794 lines
26 KiB
C++
794 lines
26 KiB
C++
#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <pthread.h>
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#include <dlfcn.h>
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#include "IMVApi.h"
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#include "IMVDefines.h"
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#include <opencv2/opencv.hpp>
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#include <opencv2/core.hpp>
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extern "C"{
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#define MONO_CHANNEL_NUM 1
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#define RGB_CHANNEL_NUM 3
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#define BGR_CHANNEL_NUM 3
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#define sleep(ms) usleep(1000 * ms)
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typedef const char* (IMV_CALL * DLL_GetVersion) ();
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typedef int (IMV_CALL * DLL_EnumDevices) (OUT IMV_DeviceList *pDeviceList, IN unsigned int interfaceType);
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typedef int (IMV_CALL * DLL_EnumDevicesByUnicast) (OUT IMV_DeviceList *pDeviceList, IN const char* pIpAddress);
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typedef int (IMV_CALL * DLL_CreateHandle) (OUT IMV_HANDLE* handle, IN IMV_ECreateHandleMode mode, IN void* pIdentifier);
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typedef int (IMV_CALL * DLL_DestroyHandle) (IN IMV_HANDLE handle);
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typedef int (IMV_CALL * DLL_GetDeviceInfo) (IN IMV_HANDLE handle, OUT IMV_DeviceInfo *pDevInfo);
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typedef int (IMV_CALL * DLL_Open) (IN IMV_HANDLE handle);
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typedef int (IMV_CALL * DLL_OpenEx) (IN IMV_HANDLE handle, IN IMV_ECameraAccessPermission accessPermission);
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typedef bool (IMV_CALL * DLL_IsOpen) (IN IMV_HANDLE handle);
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typedef int (IMV_CALL * DLL_Close) (IN IMV_HANDLE handle);
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typedef int (IMV_CALL * DLL_GIGE_ForceIpAddress) (IN IMV_HANDLE handle, IN const char* pIpAddress, IN const char* pSubnetMask, IN const char* pGateway);
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typedef int (IMV_CALL * DLL_GIGE_GetAccessPermission) (IN IMV_HANDLE handle, IMV_ECameraAccessPermission* pAccessPermission);
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typedef int (IMV_CALL * DLL_GIGE_SetAnswerTimeout) (IN IMV_HANDLE handle, IN unsigned int timeout);
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typedef int (IMV_CALL * DLL_DownLoadGenICamXML) (IN IMV_HANDLE handle, IN const char* pFullFileName);
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typedef int (IMV_CALL * DLL_SaveDeviceCfg) (IN IMV_HANDLE handle, IN const char* pFullFileName);
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typedef int (IMV_CALL * DLL_LoadDeviceCfg) (IN IMV_HANDLE handle, IN const char* pFullFileName, OUT IMV_ErrorList* pErrorList);
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typedef int (IMV_CALL * DLL_WriteUserPrivateData) (IN IMV_HANDLE handle, IN void* pBuffer, IN_OUT unsigned int* pLength);
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typedef int (IMV_CALL * DLL_ReadUserPrivateData) (IN IMV_HANDLE handle, OUT void* pBuffer, IN_OUT unsigned int* pLength);
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typedef int (IMV_CALL * DLL_WriteUARTData) (IN IMV_HANDLE handle, IN void* pBuffer, IN_OUT unsigned int* pLength);
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typedef int (IMV_CALL * DLL_ReadUARTData) (IN IMV_HANDLE handle, OUT void* pBuffer, IN_OUT unsigned int* pLength);
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typedef int (IMV_CALL * DLL_SubscribeConnectArg) (IN IMV_HANDLE handle, IN IMV_ConnectCallBack proc, IN void* pUser);
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typedef int (IMV_CALL * DLL_SubscribeParamUpdateArg) (IN IMV_HANDLE handle, IN IMV_ParamUpdateCallBack proc, IN void* pUser);
