1174 lines
30 KiB
C++
1174 lines
30 KiB
C++
#include "CameraDriver.h"
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extern "C"{
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// ***********开始： 这部分处理与SDK操作相机无关，用于显示设备列表 ***********
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// ***********BEGIN: These functions are not related to API call and used to display device info***********
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// 数据帧回调函数
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// Data frame callback function
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static void onGetFrame(IMV_Frame* pFrame, void* pUser)
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{
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if (pFrame == NULL)
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{
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printf("pFrame is NULL\n");
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return;
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}
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printf("Get frame blockId = %llu\n", pFrame->frameInfo.blockId);
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return;
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}
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static void displayDeviceInfo(IMV_DeviceList deviceInfoList)
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{
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IMV_DeviceInfo* pDevInfo = NULL;
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unsigned int cameraIndex = 0;
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char vendorNameCat[11];
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char cameraNameCat[16];
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// 打印Title行
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// Print title line
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printf("\nIdx Type Vendor Model S/N DeviceUserID IP Address \n");
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printf("------------------------------------------------------------------------------\n");
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for (cameraIndex = 0; cameraIndex < deviceInfoList.nDevNum; cameraIndex++)
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{
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pDevInfo = &deviceInfoList.pDevInfo[cameraIndex];
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// 设备列表的相机索引 最大表示字数：3
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// Camera index in device list, display in 3 characters
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printf("%-3d", cameraIndex + 1);
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// 相机的设备类型（GigE，U3V，CL，PCIe）
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// Camera type
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switch (pDevInfo->nCameraType)
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{
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case typeGigeCamera:printf(" GigE");break;
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case typeU3vCamera:printf(" U3V ");break;
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case typeCLCamera:printf(" CL ");break;
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case typePCIeCamera:printf(" PCIe");break;
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default:printf(" ");break;
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}
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// 制造商信息 最大表示字数：10
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// Camera vendor name, display in 10 characters
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if (strlen(pDevInfo->vendorName) > 10)
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{
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memcpy(vendorNameCat, pDevInfo->vendorName, 7);
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vendorNameCat[7] = '\0';
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strcat(vendorNameCat, "...");
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printf(" %-10.10s", vendorNameCat);
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}
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else
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{
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printf(" %-10.10s", pDevInfo->vendorName);
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}
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// 相机的型号信息 最大表示字数：10
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// Camera model name, display in 10 characters
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printf(" %-10.10s", pDevInfo->modelName);
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// 相机的序列号 最大表示字数：15
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// Camera serial number, display in 15 characters
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printf(" %-15.15s", pDevInfo->serialNumber);
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// 自定义用户ID 最大表示字数：15
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// Camera user id, display in 15 characters
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if (strlen(pDevInfo->cameraName) > 15)
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{
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memcpy(cameraNameCat, pDevInfo->cameraName, 12);
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cameraNameCat[12] = '\0';
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strcat(cameraNameCat, "...");
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printf(" %-15.15s", cameraNameCat);
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}
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else
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{
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printf(" %-15.15s", pDevInfo->cameraName);
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}
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// GigE相机时获取IP地址
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// IP address of GigE camera
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if (pDevInfo->nCameraType == typeGigeCamera)
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{
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printf(" %s", pDevInfo->DeviceSpecificInfo.gigeDeviceInfo.ipAddress);
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}
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printf("\n");
