大恒相机真的是坑,如果你想连续保存保存图像基本会蓝屏,至于原因我还在找,感觉它的sdk做的不是很人性化,怎么说呢,用opencv读图像一点问题没有,显示也没有,但是想要连续保存就会蓝屏,真的不是很懂。
我用的代码几乎就是sdk里面doc文档的c++,但是怎么用opencv来读取图像呢,需要用到memcpy这个内存拷贝函数,代码如下
Mat curr(objImageDataPointer->GetHeight(), objImageDataPointer->GetWidth(), CV_8UC1);
void* pRaw8Buffer = NULL;
pRaw8Buffer = objImageDataPointer->ConvertToRaw8(GX_BIT_0_7);
memcpy(curr.data, pRaw8Buffer, (objImageDataPointer->GetHeight())*(objImageDataPointer->GetWidth()));
flip(curr, curr, 0);
这样就可以将存储数据转到mat上了,然后就可以显示了。但是想要连续保存,我用imwrite进行连续保存在关闭终端会蓝屏。。。难受啊。。。
好了,下面给出代码,基本参考它的工程示例
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include "stdlib.h"
#include <fstream>
using namespace std;
using namespace cv;
int j = 0;
//请用户提前配置好工程头文件目录,需要包含GalaxyIncludes.h
#include <GalaxyIncludes.h>
//用户继承掉线事件处理类
class CSampleDeviceOfflineEventHandler : public IDeviceOfflineEventHandler
{
public:
void DoOnDeviceOfflineEvent(void* pUserParam)
{
cout << "收到设备掉线事件!" << endl;
}
};
//用户继承属性更新事件处理类
class CSampleFeatureEventHandler : public IFeatureEventHandler
{
public:
void DoOnFeatureEvent(const GxIAPICPP::gxstring&strFeatureName, void* pUserParam)
{
cout << "收到曝光结束事件!" << endl;
}
};
//用户继承采集事件处理类
class CSampleCaptureEventHandler : public ICaptureEventHandler
{
public:
void DoOnImageCaptured(CImageDataPointer&objImageDataPointer, void* pUserParam)
{
cout << "收到一帧图像!" << endl;
cout << "ImageInfo: " << objImageDataPointer->GetStatus() << endl;
cout << "ImageInfo: " << objImageDataPointer->GetWidth() << endl;
cout << "ImageInfo: " << objImageDataPointer->GetHeight() << endl;
cout << "ImageInfo: " << objImageDataPointer->GetPayloadSize() << endl;
Mat curr(objImageDataPointer->GetHeight(), objImageDataPointer->GetWidth(), CV_8UC1);
void* pRaw8Buffer = NULL;
pRaw8Buffer = objImageDataPointer->ConvertToRaw8(GX_BIT_0_7);
memcpy(curr.data, pRaw8Buffer, (objImageDataPointer->GetHeight())*(objImageDataPointer->GetWidth()));
flip(curr, curr, 0);
j++;
char st[30];
sprintf_s(st, 30, "%s%d%s", "./photo/", j, ".bmp");
imwrite(st, curr);
imshow("h", curr);
waitKey(1);
cout << "zhenshu" << objImageDataPointer->GetFrameID() << endl;
}
};
int main(int argc, char* argv[])
{
//声明事件回调对象指针
IDeviceOfflineEventHandler* pDeviceOfflineEventHandler = NULL;///<掉线事件回调对象
IFeatureEventHandler* pFeatureEventHandler = NULL;///<远端设备事件回调对象
ICaptureEventHandler* pCaptureEventHandler = NULL;///<采集回调对象
//初始化
IGXFactory::GetInstance().Init();
for (int i = 0;i<1; i++)
{
gxdeviceinfo_vector vectorDeviceInfo;
IGXFactory::GetInstance().UpdateDeviceList(1000, vectorDeviceInfo);
if (0 == vectorDeviceInfo.size())
{
cout << "无可用设备!" << endl;
break;
}
//打开第一台设备以及设备下面第一个流
CGXDevicePointer ObjDevicePtr = IGXFactory::GetInstance().OpenDeviceBySN(
vectorDeviceInfo[0].GetSN(),
GX_ACCESS_EXCLUSIVE);
CGXStreamPointer ObjStreamPtr = ObjDevicePtr->OpenStream(0);
//注册设备掉线事件【目前只有千兆网系列相机支持此事件通知】
GX_DEVICE_OFFLINE_CALLBACK_HANDLE hDeviceOffline = NULL;
pDeviceOfflineEventHandler = new CSampleDeviceOfflineEventHandler();
hDeviceOffline = ObjDevicePtr->RegisterDeviceOfflineCallback(pDeviceOfflineEventHandler, NULL);
//获取远端设备属性控制器
CGXFeatureControlPointer ObjFeatureControlPtr = ObjDevicePtr->GetRemoteFeatureControl();
//注册远端设备事件:曝光结束事件【目前只有千兆网系列相机支持曝光结束事件】
//选择事件源
ObjFeatureControlPtr->GetEnumFeature("EventSelector")->SetValue("ExposureEnd");
//使能事件
ObjFeatureControlPtr->GetEnumFeature("EventNotification")->SetValue("On");
GX_FEATURE_CALLBACK_HANDLE hFeatureEvent = NULL;
pFeatureEventHandler = new CSampleFeatureEventHandler();
