Add CameraGrabber camera wrapper and refactor main loop

- 新增 inc/camera_set.hpp + src/camera_set.cpp：封装相机初始化、启停、参数设置与取帧
- main.cpp 改用 CameraGrabber，取流循环支持 ESC 退出
- xmake.lua 增加 inc/ 头文件目录与绝对路径
- .gitignore 忽略 wget 日志

.gitignore

@@ -7,3 +7,7 @@ build/
 
 
 .vscode/.cache/
+
+# wget 下载日志
+wget.log
+*.log

.vscode/compile_commands.json

@@ -1,6 +1,11 @@
 [
 {
   "directory": "/home/mzxiang/opencv_project/27RM",
-  "arguments": ["/usr/bin/g++", "-c", "-m64", "-g", "-O0", "-std=c++11", "-I/usr/local/include/opencv4", "-I/home/mzxiang/MindVisionSDK/include", "-o", "build/.objs/27RM/linux/x86_64/debug/src/main.cpp.o", "src/main.cpp"],
+  "arguments": ["/usr/bin/g++", "-c", "-m64", "-g", "-O0", "-std=c++11", "-I/home/mzxiang/opencv_project/27RM/inc", "-I/usr/local/include/opencv4", "-I/home/mzxiang/MindVisionSDK/include", "-o", "build/.objs/27RM/linux/x86_64/debug/src/main.cpp.o", "src/main.cpp"],
   "file": "src/main.cpp"
+},
+{
+  "directory": "/home/mzxiang/opencv_project/27RM",
+  "arguments": ["/usr/bin/g++", "-c", "-m64", "-g", "-O0", "-std=c++11", "-I/home/mzxiang/opencv_project/27RM/inc", "-I/usr/local/include/opencv4", "-I/home/mzxiang/MindVisionSDK/include", "-o", "build/.objs/27RM/linux/x86_64/debug/src/camera_set.cpp.o", "src/camera_set.cpp"],
+  "file": "src/camera_set.cpp"
 }]

inc/camera_set.hpp

@@ -0,0 +1,35 @@
+#ifndef CAMERA_SET_HPP
+#define CAMERA_SET_HPP
+
+#include "CameraDefine.h"                                           // 类型定义
+#include <opencv2/opencv.hpp>
+
+
+class CameraGrabber
+{
+public:
+    CameraGrabber();                                                // 构造函数声明
+    ~CameraGrabber();                                               // 析构函数声明
+
+    bool initializeCamera();                                        // 初始化相机
+    bool startCamera();                                             // 启动相机
+    bool stopCamera();                                              // 停止相机
+    bool setExposureTime(double exposureTime);                      // 设置曝光时间
+    bool setGain(double gain);                                      // 设置增益
+    bool setWhiteBalance(double redGain, double blueGain);          // 设置白平衡
+    bool setResolution(int width, int height);                      // 设置分辨率
+    bool setFrameRate(double frameRate);                            // 设置帧率
+    bool getFrame(cv::Mat &frame);                                  // 获取一帧图像
+
+private:
+    CameraHandle            hCamera = -1;                           // 相机句柄
+    tSdkCameraCapbility     capability;                             // 相机能力描述
+    unsigned char          *pRgbBuffer = nullptr;                   // 图像处理缓冲区
+    int                     channel = 3;                            // 通道数：1 灰度，3 彩色
+    bool                    isInitialized = false;                  // 是否已初始化
+    bool                    isPlaying = false;                      // 是否已启动取流
+
+
+};
+
+#endif