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}
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return;
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}
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static char* trim(char* pStr)
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{
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char* pDst = pStr;
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char* pTemStr = NULL;
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if (pDst != NULL)
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{
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pTemStr = pDst + strlen(pStr) - 1;
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while (*pDst == ' ')
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{
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pDst++;
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}
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while ((pTemStr > pDst) && (*pTemStr == ' '))
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{
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*pTemStr-- = '\0';
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}
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}
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return pDst;
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}
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static int isInputValid(char* pInpuStr)
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{
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char numChar;
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char* pStr = pInpuStr;
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while (*pStr != '\0')
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{
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numChar = *pStr;
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if ((numChar > '9') || (numChar < '0'))
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{
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return -1;
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}
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pStr++;
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}
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return 0;
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}
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static unsigned int selectDevice(unsigned int cameraCnt)
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{
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char inputStr[256];
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char* pTrimStr;
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int inputIndex = -1;
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int ret = -1;
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char* find = NULL;
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printf("\nPlease input the camera index: ");
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while (1)
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{
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memset(inputStr, 0, sizeof(inputStr));
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fgets(inputStr, sizeof(inputStr), stdin);
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// 清空输入缓存
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// clear flush
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fflush(stdin);
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// fgets比gets多吃一个换行符号，取出换行符号
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// fgets eats one more line feed symbol than gets, and takes out the line feed symbol
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find = strchr(inputStr, '\n');
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if (find) { *find = '\0'; }
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pTrimStr = trim(inputStr);
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ret = isInputValid(pTrimStr);
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if (ret == 0)
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{
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inputIndex = atoi(pTrimStr);
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// 输入的序号从1开始
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// Input index starts from 1
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inputIndex -= 1;
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if ((inputIndex >= 0) && (inputIndex < (int)cameraCnt))
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{
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break;
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}
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}
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printf("Input invalid! Please input the camera index: ");
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}
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return (unsigned int)inputIndex;
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}
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// ***********结束： 这部分处理与SDK操作相机无关，用于显示设备列表 ***********
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// ***********END: These functions are not related to API call and used to display device info***********
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static int setSoftTriggerConf(void* libHandle, IMV_HANDLE devHandle)
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{
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int ret = IMV_OK;
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// 获取设置触发源为软触发函数地址
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DLL_SetEnumFeatureSymbol DLLSetEnumFeatureSymbol = (DLL_SetEnumFeatureSymbol)dlsym(libHandle, "IMV_SetEnumFeatureSymbol");
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if (NULL == DLLSetEnumFeatureSymbol)
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{
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printf("Get IMV_SetEnumFeatureSymbol address failed!\n");
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return ret;
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}
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// 设置触发器
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// Set trigger selector to FrameStart
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ret = DLLSetEnumFeatureSymbol(devHandle, "TriggerSelector", "FrameStart");
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if (IMV_OK != ret)
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{
