从(大恒)工业相机读取图片
采用大恒MER系列工业摄像机，不能用opencv自带函数打开摄像头，需要用厂商提供的API定义控制台应用程序的入口点。#include "stdafx.h"#include "core/core.hpp"#include <o
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采用大恒MER系列工业摄像机，不能用opencv自带函数打开摄像头，需要用厂商提供的API
定义控制台应用程序的入口点。
#include "stdafx.h"
#include "core/core.hpp"
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <set>
#include<stdio.h>
#include <opencv2/core.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/videoio.hpp>//for camera
#include <opencv2/video.hpp>
#include <opencv2/imgPRoc//imgproc.hpp>
#include <opencv2/ml/ml.hpp>
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/ml/ml.hpp"
#include <time.h>
#include <ctime>
#include <iostream>
#include <string>
using namespace std;
using namespace cv;
//一般的情况是不支持使用命名空间的
int main(int argc, char ** argv)
{
char filename[1024];
if (argc == 1)
sprintf(filename, "%s", "camera1.avi");
if (argc == 2)
sprintf(filename, "%s", "123");
VideoCapture capture;
capture.open(0);
if (!capture.isOpened())
{
cout << "Could not initialize capturing...\n" << endl;
return -1;
}
//按时间格式命名
time_t now = time(nullprt);获取1970.1.1至当前秒数time_t
struct tm * timeinfo = localtime(&now); //创建TimeDate,并转化为当地时间，
//struct tm * timeinfo = gmtime ( &currTime ); //创建TimeDate,并转化为GM时间，
char path[60];
strftime(path, 60, "%Y_%m_%d_%H_%M_%S", timeinfo);
char strPath[100];
sprintf(strPath, "%s.avi", path);//将创建文件的命令存入cmdchar中
//保存为avi格式视频
Mat frame;
VideoWriter writer;
writer.open(strPath, CV_FOURCC('X', 'V', 'I', 'D'), 25, Size(640, 480), true);//Size(640, 480)//Size(frame.rows, frame.cols)//"cam.avi"
int n = 1;
while (true)
{
capture >> frame;
char* cstr = new char[120];
// sprintf(cstr, "%s%d%s", "/home/caros/Documents/../", n++, ".jpg");
sprintf(cstr, "%s%d%s", "/home/baidu/Doc/shipin_capture", n++, ".jpg");
imwrite(cstr, frame);
imshow("Video_Capture", frame);
if (frame.empty())
{
break;
}
writer << frame;
waitKey(3);
}
//return 0;
}
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
using namespace cv;
void main()
{
VideoCapture capture(0);
VideoWriter writer("VideoTest.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25.0, Size(640, 480));
while (capture.isOpened())
{
Mat frame;
if ((frame.rows==0)||(frame.cols==0))
{
printf("frame capture failed\n");
system("pause");
exit(0);
}
capture >> frame;
writer << frame;
imshow("video", frame);
if (cvWaitKey(20) == 27)
{
break;
}
}
}
void MainWindow::OnFrameCallbackFun1(GX_FRAME_CALLBACK_PARAM* frame)
{
// qDebug() << "OnFrameCallbackFun1";
if (frame->status != 0)
{
return;
}
MainWindow *pf1 = (MainWindow*)(frame->pUserParam);
pf1->m_frame_first = frame;
//QImage image_circle;
uchar *pSrc = nullptr;
int id = 0; //ID号
int image_width = 0; //图像的宽
int image_height = 0; //图像的高
int64_t bayer_layout = 0; //Bayer格式
void *result_image = nullptr; //显示图像指针
QImage *show_image = nullptr;
QString device_name = ""; //相机
QString display_fps = ""; //显示帧率
image_width = (int)(pf1->m_struct_camera[id].image_width);
image_height = (int)(pf1->m_struct_camera[id].image_height);
bayer_layout = pf1->m_struct_camera[id].bayer_layout;
result_image = pf1->m_struct_camera[id].result_image;
show_image = pf1->m_struct_camera[id].show_image;
/******对原始图像进行取校准，去除畸变：求畸变参数*****/
pf1->frame_size[id] = cv::Size(2048, 1536);
std::string params_file = "/home/caros/baidu/adu/valetparking/modules/conf/camera_params.yml";
