知微传感Dkam系列3D相机SDK例程篇：连接相机采集并保存数据

序言

写在前面

• 编写此系列文章主要目的有：
  • 1、便利他人应用相机，本系列文章包含公司所出售相机的SDK的使用例程及详细注释；
  • 2、促进行业发展及交流。
• 欢迎与我深入交流：微信号：liu_zhisensor

DKAM系列3D相机SDK例程及注释

相机连接、数据采集及保存

• 本例程基于WIN10+VisualStudio2019+DkamSDK_1.6.72,采用C++语言
• SDK的配置方法，请参考官方提供的SDK说明书

#include <iostream>

//DkamSDK
#include"dkam_discovery.h"
#include"dkam_gige_camera.h"
#include"dkam_gige_stream.h"

int main()
{
    std::cout << "Hello Zhisensor!" << std::endl;
    std::cout << "Hello liu_zhisensro!" << std::endl;

	std::vector<DiscoveryInfo> discovery_info;
	Discovery discovery;
	GigeCamera camera;

	GigeStream* pointgigestream = NULL;
	GigeStream* graygigestream = NULL;
	GigeStream* rgbgigestream = NULL;
	std::vector<DiscoveryInfo>().swap(discovery_info);

	//**********************************************查询相机****************************************************
	//查询局域网内的3D相机
	int camer_num = discovery.DiscoverCamera(&discovery_info);
	std::cout << "局域网内共有" << camer_num << "台相机" << std::endl;

	//显示局域网内相机的IP
	for (int i = 0; i < camer_num; i++)
	{
		std::cout << "局域网内相机的IP为:" << discovery.ConvertIpIntToString(discovery_info[i].camera_ip) << std::endl;
	}

	//**********************************************连接相机****************************************************
	//选定相机
	int k = -1;
	for (int i = 0; i < camer_num; i++)
	{
		if (strcmp((discovery.ConvertIpIntToString(discovery_info[i].camera_ip)), "169.254.47.60") == 0)
		{
			k = i;
			std::cout << "将连接第" << k + 1 << "台相机" << std::endl;
		}
		else
		{
			std::cout << "局域网内无该IP的相机" << std::endl;
		}
	}
	//连接相机
	int connect = camera.CameraConnect(&discovery_info[k]);
	if (connect == 0)
	{
		std::cout << "成功连接相机" << std::endl;
	}
	else
	{
		std::cout << "连接相机失败，请检查！！！" << std::endl;
	}

	//**********************************************配置相机****************************************************
	if (connect == 0)
	{
		//获取当前红外相机的宽和高
		int width = -1;
		int height = -1;
		std::cout << "获取相机红外图的宽和高。。。" << std::endl;
		int height_gray = camera.GetCameraHeight(&height, 0);
		int width_gray = camera.GetCameraWidth(&width, 0);
		std::cout << "camera  Grey width:" << width << "---Grey height:" << height << std::endl;

		//获取当前RGB相机的宽和高，如相机不支持则无此项
		int width_RGB = -1;
		int height_RGB = -1;
		std::cout << "获取相机RGB图的宽和高。。。" << std::endl;
		int height_rgb = camera.GetCameraHeight(&height_RGB, 1);
		int width_rgb = camera.GetCameraWidth(&width_RGB, 1);
		std::cout << "camera RGB width:" << width_RGB << "-----RGB height:" << height_RGB << std::endl;

		//定义点云数据大小
		PhotoInfo* point_data = new PhotoInfo;
		point_data->pixel = new char[width * height * 6];
		memset(point_data->pixel, 0, width * height * 6);

		//定义红外数据大小
		PhotoInfo* gray_data = new PhotoInfo;
		gray_data->pixel = new char[width * height];
		memset(gray_data->pixel, 0, width * height);

		//定义RGB数据大小
		PhotoInfo* RGB_data = new PhotoInfo;
		RGB_data->pixel = new char[width_RGB * height_RGB * 3];
		memset(RGB_data->pixel, 0, width_RGB * height_RGB * 3);


		//**********************************************打开数据通道****************************************************

