mzxwww
19ac43da6f
- pose_test: verify the geometry chain (4 corners -> distance/yaw/pitch)
before any detector exists; modes: camera + mouse clicks, --image,
--corners (headless), --selftest (synthetic round-trip, no camera needed)
- solvePose: undistort corners first, then solvePnPGeneric(IPPE) and pick
the best candidate; reject solutions behind the camera (z<=0) or with
reprojection error > 8px
- fixes IPPE + distortion + in-plane rotation returning garbage
- 4 coplanar points: cyclic/mirrored orderings give the same quad and
the same pose (harmless); crossing orderings blow up reprojection
and are rejected
- camera_set: implement setAeState/setExposureTime/setAnalogGain(+-Times)/
setWbMode/setFrameSpeed; configs/camera_runtime.yaml drives them
- selftest passes all 6 synthetic cases; verified on 6 real photos
(chessboard outer rect 180x120mm): distance 0.44-0.69m, reproj <2.5px
38 lines
2.1 KiB
C++
38 lines
2.1 KiB
C++
#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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// ---- 参数设置：在 initializeCamera 之后、startCamera 之前调用 ----
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bool setAeState(bool aeOn); // 曝光模式：true=自动, false=手动（比赛必须手动）
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bool setExposureTime(double exposureUs); // 曝光时间（微秒 us）
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bool setAnalogGainRaw(int gainRaw); // 模拟增益（SDK 原始整数，范围见 capability.sExposeDesc）
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bool setAnalogGainTimes(double gainTimes); // 模拟增益（倍率，内部按 fAnalogGainStep 换算成原始值）
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bool setWbMode(bool autoWb); // 白平衡：true=自动, false=手动
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bool setFrameSpeed(int speed); // 帧率档位：0=低速 1=正常 2=高速
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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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