load_camera_params(params_file, pf1->params[id]);
pf1->mapx[id] = cv::Mat(pf1->frame_size[id], CV_32FC1);
pf1->mapy[id] = cv::Mat(pf1->frame_size[id], CV_32FC1);
cv::Mat R = cv::Mat::eye(3, 3, CV_32F);
initUndistortRectifyMap(pf1->params[id].cameraMatrix, pf1->params[id].distCoeffs, R, pf1->params[id].cameraMatrix,
pf1->frame_size[id], CV_32FC1, pf1->mapx[id], pf1->mapy[id]);
//若支持彩色,转换为RGB图像后输出
if (pf1->m_struct_camera[id].color_filter_flag)
{
//将Raw8图像转换为RGB图像以供显示
//DxRaw8toRGB24((char*)frame->pImgBuf, result_image, image_width, image_height, RAW2RGB_NEIGHBOUR,
// DX_PIXEL_COLOR_FILTER(bayer_layout), false);
DxRaw8toRGB24((char*)frame->pImgBuf, pf1->m_circle_image[id].data, image_width, image_height,
RAW2RGB_NEIGHBOUR, DX_PIXEL_COLOR_FILTER(bayer_layout), false);
cv::remap(pf1->m_circle_image[id], pf1->m_remap_image[id], pf1->mapx[id], pf1->mapy[id], CV_INTER_LINEAR);
// input_images , output_images , the_one_map ,the_second_map,
if (calibrate_flag == true)
{
for (int i = 0; i < 13; i++)
{
cv::circle(pf1->m_remap_image[id],
cv::Point(pf1->m_remap_image[id].cols / 2, pf1->m_remap_image[id].rows * i / 12),
10, cv::Scalar(255, 255, 0), 3);
}
cv::circle(pf1->m_remap_image[id],
cv::Point(pf1->m_remap_image[id].cols / 2, pf1->m_remap_image[id].rows / 2),
10, cv::Scalar(255, 0, 0), 3);
}
if (record_flag[id] == true)
{
qDebug() << "camera1 frameindex: " << frame_index[id]++;
cv::imwrite(writer1, pf1->m_remap_image[id]);
record_flag[id] = false;
}
pSrc = (uchar*)(pf1->m_remap_image[id].data);
pf1->m_qimage[id] = QImage(pSrc, pf1->m_remap_image[id].cols, pf1->m_remap_image[id].rows,
pf1->m_remap_image[id].step, QImage::Format_RGB888);
pf1->image[id] = &(pf1->m_qimage[id]);
}
else
{
DxRaw8toRGB24((char*)frame->pImgBuf, result_image, image_width, image_height,RAW2RGB_NEIGHBOUR,
DX_PIXEL_COLOR_FILTER(NONE),false);
}
device_name.sprintf("相机: %s", pf1->m_baseinfo[id].szDisplayName);
display_fps.sprintf("序列号: %s 显示帧率: %.2f FPS", pf1->m_baseinfo[id].szSN, pf1->m_struct_camera[id].fps);
{
pf1->m_child_window[id]->ShowImage(pf1->image[id], device_name, display_fps, pf1->m_view_flag);
}
if (pf1->m_display_flag[id] == true)
{
pf1->m_child_window[id]->setWindowTitle(device_name);
pf1->m_child_window[id]->update();
pf1->m_display_flag[id] = false;
}
pf1->UpdateUI();
}
#include "stdafx.h"
#include "camera.h"
#include <iostream>
#include <opencv2/opencv.hpp>
using namespace cv;
GX_DEV_HANDLE hDevice = nullptr;
static int keycode;
MERCamera::MERCamera()
{
GX_STATUS status = GX_STATUS_SUCCESS;
int64_t nValue = nullptr;
GXInitLib();
status = GXOpenDeviceByIndex(1, &hDevice);
if(status != GX_STATUS_SUCCESS)
{
std::cout<<"open error"<<std::endl;
return;
}
}
MERCamera::~MERCamera()
{
GX_STATUS emStatus = GX_STATUS_SUCCESS;
if(m_bIsSnaping)
{
EndContinuesMode();
}
emStatus = GXCloseDevice(hDevice);
if(emStatus != GX_STATUS_SUCCESS)
{
std::cout<<"close error"<<std::endl;
}
//关闭设备库
emStatus = GXCloseLib();
if(emStatus != GX_STATUS_SUCCESS)
{
std::cout<<"close lib error"<<std::endl;
}
}
void MERCamera::InitCamera()
{
GX_STATUS status = GX_STATUS_SUCCESS;
int64_t nValue = nullptr;
m_bIsSnaping = false;
status = GXGetEnum(hDevice, GX_ENUM_PIXEL_FORMAT, &m_nPixelFomat);
//获取宽度(需在停止采集状态下设置)
status = GXGetInt(hDevice, GX_INT_WIDTH, &nValue);
