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OpenCV4 + XMake

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This commit is contained in:
Huang Haoyu
2026-03-15 01:42:59 +08:00
parent 7770503779
commit 15be04d1f7
13 changed files with 182 additions and 54 deletions
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34
others/src/camera/camera_wrapper.cpp
View File

@@ -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);
}
}

5
others/src/options.cpp
View File

@@ -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;