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重新整理文件夹结构，并添加CNN训练代码。

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xinyang
2019-04-25 12:39:38 +08:00
parent 5c7317140a
commit ecbee8b24c
25 changed files with 325 additions and 19 deletions
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others/include/camera/camera_api.h Normal file
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#pragma once
#ifndef _CAMERA_DEFINE_H_
#define _CAMERA_DEFINE_H_
#include "camera_status.h"
#define MAX_CROSS_LINE 9
//相机的句柄类型定义
typedef int CameraHandle;
typedef int INT;
typedef long LONG;
typedef unsigned int UINT;
typedef unsigned long long UINT64;
typedef int BOOL;
typedef unsigned char BYTE;
typedef unsigned int DWORD;
typedef void* PVOID;
typedef void* HWND;
typedef char* LPCTSTR;
typedef unsigned short USHORT;
typedef short SHORT;
typedef unsigned char* LPBYTE;
typedef char CHAR;
typedef short WORD;
typedef INT HANDLE;
typedef void VOID;
typedef unsigned long ULONG;
typedef void** LPVOID;
typedef unsigned char UCHAR;
typedef void* HMODULE;
#define TRUE 1
#define FALSE 0
//图像查表变换的方式
typedef enum
{
LUTMODE_PARAM_GEN=0,//通过调节参数动态生成LUT表
LUTMODE_PRESET, //使用预设的LUT表
LUTMODE_USER_DEF //使用用户自定义的LUT表
}emSdkLutMode;
//相机的视频流控制
typedef enum
{
RUNMODE_PLAY=0, //正常预览，捕获到图像就显示。（如果相机处于触发模式，则会等待触发帧的到来）
RUNMODE_PAUSE, //暂停，会暂停相机的图像输出，同时也不会去捕获图像
RUNMODE_STOP //停止相机工作。反初始化后，相机就处于停止模式
}emSdkRunMode;
//SDK内部显示接口的显示方式
typedef enum
{
DISPLAYMODE_SCALE=0, //缩放显示模式，缩放到显示控件的尺寸
DISPLAYMODE_REAL //1:1显示模式，当图像尺寸大于显示控件的尺寸时，只显示局部
}emSdkDisplayMode;
//录像状态
typedef enum
{
RECORD_STOP = 0, //停止
RECORD_START, //录像中
RECORD_PAUSE //暂停
}emSdkRecordMode;
//图像的镜像操作
typedef enum
{
MIRROR_DIRECTION_HORIZONTAL = 0,//水平镜像
MIRROR_DIRECTION_VERTICAL //垂直镜像
}emSdkMirrorDirection;
//相机视频的帧率
typedef enum
{
FRAME_SPEED_LOW = 0, //低速模式
FRAME_SPEED_NORMAL, //普通模式
FRAME_SPEED_HIGH, //高速模式(需要较高的传输带宽,多设备共享传输带宽时会对帧率的稳定性有影响)
FRAME_SPEED_SUPER //超高速模式(需要较高的传输带宽,多设备共享传输带宽时会对帧率的稳定性有影响)
}emSdkFrameSpeed;
//保存文件的格式类型
typedef enum
{
FILE_JPG = 1,//JPG
FILE_BMP = 2,//BMP
FILE_RAW = 4,//相机输出的bayer格式文件,对于不支持bayer格式输出相机，无法保存为该格式
FILE_PNG = 8 //PNG
}emSdkFileType;
//相机中的图像传感器的工作模式
typedef enum
{
CONTINUATION = 0,//连续采集模式
SOFT_TRIGGER, //软件触发模式，由软件发送指令后，传感器开始采集指定帧数的图像，采集完成后，停止输出
EXTERNAL_TRIGGER //硬件触发模式，当接收到外部信号，传感器开始采集指定帧数的图像，采集完成后，停止输出
} emSdkSnapMode;
//自动曝光时抗频闪的频闪
typedef enum
{
LIGHT_FREQUENCY_50HZ = 0,//50HZ,一般的灯光都是50HZ
LIGHT_FREQUENCY_60HZ //60HZ,主要是指显示器的
}emSdkLightFrequency;
//相机的配置参数，分为A,B,C,D 4组进行保存。
typedef enum
{
PARAMETER_TEAM_DEFAULT = 0xff,
PARAMETER_TEAM_A = 0,
PARAMETER_TEAM_B = 1,
PARAMETER_TEAM_C = 2,
PARAMETER_TEAM_D = 3
}emSdkParameterTeam;
/*emSdkParameterMode 相机参数加载模式，参数加载分为从文件和从设备加载两种方式
PARAM_MODE_BY_MODEL:所有同型号的相机共用ABCD四组参数文件。修改
一台相机的参数文件，会影响到整个同型号的
相机参数加载。
PARAM_MODE_BY_NAME:所有设备名相同的相机，共用ABCD四组参数文件。
默认情况下，当电脑上只接了某型号一台相机时，
设备名都是一样的，而您希望某一台相机能够加载
不同的参数文件，则可以通过修改其设备名的方式
来让其加载指定的参数文件。
PARAM_MODE_BY_SN:相机按照自己的唯一序列号来加载ABCD四组参数文件，
序列号在出厂时已经固化在相机内，每台相机的序列号
都不相同，通过这种方式，每台相机的参数文件都是独立的。
您可以根据自己的使用环境，灵活使用以上几种方式加载参数。例如，以
MV-U300为例，您希望多台该型号的相机在您的 电脑上都共用4组参数，那么就
使用PARAM_MODE_BY_MODEL方式;如果您希望其中某一台或者某几台MV-U300能
使用自己参数文件而其余的MV-U300又要使用相同的参数文件，那么使用
PARAM_MODE_BY_NAME方式;如果您希望每台MV-U300都使用不同的参数文件，那么
使用PARAM_MODE_BY_SN方式。
参数文件存在安装目录的 \Camera\Configs 目录下，以config为后缀名的文件。
*/
typedef enum
{
PARAM_MODE_BY_MODEL = 0, //根据相机型号名从文件中加载参数，例如MV-U300
PARAM_MODE_BY_NAME, //根据设备昵称(tSdkCameraDevInfo.acFriendlyName)从文件中加载参数，例如MV-U300,该昵称可自定义
PARAM_MODE_BY_SN, //根据设备的唯一序列号从文件中加载参数，序列号在出厂时已经写入设备，每台相机拥有不同的序列号。
PARAM_MODE_IN_DEVICE //从设备的固态存储器中加载参数。不是所有的型号都支持从相机中读写参数组，由tSdkCameraCapbility.bParamInDevice决定
}emSdkParameterMode;
//SDK生成的相机配置页面掩码值
typedef enum
{
PROP_SHEET_INDEX_EXPOSURE = 0,
PROP_SHEET_INDEX_ISP_COLOR,
PROP_SHEET_INDEX_ISP_LUT,
PROP_SHEET_INDEX_ISP_SHAPE,
PROP_SHEET_INDEX_VIDEO_FORMAT,
PROP_SHEET_INDEX_RESOLUTION,
PROP_SHEET_INDEX_IO_CTRL,
PROP_SHEET_INDEX_TRIGGER_SET,
PROP_SHEET_INDEX_OVERLAY,
PROP_SHEET_INDEX_DEVICE_INFO
}emSdkPropSheetMask;
//SDK生成的相机配置页面的回调消息类型
typedef enum
{
SHEET_MSG_LOAD_PARAM_DEFAULT = 0, //参数被恢复成默认后，触发该消息
SHEET_MSG_LOAD_PARAM_GROUP, //加载指定参数组，触发该消息
SHEET_MSG_LOAD_PARAM_FROMFILE, //从指定文件加载参数后，触发该消息