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printf("Set triggerSelector value failed! ErrorCode[%d]\n", ret);
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return ret;
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}
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// 设置触发源为软触发
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// Set trigger source to Software
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ret = DLLSetEnumFeatureSymbol(devHandle, "TriggerSource", "Software");
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if (IMV_OK != ret)
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{
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printf("Set triggerSource value failed! ErrorCode[%d]\n", ret);
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return ret;
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}
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// 设置触发模式
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// Set trigger mode to On
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ret = DLLSetEnumFeatureSymbol(devHandle, "TriggerMode", "Off");
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if (IMV_OK != ret)
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{
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printf("Set triggerMode value failed! ErrorCode[%d]\n", ret);
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return ret;
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}
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return ret;
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}
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// Image convert
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static int imageConvert(void* libHandle, IMV_HANDLE devHandle, IMV_Frame frame, IMV_EPixelType convertFormat,void** data, int& w, int& h)
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{
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IMV_PixelConvertParam stPixelConvertParam;
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unsigned char* pDstBuf = NULL;
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unsigned int nDstBufSize = 0;
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int ret = IMV_OK;
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FILE* hFile = NULL;
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const char* pFileName = NULL;
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const char* pConvertFormatStr = NULL;
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// 获取设置触发源为软触发函数地址
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DLL_PixelConvert DLLPixelConvert = (DLL_PixelConvert)dlsym(libHandle, "IMV_PixelConvert");
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if (NULL == DLLPixelConvert)
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{
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printf("Get IMV_PixelConvert address failed!\n");
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return -999;
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}
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switch (convertFormat)
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{
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case gvspPixelRGB8:
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nDstBufSize = sizeof(unsigned char) * frame.frameInfo.width * frame.frameInfo.height * 3;
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pFileName = (const char*)"convertRGB8.bmp";
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pConvertFormatStr = (const char*)"RGB8";
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break;
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case gvspPixelBGR8:
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nDstBufSize = sizeof(unsigned char) * frame.frameInfo.width * frame.frameInfo.height * 3;
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pFileName = (const char*)"convertBGR8.bmp";
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pConvertFormatStr = (const char*)"BGR8";
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break;
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case gvspPixelBGRA8:
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nDstBufSize = sizeof(unsigned char) * frame.frameInfo.width * frame.frameInfo.height * 4;
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pFileName = (const char*)"convertBGRA8.bmp";
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pConvertFormatStr = (const char*)"BGRA8";
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break;
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case gvspPixelMono8:
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default:
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nDstBufSize = sizeof(unsigned char) * frame.frameInfo.width * frame.frameInfo.height;
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pFileName = (const char*)"convertMono8.bmp";
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pConvertFormatStr = (const char*)"Mono8";
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break;
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}
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pDstBuf = (unsigned char*)malloc(nDstBufSize);
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if (NULL == pDstBuf)
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{
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printf("malloc pDstBuf failed!\n");
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return -998;
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}
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// 图像转换成BGR8
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// convert image to BGR8
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memset(&stPixelConvertParam, 0, sizeof(stPixelConvertParam));
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stPixelConvertParam.nWidth = frame.frameInfo.width;
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stPixelConvertParam.nHeight = frame.frameInfo.height;
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stPixelConvertParam.ePixelFormat = frame.frameInfo.pixelFormat;
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stPixelConvertParam.pSrcData = frame.pData;
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stPixelConvertParam.nSrcDataLen = frame.frameInfo.size;
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stPixelConvertParam.nPaddingX = frame.frameInfo.paddingX;
