MIL与opencv的转化

/**/ /* This is a standalone program. Pass an image name as a first parameter of the program.
   Switch between standard and probabilistic Hough transform by changing "#if 1" to "#if 0" and back */
#include  < cv.h >
#include  < highgui.h >
#include  < math.h >
#include  < stdio.h >
#include  < mil.h >  
// cxcore.lib cv.lib highgui.lib mil.lib milcor.lib milgen.lib milmet2.lib milcor2.lib milmet2d.lib milmet2cl.lib milpul.lib milorion.lib mil1394.lib milvga.lib 
#define  CHECK_EXIT(x) {if(!(x)){printf("Error %s\n",#x);exit(0);}}

class  CMIL_CV
{
    MIL_ID MilApplication,                           /**//* Application identifier.   */
          MilSystem,                                /**//* System identifier.        */
          //MilDisplay,                               /* Display identifier.       */ 
          MilDigitizer,                             /**//* Digitizer identifier.     */ 
          MilImageDisp;                             /**//* Image buffer identifier.  */
           
    static void MouseCallback (int event, int x, int y, int flags, void* param) 
    {
        if(event==CV_EVENT_LBUTTONDOWN)//CV_EVENT_MOUSEMOVE)
        {
            IplImage *img=*(IplImage**)param;//为什么直接传param就不行
            CHECK_EXIT(CV_IS_IMAGE(img));
            CvFont ft=cvFont(2,1);
            char s[100];
            sprintf(s,"%3d,%3d %d",x,y,CV_IMAGE_ELEM(img,BYTE,y,x));;
            cvPutText(img,s,cvPoint(100,100),&ft,CV_RGB(0,0,0));
            printf("%s\n",s);
        }
    }


public:
    enum {
        Mil_CH0=M_CH0,
        Mil_CH1=M_CH1,
    };
    BOOL MilGetImage(int Channel,IplImage * &dst)
    {
        try
        {
            MbufClear(MilImageDisp, 0);
            MdigChannel(MilDigitizer, Channel);
            MdigGrab(MilDigitizer, MilImageDisp);
            
            int w=MbufInquire(MilImageDisp,M_SIZE_X,M_NULL);;
            int h=MbufInquire(MilImageDisp,M_SIZE_Y,M_NULL);;
            int band=MbufInquire(MilImageDisp,M_SIZE_BAND,M_NULL);;
            int pitch=MbufInquire(MilImageDisp,M_PITCH_BYTE,M_NULL);;
        //    IplImage *dst=cvCreateImage(cvSize(w,h),8,band);
            if(!dst)
                dst=cvCreateImage(cvSize(w,h),8,band);
            
//            CHECK_EXIT(dst->width==w && dst->height==h && dst->nChannels=band);
            char* p=dst->imageData;
            MbufGet(MilImageDisp,p);
            dst->origin = IPL_ORIGIN_TL;
            //cvFlip(dst,dst,0);
        }
        catch()
        {
            return FALSE; 
        }

        return TRUE;
    };
    
    BOOL MilOpen(char *DCF_NAME)
    {
        try
        {
            MappAlloc(M_DEFAULT, &MilApplication);
            MsysAlloc(M_SYSTEM_METEOR_II, M_DEF_SYSTEM_NUM, M_SETUP, &MilSystem);
            //MdispAlloc(MilSystem, M_DEFAULT, M_DEF_DISPLAY_FORMAT, M_DEFAULT, &MilDisplay);
            MdigAlloc(MilSystem, M_DEFAULT, DCF_NAME, M_DEFAULT, &MilDigitizer);
            
            printf(" Allocate a display buffer, clear it and display it. \n");
            MbufAllocColor(MilSystem,
                MdigInquire(MilDigitizer, M_SIZE_BAND, M_NULL),
                (long) (MdigInquire(MilDigitizer, M_SIZE_X, M_NULL)),
                (long) (MdigInquire(MilDigitizer, M_SIZE_Y, M_NULL)),
                8L+M_UNSIGNED, 
                M_IMAGE+M_GRAB+M_DISP,
                &MilImageDisp);
            MdigControl(MilDigitizer, M_GRAB_MODE, M_SYNCHRONOUS);   //must!!
            MdigControl(MilDigitizer, M_CAMERA_LOCK, M_ENABLE);//
            MbufClear(MilImageDisp, 0);
        }
        catch()
        {
            return FALSE;
        }

        return TRUE;
    }

    BOOL MilClose()
    {
        try{
            MbufFree(MilImageDisp);
            MdigFree(MilDigitizer);
            MsysFree(MilSystem);
            MappFree(MilApplication);  
        }catch () {
            return FALSE;
        }
        return TRUE;
    }

    void Test()
    {
        CHECK_EXIT(MilOpen("H:/wqj/project/CMILL_CV/DCF6.dcf"));
        IplImage *img0=0;    //必须初始化为0
        IplImage *img1=0;
        int Image_id=0;

        cvNamedWindow( "CH0", 1 );
        cvNamedWindow( "CH1", 1 );

        
        cvSetMouseCallback( "CH0", MouseCallback,&img0);
        cvSetMouseCallback( "CH1", MouseCallback,&img1);

        printf("Press g to save image in current directory.\n");
        printf("Press Esc to Exit.\n");
        do
        {
            //奇怪,抓到的图都是CH0的//--要设置同步
            MilGetImage(M_CH0,img0);
            CHECK_EXIT(img0);
            //printf("ImageSize %d*%d*%d\n",img0->width,img0->height,img0->nChannels);
            MilGetImage(M_CH1,img1);
            CHECK_EXIT(img1);

            int c=cvWaitKey(100);
            if(c=='g')
            {
                char img_name[100];
                sprintf(img_name,"left_%.2d.bmp",Image_id);
                cvSaveImage(img_name,img0);

                sprintf(img_name,"right_%.2d.bmp",Image_id);
                cvSaveImage(img_name,img1);

                printf("save image %d ok\n",Image_id);
                Image_id++;
            }
            else if(c==27)
                break;

            cvShowImage( "CH0", img0 );
            cvShowImage( "CH1", img1 );
        }
        while(1);
        printf("Exit..\n");
        CHECK_EXIT(MilClose());

        cvReleaseImage(&img0);
        cvReleaseImage(&img1);
    }
} ;
int  main( int  argc,  char **  argv)
{
    CMIL_CV milcv;
    milcv.Test();
    return 0;
}