diff --git a/others/include/config/setconfig.h b/others/include/config/setconfig.h index 86412d7..9e2d58f 100644 --- a/others/include/config/setconfig.h +++ b/others/include/config/setconfig.h @@ -33,6 +33,6 @@ //#define GIMBAL_FLIP_MODE (-1) //#define CHASSIS_FLIP_MODE (-1) - +//#define WITH_TIME_BASED_CAMERA_GAIN #endif /* SETCONFIG_H */ diff --git a/others/src/camera/camera_wrapper.cpp b/others/src/camera/camera_wrapper.cpp index 901e6a6..167e055 100644 --- a/others/src/camera/camera_wrapper.cpp +++ b/others/src/camera/camera_wrapper.cpp @@ -13,79 +13,98 @@ using std::cout; using std::endl; using namespace cv; -CameraWrapper::CameraWrapper(int camera_mode, const std::string &n): +CameraWrapper::CameraWrapper(int camera_mode, const std::string &n) : name(n), mode(camera_mode), camera_cnts(2), camera_status(-1), iplImage(nullptr), rgb_buffer(nullptr), - channel(3){ + channel(3) { } bool CameraWrapper::init() { CameraSdkInit(1); - int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts); - if(camera_enumerate_device_status != CAMERA_STATUS_SUCCESS){ + int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts); + if (camera_enumerate_device_status != CAMERA_STATUS_SUCCESS) { LOGE("CameraEnumerateDevice fail with %d!", camera_enumerate_device_status); } if (camera_cnts == 0) { LOGE("No camera device detected!"); return false; - }else if(camera_cnts >= 1){ + } else if (camera_cnts >= 1) { LOGM("%d camera device detected!", camera_cnts); } int i; - for(i=0; i= camera_cnts){ + if (i >= camera_cnts) { LOGE("No device name %s or device open error!!", name.data()); return false; } - auto status = CameraGetCapability(h_camera, &tCapability); - if (status != CAMERA_STATUS_SUCCESS) { - cout << "CameraGetCapability return error code " << status << endl; - return false; - } + auto status = CameraGetCapability(h_camera, &tCapability); + if (status != CAMERA_STATUS_SUCCESS) { + cout << "CameraGetCapability return error code " << status << endl; + return false; + } - rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax * - tCapability.sResolutionRange.iWidthMax * 3); + rgb_buffer = (unsigned char *) malloc(tCapability.sResolutionRange.iHeightMax * + tCapability.sResolutionRange.iWidthMax * 3); #ifdef Windows - char filepath[200]; - sprintf(filepath, PROJECT_DIR"/others/%s.Config", name.data()); - if (CameraReadParameterFromFile(h_camera, filepath) != CAMERA_STATUS_SUCCESS) { - LOGE("Load parameter %s from file fail!", filepath); - return false; - } - if (CameraLoadParameter(h_camera, PARAMETER_TEAM_A) != CAMERA_STATUS_SUCCESS) { - LOGE("CameraLoadParameter %s fail!", filepath); - return false; - } - LOGM("successfully loaded %s!", filepath); + char filepath[200]; + sprintf(filepath, PROJECT_DIR"/others/%s.Config", name.data()); + if (CameraReadParameterFromFile(h_camera, filepath) != CAMERA_STATUS_SUCCESS) { + LOGE("Load parameter %s from file fail!", filepath); + return false; + } + if (CameraLoadParameter(h_camera, PARAMETER_TEAM_A) != CAMERA_STATUS_SUCCESS) { + LOGE("CameraLoadParameter %s fail!", filepath); + return false; + } + LOGM("successfully loaded %s!", filepath); #elif defined(Linux) CameraSetAeState(h_camera, false); - CameraSetExposureTime(h_camera, CAMERA_EXPOSURE*1000); + CameraSetExposureTime(h_camera, CAMERA_EXPOSURE * 1000); +#ifndef WITH_TIME_BASED_CAMERA_GAIN CameraSetAnalogGain(h_camera, ARMOR_CAMERA_GAIN); - if(mode == 0){ +#else + #include + timeval tv; + int gain; + gettimeofday(&tv, nullptr); + float hour = tv.tv_sec / 3600.0; + if (6 <= hour && hour < 10) { + gain = 20; + } else if (10 <= hour && hour < 16) { + gain = 10; + } else if (16 <= hour && hour < 17) { + gain = 20; + } else if (17 <= hour && hour < 18) { + gain = 40; + } else { + gain = 50; + } +#endif + if (mode == 0) { CameraSetGain(h_camera, CAMERA_BLUE_GAIN, CAMERA_GREEN_GAIN, CAMERA_RED_GAIN); CameraSetLutMode(h_camera, LUTMODE_PRESET); } #endif - double t; - CameraGetExposureTime(h_camera, &t); - LOGM("Exposure time: %lfms", t / 1000.0); + double t; + CameraGetExposureTime(h_camera, &t); + LOGM("Exposure time: %lfms", t / 1000.0); /*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。 */ @@ -97,7 +116,7 @@ bool CameraWrapper::init() { CameraSetGamma、CameraSetContrast、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） */ - cout << tCapability.sIspCapacity.bMonoSensor << endl; + cout << tCapability.sIspCapacity.bMonoSensor << endl; if (tCapability.sIspCapacity.bMonoSensor) { channel = 1; CameraSetIspOutFormat(h_camera, CAMERA_MEDIA_TYPE_MONO8); @@ -114,13 +133,13 @@ bool CameraWrapper::changeBrightness(int brightness) { CameraSetAnalogGain(h_camera, brightness); } -bool CameraWrapper::read(cv::Mat& src) { - if(mode==0)return readProcessed(src); - if(mode==1)return readRaw(src); +bool CameraWrapper::read(cv::Mat &src) { + if (mode == 0)return readProcessed(src); + if (mode == 1)return readRaw(src); } bool CameraWrapper::readRaw(cv::Mat &src) { - if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS){ + if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS) { if (iplImage) { cvReleaseImageHeader(&iplImage); } @@ -144,8 +163,9 @@ bool CameraWrapper::readRaw(cv::Mat &src) { bool CameraWrapper::readProcessed(cv::Mat &src) { // cerr << "Get-1" << endl; - 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 (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); } @@ -162,11 +182,10 @@ bool CameraWrapper::readProcessed(cv::Mat &src) { } } -CameraWrapper::~CameraWrapper() -{ +CameraWrapper::~CameraWrapper() { CameraUnInit(h_camera); //注意，先反初始化后再free - if(rgb_buffer != nullptr) + if (rgb_buffer != nullptr) free(rgb_buffer); }