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stPixelConvertParam.nPaddingY = frame.frameInfo.paddingY;
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stPixelConvertParam.eBayerDemosaic = demosaicNearestNeighbor;
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stPixelConvertParam.eDstPixelFormat = convertFormat;
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stPixelConvertParam.pDstBuf = pDstBuf;
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stPixelConvertParam.nDstBufSize = nDstBufSize;
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ret = DLLPixelConvert(devHandle, &stPixelConvertParam);
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if (IMV_OK == ret)
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{
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printf("image convert to %s successfully! nDstDataLen (%u)\n",
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pConvertFormatStr, stPixelConvertParam.nDstBufSize);
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memcpy(*data, stPixelConvertParam.pDstBuf, stPixelConvertParam.nHeight * stPixelConvertParam.nWidth * 3);
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printf("memcpy success! %d - %d - %d \n", *data, stPixelConvertParam.nHeight, stPixelConvertParam.nWidth);
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w = stPixelConvertParam.nWidth;
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h = stPixelConvertParam.nHeight;
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// cv::Mat im(h, w, CV_8UC3, pDstBuf);
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// cv::imwrite("/home/caowei/catkin_ws/output1.png", im);
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// cv::imwrite("output1.png", im);
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}
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else
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{
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printf("image convert to %s failed! ErrorCode[%d]\n", pConvertFormatStr, ret);
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}
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if (pDstBuf)
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{
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free(pDstBuf);
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pDstBuf = NULL;
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}
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return ret;
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}
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static void sendToRos(IMV_Frame frame)
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{
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IMV_FlipImageParam stFlipImageParam;
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unsigned int nChannelNum = 0;
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int ret = IMV_OK;
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FILE* hFile = NULL;
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memset(&stFlipImageParam, 0, sizeof(stFlipImageParam));
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if (gvspPixelBGR8 == frame.frameInfo.pixelFormat)
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{
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stFlipImageParam.pSrcData = frame.pData;
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stFlipImageParam.nSrcDataLen = frame.frameInfo.width * frame.frameInfo.height * BGR_CHANNEL_NUM;
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stFlipImageParam.ePixelFormat = frame.frameInfo.pixelFormat;
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nChannelNum = BGR_CHANNEL_NUM;
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}
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else
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{
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printf("image convert to BGR8 failed! ErrorCode[%d]\n", ret);
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}
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// 向ros发送/image消息
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do
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{
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} while (false);
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}
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static int ret = IMV_OK;
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static unsigned int cameraIndex = 0;
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static IMV_HANDLE devHandle = NULL;
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static void* libHandle = NULL;
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static IMV_Frame frame;
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static DLL_EnumDevices DLLEnumDevices = NULL;
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static DLL_CreateHandle DLLCreateHandle = NULL;
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static DLL_DestroyHandle DLLDestroyHandle = NULL;
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static DLL_Open DLLOpen = NULL;
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static DLL_AttachGrabbing DLLAttachGrabbing = NULL;
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static DLL_StartGrabbing DLLStartGrabbing = NULL;
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static DLL_StopGrabbing DLLStopGrabbing = NULL;
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static DLL_Close DLLClose = NULL;
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static DLL_GetFrame DLLGetFrame = NULL;
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static DLL_ReleaseFrame DLLReleaseFrame = NULL;
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static DLL_ClearFrameBuffer DLLClearFrameBuffer = NULL;
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static DLL_ExecuteCommandFeature DLLExecuteCommandFeature = NULL;
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static DLL_SetIntFeatureValue DLLSetIntFeatureValue = NULL;
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static DLL_SetDoubleFeatureValue DLLSetDoubleFeatureValue = NULL;
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// static int setGrabMode(IMV_HANDLE devHandle, bool isContious)
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// {
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// int ret = IMV_OK;
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// // 设置触发器
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// // Set trigger selector to FrameStart
