标签：roc ase bin camera startx starty 编号 间隔 proc
#include "MvCameraControl.h"
#include <stdio.h>
#include <Windows.h>
#include <opencv2\opencv.hpp>
#include <opencv2\highgui\highgui.hpp>
#include <opencv2\core\core.hpp>
//#include "readtable.h"
using namespace std;
using namespace cv;
//extern Mat ImageArr[IMAGENUMBERS];
//extern Mat pano_Image;
#include "opencv2/core/core.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <opencv2\opencv.hpp>
#include <Windows.h>
#include<time.h>
using namespace std;
using namespace cv;
#define TABLENUMBERS 1 //表的总数目
#define IMAGENUMBERS 3 //相机总数目
#define IMAGEWIDTH 2592 //单张图像长
#define IMAGEHEIGHT 2048 //单张图像宽
//#define zoom_WindowWIDTH 1632
//#define zoom_WindowHEIGHT 408
#define zoom_WindowWIDTH 1296
#define zoom_WindowHEIGHT 1024
//#define pano_WindowWIDTH 1632 //1920 // 展示图像宽度
//#define pano_WindowHEIGHT 408 //1080 //展示图像高度、
#define pano_WindowWIDTH 1296 //1920 // 展示图像宽度
#define pano_WindowHEIGHT 1024 //1080 //展示图像高度
#define RESULTIMAGEWIDTH 2592*3
#define RESULTIMAGEHEIGHT 2048*3
static float region_tl[2]; // top left corner of selected region
static float region_size[2]; // region width and height
static Mat constractTable[TABLENUMBERS]; // TABLENUMBERS 1个映射表
static int regionFlag[IMAGENUMBERS][2] = { 0 }; // IMAGENUMBERS 12数组 每个代表一个坐标点 每个有坐标(x y)
static Mat ImageArr[IMAGENUMBERS]; // 存图 IMAGENUMBERS 12张
//Mat resultImage(IMAGEHEIGHT * 2, IMAGEWIDTH * 6, CV_8UC3, Scalar(0, 0, 0)); //结果大图 6列 2行
static Mat pano_Image(pano_WindowHEIGHT, pano_WindowWIDTH, CV_8UC3, Scalar(0, 0, 0)); //结果大图 6列 2行
// 采样率 必须相除为整数 否则会有黑影
#define IMAGE_WRATE float(RESULTIMAGEWIDTH) / float(pano_WindowWIDTH) //横向采样率 表宽度/屏幕宽度 12
#define IMAGE_HRATE float(RESULTIMAGEHEIGHT) / float(pano_WindowHEIGHT) //纵向向采样率 表高度/屏幕高度 12
static float rate = 1;
static int centrelWidth = (pano_WindowWIDTH / 2)*rate, centrelHeight = (pano_WindowHEIGHT / 2)*rate;
static bool setFlag = 0;
static int centrelX = 0, centrelY = 0;
static Mat displayImage(zoom_WindowHEIGHT, zoom_WindowWIDTH, CV_8UC3, Scalar(0, 0, 0));
/*查表映射
输入 单张图对应在大图中的左上角起始点 （ startx，starty）
*/
static uchar *tempInt1; //预览大图访问指针
static int *tableTemp1;//映射表指针
static uchar *tempInt_zoom; //缩放图访问指针
static int thread1;//图id
static uchar* tempH;//访问图指针
/*
功能：读取文件名
*/
void readTxt(string file, Mat* tempMat);
void read_picture();
void read_map();
void onMouse(int event, int x, int y, int flags, void*);
void init_Mouse();
void seedimage(Mat resultImage);
void seedimage_use(int temleftX, int temleftY, int centrelWidth, int centrelHeight, Mat &show);
void zoom_image(int tl_x, int tl_y, int win_w, int win_h, Mat &show);
void Int_all();
void Do_show(Mat &show);
//Mat show(zoom_WindowHEIGHT, zoom_WindowWIDTH, CV_8UC3, Scalar(0, 0, 0));
void readTxt(string file, Mat* tempMat)
{
FileStorage fInput(file, FileStorage::READ);
fInput["vocabulary"] >> *tempMat;
}
/*
功能：读取12路图像
*/
void read_picture()
{
//char pathPic[200];
//for (int i = 1; i <= IMAGENUMBERS; i++) //12张图
//{
// sprintf_s(pathPic, "./image/%d.bmp", i);
// cout << pathPic << endl;
// ImageArr[i - 1] = imread(pathPic);
// if (ImageArr[i - 1].empty())
// {
// return;
// }
//}
}
// 读取映射表
void read_map() {
//----------------------------1读取表文件
char tablePath[100];
for (int i = 0; i < TABLENUMBERS; i++)
{
sprintf_s(tablePath, "./table/table_t_%d.xml", i);