src/camera_set.cpp

@@ -0,0 +1,162 @@
+#include "camera_set.hpp"
+#include <opencv2/opencv.hpp>
+#include "CameraApi.h"
+#include <cstdlib>
+
+bool CameraGrabber::initializeCamera()
+{
+    // 初始化检查，防止重复初始化
+    if (isInitialized) 
+    {
+        return true; 
+    }
+
+    int                     iStatus=-1;                             // SDK函数返回状态
+    tSdkCameraDevInfo       tCameraEnumList;                        // 枚举设备信息列表
+    int                     iCameraCounts = 1;                      // 设备数量
+
+    // 初始化相机SDK
+    CameraSdkInit(1);
+
+    //枚举设备，并建立设备列表
+    iStatus = CameraEnumerateDevice(&tCameraEnumList,&iCameraCounts);
+
+	// printf("state = %d\n", CameraGrabber::iStatus);
+	// printf("count = %d\n", CameraGrabber::iCameraCounts);
+
+    // 没有连接设备
+    if(iCameraCounts == 0)
+    {
+        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
+    iStatus = CameraInit(&tCameraEnumList,-1,-1,&hCamera);
+
+    // 初始化失败
+	// printf("state = %d\n", CameraGrabber::iStatus);
+    if(iStatus != CAMERA_STATUS_SUCCESS)
+    {
+        return false;
+    }
+
+    // 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(hCamera,&capability);
+
+    // 分配图像处理缓冲区
+    pRgbBuffer = (unsigned char*)malloc(capability.sResolutionRange.iHeightMax*capability.sResolutionRange.iWidthMax*3);
+    //g_readBuf = (unsigned char*)malloc(tCapability.sResolutionRange.iHeightMax*tCapability.sResolutionRange.iWidthMax*3);
+
+    // 设置图像输出格式
+    if(capability.sIspCapacity.bMonoSensor)
+    {
+        channel=1;
+        CameraSetIspOutFormat(hCamera,CAMERA_MEDIA_TYPE_MONO8);
+    }
+    else
+    {
+        channel=3;
+        CameraSetIspOutFormat(hCamera,CAMERA_MEDIA_TYPE_BGR8);
+    }
+
+    isInitialized = true;
+    return true;
+}
+
+bool CameraGrabber::startCamera()
+{
+    // 初始化检查
+    if (!isInitialized) 
+    {
+        printf("startCamera failed: camera not initialized.\n");
+        return false;
+    }
+
+    // 防止重复启动
+    if (isPlaying) 
+    {
+        return true;
+    }
+
+    // 开始接收图像
+    CameraSdkStatus status = CameraPlay(hCamera);
+    if (status != CAMERA_STATUS_SUCCESS) 
+    {
+        printf("CameraPlay failed, status = %d\n", status);
+        return false;
+    }
+
+    // 标记状态
+    isPlaying = true;
+    return true;
+}
+
+bool CameraGrabber::stopCamera()
+{
+    // 停止取流
+    if (isPlaying) 
+    {
+        CameraPause(hCamera);   
+        isPlaying = false;
+    }
+
+    // 反初始化相机，释放 SDK 内部资源
+    if (hCamera != -1) 
+    {
+        CameraUnInit(hCamera);
+        hCamera = -1;
+    }
+
+    // 释放图像缓冲区
+    if (pRgbBuffer) 
+    {
+        free(pRgbBuffer);
+        pRgbBuffer = nullptr;
+    }
+
+    // 复位
+    isInitialized = false;
+    return true;
+}
+
+bool CameraGrabber::getFrame(cv::Mat &frame)
+{
+    // 前者条件检查
+    if (!isInitialized || !isPlaying || hCamera == -1) 
+    {
+        return false;
+    }
+
+    tSdkFrameHead sFrameInfo;                           // 图像帧头信息
+    BYTE *pbyBuffer = nullptr;                          // 图像缓冲区指针
+
+    // 获取图像缓冲区
+    if (CameraGetImageBuffer(hCamera, &sFrameInfo, &pbyBuffer, 1000) != CAMERA_STATUS_SUCCESS) 
+    {
+        return false;
+    }
+
+    // 图像处理，将原始图像转换为 RGB 格式
+    CameraImageProcess(hCamera, pbyBuffer, pRgbBuffer, &sFrameInfo);
+
+    // 将图像数据转换为 OpenCV 的 Mat 对象，并深拷贝
+    frame = cv::Mat(
+        cv::Size(sFrameInfo.iWidth, sFrameInfo.iHeight),
+        sFrameInfo.uiMediaType == CAMERA_MEDIA_TYPE_MONO8 ? CV_8UC1 : CV_8UC3,
+        pRgbBuffer
+    ).clone();
+
+    // 释放图像缓冲区
+    CameraReleaseImageBuffer(hCamera, pbyBuffer);
+    return true;
+}
+
+CameraGrabber::CameraGrabber()
+{
+    
+}
+
+CameraGrabber::~CameraGrabber()
+{
+    stopCamera();   
+}

src/main.cpp

@@ -1,96 +1,43 @@
 #include <opencv2/opencv.hpp>
-#include <stdio.h>
+#include "camera_set.hpp"
-#include "CameraApi.h"
 