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// ret = IMV_SetEnumFeatureSymbol(devHandle, "TriggerSelector", "FrameStart");
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// if (IMV_OK != ret)
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// {
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// printf("Set triggerSelector value failed! ErrorCode[%d]\n", ret);
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// return ret;
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// }
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// if (isContious)
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// {
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// // 关闭触发模式
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// // Set trigger mode to Off
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// ret = IMV_SetEnumFeatureSymbol(devHandle, "TriggerMode", "Off");
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// if (IMV_OK != ret)
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// {
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// printf("Set triggerMode value failed! ErrorCode[%d]\n", ret);
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// return ret;
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// }
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// }
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// else
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// {
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// // 设置触发源为软触发
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// // Set trigger source to Software
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// ret = IMV_SetEnumFeatureSymbol(devHandle, "TriggerSource", "Software");
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// if (IMV_OK != ret)
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// {
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// printf("Set triggerSource value failed! ErrorCode[%d]\n", ret);
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// return ret;
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// }
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// // 设置触发模式
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// // Set trigger mode to On
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// ret = IMV_SetEnumFeatureSymbol(devHandle, "TriggerMode", "On");
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// if (IMV_OK != ret)
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// {
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// printf("Set triggerMode value failed! ErrorCode[%d]\n", ret);
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// return ret;
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// }
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// }
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// return ret;
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// }
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int camera_init()
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{
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int ret = IMV_OK;
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// Load SDK library
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#ifdef _WIN32
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libHandle = 0;
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#else
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printf("Load MVSDKmd.so!\n");
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libHandle = dlopen("libMVSDK.so", RTLD_LAZY);
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#endif
|
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if (NULL == libHandle)
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{
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printf("Load MVSDKmd.so library failed!\n");
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return IMV_ERROR;
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}
|
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// 获取发现设备接口函数地址
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// Get discover camera interface address
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DLLEnumDevices = (DLL_EnumDevices)dlsym(libHandle, "IMV_EnumDevices");
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if (NULL == DLLEnumDevices)
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{
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printf("Get IMV_EnumDevices address failed!\n");
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return IMV_ERROR;
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}
|
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|
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// 获取发现设备接口函数地址
|
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// Get discover camera interface address
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//DLL_EnumDevices DLLEnumDevices = (DLL_EnumDevices)dlsym(libHandle, "IMV_EnumDevices");
|
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//if (NULL == DLLEnumDevices)
|
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//{
|
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// printf("Get IMV_EnumDevices address failed!\n");
|
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// return 0;
|
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//}
|
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|
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// 获取创建设备句柄接口函数地址
|
||
// Get create Device Handle interface address
|
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DLLCreateHandle = (DLL_CreateHandle)dlsym(libHandle, "IMV_CreateHandle");
|
||
if (NULL == DLLCreateHandle)
|
||
{
|
||
printf("Get IMV_CreateHandle address failed!\n");
|
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return IMV_ERROR;
|
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}
|
||
|
||
// 获取销毁设备句柄接口函数地址
|
||
// Get destroy Device Handle interface address
|
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DLLDestroyHandle = (DLL_DestroyHandle)dlsym(libHandle, "IMV_DestroyHandle");
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if (NULL == DLLDestroyHandle)
|
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{
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printf("Get IMV_DestroyHandle address failed!\n");
|
||
return IMV_ERROR;
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}
|
||
|
||
// 获取打开相机接口函数地址
|
||
// Get open camera interface address
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DLLOpen = (DLL_Open)dlsym(libHandle, "IMV_Open");