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typedef int (IMV_CALL * DLL_SubscribeStreamArg) (IN IMV_HANDLE handle, IN IMV_StreamCallBack proc, IN void* pUser);
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typedef int (IMV_CALL * DLL_SubscribeMsgChannelArg) (IN IMV_HANDLE handle, IN IMV_MsgChannelCallBack proc, IN void* pUser);
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typedef int (IMV_CALL * DLL_SetBufferCount) (IN IMV_HANDLE handle, IN unsigned int nSize);
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typedef int (IMV_CALL * DLL_ClearFrameBuffer) (IN IMV_HANDLE handle);
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typedef int (IMV_CALL * DLL_GIGE_SetInterPacketTimeout) (IN IMV_HANDLE handle, IN unsigned int nTimeout);
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typedef int (IMV_CALL * DLL_GIGE_SetSingleResendMaxPacketNum) (IN IMV_HANDLE handle, IN unsigned int maxPacketNum);
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typedef int (IMV_CALL * DLL_GIGE_SetMaxLostPacketNum) (IN IMV_HANDLE handle, IN unsigned int maxLostPacketNum);
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typedef int (IMV_CALL * DLL_StartGrabbing) (IN IMV_HANDLE handle);
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typedef int (IMV_CALL * DLL_StartGrabbingEx) (IN IMV_HANDLE handle, IN uint64_t maxImagesGrabbed, IN IMV_EGrabStrategy strategy);
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typedef bool (IMV_CALL * DLL_IsGrabbing) (IN IMV_HANDLE handle);
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typedef int (IMV_CALL * DLL_StopGrabbing) (IN IMV_HANDLE handle);
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typedef int (IMV_CALL * DLL_AttachGrabbing) (IN IMV_HANDLE handle, IN IMV_FrameCallBack proc, IN void* pUser);
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typedef int (IMV_CALL * DLL_GetFrame) (IN IMV_HANDLE handle, OUT IMV_Frame* pFrame, IN unsigned int timeoutMS);
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typedef int (IMV_CALL * DLL_ReleaseFrame) (IN IMV_HANDLE handle, IN IMV_Frame* pFrame);
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typedef int (IMV_CALL * DLL_CloneFrame) (IN IMV_HANDLE handle, IN IMV_Frame* pFrame, OUT IMV_Frame* pCloneFrame);
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typedef int (IMV_CALL * DLL_GetChunkDataByIndex) (IN IMV_HANDLE handle, IN IMV_Frame* pFrame, IN unsigned int index, OUT IMV_ChunkDataInfo *pChunkDataInfo);
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typedef int (IMV_CALL * DLL_GetStatisticsInfo) (IN IMV_HANDLE handle, OUT IMV_StreamStatisticsInfo* pStreamStatsInfo);
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typedef int (IMV_CALL * DLL_ResetStatisticsInfo) (IN IMV_HANDLE handle);
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typedef bool (IMV_CALL * DLL_FeatureIsAvailable) (IN IMV_HANDLE handle, IN const char* pFeatureName);
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typedef bool (IMV_CALL * DLL_FeatureIsReadable) (IN IMV_HANDLE handle, IN const char* pFeatureName);
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typedef bool (IMV_CALL * DLL_FeatureIsWriteable) (IN IMV_HANDLE handle, IN const char* pFeatureName);
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typedef bool (IMV_CALL * DLL_FeatureIsStreamable) (IN IMV_HANDLE handle, IN const char* pFeatureName);
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typedef bool (IMV_CALL * DLL_FeatureIsValid) (IN IMV_HANDLE handle, IN const char* pFeatureName);
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typedef int (IMV_CALL * DLL_GetIntFeatureValue) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
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typedef int (IMV_CALL * DLL_GetIntFeatureMin) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
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typedef int (IMV_CALL * DLL_GetIntFeatureMax) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
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typedef int (IMV_CALL * DLL_GetIntFeatureInc) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
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typedef int (IMV_CALL * DLL_SetIntFeatureValue) (IN IMV_HANDLE handle, IN const char* pFeatureName, IN int64_t intValue);