cout << " 读取映射表第" << i + 1 << "映射表...." << endl;
readTxt(tablePath, &constractTable[i]); //表存在constractTable
}
//cout << "type = " << constractTable[0].type() << endl;
cout << constractTable[0].cols << "---" << constractTable[0].rows << endl;
cout << " 读取映射表成功 !" << endl;
}
/**************************************************
*name :on_MouseHandle()
*function :鼠标回调函数
*说明 ：
*time :2018-05-14
***************************************************/
void onMouse(int event, int x, int y, int flags, void*)
{
double value;
int centrelWidth = 0;
int centrelHeight = 0;
int temp_tlx = 0;
int temp_tly = 0;
switch (event)
{
case CV_EVENT_MOUSEWHEEL:
value = getMouseWheelDelta(flags);
if (value > 0) //向前滑动
{
rate -= 0.1;
if (rate <= 0.1)
rate = 0.1;
}
else if (value < 0) //向后滑动
{
rate += 0.1;
if (rate > IMAGE_WRATE)
{
//rate = IMAGE_WRATE-0.1;
rate = IMAGE_WRATE;
}
if (rate > IMAGE_HRATE)
{
//rate = IMAGE_HRATE-0.1;
rate = IMAGE_HRATE;
}
}
centrelWidth = zoom_WindowWIDTH * rate;
centrelHeight = zoom_WindowHEIGHT * rate;
if (centrelHeight >= RESULTIMAGEHEIGHT) { centrelHeight = RESULTIMAGEHEIGHT - 1; }
if (centrelWidth >= RESULTIMAGEWIDTH) { centrelWidth = RESULTIMAGEWIDTH - 1; }
temp_tlx = region_tl[0] + region_size[0] / 2 - centrelWidth / 2;
temp_tly = region_tl[1] + region_size[1] / 2 - centrelHeight / 2;
if (temp_tlx < 0)
temp_tlx = 0;
if (temp_tlx + centrelWidth > RESULTIMAGEWIDTH)
temp_tlx = RESULTIMAGEWIDTH - centrelWidth - 1;
if (temp_tly < 0)
temp_tly = 0;
if (temp_tly + centrelHeight > RESULTIMAGEHEIGHT)
temp_tly = RESULTIMAGEHEIGHT - centrelHeight - 1;
region_tl[0] = temp_tlx;
region_tl[1] = temp_tly;
region_size[0] = centrelWidth;
region_size[1] = centrelHeight;
setFlag = 1;
cout << region_tl[0] << " 映射大图中扣取图像左上角坐标 " << region_tl[1] << endl;
cout << region_size[0] << " 映射大图中扣取图像大小 " << region_size[1] << endl;
break;
case CV_EVENT_LBUTTONUP:
{
centrelX = x;
centrelY = y;
cout << centrelX << " 预览大图中鼠标点击位置 " << centrelY << endl;
int tl_x = int(float(x*IMAGE_WRATE) - region_size[0] / 2);
int tl_y = int(float(y*IMAGE_HRATE) - region_size[1] / 2);
cout << tl_x << " tl " << tl_y << endl;
if (tl_x >= 0 && tl_x < RESULTIMAGEWIDTH - region_size[0]) //判断点击时左上角坐标是否越界
{
region_tl[0] = tl_x;
}
if (tl_x < 0)
{
region_tl[0] = 0;
cout << " 鼠标点击且越界时左上角坐标0 " << region_tl[0] << endl;
}
if (tl_x + region_size[0] > RESULTIMAGEWIDTH)
{
region_tl[0] = RESULTIMAGEWIDTH - region_size[0] - 1;
cout << " 鼠标点击且越界时左上角坐标0 " << region_tl[0] << endl;
}
if (tl_y >= 0 && tl_y < RESULTIMAGEHEIGHT - region_size[1])
{
region_tl[1] = tl_y;
}
if (tl_y < 0)
{
region_tl[1] = 0;
cout << " 鼠标点击且越界时左上角坐标1 " << region_tl[1] << endl;
}
if (tl_y + region_size[1] > RESULTIMAGEHEIGHT) {
region_tl[1] = RESULTIMAGEHEIGHT - region_size[1] - 1;
cout << " 鼠标点击且越界时左上角坐标1 " << region_tl[1] << endl;
}
cout << region_tl[0] << " 映射大图中扣取图像左上角坐标 " << region_tl[1] << endl;
cout << region_size[0] << " 映射大图中扣取图像大小 " << region_size[1] << endl;
setFlag = 1;
cout << "左键点击" << setFlag << endl;
}
break;
case CV_EVENT_RBUTTONUP:
break;
default:
break;
}
}
/**************************************************
*name :on_MouseHandle()
*function :窗口鼠标操作初始化
*说明 ：
*time :2018-05-14
***************************************************/
void init_Mouse()
{
cvNamedWindow("mouse", 0);