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||
if (NULL == DLLOpen)
|
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{
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printf("Get IMV_Open address failed!\n");
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return IMV_ERROR;
|
||
}
|
||
|
||
// 获取注册数据帧回调接口函数地址
|
||
// Get register data frame callback interface address
|
||
DLLAttachGrabbing = (DLL_AttachGrabbing)dlsym(libHandle, "IMV_AttachGrabbing");
|
||
if (NULL == DLLAttachGrabbing)
|
||
{
|
||
printf("Get IMV_AttachGrabbing address failed!\n");
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
// 获取开始拉流接口函数地址
|
||
// Get start grabbing interface address
|
||
DLLStartGrabbing = (DLL_StartGrabbing)dlsym(libHandle, "IMV_StartGrabbing");
|
||
if (NULL == DLLStartGrabbing)
|
||
{
|
||
printf("Get IMV_StartGrabbing address failed!\n");
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
// 获取停止拉流接口函数地址
|
||
// Get stop grabbing interface address
|
||
DLLStopGrabbing = (DLL_StopGrabbing)dlsym(libHandle, "IMV_StopGrabbing");
|
||
if (NULL == DLLStopGrabbing)
|
||
{
|
||
printf("Get IMV_StopGrabbing address failed!\n");
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
// 获取
|
||
// 获取关闭相机接口函数地址
|
||
// Get close camera interface address
|
||
DLLClose = (DLL_Close)dlsym(libHandle, "IMV_Close");
|
||
if (NULL == DLLClose)
|
||
{
|
||
printf("Get IMV_Close address failed!\n");
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
// 获取获取一帧图像函数地址
|
||
DLLGetFrame = (DLL_GetFrame)dlsym(libHandle, "IMV_GetFrame");
|
||
if (NULL == DLLGetFrame)
|
||
{
|
||
printf("Get IMV_GetFrame address failed!\n");
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
DLLReleaseFrame = (DLL_ReleaseFrame)dlsym(libHandle, "IMV_ReleaseFrame");
|
||
if (NULL == DLLReleaseFrame)
|
||
{
|
||
printf("Get IMV_ReleaseFrame address failed!\n");
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
DLLClearFrameBuffer = (DLL_ClearFrameBuffer)dlsym(libHandle, "IMV_ClearFrameBuffer");
|
||
if (NULL == DLLClearFrameBuffer)
|
||
{
|
||
printf("Get IMV_ClearFrameBuffer address failed!\n");
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
DLLExecuteCommandFeature = (DLL_ExecuteCommandFeature)dlsym(libHandle, "IMV_ExecuteCommandFeature");
|
||
if (NULL == DLLExecuteCommandFeature)
|
||
{
|
||
printf("Get IMV_ExecuteCommandFeature address failed!\n");
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
DLLSetIntFeatureValue = (DLL_SetIntFeatureValue)dlsym(libHandle, "IMV_SetIntFeatureValue");
|
||
if (NULL == DLLSetIntFeatureValue)
|
||
{
|
||
printf("Get IMV_SetIntFeatureValue address failed!\n");
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
DLLSetDoubleFeatureValue = (DLL_SetDoubleFeatureValue)dlsym(libHandle, "IMV_SetDoubleFeatureValue");
|
||
if (NULL == DLLSetDoubleFeatureValue)
|
||
{
|
||
printf("Get IMV_SetDoubleFeatureValue address failed!\n");
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
////////////////////// 检查接口结束
|
||
// 发现设备
|
||
// discover camera
|
||
IMV_DeviceList deviceInfoList;
|
||
ret = DLLEnumDevices(&deviceInfoList, interfaceTypeAll);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Enumeration devices failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
if (deviceInfoList.nDevNum < 1)
|
||
{
|
||
printf("no camera\n");
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
// 打印相机基本信息（序号,类型,制造商信息,型号,序列号,用户自定义ID,IP地址）
|
||
// Print camera info (Index, Type, Vendor, Model, Serial number, DeviceUserID, IP Address)
|
||
|
||
displayDeviceInfo(deviceInfoList);
|
||
// 选择需要连接的相机
|
||
// Select one camera to connect to
|
||
// cameraIndex = selectDevice(deviceInfoList.nDevNum);
|
||
cameraIndex = 0; // 第一个相机
|
||
|
||
// 创建设备句柄
|
||
// Create Device Handle
|
||
ret = DLLCreateHandle(&devHandle, modeByIndex, (void*)&cameraIndex);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Create devHandle failed! ErrorCode[%d]\n", ret);
|
||
return IMV_ERROR;
|
||
}
|
||
|
||
return ret;
|
||
}
|
||
|
||
int camera_start(int epx_time)
|
||
{
|
||
int ret = IMV_OK;
|
||
|
||
// 打开相机
|
||
ret = DLLOpen(devHandle);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Open camera failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
//设置软触发模式
|
||
ret = setSoftTriggerConf(libHandle, devHandle);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("setSoftTriggerConf failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
|
||
ret = DLLSetIntFeatureValue(devHandle, "Width", 9344);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Set feature value Width failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
ret = DLLSetIntFeatureValue(devHandle, "Height", 7000);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Set feature value Height failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
ret = DLLSetIntFeatureValue(devHandle, "OffsetX", 0);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Set feature value OffsetX failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
ret = DLLSetIntFeatureValue(devHandle, "OffsetY", 0);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Set feature value OffsetY failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
// 设置属性值曝光
|
||
// Set feature value
|
||
ret = DLLSetDoubleFeatureValue(devHandle, "ExposureTime", epx_time);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Set feature value failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
// // 设置软触发模式
|
||
// ret = setGrabMode(devHandle, false);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Set grabbing mode failed! ErrorCode[%d]\n", ret);
|
||
// return ret;
|
||
// }
|
||
|
||
// 开始拉流
|
||
ret = DLLStartGrabbing(devHandle);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Start grabbing failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
return ret;
|
||
}
|
||
|
||
|
||
int camera_cap(void** data, int& w, int& h, int time_out)
|
||
{
|
||
int ret = IMV_OK;
|
||
sleep(500);
|
||
// 清除帧数据缓存
|
||
ret = DLLClearFrameBuffer(devHandle);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Clear frame buffer failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
/////////////////////////获取一帧图像////////////////////////////
|
||
// 执行软触发
|
||
// ret = DLLExecuteCommandFeature(devHandle, "TriggerSoftware");
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Execute TriggerSoftware failed! ErrorCode[%d]\n", ret);
|
||
// return ret;
|
||
// }
|
||
|
||
// sleep(500);
|
||
|
||
// 获取一帧图像, TIMEOUT 5000ms
|
||
ret = DLLGetFrame(devHandle, &frame, time_out);
|
||
// ret = DLLGetFrame(devHandle, &frame, 5000);
|
||
