189 lines
6.8 KiB
C++
189 lines
6.8 KiB
C++
//
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// Created by zhikun on 18-11-7.
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//
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#include <iostream>
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#include <camera/camera_wrapper.h>
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#include <log.h>
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#include <additions.h>
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#include <options.h>
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#include <config/setconfig.h>
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using namespace std;
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using namespace cv;
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CameraWrapper::CameraWrapper(int exposure, int gain, int camera_mode, const std::string &n) :
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name(n),
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init_done(false),
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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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rgb_buffer(nullptr),
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channel(3),
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gain(gain),
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exposure(exposure){
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}
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void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext){
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CameraWrapper *c = (CameraWrapper*)pContext;
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CameraImageProcess(hCamera, pFrameBuffer, c->rgb_buffer, pFrameHead);
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// 使用 cv::Mat 替代 IplImage
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cv::Mat img(pFrameHead->iHeight, pFrameHead->iWidth,
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c->channel == 3 ? CV_8UC3 : CV_8UC1,
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c->rgb_buffer, pFrameHead->iWidth * c->channel);
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c->src_queue.push(img.clone());
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}
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bool CameraWrapper::init() {
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CameraSdkInit(1);
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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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return false;
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}
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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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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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CameraUnInit(h_camera);
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continue;
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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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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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auto status = CameraGetCapability(h_camera, &tCapability);
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if (status != CAMERA_STATUS_SUCCESS) {
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cout << "CameraGetCapability return error code " << status << endl;
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return false;
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}
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rgb_buffer = (unsigned char *) malloc(tCapability.sResolutionRange.iHeightMax *
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tCapability.sResolutionRange.iWidthMax * 3);
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#ifdef Windows
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char filepath[200];
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sprintf(filepath, PROJECT_DIR"/others/%s.Config", name.data());
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if (CameraReadParameterFromFile(h_camera, filepath) != CAMERA_STATUS_SUCCESS) {
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LOGE("Load parameter %s from file fail!", filepath);
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return false;
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}
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if (CameraLoadParameter(h_camera, PARAMETER_TEAM_A) != CAMERA_STATUS_SUCCESS) {
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LOGE("CameraLoadParameter %s fail!", filepath);
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return false;
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}
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LOGM("successfully loaded %s!", filepath);
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#elif defined(Linux)
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CameraReadParameterFromFile(h_camera, PROJECT_DIR"/others/MV-UB31-Group0.config");
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CameraLoadParameter(h_camera, PARAMETER_TEAM_A);
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CameraSetAeState(h_camera, false);
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CameraSetExposureTime(h_camera, exposure * 1000);
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CameraSetAnalogGain(h_camera, gain);
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#endif
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double t;
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int g;
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CameraGetExposureTime(h_camera, &t);
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CameraGetAnalogGain(h_camera, &g);
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LOGM("Exposure time: %lfms, gain:%d", t / 1000.0, g);
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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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cout << tCapability.sIspCapacity.bMonoSensor << endl;
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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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if(mode == 2){
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CameraSetCallbackFunction(h_camera, cameraCallback, this, nullptr);
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}
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init_done = true;
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return true;
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}
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bool CameraWrapper::read(cv::Mat &src) {
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if(init_done) {
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if (mode == 0)return readProcessed(src);
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if (mode == 1)return readRaw(src);
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if (mode == 2)return readCallback(src);
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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::readRaw(cv::Mat &src) {
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if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 500) == CAMERA_STATUS_SUCCESS) {
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// 使用 cv::Mat 替代 IplImage
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cv::Mat img(frame_info.iHeight, frame_info.iWidth, CV_8UC1, pby_buffer, frame_info.iWidth);
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src = img.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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src = cv::Mat();
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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, 500) == CAMERA_STATUS_SUCCESS) {
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CameraImageProcess(h_camera, pby_buffer, rgb_buffer,
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&frame_info); // this function is super slow, better not to use it.
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// 使用 cv::Mat 替代 IplImage
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int mat_type = (channel == 3) ? CV_8UC3 : CV_8UC1;
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cv::Mat img(frame_info.iHeight, frame_info.iWidth, mat_type, rgb_buffer, frame_info.iWidth * channel);
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src = img.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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src = cv::Mat();
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return false;
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}
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}
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bool CameraWrapper::readCallback(cv::Mat &src) {
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systime ts, te;
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getsystime(ts);
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while(src_queue.empty()){
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getsystime(te);
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if(getTimeIntervalms(te, ts) > 500){
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return false;
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}
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}
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return src_queue.pop(src);
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}
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CameraWrapper::~CameraWrapper() {
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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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} |