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
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@@ -7,3 +7,7 @@ build/
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.vscode/.cache/
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# wget 下载日志
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wget.log
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*.log
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Vendored
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-1
@@ -1,6 +1,11 @@
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[
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{
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"directory": "/home/mzxiang/opencv_project/27RM",
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"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"],
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"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"],
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"file": "src/main.cpp"
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},
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{
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"directory": "/home/mzxiang/opencv_project/27RM",
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"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"],
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"file": "src/camera_set.cpp"
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}]
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@@ -0,0 +1,35 @@
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#ifndef CAMERA_SET_HPP
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#define CAMERA_SET_HPP
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#include "CameraDefine.h" // 类型定义
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#include <opencv2/opencv.hpp>
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class CameraGrabber
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{
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public:
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CameraGrabber(); // 构造函数声明
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~CameraGrabber(); // 析构函数声明
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bool initializeCamera(); // 初始化相机
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bool startCamera(); // 启动相机
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bool stopCamera(); // 停止相机
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bool setExposureTime(double exposureTime); // 设置曝光时间
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bool setGain(double gain); // 设置增益
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bool setWhiteBalance(double redGain, double blueGain); // 设置白平衡
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bool setResolution(int width, int height); // 设置分辨率
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bool setFrameRate(double frameRate); // 设置帧率
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bool getFrame(cv::Mat &frame); // 获取一帧图像
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private:
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CameraHandle hCamera = -1; // 相机句柄
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tSdkCameraCapbility capability; // 相机能力描述
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unsigned char *pRgbBuffer = nullptr; // 图像处理缓冲区
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int channel = 3; // 通道数：1 灰度，3 彩色
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bool isInitialized = false; // 是否已初始化
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bool isPlaying = false; // 是否已启动取流
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};
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#endif
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@@ -0,0 +1,162 @@
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#include "camera_set.hpp"
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#include <opencv2/opencv.hpp>
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#include "CameraApi.h"
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#include <cstdlib>
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bool CameraGrabber::initializeCamera()
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{
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// 初始化检查，防止重复初始化
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if (isInitialized)
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{
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return true;
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}
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int iStatus=-1; // SDK函数返回状态
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tSdkCameraDevInfo tCameraEnumList; // 枚举设备信息列表
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int iCameraCounts = 1; // 设备数量
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// 初始化相机SDK
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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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iStatus = CameraEnumerateDevice(&tCameraEnumList,&iCameraCounts);
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// printf("state = %d\n", CameraGrabber::iStatus);
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// printf("count = %d\n", CameraGrabber::iCameraCounts);
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// 没有连接设备
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if(iCameraCounts == 0)
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{
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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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iStatus = CameraInit(&tCameraEnumList,-1,-1,&hCamera);
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// 初始化失败
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// printf("state = %d\n", CameraGrabber::iStatus);
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if(iStatus != CAMERA_STATUS_SUCCESS)
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{
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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(hCamera,&capability);
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// 分配图像处理缓冲区
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pRgbBuffer = (unsigned char*)malloc(capability.sResolutionRange.iHeightMax*capability.sResolutionRange.iWidthMax*3);
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//g_readBuf = (unsigned char*)malloc(tCapability.sResolutionRange.iHeightMax*tCapability.sResolutionRange.iWidthMax*3);
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// 设置图像输出格式
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if(capability.sIspCapacity.bMonoSensor)
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{
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channel=1;
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CameraSetIspOutFormat(hCamera,CAMERA_MEDIA_TYPE_MONO8);
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}
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else
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{
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channel=3;
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CameraSetIspOutFormat(hCamera,CAMERA_MEDIA_TYPE_BGR8);
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}
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isInitialized = true;
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return true;
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}
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bool CameraGrabber::startCamera()
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{
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// 初始化检查
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if (!isInitialized)
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{
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printf("startCamera failed: camera not initialized.\n");
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return false;
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}
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// 防止重复启动
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if (isPlaying)
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{
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return true;
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}
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// 开始接收图像
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CameraSdkStatus status = CameraPlay(hCamera);
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if (status != CAMERA_STATUS_SUCCESS)
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{
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printf("CameraPlay failed, status = %d\n", status);
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return false;
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}
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// 标记状态
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isPlaying = true;
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return true;
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}
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bool CameraGrabber::stopCamera()
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{
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// 停止取流
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if (isPlaying)
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{
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CameraPause(hCamera);
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isPlaying = false;
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}
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// 反初始化相机，释放 SDK 内部资源
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if (hCamera != -1)
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{
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CameraUnInit(hCamera);
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hCamera = -1;
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}