SHEET_MSG_SAVE_PARAM_GROUP //当前参数组被保存时，触发该消息
}emSdkPropSheetMsg;
//可视化选择参考窗口的类型
typedef enum
{
REF_WIN_AUTO_EXPOSURE = 0,
REF_WIN_WHITE_BALANCE,
}emSdkRefWinType;
//可视化选择参考窗口的类型
typedef enum
{
RES_MODE_PREVIEW = 0,
RES_MODE_SNAPSHOT,
}emSdkResolutionMode;
//白平衡时色温模式
typedef enum
{
CT_MODE_AUTO = 0, //自动识别色温
CT_MODE_PRESET, //使用指定的预设色温
CT_MODE_USER_DEF //自定义色温(增益和矩阵)
}emSdkClrTmpMode;
//LUT的颜色通道
typedef enum
{
LUT_CHANNEL_ALL = 0,//R,B,G三通道同时调节
LUT_CHANNEL_RED, //红色通道
LUT_CHANNEL_GREEN, //绿色通道
LUT_CHANNEL_BLUE, //蓝色通道
}emSdkLutChannel;
//ISP处理单元
typedef enum
{
ISP_PROCESSSOR_PC = 0,//使用PC的软件ISP模块
ISP_PROCESSSOR_DEVICE //使用相机自带的硬件ISP模块
}emSdkIspProcessor;
//闪光灯信号控制方式
typedef enum
{
STROBE_SYNC_WITH_TRIG_AUTO = 0, //和触发信号同步，触发后，相机进行曝光时，自动生成STROBE信号。此时，有效极性可设置(CameraSetStrobePolarity)。
STROBE_SYNC_WITH_TRIG_MANUAL, //和触发信号同步，触发后，STROBE延时指定的时间后(CameraSetStrobeDelayTime)，再持续指定时间的脉冲(CameraSetStrobePulseWidth)，有效极性可设置(CameraSetStrobePolarity)。
STROBE_ALWAYS_HIGH, //始终为高，忽略STROBE信号的其他设置
STROBE_ALWAYS_LOW //始终为低，忽略STROBE信号的其他设置
}emStrobeControl;
//硬件外触发的信号种类
typedef enum
{
EXT_TRIG_LEADING_EDGE = 0, //上升沿触发，默认为该方式
EXT_TRIG_TRAILING_EDGE, //下降沿触发
EXT_TRIG_HIGH_LEVEL, //高电平触发,电平宽度决定曝光时间，仅部分型号的相机支持电平触发方式。
EXT_TRIG_LOW_LEVEL //低电平触发,
}emExtTrigSignal;
//硬件外触发时的快门方式
typedef enum
{
EXT_TRIG_EXP_STANDARD = 0, //标准方式，默认为该方式。
EXT_TRIG_EXP_GRR, //全局复位方式，部分滚动快门的CMOS型号的相机支持该方式，配合外部机械快门，可以达到全局快门的效果，适合拍高速运动的物体
}emExtTrigShutterMode;
//相机的设备信息
typedef struct
{
char acProductSeries[32]; // 产品系列
char acProductName[32]; // 产品名称
char acFriendlyName[32]; // 产品昵称，用户可自定义改昵称，保存在相机内，用于区分多个相机同时使用,可以用CameraSetFriendlyName接口改变该昵称，设备重启后生效。
char acLinkName[32]; // 内核符号连接名，内部使用
char acDriverVersion[32]; // 驱动版本
char acSensorType[32]; // sensor类型
char acPortType[32]; // 接口类型
char acSn[32]; // 产品唯一序列号
UINT uInstance; // 该型号相机在该电脑上的实例索引号，用于区分同型号多相机
} tSdkCameraDevInfo;
//tSdkResolutionRange结构体中SKIP、 BIN、RESAMPLE模式的掩码值
#define MASK_2X2_HD (1<<0) //硬件SKIP、BIN、重采样 2X2
#define MASK_3X3_HD (1<<1)
#define MASK_4X4_HD (1<<2)
#define MASK_5X5_HD (1<<3)
#define MASK_6X6_HD (1<<4)
#define MASK_7X7_HD (1<<5)
#define MASK_8X8_HD (1<<6)
#define MASK_9X9_HD (1<<7)
#define MASK_10X10_HD (1<<8)
#define MASK_11X11_HD (1<<9)
#define MASK_12X12_HD (1<<10)
#define MASK_13X13_HD (1<<11)
#define MASK_14X14_HD (1<<12)
#define MASK_15X15_HD (1<<13)
#define MASK_16X16_HD (1<<14)
#define MASK_17X17_HD (1<<15)
#define MASK_2X2_SW (1<<16) //硬件SKIP、BIN、重采样 2X2
#define MASK_3X3_SW (1<<17)
#define MASK_4X4_SW (1<<18)
#define MASK_5X5_SW (1<<19)
#define MASK_6X6_SW (1<<20)
#define MASK_7X7_SW (1<<21)
#define MASK_8X8_SW (1<<22)
#define MASK_9X9_SW (1<<23)
#define MASK_10X10_SW (1<<24)
#define MASK_11X11_SW (1<<25)
#define MASK_12X12_SW (1<<26)
#define MASK_13X13_SW (1<<27)
#define MASK_14X14_SW (1<<28)
#define MASK_15X15_SW (1<<29)
#define MASK_16X16_SW (1<<30)
#define MASK_17X17_SW (1<<31)
//相机的分辨率设定范围，用于构件UI
typedef struct
{
INT iHeightMax; //图像最大高度
INT iHeightMin; //图像最小高度
INT iWidthMax; //图像最大宽度
INT iWidthMin; //图像最小宽度
UINT uSkipModeMask; //SKIP模式掩码，为0，表示不支持SKIP 。bit0为1,表示支持SKIP 2x2 ;bit1为1，表示支持SKIP 3x3....
UINT uBinSumModeMask; //BIN(求和)模式掩码，为0，表示不支持BIN 。bit0为1,表示支持BIN 2x2 ;bit1为1，表示支持BIN 3x3....
UINT uBinAverageModeMask; //BIN(求均值)模式掩码，为0，表示不支持BIN 。bit0为1,表示支持BIN 2x2 ;bit1为1，表示支持BIN 3x3....
UINT uResampleMask; //硬件重采样的掩码
} tSdkResolutionRange;
//相机的分辨率描述
typedef struct
{
INT iIndex; // 索引号，[0,N]表示预设的分辨率(N 为预设分辨率的最大个数，一般不超过20),OXFF 表示自定义分辨率(ROI)
char acDescription[32]; // 该分辨率的描述信息。仅预设分辨率时该信息有效。自定义分辨率可忽略该信息
UINT uBinSumMode; // BIN(求和)的模式,范围不能超过tSdkResolutionRange中uBinSumModeMask
UINT uBinAverageMode; // BIN(求均值)的模式,范围不能超过tSdkResolutionRange中uBinAverageModeMask
UINT uSkipMode; // 是否SKIP的尺寸，为0表示禁止SKIP模式，范围不能超过tSdkResolutionRange中uSkipModeMask
UINT uResampleMask; // 硬件重采样的掩码
INT iHOffsetFOV; // 采集视场相对于Sensor最大视场左上角的垂直偏移
INT iVOffsetFOV; // 采集视场相对于Sensor最大视场左上角的水平偏移
INT iWidthFOV; // 采集视场的宽度
INT iHeightFOV; // 采集视场的高度
INT iWidth; // 相机最终输出的图像的宽度
INT iHeight; // 相机最终输出的图像的高度
INT iWidthZoomHd; // 硬件缩放的宽度,不需要进行此操作的分辨率，此变量设置为0.
INT iHeightZoomHd; // 硬件缩放的高度,不需要进行此操作的分辨率，此变量设置为0.
INT iWidthZoomSw; // 软件缩放的宽度,不需要进行此操作的分辨率，此变量设置为0.
INT iHeightZoomSw; // 软件缩放的高度,不需要进行此操作的分辨率，此变量设置为0.