// if (IMV_OK != ret && -101 != ret)
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Get frame failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
printf("width %d\n", frame.frameInfo.width);
|
||
printf("Height %d\n", frame.frameInfo.height);
|
||
|
||
ret = imageConvert(libHandle, devHandle, frame, gvspPixelBGR8, data, w, h);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("imageConvert failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
// printf("11111111111111\n", ret);
|
||
// cv::Mat im(frame.frameInfo.height, frame.frameInfo.width, CV_8UC3, frame.pData);
|
||
// cv::imwrite("/home/caowei/catkin_ws/output.png", im);
|
||
// cv::imwrite("output.png", im);
|
||
// printf("22222222222222\n", ret);
|
||
// // 向ros送 /image消息
|
||
// sendToRos(frame);
|
||
// 释放图像缓存
|
||
ret = DLLReleaseFrame(devHandle, &frame);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Release frame failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
sleep(500);
|
||
////////////////////////////////////////////////////////////////
|
||
|
||
// // 取图2秒
|
||
// // get frame 2 seconds
|
||
// sleep(2000);
|
||
// 停止拉流
|
||
// Stop grabbing
|
||
|
||
// 等待流碎片走完
|
||
// sleep(2000);
|
||
}
|
||
|
||
int camera_stop()
|
||
{
|
||
int ret = IMV_OK;
|
||
ret = DLLStopGrabbing(devHandle);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Stop grabbing failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
return ret;
|
||
|
||
|
||
// 关闭相机
|
||
// Close camera
|
||
ret = DLLClose(devHandle);
|
||
if (IMV_OK != ret)
|
||
{
|
||
printf("Close camera failed! ErrorCode[%d]\n", ret);
|
||
return ret;
|
||
}
|
||
|
||
// 待修改
|
||
|
||
// 销毁设备句柄
|
||
// Destroy Device Handle
|
||
if (NULL != devHandle)
|
||
{
|
||
// 销毁设备句柄
|
||
// Destroy Device Handle
|
||
DLLDestroyHandle(devHandle);
|
||
}
|
||
|
||
if (NULL != libHandle)
|
||
{
|
||
dlclose(libHandle);
|
||
}
|
||
|
||
// printf("end...\n");
|
||
return ret;
|
||
}
|
||
|
||
int main()
|
||
{
|
||
char* data = (char*)malloc(9344*7000*3);
|
||
int w, h;
|
||
|
||
ret = camera_init();
|
||
if (ret != IMV_OK) return ret;
|
||
|
||
ret = camera_start(12 * 10000);
|
||
if (ret != IMV_OK) return ret;
|
||
|
||
int index = 5;
|
||
while (true)
|
||
{
|
||
ret = camera_cap((void**) &data, w, h, 5000);
|
||
if (ret != IMV_OK) return ret;
|
||
|
||
cv::Mat im(h,w, CV_8UC3, data);
|
||
// cv::imwrite("/home/caowei/catkin_ws/output.png", im);
|
||
cv::imwrite("output.png", im);
|
||
index --;
|
||
if (index == 0)
|
||
break;
|
||
}
|
||
|
||
// ret = camera_cap((void**) &data, w, h, 5000);
|
||
// if (ret != IMV_OK) return ret;
|
||
|
||
// cv::Mat im(h,w, CV_8UC3, data);
|
||
// // cv::imwrite("/home/caowei/catkin_ws/output.png", im);
|
||
// cv::imwrite("output.png", im);
|
||
|
||
// ret = camera_cap((void**) & data, w, h, 5000);
|
||
// if (ret != IMV_OK) return ret;
|
||
|
||
// cv::Mat im2(h,w, CV_8UC3, data);
|
||
// // cv::imwrite("/home/caowei/catkin_ws/output2.png", im2);
|
||
// cv::imwrite("output2.png", im2);
|
||
|
||
camera_stop();
|
||
|
||
if (data)
|
||
free(data);
|
||
return ret;
|
||
}
|
||
//
|
||
//
|
||
//int main()
|
||
//{
|
||
// int ret = IMV_OK;
|
||
// unsigned int cameraIndex = 0;
|
||
// IMV_HANDLE devHandle = NULL;
|
||
// void* libHandle = NULL;
|
||
// DLL_DestroyHandle DLLDestroyHandle = NULL;
|
||
// IMV_Frame frame;
|
||
//
|
||
// // 加载SDK库
|
||
// // Load SDK library
|
||
//#ifdef _WIN32
|
||
// libHandle = 0;
|
||
//#else
|
||
// libHandle = dlopen("libMVSDK.so", RTLD_LAZY);
|
||
//#endif
|
||
//
|
||
// if (NULL == libHandle)
|
||
// {
|
||
// printf("Load MVSDKmd.dll library failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 获取发现设备接口函数地址
|
||
// // Get discover camera interface address
|
||
// DLLEnumDevices = (DLL_EnumDevices)dlsym(libHandle, "IMV_EnumDevices");
|
||
// if (NULL == DLLEnumDevices)
|
||
// {
|
||
// printf("Get IMV_EnumDevices address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 获取创建设备句柄接口函数地址
|
||
// // Get create Device Handle interface address
|
||
// DLLCreateHandle = (DLL_CreateHandle)dlsym(libHandle, "IMV_CreateHandle");
|
||
// if (NULL == DLLCreateHandle)
|
||
// {
|
||
// printf("Get IMV_CreateHandle address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 获取销毁设备句柄接口函数地址
|
||
// // Get destroy Device Handle interface address
|
||
// DLLDestroyHandle = (DLL_DestroyHandle)dlsym(libHandle, "IMV_DestroyHandle");
|
||
// if (NULL == DLLDestroyHandle)
|
||
// {
|
||
// printf("Get IMV_DestroyHandle address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 获取打开相机接口函数地址
|
||
// // Get open camera interface address
|
||
// DLLOpen = (DLL_Open)dlsym(libHandle, "IMV_Open");
|
||
// if (NULL == DLLOpen)
|
||
// {
|
||
// printf("Get IMV_Open address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 获取注册数据帧回调接口函数地址
|
||
// // Get register data frame callback interface address
|
||
// DLLAttachGrabbing = (DLL_AttachGrabbing)dlsym(libHandle, "IMV_AttachGrabbing");
|
||
// if (NULL == DLLAttachGrabbing)
|
||
// {
|
||
// printf("Get IMV_AttachGrabbing address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 获取开始拉流接口函数地址
|
||
// // Get start grabbing interface address
|
||
// DLLStartGrabbing = (DLL_StartGrabbing)dlsym(libHandle, "IMV_StartGrabbing");
|
||
// if (NULL == DLLStartGrabbing)
|
||
// {
|
||
// printf("Get IMV_StartGrabbing address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 获取停止拉流接口函数地址
|
||
// // Get stop grabbing interface address
|
||
// DLLStopGrabbing = (DLL_StopGrabbing)dlsym(libHandle, "IMV_StopGrabbing");
|
||
// if (NULL == DLLStopGrabbing)
|
||
// {
|
||
// printf("Get IMV_StopGrabbing address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 获取
|
||
//
|
||
// // 获取关闭相机接口函数地址
|
||
// // Get close camera interface address
|
||
// DLLClose = (DLL_Close)dlsym(libHandle, "IMV_Close");
|
||
// if (NULL == DLLClose)
|
||
// {
|
||
// printf("Get IMV_Close address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 获取获取一帧图像函数地址
|
||
// DLLGetFrame = (DLL_GetFrame)dlsym(libHandle, "IMV_GetFrame");
|
||
// if (NULL == DLLGetFrame)
|
||
// {
|
||
// printf("Get IMV_GetFrame address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// DLLReleaseFrame = (DLL_ReleaseFrame)dlsym(libHandle, "IMV_ReleaseFrame");
|
||
// if (NULL == DLLReleaseFrame)
|
||
// {
|
||
// printf("Get IMV_ReleaseFrame address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// DLLClearFrameBuffer = (DLL_ClearFrameBuffer)dlsym(libHandle, "IMV_ClearFrameBuffer");
|
||
// if (NULL == DLLClearFrameBuffer)
|
||
// {
|
||