cvSetMouseCallback("mouse", onMouse, 0);
}
/*
功能： 获取游览全局缩略图
鼠标点击缩略图，直接截取点击处周围区域框
输入： 显示图resultImage
输出： 显示图resultImage
*/
void seedimage(Mat resultImage) {
cout << "生成中，请稍等。。。。。" << endl;
int storeX = 0, storeY = 0, storeZ = 0; // 表格信息 X 第几个图片中的(Y，Z)坐标点
int tempY = 0, tempX = 0;//Y X方向上的偏移量
//------------ 展示图
for (int i = 0; i < pano_WindowHEIGHT; i++) {
tempInt1 = resultImage.ptr<uchar>(i); //大图的像素位置 i行
tableTemp1 = constractTable[0].ptr<int>(int(i*IMAGE_HRATE));//表的像素位置i+4 行 每4行取样
// 1080高 /2448*2 映射表高
for (int j = 0; j < zoom_WindowWIDTH; j++) {
// cout << "------" << i << " ----- " << j << endl;
storeX = *tableTemp1++; // 图像ID
storeY = *tableTemp1++;// 像素坐标X
storeZ = *tableTemp1++;//像素坐标Y
tableTemp1 += int((IMAGE_WRATE - 1) * 3);//向后移动 10个像素 每10个采样
// 映射表读取出 这个点是是从storeX这个编号对应的图像来的
thread1 = storeX;
//------------从单个图像中对应着位置的像素数据值
if (thread1 >= 1 && thread1 <= IMAGENUMBERS) // 如果有个这个图像
{
// 映射表中的坐标信息赋值
tempX = storeY;
tempY = storeZ;
if (tempX >= 0 && tempX<IMAGEWIDTH && tempY >= 0 && tempY<IMAGEHEIGHT)
{
// 找到（thread1 - 1）编号对应的这个图像 并将指针移到tempY这一行首地址
tempH = ImageArr[thread1 - 1].ptr<uchar>(tempY);
//将这个指针在这行水平移动tempX 这个像素但是每个像素有三个数据值（彩色图 RGB）， 所以真实位置乘3
tempH += tempX * 3;
// 依次将指针内的数据拷贝出
*tempInt1++ = *tempH++;
*tempInt1++ = *tempH++;
*tempInt1++ = *tempH++;
}
else
{
*tempInt1++ = 0;
*tempInt1++ = 0;
*tempInt1++ = 0;
}
//向后移动 10个像素 每10个采样
}
else
{
*tempInt1++ = 0;
*tempInt1++ = 0;
*tempInt1++ = 0;
}
}
}
}
/*
功能： 原始像素采集 缩放展示
输入：
leftX leftY 鼠标窗口坐标
centrelWidth 以鼠标坐标为中心 截取宽度/2
centrelHeight 以鼠标坐标为中心 截取高度/2
输出
*/
void seedimage_use(int temleftX, int temleftY, int centrelWidth, int centrelHeight, Mat &show) {
//----1 窗口转换成表上的坐标 缩放倍数
int leftX = int(float(temleftX) *float(RESULTIMAGEWIDTH) / float(pano_WindowWIDTH));
int leftY = int(float(temleftY)* float(RESULTIMAGEHEIGHT) / float(pano_WindowHEIGHT));
cout << "映射表中心点---------！" << leftX << "---" << leftY << endl;
int centrelX = leftX;// 临时变量 方便计算
int centrelY = leftY;
//----2 判断映射设表上越界的问题
// 放大图不能超出映射表尺寸
// 坐上角定点不能越界
if ((RESULTIMAGEWIDTH - 2 * centrelWidth)>(centrelX - centrelWidth) && (centrelX - centrelWidth) >= 0) { leftX = centrelX - centrelWidth; }
else if ((centrelX - centrelWidth) < 0) { leftX = 0; }
else if ((RESULTIMAGEWIDTH - 2 * centrelWidth) <= (centrelX - centrelWidth)) { leftX = RESULTIMAGEWIDTH - 2 * centrelWidth; }
if ((RESULTIMAGEHEIGHT - 2 * centrelHeight) > (centrelY - centrelHeight) && (centrelY - centrelHeight) >= 0) { leftY = centrelY - centrelHeight; }
else if ((centrelY - centrelHeight) < 0) { leftY = 0; }
else if ((RESULTIMAGEHEIGHT - 2 * centrelHeight) <= (centrelY - centrelHeight)) { leftY = RESULTIMAGEHEIGHT - 2 * centrelHeight; }
cout << "映射表左上角顶点---- ！" << leftX << "---" << leftY << endl;
int storeX = 0, storeY = 0, storeZ = 0; // 表格信息 X 第几个图片中的(Y，Z)坐标点
int tempY = 0, tempX = 0;//Y X方向上的偏移量
//------------ 展示图
cout << "扣出图像尺寸--------" << centrelWidth * 2 << "---" << centrelHeight * 2 << endl;
//cout << "映射表总大小-------!" << RESULTIMAGEWIDTH << "---" << RESULTIMAGEHEIGHT << endl;
for (int i = 0; i < centrelHeight * 2; i++) {
tempInt_zoom = show.ptr<uchar>(i); //大图的像素位置 i行 0-1080
// ------------------采样使用 Y
int distance_y = 0;
//if (rate<2.4&&rate >= 2) { // 图像大于2倍，开始采样
// distance = (rate - 2) * 10;
//
//}
//else if (rate>=2.4) { distance = (2.4 - 2) * 10; }
if (distance_y <= 4)