} tSdkImageResolution;
//相机白平衡色温模式描述信息
typedef struct
{
INT iIndex; // 模式索引号
char acDescription[32]; // 描述信息
} tSdkColorTemperatureDes;
//相机帧率描述信息
typedef struct
{
INT iIndex; // 帧率索引号，一般0对应于低速模式，1对应于普通模式，2对应于高速模式
char acDescription[32]; // 描述信息
} tSdkFrameSpeed;
//相机曝光功能范围定义
typedef struct
{
UINT uiTargetMin; //自动曝光亮度目标最小值
UINT uiTargetMax; //自动曝光亮度目标最大值
UINT uiAnalogGainMin; //模拟增益的最小值，单位为fAnalogGainStep中定义
UINT uiAnalogGainMax; //模拟增益的最大值，单位为fAnalogGainStep中定义
float fAnalogGainStep; //模拟增益每增加1，对应的增加的放大倍数。例如，uiAnalogGainMin一般为16，fAnalogGainStep一般为0.125，那么最小放大倍数就是16*0.125 = 2倍
UINT uiExposeTimeMin; //手动模式下，曝光时间的最小值，单位:行。根据CameraGetExposureLineTime可以获得一行对应的时间(微秒),从而得到整帧的曝光时间
UINT uiExposeTimeMax; //手动模式下，曝光时间的最大值，单位:行
} tSdkExpose;
//触发模式描述
typedef struct
{
INT iIndex; //模式索引号
char acDescription[32]; //该模式的描述信息
} tSdkTrigger;
//传输分包大小描述(主要是针对网络相机有效)
typedef struct
{
INT iIndex; //分包大小索引号
char acDescription[32]; //对应的描述信息
UINT iPackSize;
} tSdkPackLength;
//预设的LUT表描述
typedef struct
{
INT iIndex; //编号
char acDescription[32]; //描述信息
} tSdkPresetLut;
//AE算法描述
typedef struct
{
INT iIndex; //编号
char acDescription[32]; //描述信息
} tSdkAeAlgorithm;
//RAW转RGB算法描述
typedef struct
{
INT iIndex; //编号
char acDescription[32]; //描述信息
} tSdkBayerDecodeAlgorithm;
//帧率统计信息
typedef struct
{
INT iTotal; //当前采集的总帧数（包括错误帧）
INT iCapture; //当前采集的有效帧的数量
INT iLost; //当前丢帧的数量
} tSdkFrameStatistic;
//相机输出的图像数据格式
typedef struct
{
INT iIndex; //格式种类编号
char acDescription[32]; //描述信息
UINT iMediaType; //对应的图像格式编码，如CAMERA_MEDIA_TYPE_BAYGR8，在本文件中有定义。
} tSdkMediaType;
//伽马的设定范围
typedef struct
{
INT iMin; //最小值
INT iMax; //最大值
} tGammaRange;
//对比度的设定范围
typedef struct
{
INT iMin; //最小值
INT iMax; //最大值
} tContrastRange;
//RGB三通道数字增益的设定范围
typedef struct
{
INT iRGainMin; //红色增益的最小值
INT iRGainMax; //红色增益的最大值
INT iGGainMin; //绿色增益的最小值
INT iGGainMax; //绿色增益的最大值
INT iBGainMin; //蓝色增益的最小值
INT iBGainMax; //蓝色增益的最大值
} tRgbGainRange;
//饱和度设定的范围
typedef struct
{
INT iMin; //最小值
INT iMax; //最大值
} tSaturationRange;
//锐化的设定范围
typedef struct
{
INT iMin; //最小值
INT iMax; //最大值
} tSharpnessRange;
//ISP模块的使能信息
typedef struct
{
BOOL bMonoSensor; //表示该型号相机是否为黑白相机,如果是黑白相机，则颜色相关的功能都无法调节
BOOL bWbOnce; //表示该型号相机是否支持手动白平衡功能
BOOL bAutoWb; //表示该型号相机是否支持自动白平衡功能
BOOL bAutoExposure; //表示该型号相机是否支持自动曝光功能
BOOL bManualExposure; //表示该型号相机是否支持手动曝光功能
BOOL bAntiFlick; //表示该型号相机是否支持抗频闪功能
BOOL bDeviceIsp; //表示该型号相机是否支持硬件ISP功能
BOOL bForceUseDeviceIsp;//bDeviceIsp和bForceUseDeviceIsp同时为TRUE时，表示强制只用硬件ISP，不可取消。
BOOL bZoomHD; //相机硬件是否支持图像缩放输出(只能是缩小)。
} tSdkIspCapacity;
/* 定义整合的设备描述信息，这些信息可以用于动态构建UI */
typedef struct
{
tSdkTrigger *pTriggerDesc; // 触发模式
INT iTriggerDesc; // 触发模式的个数，即pTriggerDesc数组的大小
tSdkImageResolution *pImageSizeDesc;// 预设分辨率选择
INT iImageSizeDesc; // 预设分辨率的个数，即pImageSizeDesc数组的大小
tSdkColorTemperatureDes *pClrTempDesc;// 预设色温模式，用于白平衡
INT iClrTempDesc;
tSdkMediaType *pMediaTypeDesc; // 相机输出图像格式
INT iMediaTypdeDesc; // 相机输出图像格式的种类个数，即pMediaTypeDesc数组的大小。
tSdkFrameSpeed *pFrameSpeedDesc; // 可调节帧速类型，对应界面上普通 高速 和超级三种速度设置
INT iFrameSpeedDesc; // 可调节帧速类型的个数，即pFrameSpeedDesc数组的大小。
tSdkPackLength *pPackLenDesc; // 传输包长度，一般用于网络设备
INT iPackLenDesc; // 可供选择的传输分包长度的个数，即pPackLenDesc数组的大小。
INT iOutputIoCounts; // 可编程输出IO的个数
INT iInputIoCounts; // 可编程输入IO的个数
tSdkPresetLut *pPresetLutDesc; // 相机预设的LUT表
INT iPresetLut; // 相机预设的LUT表的个数，即pPresetLutDesc数组的大小
INT iUserDataMaxLen; // 指示该相机中用于保存用户数据区的最大长度。为0表示无。
BOOL bParamInDevice; // 指示该设备是否支持从设备中读写参数组。1为支持，0不支持。
tSdkAeAlgorithm *pAeAlmSwDesc; // 软件自动曝光算法描述
int iAeAlmSwDesc; // 软件自动曝光算法个数
tSdkAeAlgorithm *pAeAlmHdDesc; // 硬件自动曝光算法描述，为NULL表示不支持硬件自动曝光
int iAeAlmHdDesc; // 硬件自动曝光算法个数，为0表示不支持硬件自动曝光
tSdkBayerDecodeAlgorithm *pBayerDecAlmSwDesc; // 软件Bayer转换为RGB数据的算法描述
int iBayerDecAlmSwDesc; // 软件Bayer转换为RGB数据的算法个数
tSdkBayerDecodeAlgorithm *pBayerDecAlmHdDesc; // 硬件Bayer转换为RGB数据的算法描述，为NULL表示不支持
int iBayerDecAlmHdDesc; // 硬件Bayer转换为RGB数据的算法个数，为0表示不支持
/* 图像参数的调节范围定义,用于动态构建UI*/
tSdkExpose sExposeDesc; // 曝光的范围值
tSdkResolutionRange sResolutionRange; // 分辨率范围描述
tRgbGainRange sRgbGainRange; // 图像数字增益范围描述
tSaturationRange sSaturationRange; // 饱和度范围描述
tGammaRange sGammaRange; // 伽马范围描述
tContrastRange sContrastRange; // 对比度范围描述
tSharpnessRange sSharpnessRange; // 锐化范围描述
tSdkIspCapacity sIspCapacity; // ISP能力描述
} tSdkCameraCapbility;
//图像帧头信息
typedef struct
{
UINT uiMediaType; // 图像格式,Image Format
UINT uBytes; // 图像数据字节数,Total bytes
INT iWidth; // 图像的宽度，调用图像处理函数后，该变量可能被动态修改，来指示处理后的图像尺寸
INT iHeight; // 图像的高度，调用图像处理函数后，该变量可能被动态修改，来指示处理后的图像尺寸
INT iWidthZoomSw; // 软件缩放的宽度,不需要进行软件裁剪的图像，此变量设置为0.