// printf("Get IMV_ClearFrameBuffer address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// DLLExecuteCommandFeature = (DLL_ExecuteCommandFeature)dlsym(libHandle, "IMV_ExecuteCommandFeature");
|
||
// if (NULL == DLLExecuteCommandFeature)
|
||
// {
|
||
// printf("Get IMV_ExecuteCommandFeature address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// DLLSetIntFeatureValue = (DLL_SetIntFeatureValue)dlsym(libHandle, "IMV_SetIntFeatureValue");
|
||
// if (NULL == DLLSetIntFeatureValue)
|
||
// {
|
||
// printf("Get IMV_SetIntFeatureValue address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// DLLSetDoubleFeatureValue = (DLL_SetDoubleFeatureValue)dlsym(libHandle, "IMV_SetDoubleFeatureValue");
|
||
// if (NULL == DLLSetDoubleFeatureValue)
|
||
// {
|
||
// printf("Get IMV_SetDoubleFeatureValue address failed!\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
//
|
||
//////////////////////// 检查接口结束
|
||
// // 发现设备
|
||
// // discover camera
|
||
// IMV_DeviceList deviceInfoList;
|
||
// ret = DLLEnumDevices(&deviceInfoList, interfaceTypeAll);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Enumeration devices failed! ErrorCode[%d]\n", ret);
|
||
// return 0;
|
||
// }
|
||
//
|
||
// if (deviceInfoList.nDevNum < 1)
|
||
// {
|
||
// printf("no camera\n");
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 打印相机基本信息（序号,类型,制造商信息,型号,序列号,用户自定义ID,IP地址）
|
||
// // Print camera info (Index, Type, Vendor, Model, Serial number, DeviceUserID, IP Address)
|
||
//
|
||
// displayDeviceInfo(deviceInfoList);
|
||
// // 选择需要连接的相机
|
||
// // Select one camera to connect to
|
||
// // cameraIndex = selectDevice(deviceInfoList.nDevNum);
|
||
// cameraIndex = 0; // 第一个相机
|
||
//
|
||
// // 创建设备句柄
|
||
// // Create Device Handle
|
||
// ret = DLLCreateHandle(&devHandle, modeByIndex, (void*)&cameraIndex);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Create devHandle failed! ErrorCode[%d]\n", ret);
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 打开相机
|
||
// ret = DLLOpen(devHandle);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Open camera failed! ErrorCode[%d]\n", ret);
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 设置软触发模式
|
||
// ret = setSoftTriggerConf(libHandle, devHandle);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("setSoftTriggerConf failed! ErrorCode[%d]\n", ret);
|
||
// return 0;
|
||
// }
|
||
//
|
||
// ret = DLLSetIntFeatureValue(devHandle, "Width", 9344);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Set feature value Width failed! ErrorCode[%d]\n", ret);
|
||
// return ret;
|
||
// }
|
||
//
|
||
// ret = DLLSetIntFeatureValue(devHandle, "Height", 7000);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Set feature value Height failed! ErrorCode[%d]\n", ret);
|
||
// return ret;
|
||
// }
|
||
//
|
||
// ret = DLLSetIntFeatureValue(devHandle, "OffsetX", 0);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Set feature value OffsetX failed! ErrorCode[%d]\n", ret);
|
||
// return ret;
|
||
// }
|
||
//
|
||
// ret = DLLSetIntFeatureValue(devHandle, "OffsetY", 0);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Set feature value OffsetY failed! ErrorCode[%d]\n", ret);
|
||
// return ret;
|
||
// }
|
||
//
|
||
// // 设置属性值曝光
|
||
// // Set feature value
|
||
// ret = DLLSetDoubleFeatureValue(devHandle, "ExposureTime", 12*10000);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Set feature value failed! ErrorCode[%d]\n", ret);
|
||
// return ret;
|
||
// }
|
||
//
|
||
// // // 非多线程，不需要注册回调
|
||
// // // 注册数据帧回调函数
|
||
// // // Register data frame callback function
|
||
// // ret = DLLAttachGrabbing(devHandle, onGetFrame, NULL);
|
||
// // if (IMV_OK != ret)
|
||
// // {
|
||
// // printf("Attach grabbing failed! ErrorCode[%d]\n", ret);
|
||
// // return 0;
|
||
// // }
|
||
//
|
||
// // 开始拉流
|
||
// // Start grabbing
|
||
// ret = DLLStartGrabbing(devHandle);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Start grabbing failed! ErrorCode[%d]\n", ret);
|
||
// return 0;
|
||
// }
|
||
//
|
||
// /////////////////////////获取一帧图像////////////////////////////
|
||
//
|
||
// // 清除帧数据缓存
|
||
// // Clear frame buffer
|
||
// ret = DLLClearFrameBuffer(devHandle);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Clear frame buffer failed! ErrorCode[%d]\n", ret);
|
||
// return ret;
|
||
// }
|
||
//
|
||
// // 执行软触发
|
||
// // Execute soft trigger
|
||
// ret = DLLExecuteCommandFeature(devHandle, "TriggerSoftware");
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Execute TriggerSoftware failed! ErrorCode[%d]\n", ret);
|
||
// return ret;
|
||
// }
|
||
//
|
||
//
|
||
// // 获取一帧图像, TIMEOUT 5000ms
|
||
// ret = DLLGetFrame(devHandle, &frame, 5000);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Get frame failed! ErrorCode[%d]\n", ret);
|
||
// return 0;
|
||
// }
|
||
//
|
||
// printf("width %d\n", frame.frameInfo.width);
|
||
// printf("Height %d\n", frame.frameInfo.height);
|
||
//
|
||
// ret = imageConvert(libHandle, devHandle, frame, gvspPixelBGR8);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("imageConvert failed! ErrorCode[%d]\n", ret);
|
||
// return 0;
|
||
// }
|
||
// // printf("11111111111111\n", ret);
|
||
// // cv::Mat im(frame.frameInfo.width, frame.frameInfo.height, CV_8UC3, frame.pData);
|
||
// // cv::imwrite("/home/caowei/catkin_ws/output.png", im);
|
||
// // cv::imwrite("output.png", im);
|
||
// // printf("22222222222222\n", ret);
|
||
// // // 向ros送 /image消息
|
||
// // sendToRos(frame);
|
||
//
|
||
// // 释放图像缓存
|
||
// ret = DLLReleaseFrame(devHandle, &frame);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Release frame failed! ErrorCode[%d]\n", ret);
|
||
// return 0;
|
||
// }
|
||
// ////////////////////////////////////////////////////////////////
|
||
//
|
||
// // // 取图2秒
|
||
// // // get frame 2 seconds
|
||
// // sleep(2000);
|
||
//
|
||
// // 停止拉流
|
||
// // Stop grabbing
|
||
// ret = DLLStopGrabbing(devHandle);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Stop grabbing failed! ErrorCode[%d]\n", ret);
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 关闭相机
|
||
// // Close camera
|
||
// ret = DLLClose(devHandle);
|
||
// if (IMV_OK != ret)
|
||
// {
|
||
// printf("Close camera failed! ErrorCode[%d]\n", ret);
|
||
// return 0;
|
||
// }
|
||
//
|
||
// // 销毁设备句柄
|
||
// // Destroy Device Handle
|
||
// if (NULL != devHandle)
|
||
// {
|
||
// // 销毁设备句柄
|
||
// // Destroy Device Handle
|
||
// DLLDestroyHandle(devHandle);
|
||
// }
|
||
//
|
||
// if (NULL != libHandle)
|
||
// {
|
||
// dlclose(libHandle);
|
||
// }
|
||
//
|
||
// printf("end...\n");
|
||
// // getchar();
|
||
//
|
||
// return 0;
|
||
//}
|
||
|
||
} |