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typedef int (IMV_CALL * DLL_GetDoubleFeatureValue) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT double* pDoubleValue);
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typedef int (IMV_CALL * DLL_GetDoubleFeatureMin) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT double* pDoubleValue);
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typedef int (IMV_CALL * DLL_GetDoubleFeatureMax) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT double* pDoubleValue);
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typedef int (IMV_CALL * DLL_SetDoubleFeatureValue) (IN IMV_HANDLE handle, IN const char* pFeatureName, IN double doubleValue);
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typedef int (IMV_CALL * DLL_GetBoolFeatureValue) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT bool* pBoolValue);
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typedef int (IMV_CALL * DLL_SetBoolFeatureValue) (IN IMV_HANDLE handle, IN const char* pFeatureName, IN bool boolValue);
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typedef int (IMV_CALL * DLL_GetEnumFeatureValue) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT uint64_t* pEnumValue);
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typedef int (IMV_CALL * DLL_SetEnumFeatureValue) (IN IMV_HANDLE handle, IN const char* pFeatureName, IN uint64_t enumValue);
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typedef int (IMV_CALL * DLL_GetEnumFeatureSymbol) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT IMV_String* pEnumSymbol);
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typedef int (IMV_CALL * DLL_SetEnumFeatureSymbol) (IN IMV_HANDLE handle, IN const char* pFeatureName, IN const char* pEnumSymbol);
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typedef int (IMV_CALL * DLL_GetEnumFeatureEntryNum) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT unsigned int* pEntryNum);
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typedef int (IMV_CALL * DLL_GetEnumFeatureEntrys) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT IMV_EnumEntryList* pEnumEntryList);
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typedef int (IMV_CALL * DLL_GetStringFeatureValue) (IN IMV_HANDLE handle, IN const char* pFeatureName, OUT IMV_String* pStringValue);
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typedef int (IMV_CALL * DLL_SetStringFeatureValue) (IN IMV_HANDLE handle, IN const char* pFeatureName, IN const char* pStringValue);
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typedef int (IMV_CALL * DLL_ExecuteCommandFeature) (IN IMV_HANDLE handle, IN const char* pFeatureName);
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typedef int (IMV_CALL * DLL_PixelConvert) (IN IMV_HANDLE handle, IN_OUT IMV_PixelConvertParam* pstPixelConvertParam);
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typedef int (IMV_CALL * DLL_OpenRecord) (IN IMV_HANDLE handle, IN IMV_RecordParam *pstRecordParam);
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typedef int (IMV_CALL * DLL_InputOneFrame) (IN IMV_HANDLE handle, IN IMV_RecordFrameInfoParam *pstRecordFrameInfoParam);
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typedef int (IMV_CALL * DLL_CloseRecord) (IN IMV_HANDLE handle);
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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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// 设置触发模式
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// Set trigger mode to On
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ret = DLLSetEnumFeatureSymbol(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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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)
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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 ret;
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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 -1;
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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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// cv::Mat im(stPixelConvertParam.nHeight, stPixelConvertParam.nWidth, CV_8UC3, stPixelConvertParam.pDstBuf);