INT iHeightZoomSw; // 软件缩放的高度,不需要进行软件裁剪的图像，此变量设置为0.
BOOL bIsTrigger; // 指示是否为触发帧 is trigger
UINT uiTimeStamp; // 该帧的采集时间，单位0.1毫秒
UINT uiExpTime; // 当前图像的曝光值，单位为微秒us
float fAnalogGain; // 当前图像的模拟增益倍数
INT iGamma; // 该帧图像的伽马设定值，仅当LUT模式为动态参数生成时有效，其余模式下为-1
INT iContrast; // 该帧图像的对比度设定值，仅当LUT模式为动态参数生成时有效，其余模式下为-1
INT iSaturation; // 该帧图像的饱和度设定值，对于黑白相机无意义，为0
float fRgain; // 该帧图像处理的红色数字增益倍数，对于黑白相机无意义，为1
float fGgain; // 该帧图像处理的绿色数字增益倍数，对于黑白相机无意义，为1
float fBgain; // 该帧图像处理的蓝色数字增益倍数，对于黑白相机无意义，为1
}tSdkFrameHead;
//图像帧描述
typedef struct sCameraFrame
{
tSdkFrameHead head; //帧头
BYTE * pBuffer; //数据区
}tSdkFrame;
//图像捕获的回调函数定义
typedef void (*CAMERA_SNAP_PROC)(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext);
//SDK生成的相机配置页面的消息回调函数定义
typedef void (*CAMERA_PAGE_MSG_PROC)(CameraHandle hCamera,UINT MSG,UINT uParam,PVOID pContext);
//----------------------------IMAGE FORMAT DEFINE------------------------------------
//----------------------------图像格式定义-------------------------------------------
#define CAMERA_MEDIA_TYPE_MONO 0x01000000
#define CAMERA_MEDIA_TYPE_RGB 0x02000000
#define CAMERA_MEDIA_TYPE_COLOR 0x02000000
#define CAMERA_MEDIA_TYPE_CUSTOM 0x80000000
#define CAMERA_MEDIA_TYPE_COLOR_MASK 0xFF000000
#define CAMERA_MEDIA_TYPE_OCCUPY1BIT 0x00010000
#define CAMERA_MEDIA_TYPE_OCCUPY2BIT 0x00020000
#define CAMERA_MEDIA_TYPE_OCCUPY4BIT 0x00040000
#define CAMERA_MEDIA_TYPE_OCCUPY8BIT 0x00080000
#define CAMERA_MEDIA_TYPE_OCCUPY10BIT 0x000A0000
#define CAMERA_MEDIA_TYPE_OCCUPY12BIT 0x000C0000
#define CAMERA_MEDIA_TYPE_OCCUPY16BIT 0x00100000
#define CAMERA_MEDIA_TYPE_OCCUPY24BIT 0x00180000
#define CAMERA_MEDIA_TYPE_OCCUPY32BIT 0x00200000
#define CAMERA_MEDIA_TYPE_OCCUPY36BIT 0x00240000
#define CAMERA_MEDIA_TYPE_OCCUPY48BIT 0x00300000
#define CAMERA_MEDIA_TYPE_EFFECTIVE_PIXEL_SIZE_MASK 0x00FF0000
#define CAMERA_MEDIA_TYPE_EFFECTIVE_PIXEL_SIZE_SHIFT 16
#define CAMERA_MEDIA_TYPE_ID_MASK 0x0000FFFF
#define CAMERA_MEDIA_TYPE_COUNT 0x46
/*mono*/
#define CAMERA_MEDIA_TYPE_MONO1P (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY1BIT | 0x0037)
#define CAMERA_MEDIA_TYPE_MONO2P (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY2BIT | 0x0038)
#define CAMERA_MEDIA_TYPE_MONO4P (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY4BIT | 0x0039)
#define CAMERA_MEDIA_TYPE_MONO8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0001)
#define CAMERA_MEDIA_TYPE_MONO8S (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0002)
#define CAMERA_MEDIA_TYPE_MONO10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0003)
#define CAMERA_MEDIA_TYPE_MONO10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0004)
#define CAMERA_MEDIA_TYPE_MONO12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0005)
#define CAMERA_MEDIA_TYPE_MONO12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0006)
#define CAMERA_MEDIA_TYPE_MONO14 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0025)
#define CAMERA_MEDIA_TYPE_MONO16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0007)
/*Bayer */
#define CAMERA_MEDIA_TYPE_BAYGR8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0008)
#define CAMERA_MEDIA_TYPE_BAYRG8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0009)
#define CAMERA_MEDIA_TYPE_BAYGB8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x000A)
#define CAMERA_MEDIA_TYPE_BAYBG8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x000B)
#define CAMERA_MEDIA_TYPE_BAYGR10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0026)
#define CAMERA_MEDIA_TYPE_BAYRG10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0027)
#define CAMERA_MEDIA_TYPE_BAYGB10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0028)
#define CAMERA_MEDIA_TYPE_BAYBG10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0029)
#define CAMERA_MEDIA_TYPE_BAYGR10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000C)
#define CAMERA_MEDIA_TYPE_BAYRG10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000D)
#define CAMERA_MEDIA_TYPE_BAYGB10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000E)
#define CAMERA_MEDIA_TYPE_BAYBG10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000F)
#define CAMERA_MEDIA_TYPE_BAYGR12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0010)
#define CAMERA_MEDIA_TYPE_BAYRG12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0011)
#define CAMERA_MEDIA_TYPE_BAYGB12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0012)
#define CAMERA_MEDIA_TYPE_BAYBG12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0013)
#define CAMERA_MEDIA_TYPE_BAYGR10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0026)
#define CAMERA_MEDIA_TYPE_BAYRG10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0027)
#define CAMERA_MEDIA_TYPE_BAYGB10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0028)
#define CAMERA_MEDIA_TYPE_BAYBG10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0029)
#define CAMERA_MEDIA_TYPE_BAYGR12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002A)
#define CAMERA_MEDIA_TYPE_BAYRG12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002B)
#define CAMERA_MEDIA_TYPE_BAYGB12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002C)
#define CAMERA_MEDIA_TYPE_BAYBG12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002D)
#define CAMERA_MEDIA_TYPE_BAYGR16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x002E)
#define CAMERA_MEDIA_TYPE_BAYRG16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x002F)
#define CAMERA_MEDIA_TYPE_BAYGB16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0030)
#define CAMERA_MEDIA_TYPE_BAYBG16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0031)
/*RGB */
#define CAMERA_MEDIA_TYPE_RGB8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0014)
#define CAMERA_MEDIA_TYPE_BGR8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0015)
#define CAMERA_MEDIA_TYPE_RGBA8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x0016)
#define CAMERA_MEDIA_TYPE_BGRA8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x0017)
#define CAMERA_MEDIA_TYPE_RGB10 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0018)
#define CAMERA_MEDIA_TYPE_BGR10 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0019)
#define CAMERA_MEDIA_TYPE_RGB12 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x001A)
#define CAMERA_MEDIA_TYPE_BGR12 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x001B)
#define CAMERA_MEDIA_TYPE_RGB16 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0033)
#define CAMERA_MEDIA_TYPE_RGB10V1_PACKED (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x001C)
#define CAMERA_MEDIA_TYPE_RGB10P32 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x001D)
#define CAMERA_MEDIA_TYPE_RGB12V1_PACKED (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY36BIT | 0X0034)
#define CAMERA_MEDIA_TYPE_RGB565P (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0035)
