173 lines
6.2 KiB
C++
173 lines
6.2 KiB
C++
//
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// Created by zhikun on 18-11-7.
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//
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#include <camera/camera_wrapper.h>
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#include <log.h>
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using std::cout;
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using std::endl;
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using namespace cv;
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CameraWrapper::CameraWrapper(int camera_mode, const std::string &n):
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name(n),
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mode(camera_mode),
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camera_cnts(2),
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camera_status(-1),
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iplImage(nullptr),
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rgb_buffer(nullptr),
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channel(3){
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}
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bool CameraWrapper::init() {
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CameraSdkInit(1);
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//枚举设备，并建立设备列表
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int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts);
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if(camera_enumerate_device_status != CAMERA_STATUS_SUCCESS){
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LOGE("CameraEnumerateDevice fail with %d!", camera_enumerate_device_status);
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}
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//没有连接设备
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if (camera_cnts == 0) {
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LOGE("No camera device detected!");
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return false;
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}else if(camera_cnts >= 1){
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LOGM("%d camera device detected!", camera_cnts);
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}
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//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
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int i;
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for(i=0; i<camera_cnts; i++){
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camera_status = CameraInit(&camera_enum_list[i], -1, -1, &h_camera);
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if (camera_status != CAMERA_STATUS_SUCCESS) {
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LOGE("Camera 0 initialization failed with code %d. See camera_status.h to find the code meaning.", camera_status);
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goto stop;
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}
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CameraGetFriendlyName(h_camera, camera_name);
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if(name=="NULL" || strcmp(name.data(), camera_name)==0){
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break;
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}
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stop:
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CameraUnInit(h_camera);
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}
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if(i >= camera_cnts){
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LOGE("No device name %s or device open error!!", name.data());
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return false;
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}
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//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
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CameraGetCapability(h_camera, &tCapability);
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// set resolution to 320*240
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// CameraSetImageResolution(hCamera, &(tCapability.pImageSizeDesc[2]));
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rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax *
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tCapability.sResolutionRange.iWidthMax * 3);
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if(mode == 0){
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// 不使用自动曝光
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CameraSetAeState(h_camera, false);
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// 曝光时间10ms
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CameraSetExposureTime(h_camera, 10000);
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double t;
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CameraGetExposureTime(h_camera, &t);
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LOGM("Exposure time: %lfms", t/1000.0);
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// 模拟增益4
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CameraSetAnalogGain(h_camera, 60);
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// 使用预设LUT表
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CameraSetLutMode(h_camera, LUTMODE_PRESET);
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// 抗频闪
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// CameraSetAntiFlick(h_camera, true);
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}
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else if(mode == 1){
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// 不使用自动曝光
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CameraSetAeState(h_camera, false);
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// 抗频闪
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// CameraSetAntiFlick(h_camera, true);
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}
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/*让SDK进入工作模式，开始接收来自相机发送的图像
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数据。如果当前相机是触发模式，则需要接收到
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触发帧以后才会更新图像。 */
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CameraPlay(h_camera);
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/*其他的相机参数设置
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例如 CameraSetExposureTime CameraGetExposureTime 设置/读取曝光时间
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CameraSetImageResolution CameraGetImageResolution 设置/读取分辨率
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CameraSetGamma、CameraSetContrast、CameraSetGain等设置图像伽马、对比度、RGB数字增益等等。
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CameraGetFriendlyName CameraSetFriendlyName 获取/设置相机名称（该名称可写入相机硬件）
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*/
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if (tCapability.sIspCapacity.bMonoSensor) {
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channel = 1;
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CameraSetIspOutFormat(h_camera, CAMERA_MEDIA_TYPE_MONO8);
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LOGM("camera %s mono ", camera_name);
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} else {
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channel = 3;
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CameraSetIspOutFormat(h_camera, CAMERA_MEDIA_TYPE_BGR8);
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LOGM("camera %s color ", camera_name);
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}
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return true;
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}
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bool CameraWrapper::read(cv::Mat& src) {
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// return readRaw(src); //suit for using bayer hacking in armor_finder to replace process, fast and it can filter red and blue.
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if(mode==0)return readProcessed(src); // processed color image, but this runs slowly, about half fps of previous one.
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if(mode==1)return readRaw(src);
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}
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bool CameraWrapper::readRaw(cv::Mat &src) {
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if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS){
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if (iplImage) {
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cvReleaseImageHeader(&iplImage);
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}
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iplImage = cvCreateImageHeader(cvSize(frame_info.iWidth, frame_info.iHeight), IPL_DEPTH_8U, 1);
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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
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src = cv::cvarrToMat(iplImage).clone();
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//在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
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//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
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CameraReleaseImageBuffer(h_camera, pby_buffer);
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return true;
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} else {
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return false;
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}
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}
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bool CameraWrapper::readProcessed(cv::Mat &src) {
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if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS){
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CameraImageProcess(h_camera, pby_buffer, rgb_buffer, &frame_info); // this function is super slow, better not to use it.
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if (iplImage) {
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cvReleaseImageHeader(&iplImage);
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}
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iplImage = cvCreateImageHeader(cvSize(frame_info.iWidth, frame_info.iHeight), IPL_DEPTH_8U, channel);
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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
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src = cv::cvarrToMat(iplImage).clone();
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//在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
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//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
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CameraReleaseImageBuffer(h_camera, pby_buffer);
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return true;
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} else {
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return false;
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}
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}
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CameraWrapper::~CameraWrapper()
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{
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CameraUnInit(h_camera);
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//注意，先反初始化后再free
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if(rgb_buffer != nullptr)
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free(rgb_buffer);
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}
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