m_nImageWidth = (int)nValue;
//获取高度(需在停止采集状态下设置)
status = GXGetInt(hDevice, GX_INT_HEIGHT, &nValue);
m_nImageHeight = (int)nValue;
//获取图象数据大小
status = GXGetInt(hDevice, GX_INT_PAYLOAD_SIZE, &nValue);
m_nPayLoadSize = (int)nValue;
//设置采集模式。一般相机的默认采集模式为连续模式。
int64_t nAcqMode = GX_ACQ_MODE_CONTINUOUS;
status = GXSetEnum(hDevice, GX_ENUM_ACQUISITION_MODE, nAcqMode);
do
{
m_pBufferRaw8 = new BYTE[m_nImageWidth * m_nImageHeight];
if (m_pBufferRaw8 == nullptr)
{
status = GX_STATUS_ERROR;
break;
}
//为存储RGB图像数据开辟空间
m_pBufferRGB = new BYTE[m_nImageWidth * m_nImageHeight * 3];
if (m_pBufferRGB == nullptr)
{
status = GX_STATUS_ERROR;
break;
}
//为存储原始图像数据开辟空间
m_pBufferRaw = new BYTE[m_nPayLoadSize];
if (m_pBufferRaw == nullptr)
{
status = GX_STATUS_ERROR;
break;
}
} while (0);
if (status != GX_STATUS_SUCCESS)
{
if (m_pBufferRaw8 != nullptr)
{
delete[]m_pBufferRaw8;
m_pBufferRaw8 = nullptr;
}
if (m_pBufferRaw != nullptr)
{
delete[]m_pBufferRaw;
m_pBufferRaw = nullptr;
}
if (m_pBufferRGB != nullptr)
{
delete[]m_pBufferRGB;
m_pBufferRGB = nullptr;
}
}
}
void MERCamera::StartContinuesMode()
{
GX_STATUS status = GX_STATUS_SUCCESS;
InitCamera();
//注册图像处理回调函数
status = GXRegisterCaptureCallback(hDevice, NULL,OnFrameCallbackFun);
if(!m_bIsSnaping)
{
//发送开采命令
status = GXSendCommand(hDevice, GX_COMMAND_ACQUISITION_START);
m_bIsSnaping = true;
}
while(1)
{
if(keycode == 'q') EndContinuesMode();
}
}
void MERCamera::EndContinuesMode()
{
GX_STATUS status = GX_STATUS_SUCCESS;
if(m_bIsSnaping)
{
//发送停采命令
status = GXSendCommand(hDevice, GX_COMMAND_ACQUISITION_STOP);
//注销采集回调
status = GXUnregisterCaptureCallback(hDevice);
m_bIsSnaping = false;
}
}
//fuction:ProcessImage(BYTE* pImageBuf)
//功能：raw格式图像转换为RGB图
void MERCamera::ProcessImage(BYTE *pImageBuf)
{
//m_objDrawImg.Enter();
memcpy(m_pBufferRaw, pImageBuf, m_nPayLoadSize);
switch(m_nPixelFomat)
{
//当数据格式为12位时，位数转换为4-11
case GX_PIXEL_FORMAT_MONO12:
//将12位格式的图像转换为8位格式
DxRaw16toRaw8(m_pBufferRaw, m_pBufferRaw8, m_nImageWidth, m_nImageHeight, DX_BIT_4_11);
//将转换完成后的8位图转换为RGB图，以供显示
DxRaw8toRGB24(m_pBufferRaw8, m_pBufferRGB, m_nImageWidth, m_nImageHeight, RAW2RGB_NEIGHBOUR, (DX_PIXEL_COLOR_FILTER)NONE, TRUE);
break;
//当数据格式为12位时，位数转换为2-9
case GX_PIXEL_FORMAT_MONO10:
//将12位格式的图像转换为8位格式
DxRaw16toRaw8(m_pBufferRaw, m_pBufferRaw8, m_nImageWidth, m_nImageHeight, DX_BIT_2_9);
//将转换完成后的8位图转换为RGB图，以供显示
DxRaw8toRGB24(m_pBufferRaw8, m_pBufferRGB, m_nImageWidth, m_nImageHeight, RAW2RGB_NEIGHBOUR, (DX_PIXEL_COLOR_FILTER)NONE, TRUE);
break;
//当数据格式为8位时，将8位图转换为RGB图，以供显示
case GX_PIXEL_FORMAT_MONO8:
DxRaw8toRGB24(m_pBufferRaw, m_pBufferRGB, m_nImageWidth, m_nImageHeight, RAW2RGB_NEIGHBOUR, (DX_PIXEL_COLOR_FILTER)NONE, TRUE);
break;
default:
//m_objDrawImg.Leave();
return;
}
m_objDrawImg.Leave();
}
//图像回调处理函数
void __stdcall MERCamera::OnFrameCallbackFun(GX_FRAME_CALLBACK_PARAM* pFrame)
{
MERCamera *pDlg = (MERCamera*)(pFrame->pUserParam);
if (pFrame->status == nullptr)
{
//图像获取成功
//对图像进行处理...
// cout<<"successful"<<endl;
pDlg->DrawImage((BYTE*)pFrame->pImgBuf, pFrame->nImgSize);
}
return;
}
void MERCamera::DrawImage(BYTE *pImageBuf, int nImageSize)
{
cv::namedWindow("window",0);
cv::Mat img(Size(2592,1944),CV_8U,pImageBuf );
flip(img,img,-1);
cv::imshow("window",img);
cv::waitKey(30);
}
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