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// // 内参矩阵
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// cv::Mat cameraMatrix = (cv::Mat_<double>(3, 3) << 11057.154, 0, 4538.85, 0, 11044.943, 3350.918, 0, 0, 1);
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// // 设置畸变系数
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// cv::Mat distCoeffs = (cv::Mat_<double>(1, 5) << 0.311583980, -14.5864013, -0.00630134677, -0.00466401902, 183.662957);
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// // 准备输出图像
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// cv::Mat undistortedImg;
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// // 使用cv::undistort函数进行校正
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// cv::undistort(src, undistortedImg, cameraMatrix, distCoeffs);
|
||
|
||
cv::imwrite("/home/caowei/catkin_ws/output.png", undistortedImg);
|
||
cv::imwrite("output.png", undistortedImg);
|
||
|
||
// hFile = fopen(pFileName, "wb");
|
||
// if (hFile != NULL)
|
||
// {
|
||
// fwrite((void*)pDstBuf, 1, stPixelConvertParam.nDstBufSize, hFile);
|
||
// fclose(hFile);
|
||
// }
|
||
// else
|
||
// {
|
||
// // 如果打开失败，请用root权限执行
|
||
// // If opefailed, Run as root
|
||
// printf("Open file (%s) failed!\n", pFileName);
|
||
// }
|
||
}
|
||
else
|
||
{
|
||
printf("image convert to %s failed! ErrorCode[%d]\n", pConvertFormatStr, ret);
|
||
}
|
||
|
||
if (pDstBuf)
|
||
{
|
||
free(pDstBuf);
|
||
pDstBuf = NULL;
|
||
}
|
||
|
||
return IMV_OK;
|
||
}
|
||
|
||
static void sendToRos(IMV_Frame frame)
|
||
{
|
||
IMV_FlipImageParam stFlipImageParam;
|
||
unsigned int nChannelNum = 0;
|
||
int ret = IMV_OK;
|
||
FILE* hFile = NULL;
|
||
|
||
memset(&stFlipImageParam, 0, sizeof(stFlipImageParam));
|
||
|
||
if (gvspPixelBGR8 == frame.frameInfo.pixelFormat)
|
||
{
|
||
stFlipImageParam.pSrcData = frame.pData;
|
||
stFlipImageParam.nSrcDataLen = frame.frameInfo.width * frame.frameInfo.height * BGR_CHANNEL_NUM;
|
||
stFlipImageParam.ePixelFormat = frame.frameInfo.pixelFormat;
|
||
nChannelNum = BGR_CHANNEL_NUM;
|
||
}
|
||
else
|
||
{
|
||
printf("image convert to BGR8 failed! ErrorCode[%d]\n", ret);
|
||
}
|
||
|
||
// 向ros发送/image消息
|
||
do
|
||
{
|
||
|
||
} while (false);
|
||
|
||
}
|
||
|
||
|
||
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
|
||
libHandle = dlopen("libMVSDK.so", RTLD_LAZY);
|
||
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
|
||
DLL_EnumDevices 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
|
||
DLL_CreateHandle 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
|
||
DLL_Open 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
|
||
DLL_AttachGrabbing 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
|
||
DLL_StartGrabbing 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
|
||
DLL_StopGrabbing 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
|
||
DLL_Close 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
|
||
DLL_GetFrame DLLGetFrame = (DLL_GetFrame)dlsym(libHandle, "IMV_GetFrame");
|
||
if (NULL == DLLGetFrame)
|
||
{
|
||
printf("Get IMV_GetFrame address failed!\n");
|
||
return 0;
|
||
}
|
||
|
||
DLL_ReleaseFrame DLLReleaseFrame = (DLL_ReleaseFrame)dlsym(libHandle, "IMV_ReleaseFrame");
|
||
if (NULL == DLLReleaseFrame)
|
||
{
|
||
printf("Get IMV_ReleaseFrame address failed!\n");
|
||
return 0;
|
||
}
|
||
|
||
DLL_ClearFrameBuffer DLLClearFrameBuffer = (DLL_ClearFrameBuffer)dlsym(libHandle, "IMV_ClearFrameBuffer");
|
||
if (NULL == DLLClearFrameBuffer)
|
||
{
|
||
printf("Get IMV_ClearFrameBuffer address failed!\n");
|
||
return 0;
|
||
}
|
||
|
||
DLL_ExecuteCommandFeature DLLExecuteCommandFeature = (DLL_ExecuteCommandFeature)dlsym(libHandle, "IMV_ExecuteCommandFeature");
|
||
if (NULL == DLLExecuteCommandFeature)
|
||
{
|
||
printf("Get IMV_ExecuteCommandFeature address failed!\n");
|
||
return 0;
|
||
}
|
||
|
||
DLL_SetIntFeatureValue DLLSetIntFeatureValue = (DLL_SetIntFeatureValue)dlsym(libHandle, "IMV_SetIntFeatureValue");
|
||
if (NULL == DLLSetIntFeatureValue)
|
||
{
|
||
printf("Get IMV_SetIntFeatureValue address failed!\n");
|
||
return 0;
|
||
}
|
||
|
||
DLL_SetDoubleFeatureValue 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;
|
||
}
|
||
|
||
} |