VSAG/amadeus_26_fb
8
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

修改了摄像头读取方式

Browse Source
This commit is contained in:
xinyang
2019-04-27 16:16:53 +08:00
parent 9cfd26cc23
commit 4e47b38d7d
15 changed files with 272 additions and 255 deletions
Download Patch File Download Diff File Expand all files Collapse all files
others/include/camera/camera_wrapper.h
+15 -24
View File
@@ -18,40 +18,31 @@
class CameraWrapper: public WrapperHead {
private:
unsigned char* rgb_buffer0;
unsigned char* rgb_buffer1;
const std::string name;
unsigned char* rgb_buffer;
int camera_cnts;
int camera_status0, camera_status1;
int camera_status;
tSdkCameraDevInfo camera_enum_list[2];
int h_camera0;
int h_camera1;
char camera_name0[32];
char camera_name1[32];
int h_camera;
char camera_name[32];
tSdkCameraCapbility tCapability0;
tSdkCameraCapbility tCapability1;
tSdkFrameHead frame_info0;
tSdkFrameHead frame_info1;
BYTE *pby_buffer0;
BYTE *pby_buffer1;
IplImage* iplImage0;
IplImage* iplImage1;
int channel0;
int channel1;
tSdkCameraCapbility tCapability;
tSdkFrameHead frame_info;
BYTE *pby_buffer;
IplImage* iplImage;
int channel;
void swapCameraHandle();
public:
CameraWrapper();
CameraWrapper(const std::string &n);
~CameraWrapper() final;
bool init() final;
bool read(cv::Mat& src0, cv::Mat& src1) final;
bool readRaw(cv::Mat& src0, cv::Mat& src1);
bool readProcessed(cv::Mat& src0, cv::Mat& src1);
bool read(cv::Mat& src) final;
bool readRaw(cv::Mat& src);
bool readProcessed(cv::Mat& src);
};
others/include/camera/video_wrapper.h
+3 -3
View File
@@ -16,7 +16,7 @@
class VideoWrapper:public WrapperHead {
public:
VideoWrapper(const std::string& filename0, const std::string& filename1);
VideoWrapper(const std::string& filename);
~VideoWrapper();
@@ -33,9 +33,9 @@ public:
* @param src_right : output source video of right camera
* @return bool value: whether the reading is successful
*/
bool read(cv::Mat &src_left, cv::Mat &src_right) final;
bool read(cv::Mat &src) final;
private:
cv::VideoCapture video0, video1;
cv::VideoCapture video;
};
others/include/camera/wrapper_head.h
+1 -2
View File
@@ -11,11 +11,10 @@
* @brief A virtual class for wrapper of camera and video files
*/
class WrapperHead {
public:
virtual ~WrapperHead() = default;;
virtual bool init() = 0;
virtual bool read(cv::Mat &src_left, cv::Mat &src_right) = 0;
virtual bool read(cv::Mat &src) = 0;
};
others/src/camera/camera_wrapper.cpp
+74 -138
View File
@@ -3,20 +3,26 @@
//
#include <camera/camera_wrapper.h>
#include <log.h>
using std::cout;
using std::endl;
using namespace cv;
CameraWrapper::CameraWrapper()
{
camera_cnts = 2;
camera_status0 = -1;
camera_status1 = -1;
iplImage0 = nullptr;
iplImage1 = nullptr;
channel0 = 3;
channel1 = 3;
CameraWrapper::CameraWrapper(const std::string &n):
name(n),
camera_cnts(2),
camera_status(-1),
iplImage(nullptr),
channel(3){
}
CameraWrapper::CameraWrapper():
name("NULL"),
camera_cnts(2),
camera_status(-1),
iplImage(nullptr),
channel(3){
}
@@ -30,69 +36,52 @@ bool CameraWrapper::init() {
//没有连接设备
if (camera_cnts == 0) {
cout<<"No device detected!"<<endl;
LOGE("No camera device detected!");
return false;
}else if(camera_cnts >= 1){
LOGM("%d camera device detected!", camera_cnts);
}
else if(camera_cnts == 1)
{
cout<<"Only one camera device detected"<<endl;
return false;
}
else if(camera_cnts == 2)
{
cout<<"Two camera devices detected."<<endl;
}
else
{
cout<<"More than 2 cameras detected or some other error occurs."<<endl;
return false;
}
//相机初始化。初始化成功后，才能调用任何其他相机相关的操作接口
camera_status0 = CameraInit(&camera_enum_list[0], -1, -1, &h_camera0);
//初始化失败
if (camera_status0 != CAMERA_STATUS_SUCCESS) {
cout<<"Camera 0 initialization failed with code "<<camera_status0<<". See camera_status.h to find the code meaning."<<endl;
return false;
int i;
for(i=0; i<camera_cnts; i++){
camera_status = CameraInit(&camera_enum_list[i], -1, -1, &h_camera);
if (camera_status != CAMERA_STATUS_SUCCESS) {