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// 释放图像缓冲区
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if (pRgbBuffer)
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{
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free(pRgbBuffer);
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pRgbBuffer = nullptr;
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}
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// 复位
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isInitialized = false;
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return true;
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}
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bool CameraGrabber::getFrame(cv::Mat &frame)
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{
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// 前者条件检查
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if (!isInitialized || !isPlaying || hCamera == -1)
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{
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return false;
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}
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tSdkFrameHead sFrameInfo; // 图像帧头信息
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BYTE *pbyBuffer = nullptr; // 图像缓冲区指针
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// 获取图像缓冲区
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if (CameraGetImageBuffer(hCamera, &sFrameInfo, &pbyBuffer, 1000) != CAMERA_STATUS_SUCCESS)
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{
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return false;
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}
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// 图像处理，将原始图像转换为 RGB 格式
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CameraImageProcess(hCamera, pbyBuffer, pRgbBuffer, &sFrameInfo);
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// 将图像数据转换为 OpenCV 的 Mat 对象，并深拷贝
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frame = cv::Mat(
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cv::Size(sFrameInfo.iWidth, sFrameInfo.iHeight),
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sFrameInfo.uiMediaType == CAMERA_MEDIA_TYPE_MONO8 ? CV_8UC1 : CV_8UC3,
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pRgbBuffer
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).clone();
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// 释放图像缓冲区
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CameraReleaseImageBuffer(hCamera, pbyBuffer);
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return true;
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}
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CameraGrabber::CameraGrabber()
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{
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}
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CameraGrabber::~CameraGrabber()
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{
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stopCamera();
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}
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+23
-76
@@ -1,96 +1,43 @@
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#include <opencv2/opencv.hpp>
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#include <stdio.h>
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#include "CameraApi.h"
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#include "camera_set.hpp"
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unsigned char * g_pRgbBuffer;
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// unsigned char * g_pRgbBuffer;
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int main(int argc, char **argv)
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{
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int iCameraCounts = 1;
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int iStatus=-1;
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tSdkCameraDevInfo tCameraEnumList;
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int hCamera;
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tSdkCameraCapbility tCapability; //设备描述信息
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tSdkFrameHead sFrameInfo;
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BYTE* pbyBuffer;
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int iDisplayFrames = 10000;
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int channel=3;
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// 创建相机对象
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CameraGrabber cam;
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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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iStatus = CameraEnumerateDevice(&tCameraEnumList,&iCameraCounts);
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printf("state = %d\n", iStatus);
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printf("count = %d\n", iCameraCounts);
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//没有连接设备
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if(iCameraCounts==0){
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// 初始化相机
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if (!cam.initializeCamera())
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{
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printf("initializeCamera failed.\n");
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return -1;
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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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iStatus = CameraInit(&tCameraEnumList,-1,-1,&hCamera);
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//初始化失败
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printf("state = %d\n", iStatus);
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if(iStatus!=CAMERA_STATUS_SUCCESS){
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// 取流
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if (!cam.startCamera())
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{
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printf("startCamera failed.\n");
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return -1;
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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(hCamera,&tCapability);
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// 循环取图并显示
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cv::Mat frame;
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//
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g_pRgbBuffer = (unsigned char*)malloc(tCapability.sResolutionRange.iHeightMax*tCapability.sResolutionRange.iWidthMax*3);
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//g_readBuf = (unsigned char*)malloc(tCapability.sResolutionRange.iHeightMax*tCapability.sResolutionRange.iWidthMax*3);
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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(hCamera);
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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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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
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*/
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if(tCapability.sIspCapacity.bMonoSensor){
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channel=1;
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CameraSetIspOutFormat(hCamera,CAMERA_MEDIA_TYPE_MONO8);
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}else{
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channel=3;
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CameraSetIspOutFormat(hCamera,CAMERA_MEDIA_TYPE_BGR8);
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}
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//循环显示1000帧图像
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while(iDisplayFrames--)
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while(true)
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{
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if(CameraGetImageBuffer(hCamera,&sFrameInfo,&pbyBuffer,1000) == CAMERA_STATUS_SUCCESS)
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if (cam.getFrame(frame))
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{
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CameraImageProcess(hCamera, pbyBuffer, g_pRgbBuffer,&sFrameInfo);
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cv::Mat matImage(
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cv::Size(sFrameInfo.iWidth, sFrameInfo.iHeight),
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sFrameInfo.uiMediaType == CAMERA_MEDIA_TYPE_MONO8 ? CV_8UC1 : CV_8UC3,
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g_pRgbBuffer
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);
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imshow("Opencv Demo", matImage);
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cv::waitKey(5);
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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(hCamera,pbyBuffer);
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}
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cv::imshow("Opencv Demo", frame);
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}
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CameraUnInit(hCamera);
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//注意，现反初始化后再free
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free(g_pRgbBuffer);
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// 按 ESC 退出
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if (cv::waitKey(5) == 27)
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{
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break;
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}
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}
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return 0;
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}
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