{
distance_y = centrelHeight * 2 / 1080;
}
else { distance_y = 4; }
tableTemp1 = constractTable[0].ptr<int>(leftY + i + distance_y);//表的像素 找到行+ distance
tableTemp1 += 3 * leftX;//表的像素 找到列
// 1080高 /2448*2 映射表高
for (int j = 0; j < centrelWidth * 2; j++) {
storeX = *tableTemp1++; // 图像ID
storeY = *tableTemp1++;// 像素坐标X
storeZ = *tableTemp1++;//像素坐标Y
//if (rate >= 2) { // 图像大于2倍，开始采样
// int distance = (rate - 2) * 10/2.5;
// tableTemp1 += distance*3;
//}
int distance_x = 0;
if (distance_x <= 10)
{
distance_x = centrelWidth * 2 / 1920;
}
else { distance_x = 10; }
tableTemp1 += distance_x * 3;
// 映射表读取出 这个点是是从storeX这个编号对应的图像来的
thread1 = storeX;
//------------从单个图像中对应着位置的像素数据值
if (thread1) // 如果有个这个图像
{
//cout << i << "---" << j << "---" << 1 << endl;
// 映射表中的坐标信息赋值
tempX = storeY;
tempY = storeZ;
// 找到（thread1 - 1）编号对应的这个图像 并将指针移到tempY这一行首地址
tempH = ImageArr[thread1 - 1].ptr<uchar>(tempY);
//将这个指针在这行水平移动tempX 这个像素但是每个像素有三个数据值（彩色图 RGB）， 所以真实位置乘3
tempH += tempX * 3;
// 依次将指针内的数据拷贝出
*tempInt_zoom++ = *tempH++;
*tempInt_zoom++ = *tempH++;
*tempInt_zoom++ = *tempH++;
//向后移动 10个像素 每10个采样
}
else
{
//cout << i << "---" << j << "---" << 0 << endl;
*tempInt_zoom++ = 0;
*tempInt_zoom++ = 0;
*tempInt_zoom++ = 0;
}
}
}
}
/*
功能：间隔抽样像素采集 缩放展示
参数：
int tl_x 映射表 采样图左上角顶点x
int tl_y 映射表 采样图左上角顶点y
int win_w, 映射表 采样图宽
int win_h, 映射表 采样图长
Mat &show 映射表 采样图保存地址
*/
void zoom_image(int tl_x, int tl_y, int win_w, int win_h, Mat &show) {
float distance_y = 0;//y方向采样间隔
float distance_x = 0;//x方向采样间隔
distance_x = float(win_w) / float(zoom_WindowWIDTH);
distance_y = float(win_h) / float(zoom_WindowHEIGHT);
for (int i = 0; i < zoom_WindowHEIGHT; i++) {
for (int j = 0; j < zoom_WindowWIDTH; j++) {
int tempX = 3 * int(tl_x + j * distance_x);
int camId = int(constractTable[0].ptr<int>(tl_y + int(i * distance_y))[tempX]);//表的像素 找到行+ distance
int cam_u = int(constractTable[0].ptr<int>(tl_y + int(i * distance_y))[tempX + 1]);//表的像素 找到行+ distance
int cam_v = int(constractTable[0].ptr<int>(tl_y + int(i * distance_y))[tempX + 2]);//表的像素 找到行+ distance
if (camId >= 1 && camId <= IMAGENUMBERS) // 如果有个这个图像
{
if (cam_u >= 0 && cam_u<IMAGEWIDTH && cam_v >= 0 && cam_v<IMAGEHEIGHT)
{
show.ptr<uchar>(i)[3 * j] = ImageArr[camId - 1].ptr<uchar>(cam_v)[3 * cam_u];
show.ptr<uchar>(i)[3 * j + 1] = ImageArr[camId - 1].ptr<uchar>(cam_v)[3 * cam_u + 1];
show.ptr<uchar>(i)[3 * j + 2] = ImageArr[camId - 1].ptr<uchar>(cam_v)[3 * cam_u + 2];
}
else
{
show.ptr<uchar>(i)[3 * j] = 0;
show.ptr<uchar>(i)[3 * j + 1] = 0;
show.ptr<uchar>(i)[3 * j + 2] = 0;
}
//向后移动 10个像素 每10个采样
}
else
{
show.ptr<uchar>(i)[3 * j] = 0;
show.ptr<uchar>(i)[3 * j + 1] = 0;
show.ptr<uchar>(i)[3 * j + 2] = 0;
}
}
}
}
/*
功能： 初始化
*/
void Int_all() {
//------------------------------0 初始化映射表中采样图左上坐标 和 采样图大小
region_tl[0] = 0;
region_tl[1] = 0;
region_size[0] = pano_WindowWIDTH;
region_size[1] = pano_WindowHEIGHT;
//-------------------------------1 读取图像
//read_picture();
//-------------------------------2 读取映射表
read_map();
//-------------------------------3 合并缩略图像
//seedimage(pano_Image);
//-------------------------------4初始化鼠标回调函数
init_Mouse();
//------------------------------- 5 合并交互图像
cout << "开始合并图像！" << endl;
}
void Do_show(Mat &show) {
if (setFlag == 1) // 有鼠标操作后执行
{
zoom_image(region_tl[0], region_tl[1], region_size[0], region_size[1], show);