#define CAMERA_MEDIA_TYPE_BGR565P (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0X0036)
/*YUV and YCbCr*/
#define CAMERA_MEDIA_TYPE_YUV411_8_UYYVYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x001E)
#define CAMERA_MEDIA_TYPE_YUV422_8_UYVY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x001F)
#define CAMERA_MEDIA_TYPE_YUV422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0032)
#define CAMERA_MEDIA_TYPE_YUV8_UYV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0020)
#define CAMERA_MEDIA_TYPE_YCBCR8_CBYCR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x003A)
//CAMERA_MEDIA_TYPE_YCBCR422_8 : YYYYCbCrCbCr
#define CAMERA_MEDIA_TYPE_YCBCR422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x003B)
#define CAMERA_MEDIA_TYPE_YCBCR422_8_CBYCRY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0043)
#define CAMERA_MEDIA_TYPE_YCBCR411_8_CBYYCRYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x003C)
#define CAMERA_MEDIA_TYPE_YCBCR601_8_CBYCR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x003D)
#define CAMERA_MEDIA_TYPE_YCBCR601_422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x003E)
#define CAMERA_MEDIA_TYPE_YCBCR601_422_8_CBYCRY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0044)
#define CAMERA_MEDIA_TYPE_YCBCR601_411_8_CBYYCRYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x003F)
#define CAMERA_MEDIA_TYPE_YCBCR709_8_CBYCR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0040)
#define CAMERA_MEDIA_TYPE_YCBCR709_422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0041)
#define CAMERA_MEDIA_TYPE_YCBCR709_422_8_CBYCRY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0045)
#define CAMERA_MEDIA_TYPE_YCBCR709_411_8_CBYYCRYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0042)
/*RGB Planar */
#define CAMERA_MEDIA_TYPE_RGB8_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0021)
#define CAMERA_MEDIA_TYPE_RGB10_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0022)
#define CAMERA_MEDIA_TYPE_RGB12_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0023)
#define CAMERA_MEDIA_TYPE_RGB16_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0024)
#endif

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others/include/camera/camera_status.h Normal file
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#ifndef __CAMERA_STATUS_DEF__
#define __CAMERA_STATUS_DEF__
typedef int CameraSdkStatus;
/*常用的宏*/
#define SDK_SUCCESS(_FUC_) (_FUC_ == CAMERA_STATUS_SUCCESS)
#define SDK_UNSUCCESS(_FUC_) (_FUC_ != CAMERA_STATUS_SUCCESS)
#define SDK_UNSUCCESS_RETURN(_FUC_,RET) if((RET = _FUC_) != CAMERA_STATUS_SUCCESS)\
{\
return RET;\
}
#define SDK_UNSUCCESS_BREAK(_FUC_) if(_FUC_ != CAMERA_STATUS_SUCCESS)\
{\
break;\
}
/* 常用错误 */
#define CAMERA_STATUS_SUCCESS 0 // 操作成功
#define CAMERA_STATUS_FAILED -1 // 操作失败
#define CAMERA_STATUS_INTERNAL_ERROR -2 // 内部错误
#define CAMERA_STATUS_UNKNOW -3 // 未知错误
#define CAMERA_STATUS_NOT_SUPPORTED -4 // 不支持该功能
#define CAMERA_STATUS_NOT_INITIALIZED -5 // 初始化未完成
#define CAMERA_STATUS_PARAMETER_INVALID -6 // 参数无效
#define CAMERA_STATUS_PARAMETER_OUT_OF_BOUND -7 // 参数越界
#define CAMERA_STATUS_UNENABLED -8 // 未使能
#define CAMERA_STATUS_USER_CANCEL -9 // 用户手动取消了，比如roi面板点击取消，返回
#define CAMERA_STATUS_PATH_NOT_FOUND -10 // 注册表中没有找到对应的路径
#define CAMERA_STATUS_SIZE_DISMATCH -11 // 获得图像数据长度和定义的尺寸不匹配
#define CAMERA_STATUS_TIME_OUT -12 // 超时错误
#define CAMERA_STATUS_IO_ERROR -13 // 硬件IO错误
#define CAMERA_STATUS_COMM_ERROR -14 // 通讯错误
#define CAMERA_STATUS_BUS_ERROR -15 // 总线错误
#define CAMERA_STATUS_NO_DEVICE_FOUND -16 // 没有发现设备
#define CAMERA_STATUS_NO_LOGIC_DEVICE_FOUND -17 // 未找到逻辑设备
#define CAMERA_STATUS_DEVICE_IS_OPENED -18 // 设备已经打开
#define CAMERA_STATUS_DEVICE_IS_CLOSED -19 // 设备已经关闭
#define CAMERA_STATUS_DEVICE_VEDIO_CLOSED -20 // 没有打开设备视频，调用录像相关的函数时，如果相机视频没有打开，则回返回该错误。
#define CAMERA_STATUS_NO_MEMORY -21 // 没有足够系统内存
#define CAMERA_STATUS_FILE_CREATE_FAILED -22 // 创建文件失败
#define CAMERA_STATUS_FILE_INVALID -23 // 文件格式无效
#define CAMERA_STATUS_WRITE_PROTECTED -24 // 写保护，不可写
#define CAMERA_STATUS_GRAB_FAILED -25 // 数据采集失败
#define CAMERA_STATUS_LOST_DATA -26 // 数据丢失，不完整
#define CAMERA_STATUS_EOF_ERROR -27 // 未接收到帧结束符
#define CAMERA_STATUS_BUSY -28 // 正忙(上一次操作还在进行中)，此次操作不能进行
#define CAMERA_STATUS_WAIT -29 // 需要等待(进行操作的条件不成立)，可以再次尝试
#define CAMERA_STATUS_IN_PROCESS -30 // 正在进行，已经被操作过
#define CAMERA_STATUS_IIC_ERROR -31 // IIC传输错误
#define CAMERA_STATUS_SPI_ERROR -32 // SPI传输错误
#define CAMERA_STATUS_USB_CONTROL_ERROR -33 // USB控制传输错误
#define CAMERA_STATUS_USB_BULK_ERROR -34 // USB BULK传输错误
#define CAMERA_STATUS_SOCKET_INIT_ERROR -35 // 网络传输套件初始化失败
#define CAMERA_STATUS_GIGE_FILTER_INIT_ERROR -36 // 网络相机内核过滤驱动初始化失败，请检查是否正确安装了驱动，或者重新安装。
#define CAMERA_STATUS_NET_SEND_ERROR -37 // 网络数据发送错误
#define CAMERA_STATUS_DEVICE_LOST -38 // 与网络相机失去连接，心跳检测超时
#define CAMERA_STATUS_DATA_RECV_LESS -39 // 接收到的字节数比请求的少
#define CAMERA_STATUS_FUNCTION_LOAD_FAILED -40 // 从文件中加载程序失败
#define CAMERA_STATUS_CRITICAL_FILE_LOST -41 // 程序运行所必须的文件丢失。
#define CAMERA_STATUS_SENSOR_ID_DISMATCH -42 // 固件和程序不匹配，原因是下载了错误的固件。
#define CAMERA_STATUS_OUT_OF_RANGE -43 // 参数超出有效范围。
#define CAMERA_STATUS_REGISTRY_ERROR -44 // 安装程序注册错误。请重新安装程序，或者运行安装目录Setup/Installer.exe
#define CAMERA_STATUS_ACCESS_DENY -45 // 禁止访问。指定相机已经被其他程序占用时，再申请访问该相机，会返回该状态。(一个相机不能被多个程序同时访问)
#define CAMERA_STATUS_CAMERA_NEED_RESET -46 // 表示相机需要复位后才能正常使用，此时请让相机断电重启，或者重启操作系统后，便可正常使用。
//和AIA制定的标准相同
/*#define CAMERA_AIA_SUCCESS 0x0000 */
#define CAMERA_AIA_PACKET_RESEND 0x0100 //该帧需要重传
#define CAMERA_AIA_NOT_IMPLEMENTED 0x8001 //设备不支持的命令
#define CAMERA_AIA_INVALID_PARAMETER 0x8002 //命令参数非法
#define CAMERA_AIA_INVALID_ADDRESS 0x8003 //不可访问的地址
#define CAMERA_AIA_WRITE_PROTECT 0x8004 //访问的对象不可写
#define CAMERA_AIA_BAD_ALIGNMENT 0x8005 //访问的地址没有按照要求对齐
#define CAMERA_AIA_ACCESS_DENIED 0x8006 //没有访问权限
#define CAMERA_AIA_BUSY 0x8007 //命令正在处理中
#define CAMERA_AIA_DEPRECATED 0x8008 //0x8008-0x0800B 0x800F 该指令已经废弃
#define CAMERA_AIA_PACKET_UNAVAILABLE 0x800C //包无效
#define CAMERA_AIA_DATA_OVERRUN 0x800D //数据溢出，通常是收到的数据比需要的多
#define CAMERA_AIA_INVALID_HEADER 0x800E //数据包头部中某些区域与协议不匹配
#define CAMERA_AIA_PACKET_NOT_YET_AVAILABLE 0x8010 //图像分包数据还未准备好，多用于触发模式，应用程序访问超时
#define CAMERA_AIA_PACKET_AND_PREV_REMOVED_FROM_MEMORY 0x8011 //需要访问的分包已经不存在。多用于重传时数据已经不在缓冲区中
#define CAMERA_AIA_PACKET_REMOVED_FROM_MEMORY 0x8012 //CAMERA_AIA_PACKET_AND_PREV_REMOVED_FROM_MEMORY
#define CAMERA_AIA_NO_REF_TIME 0x0813 //没有参考时钟源。多用于时间同步的命令执行时
#define CAMERA_AIA_PACKET_TEMPORARILY_UNAVAILABLE 0x0814 //由于信道带宽问题，当前分包暂时不可用，需稍后进行访问
#define CAMERA_AIA_OVERFLOW 0x0815 //设备端数据溢出，通常是队列已满
#define CAMERA_AIA_ACTION_LATE 0x0816 //命令执行已经超过有效的指定时间
#define CAMERA_AIA_ERROR 0x8FFF //错误
#endif

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//
// Created by zhikun on 18-11-7.