hFeatureEvent = ObjFeatureControlPtr->RegisterFeatureCallback(
"EventExposureEnd",
pFeatureEventHandler,
NULL);
//注册回调采集
pCaptureEventHandler = new CSampleCaptureEventHandler();
ObjStreamPtr->RegisterCaptureCallback(pCaptureEventHandler, NULL);
//发送开采命令
ObjStreamPtr->StartGrab();
ObjFeatureControlPtr->GetCommandFeature("AcquisitionStart")->Execute();
//此时开采成功,控制台打印信息,直到输入任意键继续
getchar();
//发送停采命令
ObjFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();
ObjStreamPtr->StopGrab();
//注销采集回调
ObjStreamPtr->UnregisterCaptureCallback();
//注销远端设备事件
ObjFeatureControlPtr->UnregisterFeatureCallback(hFeatureEvent);
//注销设备掉线事件
ObjDevicePtr->UnregisterDeviceOfflineCallback(hDeviceOffline);
//释放资源
ObjStreamPtr->Close();
ObjDevicePtr->Close();
}
//反初始化库
IGXFactory::GetInstance().Uninit();
//销毁事件回调指针
if (NULL != pCaptureEventHandler)
{
delete pCaptureEventHandler;
pCaptureEventHandler = NULL;
}
if (NULL != pDeviceOfflineEventHandler)
{
delete pDeviceOfflineEventHandler;
pDeviceOfflineEventHandler = NULL;
}
if (NULL != pFeatureEventHandler)
{
delete pFeatureEventHandler;
pFeatureEventHandler = NULL;
}
return 0;
}
我这个是连续保存多张,但是会蓝屏,直接将imwrite函数删了就不会了。。。
最后吐槽一下,国产相机的sdk开发都比较麻烦,但是便宜,只不过国外的相机直接插上就能用还是很不错的。。。
然后呢,我现在采用调用单帧采集循环来实现采集功能,这样就不会担心因为内存泄露而崩溃啦,真的很奇怪,大恒自己的回调采集居然会和opencv有这么强的不兼容。。。
//博主一天后归来
经过看代码,发现其实是博主自己的问题,代码在进行回调采集后面有一个getchar()函数,用来等待我们进行输入字符来使程序进行向下执行从而跳出回调采集,所以一般只要在终端输入回车就ok了。。
//博主zz。。。
下面给出通过重复循环单帧来达到采集功能
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include "stdlib.h"
#include <fstream>
using namespace std;
using namespace cv;
//请用户提前配置好工程头文件目录,需要包含GalaxyIncludes.h
#include <GalaxyIncludes.h>
int main()
{
IGXFactory::GetInstance().Init();
//枚举设备
GxIAPICPP::gxdeviceinfo_vector vectorDeviceInfo;
IGXFactory::GetInstance().UpdateDeviceList(1000, vectorDeviceInfo);
if (vectorDeviceInfo.size() > 0)
{
//打开设备
CGXDevicePointer ObjDevicePtr = IGXFactory::GetInstance().OpenDeviceBySN(
vectorDeviceInfo[0].GetSN(),
GX_ACCESS_EXCLUSIVE);
CGXStreamPointer ObjStreamPtr = ObjDevicePtr->OpenStream(0);
//开启流通道采集
ObjStreamPtr->StartGrab();
//给设备发送开采命令
CGXFeatureControlPointer objFeatureControlPtr = ObjDevicePtr->GetRemoteFeatureControl();
objFeatureControlPtr->GetCommandFeature("AcquisitionStart")->Execute();
//并不需要用到此循环其实。。。它回调采集内部就是已经做成循环了
for (int i = 0; i < 5; i++)
{
//采单帧
CImageDataPointer objImageDataPtr;
objImageDataPtr = ObjStreamPtr->GetImage(500);//超时时间使用500ms,用户可以自行设定
if (objImageDataPtr->GetStatus() == GX_FRAME_STATUS_SUCCESS)
{
//采图成功而且是完整帧,可以进行图像处理...
cout << "收到一帧图像!" << endl;
cout << "ImageInfo: " << objImageDataPtr->GetStatus() << endl;
cout << "ImageInfo: " << objImageDataPtr->GetWidth() << endl;
cout << "ImageInfo: " << objImageDataPtr->GetHeight() << endl;
cout << "ImageInfo: " << objImageDataPtr->GetPayloadSize() << endl;
void* pRaw8Buffer = NULL;
//假设原始数据是Mono8图像
pRaw8Buffer = objImageDataPtr->ConvertToRaw8(GX_BIT_0_7);
Mat curr(objImageDataPtr->GetHeight(), objImageDataPtr->GetWidth(), CV_8UC1);
memcpy(curr.data, pRaw8Buffer, (objImageDataPtr->GetHeight())*(objImageDataPtr->GetWidth()));
char st[30];
sprintf_s(st, 30, "%s%d%s", "./photo/", i, ".bmp");
imwrite(st, curr);
waitKey(15);
}
}
//停采
objFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();
ObjStreamPtr->StopGrab();
//关闭流通道
ObjStreamPtr->Close();
}
IGXFactory::GetInstance().Uninit();
system("pause");
return 0;
}
好啦,这样就可以愉快的利用工业级相机来进行图像处理并且连续保存了,现在的感受是,便宜还是便宜的好,只不过开发sdk比较吃力,毕竟这么便宜的工业相机还是可以的嘛,支持一下国产吼吼吼。。。恩。。。真香。
最后总结,还是一句话,sdk写的其实很完善,文档一定要好好看。。。