(2),
         camera_status(-1),
-        iplImage(nullptr),
         rgb_buffer(nullptr),
         channel(3),
         gain(gain),
@@ -27,9 +26,11 @@ CameraWrapper::CameraWrapper(int exposure, int gain, int camera_mode, const std:
 void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext){
     CameraWrapper *c = (CameraWrapper*)pContext;
     CameraImageProcess(hCamera, pFrameBuffer, c->rgb_buffer, pFrameHead);
-    auto iplImage = cvCreateImageHeader(cvSize(pFrameHead->iWidth, pFrameHead->iHeight), IPL_DEPTH_8U, c->channel);
-    cvSetData(iplImage, c->rgb_buffer, pFrameHead->iWidth * c->channel);  //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
-    c->src_queue.push(cv::cvarrToMat(iplImage).clone());
+    // 使用 cv::Mat 替代 IplImage
+    cv::Mat img(pFrameHead->iHeight, pFrameHead->iWidth, 
+                c->channel == 3 ? CV_8UC3 : CV_8UC1, 
+                c->rgb_buffer, pFrameHead->iWidth * c->channel);
+    c->src_queue.push(img.clone());
 }
 
 bool CameraWrapper::init() {
@@ -134,15 +135,9 @@ bool CameraWrapper::read(cv::Mat &src) {
 
 bool CameraWrapper::readRaw(cv::Mat &src) {
     if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 500) == CAMERA_STATUS_SUCCESS) {
-        if (iplImage) {
-            cvReleaseImageHeader(&iplImage);
-        }
-
-        iplImage = cvCreateImageHeader(cvSize(frame_info.iWidth, frame_info.iHeight), IPL_DEPTH_8U, 1);
-
-        cvSetData(iplImage, pby_buffer, frame_info.iWidth);  //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
-
-        src = cv::cvarrToMat(iplImage).clone();
+        // 使用 cv::Mat 替代 IplImage
+        cv::Mat img(frame_info.iHeight, frame_info.iWidth, CV_8UC1, pby_buffer, frame_info.iWidth);
+        src = img.clone();
 
         //在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
         //否则再次调用CameraGetImageBuffer时，程序将被挂起一直阻塞，直到其他线程中调用CameraReleaseImageBuffer来释放了buffer
@@ -156,16 +151,13 @@ bool CameraWrapper::readRaw(cv::Mat &src) {
 }
 
 bool CameraWrapper::readProcessed(cv::Mat &src) {
-//	cerr << "Get-1" << endl;
     if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 500) == CAMERA_STATUS_SUCCESS) {
         CameraImageProcess(h_camera, pby_buffer, rgb_buffer,
                            &frame_info);  // this function is super slow, better not to use it.
-        if (iplImage) {
-            cvReleaseImageHeader(&iplImage);
-        }
-        iplImage = cvCreateImageHeader(cvSize(frame_info.iWidth, frame_info.iHeight), IPL_DEPTH_8U, channel);
-        cvSetData(iplImage, rgb_buffer, frame_info.iWidth * channel);  //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
-        src = cv::cvarrToMat(iplImage).clone();
+        // 使用 cv::Mat 替代 IplImage
+        int mat_type = (channel == 3) ? CV_8UC3 : CV_8UC1;
+        cv::Mat img(frame_info.iHeight, frame_info.iWidth, mat_type, rgb_buffer, frame_info.iWidth * channel);
+        src = img.clone();
         //在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
         //否则再次调用CameraGetImageBuffer时，程序将被挂起一直阻塞，直到其他线程中调用CameraReleaseImageBuffer来释放了buffer
         CameraReleaseImageBuffer(h_camera, pby_buffer);
@@ -193,4 +185,4 @@ CameraWrapper::~CameraWrapper() {
     //注意，先反初始化后再free
     if (rgb_buffer != nullptr)
         free(rgb_buffer);
-}
+}

others/src/options.cpp

@@ -6,12 +6,13 @@
 #include <log.h>
 #include <cstring>
 #include <map>
+#include <string>
 
-bool show_armor_box = false;
+bool show_armor_box = true;
 bool show_armor_boxes = false;
 bool show_light_blobs = false;
 bool show_origin = false;
-bool run_with_camera = false;
+bool run_with_camera = true;
 bool save_video = false;
 bool wait_uart = false;
 bool save_labelled_boxes = false;