cout << "缩放倍数---" << rate << endl;
setFlag = 0;
if (!show.empty())
{
cvNamedWindow("result", 0);
imshow("result", show);
}
cout << "-----------------------------------------------" << endl;
}
imshow("mouse", pano_Image);
waitKey(30);
}
//设置图片格式
string imgType = "Bayer";//"RGB" "YUV"
unsigned char usb_leftID[2] = { ‘t‘,‘2‘ };//t1 or t3
unsigned char usb_rightID[2] = { ‘t‘,‘3‘ };//t2 or t4
unsigned char usb_shortID[2] = { ‘t‘,‘4‘ };
char gige_leftID = ‘7‘;
char gige_rightID = ‘6‘;
bool usb_flag = true;
void main()
{
//设置触发模式 1=触发模式 0=连续模式
int TriggerMode = 0;
//设置触发源为软触发
unsigned int enMode = MV_TRIGGER_SOURCE_LINE0;//MV_TRIGGER_SOURCE_SOFTWARE;
int L_DeviceIndex = -1;
int R_DeviceIndex = -1;
int S_DeviceIndex = -1;
void* S_handle = NULL;
void* L_handle = NULL;
void* R_handle = NULL;
//枚举子网内指定的传输协议对应的所有设备
unsigned int nTLayerType;
if (usb_flag)
{
nTLayerType = MV_USB_DEVICE;//MV_GIGE_DEVICE;
}
else
{
nTLayerType = MV_GIGE_DEVICE;
}
MV_CC_DEVICE_INFO_LIST m_stDevList = { 0 };
int nRet = MV_CC_EnumDevices(nTLayerType, &m_stDevList);
if (MV_OK != nRet)
{
printf("error: EnumDevices fail [%x]\n", nRet);
return;
}
cout << m_stDevList.nDeviceNum << endl;
//检查网内设备数量
if (m_stDevList.nDeviceNum < 3)
{
printf("no camera found!\n");
return;
}
//查找所有设备名
if (usb_flag)
{
for (int i = 0; i < m_stDevList.nDeviceNum; i++)
{
MV_CC_DEVICE_INFO tempInfo = *m_stDevList.pDeviceInfo[i];
unsigned char *name = tempInfo.SpecialInfo.stUsb3VInfo.chUserDefinedName;
cout << "cam " << i << " name = ";
for (int j = 0; j < 3; j++)
{
cout << name[j];
}
cout << endl;
if (name[0] == usb_leftID[0] && name[1] == usb_leftID[1])
{
L_DeviceIndex = i;
}
else if (name[0] == usb_rightID[0] && name[1] == usb_rightID[1])
{
R_DeviceIndex = i;
}
else if (name[0] == usb_shortID[0] && name[1] == usb_shortID[1])
{
S_DeviceIndex = i;
}
}
}
else
{
for (int i = 0; i < m_stDevList.nDeviceNum; i++)
{
MV_CC_DEVICE_INFO tempInfo = *m_stDevList.pDeviceInfo[i];
unsigned char *name = tempInfo.SpecialInfo.stGigEInfo.chUserDefinedName;
cout << "cam " << i << " name = ";
for (int j = 0; j < 2; j++)
{
cout << name[j];
}
cout << endl;
if (name[0] == gige_leftID)
{
L_DeviceIndex = i;
}
else if (name[0] == gige_rightID)
{
R_DeviceIndex = i;
}
}
}
if (L_DeviceIndex == -1 || R_DeviceIndex == -1 || S_DeviceIndex == -1)
{
cout << "error: Left Camera or Right Camera is not found!" << endl;
return;
}
//**************************初始化短焦相机***************************
MV_CC_DEVICE_INFO S_stDevInfo = { 0 };
memcpy(&S_stDevInfo, m_stDevList.pDeviceInfo[S_DeviceIndex], sizeof(MV_CC_DEVICE_INFO));
nRet = MV_CC_CreateHandle(&S_handle, &S_stDevInfo);
if (MV_OK != nRet)
{
printf("error: Short Camera CreateHandle fail [%x]\n", nRet);
return;
}
//连接设备
nRet = MV_CC_OpenDevice(S_handle);//, nAccessMode, nSwitchoverKey);
if (MV_OK != nRet)
{
printf("error: Short Camera OpenDevice fail [%x]\n", nRet);
return;
}
//设置插值方式
MV_CC_SetBayerCvtQuality(S_handle, 2);
if (MV_OK != nRet)
{
printf("error: Set Camera Quality fail [%x]\n", nRet);
return;
}
//设置为触发模式
nRet = MV_CC_SetEnumValue(S_handle, "TriggerMode", TriggerMode);
if (nRet != MV_OK)
{
printf("set trigger mode failed.\n");
return;
}
//设置触发模式为软触发模式
if (TriggerMode == 1)
{
nRet = MV_CC_SetEnumValue(S_handle, "TriggerSource", enMode);
if (nRet != MV_OK)
