231 lines
8.2 KiB
C++
231 lines
8.2 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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using std::cout;
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using std::endl;
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using namespace cv;
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CameraWrapper::CameraWrapper()
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{
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camera_cnts = 2;
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camera_status0 = -1;
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camera_status1 = -1;
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iplImage0 = nullptr;
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iplImage1 = nullptr;
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channel0 = 3;
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channel1 = 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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//cout<<"camera enumerate device status: "<<camera_enumerate_device_status<<endl;
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//cout<<"camera number: "<<camera_cnts<<endl;
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//没有连接设备
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if (camera_cnts == 0) {
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cout<<"No device detected!"<<endl;
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return false;
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}
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else if(camera_cnts == 1)
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{
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cout<<"Only one camera device detected"<<endl;
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return false;
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}
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else if(camera_cnts == 2)
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{
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cout<<"Two camera devices detected."<<endl;
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}
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else
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{
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cout<<"More than 2 cameras detected or some other error occurs."<<endl;
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return false;
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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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camera_status0 = CameraInit(&camera_enum_list[0], -1, -1, &h_camera0);
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//初始化失败
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if (camera_status0 != CAMERA_STATUS_SUCCESS) {
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cout<<"Camera 0 initialization failed with code "<<camera_status0<<". See camera_status.h to find the code meaning."<<endl;
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return false;
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}
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camera_status1 = CameraInit(&camera_enum_list[1], -1, -1, &h_camera1);
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if (camera_status1 != CAMERA_STATUS_SUCCESS) {
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cout<<"Camera 1 initialization failed with code "<<camera_status1<<". See camera_status.h to find the code meaning."<<endl;
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return false;
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}
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CameraGetFriendlyName(h_camera0, camera_name0);
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CameraGetFriendlyName(h_camera1, camera_name1);
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cout<<"camera names: "<<camera_name0<<" "<<camera_name1<<endl;
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// cout<<camera_name0<<endl;
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// cout<<camera_name1<<endl;
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//如果读取的相机列表不是energy在左，armor在右，则交换相机句柄
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if(strcmp(camera_name0, "armor") != 0)
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{
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swapCameraHandle();
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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_camera0, &tCapability0);
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CameraGetCapability(h_camera1, &tCapability1);
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// set resolution to 320*240
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// CameraSetImageResolution(hCamera, &(tCapability.pImageSizeDesc[2]));
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rgb_buffer0 = (unsigned char *)malloc(tCapability0.sResolutionRange.iHeightMax *
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tCapability0.sResolutionRange.iWidthMax * 3);
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rgb_buffer1 = (unsigned char *)malloc(tCapability1.sResolutionRange.iHeightMax *
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tCapability1.sResolutionRange.iWidthMax * 3);
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CameraSetAeState(h_camera0, true); //设置是否自动曝光
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CameraSetAeState(h_camera1, true);
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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_camera0);
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CameraPlay(h_camera1);
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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、CameraSetConrast、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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// double exposure_time0, exposure_time1;
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// CameraGetExposureTime(h_camera0, &exposure_time0);
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// CameraGetExposureTime(h_camera1, &exposure_time1);
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// cout<<"exposure time "<<exposure_time0<<" "<<exposure_time1<<endl;
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// 抗频闪
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CameraSetAntiFlick(h_camera0, true);
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CameraSetAntiFlick(h_camera1, true);
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if (tCapability0.sIspCapacity.bMonoSensor) {
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channel0 = 1;
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CameraSetIspOutFormat(h_camera0, CAMERA_MEDIA_TYPE_MONO8);
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cout<<"camera0 mono "<<endl;
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} else {
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channel0 = 3;
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CameraSetIspOutFormat(h_camera0, CAMERA_MEDIA_TYPE_BGR8);
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cout<<"camera0 color mode"<<endl;
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}
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if (tCapability1.sIspCapacity.bMonoSensor) {
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channel1 = 1;
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CameraSetIspOutFormat(h_camera1, CAMERA_MEDIA_TYPE_MONO8);
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cout<<"camera1 mono "<<endl;
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} else {
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channel1 = 3;
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CameraSetIspOutFormat(h_camera1, CAMERA_MEDIA_TYPE_BGR8);
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cout<<"camera1 color mode"<<endl;
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}
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return true;
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}
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bool CameraWrapper::read(cv::Mat& src0, cv::Mat& src1) {
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return readRaw(src0, src1); //suit for using bayer hacking in armor_finder to replace process, fast and it can filter red and blue.
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//return readProcessed(src0, src1); // processed color image, but this runs slowly, about half fps of previous one.
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}
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bool CameraWrapper::readRaw(cv::Mat &src0, cv::Mat &src1) {
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if (CameraGetImageBuffer(h_camera0, &frame_info0, &pby_buffer0, 1000) == CAMERA_STATUS_SUCCESS &&
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CameraGetImageBuffer(h_camera1, &frame_info1, &pby_buffer1, 1000) == CAMERA_STATUS_SUCCESS)
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{
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if (iplImage0) {
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cvReleaseImageHeader(&iplImage0);
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}
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if (iplImage1){
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cvReleaseImageHeader(&iplImage1);
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}
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iplImage0 = cvCreateImageHeader(cvSize(frame_info0.iWidth, frame_info0.iHeight), IPL_DEPTH_8U, 1);
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iplImage1 = cvCreateImageHeader(cvSize(frame_info1.iWidth, frame_info1.iHeight), IPL_DEPTH_8U, 1);
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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
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cvSetData(iplImage1, pby_buffer1, frame_info1.iWidth);
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src0 = cv::cvarrToMat(iplImage0);
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src1 = cv::cvarrToMat(iplImage1);
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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_camera0, pby_buffer0);
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CameraReleaseImageBuffer(h_camera1, pby_buffer1);
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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 &src0, cv::Mat &src1) {
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if (CameraGetImageBuffer(h_camera0, &frame_info0, &pby_buffer0, 1000) == CAMERA_STATUS_SUCCESS &&
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CameraGetImageBuffer(h_camera1, &frame_info1, &pby_buffer1, 1000) == CAMERA_STATUS_SUCCESS)
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{
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CameraImageProcess(h_camera0, pby_buffer0, rgb_buffer0, &frame_info0); // this function is super slow, better not to use it.
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CameraImageProcess(h_camera1, pby_buffer1, rgb_buffer1, &frame_info1);
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if (iplImage0) {
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cvReleaseImageHeader(&iplImage0);
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}
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if (iplImage1){
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cvReleaseImageHeader(&iplImage1);
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}
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iplImage0 = cvCreateImageHeader(cvSize(frame_info0.iWidth, frame_info0.iHeight), IPL_DEPTH_8U, channel0);
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iplImage1 = cvCreateImageHeader(cvSize(frame_info1.iWidth, frame_info1.iHeight), IPL_DEPTH_8U, channel1);
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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
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cvSetData(iplImage1, rgb_buffer1, frame_info1.iWidth * channel1);
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src0 = cv::cvarrToMat(iplImage0);
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src1 = cv::cvarrToMat(iplImage1);
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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_camera0, pby_buffer0);
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CameraReleaseImageBuffer(h_camera1, pby_buffer1);
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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_camera0);
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CameraUnInit(h_camera1);
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//注意，先反初始化后再free
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free(rgb_buffer0);
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free(rgb_buffer1);
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}
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void CameraWrapper::swapCameraHandle() {
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int tmp_h_camera = h_camera0;
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h_camera0 = h_camera1;
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h_camera1 = tmp_h_camera;
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}
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