-unsigned char           * g_pRgbBuffer;
+// unsigned char           * g_pRgbBuffer;
 
 int main(int argc, char **argv) 
 {
-    int                     iCameraCounts = 1;
+    // 创建相机对象
-    int                     iStatus=-1;
+    CameraGrabber cam;
-    tSdkCameraDevInfo       tCameraEnumList;
-    int                     hCamera;
-    tSdkCameraCapbility     tCapability;      //设备描述信息
-    tSdkFrameHead           sFrameInfo;
-    BYTE*			        pbyBuffer;
-    int                     iDisplayFrames = 10000;
-    int                     channel=3;
 
-    CameraSdkInit(1);
+    // 初始化相机
-
+    if (!cam.initializeCamera()) 
-    //枚举设备，并建立设备列表
+    {
-    iStatus = CameraEnumerateDevice(&tCameraEnumList,&iCameraCounts);
+        printf("initializeCamera failed.\n");
-	printf("state = %d\n", iStatus);
-
-	printf("count = %d\n", iCameraCounts);
-    //没有连接设备
-    if(iCameraCounts==0){
         return -1;
     }
 
-    //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
+    // 取流
-    iStatus = CameraInit(&tCameraEnumList,-1,-1,&hCamera);
+    if (!cam.startCamera()) 
-
+    {
-    //初始化失败
+        printf("startCamera failed.\n");
-	printf("state = %d\n", iStatus);
-    if(iStatus!=CAMERA_STATUS_SUCCESS){
         return -1;
     }
 
-    //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
+    // 循环取图并显示
-    CameraGetCapability(hCamera,&tCapability);
+    cv::Mat frame;
 
-    //
+    while(true)
-    g_pRgbBuffer = (unsigned char*)malloc(tCapability.sResolutionRange.iHeightMax*tCapability.sResolutionRange.iWidthMax*3);
-    //g_readBuf = (unsigned char*)malloc(tCapability.sResolutionRange.iHeightMax*tCapability.sResolutionRange.iWidthMax*3);
-
-    /*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(hCamera);
-
-    /*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。
-         本例程只是为了演示如何将SDK中获取的图像，转成OpenCV的图像格式,以便调用OpenCV的图像处理函数进行后续开发
-    */
-
-    if(tCapability.sIspCapacity.bMonoSensor){
-        channel=1;
-        CameraSetIspOutFormat(hCamera,CAMERA_MEDIA_TYPE_MONO8);
-    }else{
-        channel=3;
-        CameraSetIspOutFormat(hCamera,CAMERA_MEDIA_TYPE_BGR8);
-    }
-
-
-    //循环显示1000帧图像
-    while(iDisplayFrames--)
     {
-        if(CameraGetImageBuffer(hCamera,&sFrameInfo,&pbyBuffer,1000) == CAMERA_STATUS_SUCCESS)
+        if (cam.getFrame(frame)) 
         {
-		    CameraImageProcess(hCamera, pbyBuffer, g_pRgbBuffer,&sFrameInfo);
+            cv::imshow("Opencv Demo", frame);
-		    
-		    cv::Mat matImage(
-					cv::Size(sFrameInfo.iWidth, sFrameInfo.iHeight),
-					sFrameInfo.uiMediaType == CAMERA_MEDIA_TYPE_MONO8 ? CV_8UC1 : CV_8UC3,
-					g_pRgbBuffer
-					);
-			imshow("Opencv Demo", matImage);
-
-            cv::waitKey(5);
-
-            //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(hCamera,pbyBuffer);
-
-		}
         }
 
-    CameraUnInit(hCamera);
+        // 按 ESC 退出
-    //注意，现反初始化后再free
+        if (cv::waitKey(5) == 27) 
-    free(g_pRgbBuffer);
+        {
+            break;
+        }
+    }
 
     return 0;
 }

xmake.lua

@@ -6,7 +6,8 @@ set_languages("c++11")
 
 target("27RM")
     set_kind("binary")
-    add_files("src/*.cpp")
+    add_files("$(scriptdir)/src/*.cpp")
+    add_includedirs("$(scriptdir)/inc/")
 
     -- openCV配置
     add_includedirs("/usr/local/include/opencv4")