{
printf("set soft trigger mode failed.\n");
return;
}
}
//开始采集图像
nRet = MV_CC_StartGrabbing(S_handle);
if (MV_OK != nRet)
{
printf("error: Short Camera StartGrabbing fail [%x]\n", nRet);
return;
}
//获取一帧数据的大小
MVCC_INTVALUE S_stIntvalue = { 0 };
nRet = MV_CC_GetIntValue(S_handle, "PayloadSize", &S_stIntvalue);
if (nRet != MV_OK)
{
printf("Short Camera Get PayloadSize failed! nRet [%x]\n", nRet);
return;
}
int S_BufSize = S_stIntvalue.nCurValue; //一帧数据大小
unsigned char* S_FrameBuf = NULL;
S_FrameBuf = (unsigned char*)malloc(S_BufSize);
MV_FRAME_OUT_INFO_EX S_stInfo;
memset(&S_stInfo, 0, sizeof(MV_FRAME_OUT_INFO_EX));
//**************************初始化左相机***************************
MV_CC_DEVICE_INFO L_stDevInfo = { 0 };
memcpy(&L_stDevInfo, m_stDevList.pDeviceInfo[L_DeviceIndex], sizeof(MV_CC_DEVICE_INFO));
nRet = MV_CC_CreateHandle(&L_handle, &L_stDevInfo);
if (MV_OK != nRet)
{
printf("error: Left Camera CreateHandle fail [%x]\n", nRet);
return;
}
//连接设备
nRet = MV_CC_OpenDevice(L_handle);//, nAccessMode, nSwitchoverKey);
if (MV_OK != nRet)
{
printf("error: Left Camera OpenDevice fail [%x]\n", nRet);
return;
}
//设置插值方式
MV_CC_SetBayerCvtQuality(L_handle, 2);
if (MV_OK != nRet)
{
printf("error: Set Camera Quality fail [%x]\n", nRet);
return;
}
//设置为触发模式
nRet = MV_CC_SetEnumValue(L_handle, "TriggerMode", TriggerMode);
if (nRet != MV_OK)
{
printf("set trigger mode failed.\n");
return;
}
//设置触发模式为软触发模式
if (TriggerMode == 1)
{
nRet = MV_CC_SetEnumValue(L_handle, "TriggerSource", enMode);
if (nRet != MV_OK)
{
printf("set soft trigger mode failed.\n");
return;
}
}
//开始采集图像
nRet = MV_CC_StartGrabbing(L_handle);
if (MV_OK != nRet)
{
printf("error: Left Camera StartGrabbing fail [%x]\n", nRet);
return;
}
//获取一帧数据的大小
MVCC_INTVALUE L_stIntvalue = { 0 };
nRet = MV_CC_GetIntValue(L_handle, "PayloadSize", &L_stIntvalue);
if (nRet != MV_OK)
{
printf("Left Camera Get PayloadSize failed! nRet [%x]\n", nRet);
return;
}
int L_BufSize = L_stIntvalue.nCurValue; //一帧数据大小
unsigned char* L_FrameBuf = NULL;
L_FrameBuf = (unsigned char*)malloc(L_BufSize);
MV_FRAME_OUT_INFO_EX L_stInfo;
memset(&L_stInfo, 0, sizeof(MV_FRAME_OUT_INFO_EX));
//**************************初始化右相机***************************
MV_CC_DEVICE_INFO R_stDevInfo = { 0 };
memcpy(&R_stDevInfo, m_stDevList.pDeviceInfo[R_DeviceIndex], sizeof(MV_CC_DEVICE_INFO));
nRet = MV_CC_CreateHandle(&R_handle, &R_stDevInfo);
if (MV_OK != nRet)
{
printf("error: Right Camera CreateHandle fail [%x]\n", nRet);
return;
}
//连接设备
nRet = MV_CC_OpenDevice(R_handle);//, nAccessMode, nSwitchoverKey);
if (MV_OK != nRet)
{
printf("error: Right Camera OpenDevice fail [%x]\n", nRet);
return;
}
//设置插值方式
MV_CC_SetBayerCvtQuality(R_handle, 2);
if (MV_OK != nRet)
{
printf("error: Set Camera Quality fail [%x]\n", nRet);
return;
}
//设置为触发模式
nRet = MV_CC_SetEnumValue(R_handle, "TriggerMode", TriggerMode);
if (nRet != MV_OK)
{
printf("set trigger mode failed.\n");
return;
}
//设置触发模式为软触发模式
if (TriggerMode == 1)
{
nRet = MV_CC_SetEnumValue(R_handle, "TriggerSource", enMode);
if (nRet != MV_OK)
{
printf("set soft trigger mode failed.\n");
return;
}
}
//开始采集图像
nRet = MV_CC_StartGrabbing(R_handle);
if (MV_OK != nRet)
{
printf("error: Right Camera StartGrabbing fail [%x]\n", nRet);
return;
}
//获取一帧数据的大小
MVCC_INTVALUE R_stIntvalue = { 0 };