LOGE("Camera 0 initialization failed with code %d. See camera_status.h to find the code meaning.", camera_status);
return false;
}
CameraGetFriendlyName(h_camera, camera_name);
if(name=="NULL" || strcmp(name.data(), camera_name)==0){
break;
}
CameraUnInit(h_camera);
}
camera_status1 = CameraInit(&camera_enum_list[1], -1, -1, &h_camera1);
if (camera_status1 != CAMERA_STATUS_SUCCESS) {
cout<<"Camera 1 initialization failed with code "<<camera_status1<<". See camera_status.h to find the code meaning."<<endl;
if(i >= camera_cnts){
LOGE("No device name %s!", name.data());
return false;
}
CameraGetFriendlyName(h_camera0, camera_name0);
CameraGetFriendlyName(h_camera1, camera_name1);
cout<<"camera names: "<<camera_name0<<" "<<camera_name1<<endl;
// cout<<camera_name0<<endl;
// cout<<camera_name1<<endl;
//如果读取的相机列表不是energy在左，armor在右，则交换相机句柄
if(strcmp(camera_name0, "armor") != 0)
{
swapCameraHandle();
}
//获得相机的特性描述结构体。该结构体中包含了相机可设置的各种参数的范围信息。决定了相关函数的参数
CameraGetCapability(h_camera0, &tCapability0);
CameraGetCapability(h_camera1, &tCapability1);
CameraGetCapability(h_camera, &tCapability);
// set resolution to 320*240
// CameraSetImageResolution(hCamera, &(tCapability.pImageSizeDesc[2]));
rgb_buffer0 = (unsigned char *)malloc(tCapability0.sResolutionRange.iHeightMax *
tCapability0.sResolutionRange.iWidthMax * 3);
rgb_buffer1 = (unsigned char *)malloc(tCapability1.sResolutionRange.iHeightMax *
tCapability1.sResolutionRange.iWidthMax * 3);
rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax *
tCapability.sResolutionRange.iWidthMax * 3);
CameraSetAeState(h_camera0, true); //设置是否自动曝光
CameraSetAeState(h_camera1, true);
// 不使用自动曝光
CameraSetAeState(h_camera, false);
// 曝光时间10ms
CameraSetExposureTime(h_camera, 10000);
// 模拟增益4
CameraSetAnalogGain(h_camera, 63);
// 使用预设LUT表
CameraSetLutMode(h_camera, LUTMODE_PRESET);
/*让SDK进入工作模式，开始接收来自相机发送的图像
数据。如果当前相机是触发模式，则需要接收到
触发帧以后才会更新图像。 */
CameraPlay(h_camera0);
CameraPlay(h_camera1);
CameraPlay(h_camera);
/*其他的相机参数设置
例如 CameraSetExposureTime CameraGetExposureTime 设置/读取曝光时间
@@ -100,74 +89,45 @@ bool CameraWrapper::init() {
CameraSetGamma、CameraSetConrast、CameraSetGain等设置图像伽马、对比度、RGB数字增益等等。
CameraGetFriendlyName CameraSetFriendlyName 获取/设置相机名称（该名称可写入相机硬件）
*/
// double exposure_time0, exposure_time1;
// CameraGetExposureTime(h_camera0, &exposure_time0);
// CameraGetExposureTime(h_camera1, &exposure_time1);
// cout<<"exposure time "<<exposure_time0<<" "<<exposure_time1<<endl;
// 抗频闪
CameraSetAntiFlick(h_camera0, true);
CameraSetAntiFlick(h_camera1, true);
// CameraSetAntiFlick(h_camera, true);
if (tCapability0.sIspCapacity.bMonoSensor) {
channel0 = 1;
CameraSetIspOutFormat(h_camera0, CAMERA_MEDIA_TYPE_MONO8);
cout<<"camera0 mono "<<endl;
if (tCapability.sIspCapacity.bMonoSensor) {
channel = 1;
CameraSetIspOutFormat(h_camera, CAMERA_MEDIA_TYPE_MONO8);
LOGM("camera %s mono ", camera_name);
} else {
channel0 = 3;
CameraSetIspOutFormat(h_camera0, CAMERA_MEDIA_TYPE_BGR8);
cout<<"camera0 color mode"<<endl;
channel = 3;
CameraSetIspOutFormat(h_camera, CAMERA_MEDIA_TYPE_BGR8);
LOGM("camera %s color ", camera_name);
}
if (tCapability1.sIspCapacity.bMonoSensor) {
channel1 = 1;
CameraSetIspOutFormat(h_camera1, CAMERA_MEDIA_TYPE_MONO8);
cout<<"camera1 mono "<<endl;
} else {
channel1 = 3;
CameraSetIspOutFormat(h_camera1, CAMERA_MEDIA_TYPE_BGR8);
cout<<"camera1 color mode"<<endl;
}
return true;
}
bool CameraWrapper::read(cv::Mat& src0, cv::Mat& src1) {
return readRaw(src0, src1); //suit for using bayer hacking in armor_finder to replace process, fast and it can filter red and blue.
//return readProcessed(src0, src1); // processed color image, but this runs slowly, about half fps of previous one.
bool CameraWrapper::read(cv::Mat& src) {
// return readRaw(src); //suit for using bayer hacking in armor_finder to replace process, fast and it can filter red and blue.
return readProcessed(src); // processed color image, but this runs slowly, about half fps of previous one.