// used for testing double cameras
// camera0 is left camera, camera1 is right camera.
//
#ifndef VIDEO_TEST1_CAMERA_WRAPPER_H
#define VIDEO_TEST1_CAMERA_WRAPPER_H
#include <stdio.h>
#include <iostream>
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <opencv2/imgproc/imgproc.hpp>
#include "camera/wrapper_head.h"
#include "camera/camera_api.h"
class CameraWrapper: public WrapperHead {
private:
unsigned char* rgb_buffer0;
unsigned char* rgb_buffer1;
int camera_cnts;
int camera_status0, camera_status1;
tSdkCameraDevInfo camera_enum_list[2];
int h_camera0;
int h_camera1;
char camera_name0[32];
char camera_name1[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;
void swapCameraHandle();
public:
CameraWrapper();
~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);
};
#endif //VIDEO_TEST1_CAMERA_WRAPPER_H

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//
// Created by zhikun on 18-11-16.
// wrapper for video read from file
//
#ifndef STEREOVISION_FROM_VIDEO_FILE_VIDEO_WRAPPER_H
#define STEREOVISION_FROM_VIDEO_FILE_VIDEO_WRAPPER_H
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "wrapper_head.h"
class VideoWrapper:public WrapperHead {
public:
VideoWrapper(const std::string& filename0, const std::string& filename1);
~VideoWrapper();
/**
* @brief initialize cameras
* @return bool value: whether it success
*/
bool init() final;
/**
* @brief read images from camera
* @param src_left : output source video of left camera
* @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;
private:
cv::VideoCapture video0, video1;
};
#endif //STEREOVISION_FROM_VIDEO_FILE_VIDEO_WRAPPER_H

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//
// Created by zhikun on 18-11-18.
//
#ifndef STEREOVISION_FROM_VIDEO_FILE_WRAPPER_HEAD_H
#define STEREOVISION_FROM_VIDEO_FILE_WRAPPER_HEAD_H
#include <opencv2/core/core.hpp>
/**
* @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;
};
#endif //STEREOVISION_FROM_VIDEO_FILE_WRAPPER_HEAD_H

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//
// Created by xinyang on 19-2-19.
//
#ifndef _LOG_H_
#define _LOG_H_
#include <stdio.h>
#include <sys/time.h>
/************** Define the control code *************/
#define START_CTR "\033[0"
#define END_CTR "m"
#define CLEAR_CODE ";0"
#define LIGHT_CODE ";1"
#define LINE_CODE ";4"
#define BLINK_CODE ";5"
#define REVERSE_CODE ";7"
#define VANISH_CODE ";8"
#define WORD_WHITE_CODE ";30"
#define WORD_RED_CODE ";31"
#define WORD_GREEN_CODE ";32"
#define WORD_YELLOW_CODE ";33"
#define WORD_BLUE_CODE ";34"
#define WORD_PURPLE_CODE ";35"
#define WORD_CYAN_CODE ";36"
#define WORD_GRAY_CODE ";37"
#define BACK_WHITE_CODE ";40"
#define BACK_RED_CODE ";41"
#define BACK_GREEN_CODE ";42"
#define BACK_YELLOW_CODE ";43"
#define BACK_BLUE_CODE ";44"
#define BACK_PURPLE_CODE ";45"
#define BACK_CYAN_CODE ";46"
#define BACK_GRAY_CODE ";47"
#define CTRS(ctrs) START_CTR ctrs END_CTR
#define WORD_WHITE WORD_WHITE_CODE
#define WORD_RED WORD_RED_CODE
#define WORD_GREEN WORD_GREEN_CODE
#define WORD_YELLOW WORD_YELLOW_CODE
#define WORD_BLUE WORD_BLUE_CODE
#define WORD_PURPLE WORD_PURPLE_CODE
#define WORD_CYAN WORD_CYAN_CODE
#define WORD_GRAY WORD_GRAY_CODE
#define WORD_LIGHT_WHITE LIGHT_CODE WORD_WHITE
#define WORD_LIGHT_RED LIGHT_CODE WORD_RED
#define WORD_LIGHT_GREEN LIGHT_CODE WORD_GREEN
#define WORD_LIGHT_YELLOW LIGHT_CODE WORD_YELLOW
#define WORD_LIGHT_BLUE LIGHT_CODE WORD_BLUE
#define WORD_LIGHT_PURPLE LIGHT_CODE WORD_PURPLE
#define WORD_LIGHT_CYAN LIGHT_CODE WORD_CYAN
#define WORD_LIGHT_GRAY LIGHT_CODE WORD_GRAY
#define CLEAR_ALL CTRS(CLEAR_CODE)
/*************** Define the log level value ***************/
#define LOG_NONE 0
#define LOG_ERROR 1
#define LOG_WARNING 2
#define LOG_MSG 3
#define LOG_NOTHING 4
/************** Ensure the current log level **************/
#ifndef LOG_LEVEL
#define LOG_LEVEL LOG_MSG
#endif
#if LOG_LEVEL < LOG_NONE
#define LOG_LEVEL LOG_NONE
#elif LOG_LEVEL > LOG_MSG
#define LOG_LEVEL LOG_MSG
#endif
/******* Ensure the color corresponding to the level ******/
#ifndef LOG_ERROR_COLOR
#define LOG_ERROR_COLOR WORD_RED
#endif
#ifndef LOG_WARNING_COLOR
#define LOG_WARNING_COLOR WORD_YELLOW
#endif
#ifndef LOG_MSG_COLOR
#define LOG_MSG_COLOR WORD_GRAY
#endif
#ifndef LOG_LINK_COLOR
#define LOG_LINK_COLOR LINE_CODE WORD_BLUE
#endif
/******************** The log API *************************/
#define LOG_0(format, ...) printf(format, ##__VA_ARGS__)
#if LOG_LEVEL >= LOG_ERROR
#define LOG_1(format, ...) printf(format, ##__VA_ARGS__)
#else
#define LOG_1(format, ...) ((void)0)
#endif
#if LOG_LEVEL >= LOG_WARNING
#define LOG_2(format, ...) printf(format, ##__VA_ARGS__)
#else
#define LOG_2(format, ...) ((void)0)
#endif
#if LOG_LEVEL >= LOG_MSG
#define LOG_3(format, ...) printf(format, ##__VA_ARGS__)
#else
#define LOG_3(format, ...) ((void)0)
#endif
#define LOG_4(format, ...) ((void)0)
#define LOG_(level, format, ...) LOG_##level (format, ##__VA_ARGS__)
#define LOG(level, format, ...) LOG_(level, format"\n", ##__VA_ARGS__)
#define STR_CTR(ctrs, str) START_CTR ctrs END_CTR str CLEAR_ALL
#define LOGA(format, ...) LOG(LOG_NONE, format, ##__VA_ARGS__)
#define LOGA_INFO(format, ...) LOG(LOG_NONE, "<%s:%d>: " format, ##__VA_ARGS__)
#define LOGE(format, ...) LOG(LOG_ERROR, STR_CTR(LOG_ERROR_COLOR, "<ERROR>: " format), ## __VA_ARGS__)
#define LOGW(format, ...) LOG(LOG_WARNING, STR_CTR(LOG_WARNING_COLOR,"<WARNING>: " format), ## __VA_ARGS__)
#define LOGM(format, ...) LOG(LOG_MSG, STR_CTR(LOG_MSG_COLOR, "<MSG>: " format), ## __VA_ARGS__)