nRet = MV_CC_GetIntValue(R_handle, "PayloadSize", &R_stIntvalue);
if (nRet != MV_OK)
{
printf("Right Camera Get PayloadSize failed! nRet [%x]\n", nRet);
return;
}
int R_BufSize = R_stIntvalue.nCurValue; //一帧数据大小
unsigned char* R_FrameBuf = NULL;
R_FrameBuf = (unsigned char*)malloc(R_BufSize);
MV_FRAME_OUT_INFO_EX R_stInfo;
memset(&R_stInfo, 0, sizeof(MV_FRAME_OUT_INFO_EX));
unsigned int TestFrameCount = 0;
int getframes = 0;
char filenamel[250];
char filenamer[250];
char filenames[250];
char filenamel640[250];
char filenamer640[250];
int64 t;
int64 t_new, t_old;
t_old = GetTickCount();
Int_all();
while (1)
{
/*int64 t = GetTickCount();*/
//if (TestFrameCount > 900999)
//{
// break;
//}
//如果为触发模式，则需要先进行一次触发
if (TriggerMode == 1 && enMode == MV_TRIGGER_SOURCE_SOFTWARE)
{
MV_CC_SetCommandValue(L_handle, "TriggerSoftware");//如果没有得到触发信号，相机无法获取图像
MV_CC_SetCommandValue(R_handle, "TriggerSoftware");
MV_CC_SetCommandValue(S_handle, "TriggerSoftware");
}
t = GetTickCount();
//获取左相机图像
int LRet = MV_CC_GetOneFrameTimeout(L_handle, L_FrameBuf, L_BufSize, &L_stInfo, 500);
//t = GetTickCount() - t;
int RRet = MV_CC_GetOneFrameTimeout(R_handle, R_FrameBuf, R_BufSize, &R_stInfo, 500);
int SRet = MV_CC_GetOneFrameTimeout(S_handle, S_FrameBuf, S_BufSize, &S_stInfo, 500);
if (LRet != MV_OK || RRet != MV_OK || SRet != MV_OK)
{
Sleep(10);
continue;
}
else
{
cv::Mat L_Img, R_Img, S_Img;
cv::Mat L_Img640, R_Img640, S_Img640;
if (imgType == "RGB")
{
cv::Mat L_BufImg(L_stInfo.nHeight, L_stInfo.nWidth, CV_8UC3, (unsigned char*)L_FrameBuf);
cv::Mat R_BufImg(R_stInfo.nHeight, R_stInfo.nWidth, CV_8UC3, (unsigned char*)R_FrameBuf);
cv::Mat S_BufImg(S_stInfo.nHeight, S_stInfo.nWidth, CV_8UC3, (unsigned char*)R_FrameBuf);
cv::cvtColor(S_BufImg, S_Img, CV_BGR2RGB);
cv::cvtColor(L_BufImg, L_Img, CV_BGR2RGB);
cv::cvtColor(R_BufImg, R_Img, CV_BGR2RGB);
}
else if (imgType == "Bayer")
{
cv::Mat L_BufImg(L_stInfo.nHeight, L_stInfo.nWidth, CV_8UC1, (unsigned char*)L_FrameBuf);
cv::Mat R_BufImg(R_stInfo.nHeight, R_stInfo.nWidth, CV_8UC1, (unsigned char*)R_FrameBuf);
cv::Mat S_BufImg(S_stInfo.nHeight, S_stInfo.nWidth, CV_8UC1, (unsigned char*)R_FrameBuf);
cv::cvtColor(S_BufImg, S_Img, CV_BayerBG2RGB);
cv::cvtColor(L_BufImg, L_Img, CV_BayerBG2RGB);
cv::cvtColor(R_BufImg, R_Img, CV_BayerBG2RGB);
}
else if (imgType == "YUV")
{
cv::Mat L_BufImg(L_stInfo.nHeight, L_stInfo.nWidth, CV_8UC2, (unsigned char*)L_FrameBuf);
cv::Mat R_BufImg(R_stInfo.nHeight, R_stInfo.nWidth, CV_8UC2, (unsigned char*)R_FrameBuf);
cv::Mat S_BufImg(S_stInfo.nHeight, S_stInfo.nWidth, CV_8UC2, (unsigned char*)R_FrameBuf);
cv::cvtColor(S_BufImg, S_Img, CV_YUV2BGR_UYVY);
cv::cvtColor(L_BufImg, L_Img, CV_YUV2BGR_UYVY);
cv::cvtColor(R_BufImg, R_Img, CV_YUV2BGR_UYVY);
}
cv::namedWindow("Left", 0);
cv::namedWindow("Right", 0);
cv::namedWindow("Short", 0);
cv::imshow("Short", S_Img);
cv::imshow("Left", L_Img);
cv::imshow("Right", R_Img);
//Int_all();
//read_picture();
//--------------------------------------
if (S_Img.empty()&& L_Img.empty()&& R_Img.empty()) {
printf("---------------- Camera failed! -----------------");
}
else {
Mat S_Img_roi, S_Img_reroi;
Rect rect(823, 600, 880, 634);
S_Img_roi = S_Img(rect);
resize(S_Img_roi, S_Img_reroi, Size(2592, 2048), 0, 0, INTER_LINEAR);
ImageArr[0] = S_Img_reroi;
ImageArr[1] = L_Img;