}
bool CameraWrapper::readRaw(cv::Mat &src0, cv::Mat &src1) {
if (CameraGetImageBuffer(h_camera0, &frame_info0, &pby_buffer0, 1000) == CAMERA_STATUS_SUCCESS &&
CameraGetImageBuffer(h_camera1, &frame_info1, &pby_buffer1, 1000) == CAMERA_STATUS_SUCCESS)
{
if (iplImage0) {
cvReleaseImageHeader(&iplImage0);
}
if (iplImage1){
cvReleaseImageHeader(&iplImage1);
bool CameraWrapper::readRaw(cv::Mat &src) {
if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS){
if (iplImage) {
cvReleaseImageHeader(&iplImage);
}
iplImage0 = cvCreateImageHeader(cvSize(frame_info0.iWidth, frame_info0.iHeight), IPL_DEPTH_8U, 1);
iplImage1 = cvCreateImageHeader(cvSize(frame_info1.iWidth, frame_info1.iHeight), IPL_DEPTH_8U, 1);
iplImage = cvCreateImageHeader(cvSize(frame_info.iWidth, frame_info.iHeight), IPL_DEPTH_8U, 1);
cvSetData(iplImage0, pby_buffer0, frame_info0.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
cvSetData(iplImage1, pby_buffer1, frame_info1.iWidth);
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
src0 = cv::cvarrToMat(iplImage0);
src1 = cv::cvarrToMat(iplImage1);
src = cv::cvarrToMat(iplImage).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_camera0, pby_buffer0);
CameraReleaseImageBuffer(h_camera1, pby_buffer1);
CameraReleaseImageBuffer(h_camera, pby_buffer);
return true;
} else {
@@ -175,56 +135,32 @@ bool CameraWrapper::readRaw(cv::Mat &src0, cv::Mat &src1) {
}
}
bool CameraWrapper::readProcessed(cv::Mat &src0, cv::Mat &src1) {
if (CameraGetImageBuffer(h_camera0, &frame_info0, &pby_buffer0, 1000) == CAMERA_STATUS_SUCCESS &&
CameraGetImageBuffer(h_camera1, &frame_info1, &pby_buffer1, 1000) == CAMERA_STATUS_SUCCESS)
{
CameraImageProcess(h_camera0, pby_buffer0, rgb_buffer0, &frame_info0); // this function is super slow, better not to use it.
CameraImageProcess(h_camera1, pby_buffer1, rgb_buffer1, &frame_info1);
if (iplImage0) {
cvReleaseImageHeader(&iplImage0);
}
if (iplImage1){
cvReleaseImageHeader(&iplImage1);
bool CameraWrapper::readProcessed(cv::Mat &src) {
if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == 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);
}
iplImage0 = cvCreateImageHeader(cvSize(frame_info0.iWidth, frame_info0.iHeight), IPL_DEPTH_8U, channel0);
iplImage1 = cvCreateImageHeader(cvSize(frame_info1.iWidth, frame_info1.iHeight), IPL_DEPTH_8U, channel1);
iplImage = cvCreateImageHeader(cvSize(frame_info.iWidth, frame_info.iHeight), IPL_DEPTH_8U, channel);
cvSetData(iplImage0, rgb_buffer0, frame_info0.iWidth * channel0); //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
cvSetData(iplImage1, rgb_buffer1, frame_info1.iWidth * channel1);
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
src0 = cv::cvarrToMat(iplImage0);
src1 = cv::cvarrToMat(iplImage1);
src = cv::cvarrToMat(iplImage).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_camera0, pby_buffer0);
CameraReleaseImageBuffer(h_camera1, pby_buffer1);
CameraReleaseImageBuffer(h_camera, pby_buffer);
return true;
} else {
return false;
}
}
CameraWrapper::~CameraWrapper()
{
CameraUnInit(h_camera0);
CameraUnInit(h_camera1);
CameraUnInit(h_camera);
//注意，先反初始化后再free
free(rgb_buffer0);
free(rgb_buffer1);
free(rgb_buffer);
}
void CameraWrapper::swapCameraHandle() {
int tmp_h_camera = h_camera0;
h_camera0 = h_camera1;
h_camera1 = tmp_h_camera;
}
others/src/camera/video_wrapper.cpp
+5 -6
View File
@@ -5,19 +5,18 @@
#include "camera/video_wrapper.h"
VideoWrapper::VideoWrapper(const std::string &filename0, const std::string &filename1) {
video0.open(filename0);
video1.open(filename1);
VideoWrapper::VideoWrapper(const std::string &filename) {
video.open(filename);
}
VideoWrapper::~VideoWrapper() = default;
bool VideoWrapper::init() {
return video0.isOpened() && video1.isOpened();
return video.isOpened();
}
bool VideoWrapper::read(cv::Mat &src_left, cv::Mat &src_right) {
return video0.read(src_left) && video1.read(src_right);
bool VideoWrapper::read(cv::Mat &src) {
return video.read(src);
}