		//开启数据流通道(0:红外 1:点云 2:RGB)
		int stream_gray = camera.StreamOn(0, &graygigestream);
		if (stream_gray == 0)
		{
			std::cout << "红外图通道打开成功！" << std::endl;
		}
		else
		{
			std::cout << "红外图通道打开失败！！！" << std::endl;
		}

		int stream_point = camera.StreamOn(1, &pointgigestream);
		if (stream_point == 0)
		{
			std::cout << "点云通道打开成功！" << std::endl;
		}
		else
		{
			std::cout << "点云通道打开失败！！！" << std::endl;
		}

		int stream_RGB = camera.StreamOn(2, &rgbgigestream);
		if (stream_RGB == 0)
		{
			std::cout << "RGB图通道打开成功！" << std::endl;
		}
		else
		{
			std::cout << "RGB图通道打开失败！！！" << std::endl;
		}
		//开始接受数据
		int acquistion = camera.AcquisitionStart();
		if (acquistion == 0)
		{
			std::cout << "可以开始接受数据！" << std::endl;
		}

		//刷新缓冲区数据
		pointgigestream->FlushBuffer();
		graygigestream->FlushBuffer();
		rgbgigestream->FlushBuffer();


		std::cout << "等待数据采集、传输。。。" << std::endl;


		//**********************************************等待相机上传数据***************************************
		//采集点云
		int capturePoint = -1;
		capturePoint = pointgigestream->TimeoutCapture(point_data, 6000000);
		if (capturePoint == 0)
		{
			std::cout << "点云接收成功！" << std::endl;
		}
		else
		{
			std::cout << "点云接收失败！！！" << std::endl;
			std::cout << "失败代号：" << capturePoint << std::endl;
		}
		//采集红外
		int captureGray = -1;
		captureGray = graygigestream->TimeoutCapture(gray_data, 3000000);
		if (captureGray == 0)
		{
			std::cout << "红外接收成功！" << std::endl;
		}
		else
		{
			std::cout << "红外接收失败！！！" << std::endl;
			std::cout << "失败代号：" << capturePoint << std::endl;
		}
		//采集RGB
		int captureRGB = -1;
		captureRGB = rgbgigestream->TimeoutCapture(RGB_data, 3000000);
		if (captureRGB == 0)
		{
			std::cout << "RGB接收成功！" << std::endl;
		}
		else
		{
			std::cout << "RGB接收失败！！！" << std::endl;
			std::cout << "失败代号：" << capturePoint << std::endl;
		}


		//**********************************************保存数据到本地***************************************
		//保存点云（pcd）
		int savepoint = camera.SavePointCloudToPcd(*point_data, (char*)"PointCloud.pcd");
		if (savepoint == 0)
		{
			std::cout << "点云保存成功！" << std::endl;
		}
		else
		{
			std::cout << "点云保存失败！！！" << std::endl;
		}

		//保存红外数据
		int savegray = camera.SaveToBMP(*gray_data, (char*)"Gray.bmp");
		if (savegray == 0)
		{
			std::cout << "红外图保存成功！" << std::endl;
		}
		else
		{
			std::cout << "红外图保存失败！！！" << std::endl;
		}

		//保存RGB数据
		int savergb = camera.SaveToBMP(*RGB_data, (char*)"RGB.bmp");
		if (savergb == 0)
		{
			std::cout << "RGB图保存成功！" << std::endl;
		}
		else
		{
			std::cout << "RGB图保存失败！！！" << std::endl;
		}
		//**********************************************结束工作***************************************
		memset(point_data->pixel, 0, width* height * 6);
		memset(gray_data->pixel, 0, width* height);
		memset(RGB_data->pixel, 0, width_RGB* height_RGB * 3);

		//释放内存
		delete[] point_data->pixel;
		delete point_data;
		delete[] gray_data->pixel;
		delete gray_data;
		delete[] RGB_data->pixel;
		delete RGB_data;

		//关闭数据流通道 
		int streamoff_gray = camera.StreamOff(0, graygigestream);
		int streamoff_point = camera.StreamOff(1, pointgigestream);
		int streamoff_rgb = camera.StreamOff(2, rgbgigestream);
		//断开相机连接
		int disconnect = camera.CameraDisconnect();

		std::cout << "工作结束！！！！！！" << std::endl;

	}

	return 0;

}

使用D200采集人脸点云效果

小结

• 使用SDK或DkamView直接保存的灰度图（红外图）和RGB图是没有经过畸变校正的，若需要，用户可获取相机各镜头的内参进行校正，获取内、外参的例程可在本专栏的其他文章中获取
• 如有问题，欢迎与我深入交流：微信号：liu_zhisensor