ImageArr[2] = R_Img;
seedimage(pano_Image);
Mat show(zoom_WindowHEIGHT, zoom_WindowWIDTH, CV_8UC3, Scalar(0, 0, 0));
Do_show(show);
}
//--------------------------------------
//sprintf(filenamel, "left%d.jpg", getframes);
//sprintf(filenamer, "right%d.jpg", getframes);
//sprintf(filenames, "short%d.jpg", getframes);
////sprintf(filenamel640, "left640/left%d.jpg", getframes);
////sprintf(filenamer640, "right640/right%d.jpg", getframes);
//imwrite(filenamel, L_Img);
//imwrite(filenamer, R_Img);
//imwrite(filenames, S_Img);
////resize(L_Img, L_Img640, Size(640, 480));
////resize(R_Img, R_Img640, Size(640, 480));
////imwrite(filenamel640, L_Img640);
////imwrite(filenamer640, R_Img640);
//printf("以保存%d张", ++getframes);
char key = cv::waitKey(1);
if (key == ‘q‘)
{
break;
}
if (key == ‘s‘)
{
sprintf(filenamel, "left/left%d.jpg", getframes);
sprintf(filenamer, "right/right%d.jpg", getframes);
sprintf(filenames, "short/short%d.jpg", getframes);
//sprintf(filenamel640, "left640/left%d.jpg", getframes);
//sprintf(filenamer640, "right640/right%d.jpg", getframes);
imwrite(filenamel, L_Img);
imwrite(filenamer, R_Img);
imwrite(filenames, S_Img);
//resize(L_Img, L_Img640, Size(640, 480));
//resize(R_Img, R_Img640, Size(640, 480));
//imwrite(filenamel640, L_Img640);
//imwrite(filenamer640, R_Img640);
printf("以保存%d张", getframes);
getframes++;
}
TestFrameCount++;
//printf("get %d frames\n", TestFrameCount);
}
t_new = GetTickCount();
int64 time = t_new - t_old;
t_old = t_new;
t = GetTickCount() - t;
system("cls");
printf("get %d frames\n", TestFrameCount);
/*t = GetTickCount() - t;*/
std::cout << "times = " << (double)time / cvGetTickFrequency() << std::endl;
std::cout << "time = " << (double)t / cvGetTickFrequency() << std::endl;
}
/*********************停止左相机*************************/
//停止采集图像
nRet = MV_CC_StopGrabbing(L_handle);
if (MV_OK != nRet)
{
printf("error: Left Camera StopGrabbing fail [%x]\n", nRet);
return;
}
//关闭设备，释放资源
nRet = MV_CC_CloseDevice(L_handle);
if (MV_OK != nRet)
{
printf("error: Left Camera CloseDevice fail [%x]\n", nRet);
return;
}
//销毁句柄，释放资源
nRet = MV_CC_DestroyHandle(L_handle);
if (MV_OK != nRet)
{
printf("error: Left Camera DestroyHandle fail [%x]\n", nRet);
return;
}
/*********************停止右相机*************************/
//停止采集图像
nRet = MV_CC_StopGrabbing(R_handle);
if (MV_OK != nRet)
{
printf("error: Right Camera StopGrabbing fail [%x]\n", nRet);
return;
}
//关闭设备，释放资源
nRet = MV_CC_CloseDevice(R_handle);
if (MV_OK != nRet)
{
printf("error: Right Camera CloseDevice fail [%x]\n", nRet);
return;
}
//销毁句柄，释放资源
nRet = MV_CC_DestroyHandle(R_handle);
if (MV_OK != nRet)
{
printf("error: Right Camera DestroyHandle fail [%x]\n", nRet);
return;
}
/*********************停止短焦相机*************************/
//停止采集图像
nRet = MV_CC_StopGrabbing(S_handle);
if (MV_OK != nRet)
{
printf("error: Short Camera StopGrabbing fail [%x]\n", nRet);
return;
}
//关闭设备，释放资源
nRet = MV_CC_CloseDevice(S_handle);
if (MV_OK != nRet)
{
printf("error: Short Camera CloseDevice fail [%x]\n", nRet);
return;
}
//销毁句柄，释放资源
nRet = MV_CC_DestroyHandle(S_handle);
if (MV_OK != nRet)
{
printf("error: Short Camera DestroyHandle fail [%x]\n", nRet);
return;
}
}
(4)
标签：roc ase bin camera startx starty 编号 间隔 proc
原文地址：https://www.cnblogs.com/kekeoutlook/p/9521025.html