#define LOGE_INFO(format, ...) LOG(LOG_ERROR, \
STR_CTR(LOG_ERROR_COLOR, "<") \
STR_CTR(LOG_LINK_COLOR, "%s:%d") \
STR_CTR(LOG_ERROR_COLOR, " ERROR>: " format), \
__FILE__, __LINE__, ##__VA_ARGS__)
#define LOGW_INFO(format, ...) LOG(LOG_WARNING, \
STR_CTR(LOG_WARNING_COLOR,"<") \
STR_CTR(LOG_LINK_COLOR,"%s:%d") \
STR_CTR(LOG_WARNING_COLOR, " WARNING>: " format), \
__FILE__, __LINE__, ##__VA_ARGS__)
#define LOGM_INFO(format, ...) LOG(LOG_MSG, \
STR_CTR(LOG_MSG_COLOR, "<") \
STR_CTR(LOG_LINK_COLOR, "%s:%d") \
STR_CTR(LOG_MSG_COLOR, " MSG>: " format), \
__FILE__, __LINE__, ##__VA_ARGS__)
/******************** the time counter API ************************/
#if LOG_LEVEL > LOG_NONE && (!defined(DO_NOT_CNT_TIME))
#define CNT_TIME(str_ctrs, tag, codes, ...) do{\
timeval ts, te; \
gettimeofday(&ts, NULL); \
codes; \
gettimeofday(&te, NULL); \
LOGM(STR_CTR(str_ctrs, tag": %fms"), ## __VA_ARGS__, (te.tv_sec-ts.tv_sec)*1000.0 + (te.tv_usec-ts.tv_usec)/1000.0); \
}while(0)
#else
#define CNT_TIME(str_ctrs, tag, codes, ...) codes
#endif
#else /* _LOG_H_ */
#warning "Multiple include of log.h, some settings may not work."
#endif /* _LOG_H_ */

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//
// Created by xinyang on 19-4-7.
//
#ifndef _ADDITIONS_H_
#define _ADDITIONS_H_
#include <uart/uart.h>
#include <opencv2/core.hpp>
#include <thread>
void save_video_file(cv::Mat &src);
void save_labelled_image(cv::Mat &src, cv::Rect2d box);
#endif /* _ADDITIONS_H_ */

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//
// Created by xinyang on 19-3-27.
//
#ifndef _OPTIONS_H_
#define _OPTIONS_H_
extern bool show_armor_box;
extern bool show_armor_boxes;
extern bool show_light_blobs;
extern bool show_origin;
extern bool save_labelled;
extern bool run_with_camera;
extern bool save_video;
extern bool collect_data;
void process_options(int argc, char *argv[]);
#endif /* _OPTIONS_H_ */

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//
// Created by xixiliadorabarry on 1/24/19.
//
#ifndef STEREOVISION_UART_H
#define STEREOVISION_UART_H
#include <stdio.h>
#include <time.h>
#include <iostream>
#include <errno.h>
#include <fcntl.h>
#include <stdint.h>
#include <string.h>
#include <termios.h>
#include <unistd.h>
#include <time.h>
//#include <opencv2/core/core.hpp>
class Uart {
private:
int fd;
char buff[8];
int fps;
time_t cur_time;
int set_opt(int fd, int nSpeed, int nBits, char nEvent, int nStop);
public:
Uart();
void sendTarget(float x, float y ,float z);
uint8_t receive();
void receive_data();
};
#endif //STEREOVISION_UART_H

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//
// Created by zhikun on 18-11-7.
//
#include <camera/camera_wrapper.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;
}
bool CameraWrapper::init() {
CameraSdkInit(1);
//枚举设备，并建立设备列表
int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts);
//cout<<"camera enumerate device status: "<<camera_enumerate_device_status<<endl;
//cout<<"camera number: "<<camera_cnts<<endl;
//没有连接设备
if (camera_cnts == 0) {
cout<<"No device detected!"<<endl;
return false;
}
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;
}
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;
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);
// 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);
CameraSetAeState(h_camera0, true); //设置是否自动曝光
CameraSetAeState(h_camera1, true);
/*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);
/*其他的相机参数设置
例如 CameraSetExposureTime CameraGetExposureTime 设置/读取曝光时间
CameraSetImageResolution CameraGetImageResolution 设置/读取分辨率
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);
if (tCapability0.sIspCapacity.bMonoSensor) {
channel0 = 1;
CameraSetIspOutFormat(h_camera0, CAMERA_MEDIA_TYPE_MONO8);
cout<<"camera0 mono "<<endl;
} else {
channel0 = 3;
CameraSetIspOutFormat(h_camera0, CAMERA_MEDIA_TYPE_BGR8);
cout<<"camera0 color mode"<<endl;
}
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::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);
}
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);
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);
src0 = cv::cvarrToMat(iplImage0);
src1 = cv::cvarrToMat(iplImage1);
//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);
return true;
} else {
return false;
}
}
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);
}
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);
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);
src0 = cv::cvarrToMat(iplImage0);
src1 = cv::cvarrToMat(iplImage1);
//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);
return true;
} else {
return false;
}
}
CameraWrapper::~CameraWrapper()
{
CameraUnInit(h_camera0);
CameraUnInit(h_camera1);
//注意，先反初始化后再free
free(rgb_buffer0);
free(rgb_buffer1);
}
void CameraWrapper::swapCameraHandle() {
int tmp_h_camera = h_camera0;
h_camera0 = h_camera1;
h_camera1 = tmp_h_camera;
}

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//
// Created by xixiliadorabarry on 1/24/19.
//
#include "camera/video_wrapper.h"
VideoWrapper::VideoWrapper(const std::string &filename0, const std::string &filename1) {
video0.open(filename0);
video1.open(filename1);
}
VideoWrapper::~VideoWrapper() = default;
bool VideoWrapper::init() {
return video0.isOpened() && video1.isOpened();
}
bool VideoWrapper::read(cv::Mat &src_left, cv::Mat &src_right) {
return video0.read(src_left) && video1.read(src_right);
}

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//
// Created by xinyang on 19-4-7.
//
#include <options/additions.h>
#include <options/options.h>
#include <stdio.h>
#include <log.h>
#include <opencv2/imgproc.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/videoio.hpp>
#include <opencv2/highgui.hpp>
using namespace std;
#define VIDEO_SAVE_DIR "/home/sjturm/Desktop/video/"
static cv::VideoWriter *create_video_writer(){
FILE* info = fopen(VIDEO_SAVE_DIR"info.txt", "r");
int cnt=0;
fscanf(info, "%d", &cnt);
fclose(info);
info = fopen(VIDEO_SAVE_DIR"info.txt", "w");
fprintf(info, "%d", ++cnt);
char name[100];
sprintf(name, VIDEO_SAVE_DIR"%d.avi", cnt);
return new cv::VideoWriter(name, cv::VideoWriter::fourcc('P','I','M','1'), 80, cv::Size(640,480),false);
}
void save_video_file(cv::Mat &src){
static cv::VideoWriter *video = create_video_writer();
video->write(src);
}
#define SAVE_DIR "/home/sjturm/Desktop/labelled/"
int get_labelled_cnt(){
FILE *fp = fopen(SAVE_DIR"info.txt", "r");
int cnt=0;
fscanf(fp, "%d", &cnt);
fclose(fp);
return cnt+1;
}
void save_labelled_cnt(int cnt){
FILE *fp = fopen(SAVE_DIR"info.txt", "w");
fprintf(fp, "%d", cnt);
fclose(fp);
}
void save_labelled_image(cv::Mat &src, cv::Rect2d box){
static int cnt=get_labelled_cnt();
char name[50];
sprintf(name, SAVE_DIR"%d.jpg", cnt);
cv::imwrite(name, src);
sprintf(name, SAVE_DIR"%d.txt", cnt);
FILE *fp = fopen(name, "w");
if(fp == NULL){
LOGW("Can't create file: %s!\nStop saving!", name);
save_labelled = false;
return;
}
fprintf(fp, "%lf %lf %lf %lf\n", box.x, box.y, box.width, box.height);
fclose(fp);
save_labelled_cnt(cnt);
}

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//
// Created by xinyang on 19-3-27.
//
#include <options/options.h>
#include <log.h>
#include <cstring>
bool show_armor_box = false;
bool show_armor_boxes = false;
bool show_light_blobs = false;
bool show_origin = false;
bool save_labelled = false;
bool run_with_camera = false;
bool save_video = false;
bool collect_data = false;
void process_options(int argc, char *argv[]){
if(argc >= 2){
for(int i=1; i<argc; i++){
if(strcmp(argv[i], "--help") == 0){
LOGM("--show-armor-box: show the aim box.");
LOGM("--show-armor-boxes: show the candidate aim boxes.");
LOGM("--show-light-blobs: show the candidate light blobs.");
LOGM("--show-origin: show the origin image.");
LOGM("--save-label: save the image when box found.");
LOGM("--run-with-camera: start the program with camera directly without asking.");
LOGM("--save-video: save the video.");
LOGM("--collect-data: collect data sent from mcu.");
}else if(strcmp(argv[i], "--show-armor-box") == 0){
show_armor_box = true;
LOGM("Enable show armor box");
}else if(strcmp(argv[i], "--show-armor-boxes") == 0){
show_armor_boxes = true;
LOGM("Enable show armor boxes");
}else if(strcmp(argv[i], "--show-light-blobs") == 0) {
show_light_blobs = true;
LOGM("Enable show light blobs");
}else if(strcmp(argv[i], "--show-origin") == 0) {
show_origin = true;
LOGM("Enable show origin");
}else if(strcmp(argv[i], "--show-all") ==0 ) {
show_armor_box = true;
LOGM("Enable show armor box");
show_armor_boxes = true;
LOGM("Enable show armor boxes");
show_light_blobs = true;
LOGM("Enable show light blobs");
show_origin = true;
LOGM("Enable show origin");
}else if(strcmp(argv[i], "--save-labeled") == 0){
save_labelled = true;
LOGM("Enable save labeled");
}else if(strcmp(argv[i], "--run-with-camera") == 0){
run_with_camera = true;
LOGM("Run with camera!");
}else if(strcmp(argv[i], "--save-video") == 0){
save_video = true;
LOGM("Save video!");
}else if(strcmp(argv[i], "--collect-data") == 0){
collect_data = true;
LOGM("Enable data collection!");
}else{
LOGW("Unknown option: %s. Use --help to see options.", argv[i]);
}
}
}
}

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others/src/uart/uart.cpp Normal file
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//
// Created by xixiliadorabarry on 1/24/19.
//
#include <uart/uart.h>
#include <energy/param_struct_define.h>
using std::cout;
using std::cerr;
using std::clog;
using std::dec;
using std::endl;
using std::hex;
GMAngle_t aim;
Uart::Uart(){
fd = open("/dev/ttyUSB0", O_RDWR);
if(fd < 0)
{
cerr<<"open port error"<<endl;
return;
}
if(set_opt(fd, 115200, 8, 'N', 1) < 0 )
{
cerr<<"set opt error"<<endl;
return;
}
cout<<"uart port success"<<endl;
buff[0] = 's';
buff[1] = '+';
buff[2] = (0 >> 8) & 0xFF;
buff[3] = 0 & 0xFF;
buff[4] = '+';
buff[5] = (0 >> 8) & 0xFF;
buff[6] = (0 & 0xFF);
buff[7] = 'e';
fps = 0;
cur_time = time(nullptr);
}
int Uart::set_opt(int fd, int nSpeed, int nBits, char nEvent, int nStop) {
termios newtio{}, oldtio{};
if (tcgetattr(fd, &oldtio) != 0) {
perror("SetupSerial 1");
return -1;
}
bzero(&newtio, sizeof(newtio));
newtio.c_cflag |= CLOCAL | CREAD;
newtio.c_cflag &= ~CSIZE;
switch (nBits) {
case 7:
newtio.c_cflag |= CS7;break;
case 8:
newtio.c_cflag |= CS8;break;
default:break;
}
switch (nEvent) {
case 'O': //奇校验
newtio.c_cflag |= PARENB;
newtio.c_cflag |= PARODD;
newtio.c_iflag |= (INPCK | ISTRIP);
break;
case 'E': //偶校验
newtio.c_iflag |= (INPCK | ISTRIP);
newtio.c_cflag |= PARENB;
newtio.c_cflag &= ~PARODD;
break;
case 'N': //无校验
newtio.c_cflag &= ~PARENB;
break;
default:break;
}
switch (nSpeed) {
case 2400:
cfsetispeed(&newtio, B2400);
cfsetospeed(&newtio, B2400);
break;
case 4800:
cfsetispeed(&newtio, B4800);
cfsetospeed(&newtio, B4800);
break;
case 9600:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
case 115200:
cfsetispeed(&newtio, B115200);
cfsetospeed(&newtio, B115200);
break;
default:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
}
if (nStop == 1) {
newtio.c_cflag &= ~CSTOPB;
} else if (nStop == 2) {
newtio.c_cflag |= CSTOPB;
}
newtio.c_cc[VTIME] = 0;
newtio.c_cc[VMIN] = 0;
tcflush(fd, TCIFLUSH);
if ((tcsetattr(fd, TCSANOW, &newtio)) != 0) {
perror("com set error");
return -1;
}
printf("set done!\n");
return 0;
}
void Uart::sendTarget(float x, float y, float z) {
static short x_tmp, y_tmp, z_tmp;
time_t t = time(nullptr);
if(cur_time != t)
{
cur_time = t;
cout<<"fps:"<<fps<<", ("<<x<<","<<y<<","<<z<<")"<<endl;
fps = 0;
}
fps += 1;
x_tmp= static_cast<short>(x * (32768 - 1) / 100);
y_tmp= static_cast<short>(y * (32768 - 1) / 100);
z_tmp= static_cast<short>(z * (32768 - 1) / 1000);
buff[0] = 's';
buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
buff[7] = 'e';
write(fd, buff, 8);
}
// 's' + (x) ( 8bit + 8bit ) + (y) ( 8bit + 8bit ) + (z) ( 8bit + 8bit ) + 'e'
uint8_t Uart::receive() {
uint8_t data;
while(read(fd, &data, 1) < 1);
return data;
}