本文主要介绍使用大恒工业水星139相机搭建双目相机的软件过程.以下主要介绍相机采集图像以及保存的过程。
#include <vector>
#include <string>
#include <iostream>
#include <fstream>
#include <queue>
#include <thread>
#include <mutex>
#include <unistd.h>
#include "opencv2/opencv.hpp"
#include "camera_api.h"
#include "tic_toc.h"
bool time_flag_0 = false;
std::chrono::time_point<std::chrono::system_clock> start_0, end_0;
bool time_flag_1 = false;
std::chrono::time_point<std::chrono::system_clock> start_1, end_1;
std::queue<cv::Mat> img0_buf;
std::queue<unsigned int> frame0_ID_buf;
std::queue<double> time0_buf;
std::mutex m0_buf;
std::queue<cv::Mat> img1_buf;
std::queue<unsigned int> frame1_ID_buf;
std::queue<double> time1_buf;
std::mutex m1_buf;
#define image_width 640
#define image_height 480
char *pRGB24Buf_0 = new char[image_width * image_height * 3];
char *pRGB24Buf_1 = new char[image_width * image_height * 3];
void Frame_0_ProcessRGB(GX_FRAME_CALLBACK_PARAM* pFrame)
{
if (pFrame->status == GX_FRAME_STATUS_SUCCESS)
{
std::chrono::time_point<std::chrono::system_clock,std::chrono::microseconds> tp =
std::chrono::time_point_cast<std::chrono::microseconds>(std::chrono::system_clock::now());//获取当前时间点
double time_now = tp.time_since_epoch().count();
start_0 = std::chrono::system_clock::now();
//double time_now = start_0.time_since_epoch().count();
if(!time_flag_0)
{
end_0 = start_0;
time_flag_0 = true;
}
else
{
std::chrono::duration<double> elapsed_seconds = start_0 - end_0;
std::cout << "the CAM_0 frame frequency is: " << 1/elapsed_seconds.count() << std::endl;
end_0 = start_0;
}
//缓冲区初始化*/
memset(pRGB24Buf_0,0,pFrame->nWidth * pFrame->nHeight * 3 * sizeof(char)); //缓冲区初始化*/
DX_BAYER_CONVERT_TYPE cvtype = RAW2RGB_NEIGHBOUR; //选择插值算法
DX_PIXEL_COLOR_FILTER nBayerType = BAYERRG; //选择图像Bayer格式
bool bFlip = false;
VxInt32 DxStatus = DxRaw8toRGB24(const_cast<void *>(pFrame->pImgBuf),pRGB24Buf_0,pFrame->nWidth,pFrame->nHeight,cvtype,nBayerType,bFlip);
if (DxStatus != DX_OK)
{
return ;
}
cv::Mat image_rgb24(pFrame->nHeight, pFrame->nWidth, CV_8UC3);
memcpy(image_rgb24.data, pRGB24Buf_0, pFrame->nHeight * pFrame->nWidth * 3);
unsigned int frame_id = pFrame->nFrameID;
m0_buf.lock();
img0_buf.push(image_rgb24);
frame0_ID_buf.push(frame_id);
time0_buf.push(time_now);
m0_buf.unlock()
}
return ;
}
void Frame_1_ProcessRGB(GX_FRAME_CALLBACK_PARAM* pFrame)
{
if (pFrame->status == GX_FRAME_STATUS_SUCCESS)
{
std::chrono::time_point<std::chrono::system_clock,std::chrono::microseconds> tp =
std::chrono::time_point_cast<std::chrono::microseconds>(std::chrono::system_clock::now());//获取当前时间点
double time_now = tp.time_since_epoch().count();
start_1 = std::chrono::system_clock::now();
if(!time_flag_1)
{
end_1 = start_1;
time_flag_1 = true;
}
else
{
std::chrono::duration<double> elapsed_seconds = start_1 - end_1;
std::cout << "the CAM_1 frame frequency is: " << 1/elapsed_seconds.count() << std::endl;
end_1 = start_1;
}
//缓冲区初始化*/
memset(pRGB24Buf_1,0,pFrame->nWidth * pFrame->nHeight * 3 * sizeof(char)); //缓冲区初始化*/
DX_BAYER_CONVERT_TYPE cvtype = RAW2RGB_NEIGHBOUR; //选择插值算法
DX_PIXEL_COLOR_FILTER nBayerType = BAYERRG; //选择图像Bayer格式
bool bFlip = false;
VxInt32 DxStatus = DxRaw8toRGB24(const_cast<void *>(pFrame->pImgBuf),pRGB24Buf_1,pFrame->nWidth,pFrame->nHeight,cvtype,nBayerType,bFlip);
if (DxStatus != DX_OK)
{
return ;
}
cv::Mat image_rgb24(pFrame->nHeight, pFrame->nWidth, CV_8UC3);
memcpy(image_rgb24.data, pRGB24Buf_1, pFrame->nHeight * pFrame->nWidth * 3);
unsigned int frame_id = pFrame->nFrameID;
m1_buf.lock();
img1_buf.push(image_rgb24);
frame1_ID_buf.push(frame_id);
time1_buf.push(time_now);
m1_buf.unlock();
}
return ;
}
void cam0_process()
{
int cam0_num = 0;
while(1)
{
cv::Mat img_frame;
unsigned int id = 0;
double time = 0;
m0_buf.lock();
if(!img0_buf.empty())
{
std::cout << "the img0_buf size is: " << img0_buf.size() << std::endl;
img_frame = img0_buf.front().clone();
id = frame0_ID_buf.front();
time = time0_buf.front();
img0_buf.pop();
frame0_ID_buf.pop();
time0_buf.pop();
}
m0_buf.unlock();
if(img_frame.data)
{
cvtColor(img_frame, img_frame, CV_BGR2RGB);
//cv::imshow("img0:",img_frame);
std::string img0_path = "/home/h1/CODE/stereo_img_record/build/img0/" + std::to_string(cam0_num++) + ".jpg";
std::cout << img0_path << std::endl;
cv::imwrite(img0_path, img_frame);
//cv::imwrite("/home/h1/CODE/stereo_img_record/capture_image/2021.7.30.jpg", img_frame);
cv::waitKey(1);
}
else
{
return；
}
std::chrono::milliseconds dura(1);
std::this_thread::sleep_for(dura);
}
}
void cam1_process()
{
int cam1_num = 1;
while(1)
{
cv::Mat img_frame;
unsigned int id = 0;
double time = 0;
m1_buf.lock();
if(!img1_buf.empty())
{
//std::cout << "the img0_buf size is: " << img0_buf.size() << std::endl;
img_frame = img1_buf.front().clone();
id = frame1_ID_buf.front();
time = time1_buf.front();
img1_buf.pop();
frame1_ID_buf.pop();
time1_buf.pop();
}
m1_buf.unlock();
if(img_frame.data)
{
cvtColor(img_frame, img_frame, CV_BGR2RGB);
std::string img1_path = "/home/h1/CODE/stereo_img_record/build/img1/" + std::to_string(cam1_num++) + ".jpg";
std::cout << img1_path << std::endl;
cv::imwrite(img1_path, img_frame);
cv::imshow("img1:",img_frame);
}
else
{
return;
}
std::chrono::milliseconds dura(1);
std::this_thread::sleep_for(dura);
}
}
int main()
{
GX_STATUS status = Config();
if(status != GX_STATUS_SUCCESS)
{
std::cout << "config Camera Faile ..." << std::endl;
return 0;
}
camera_config cam0_info;
cam0_info.sn_str = "KE0200100061";
cam0_info.SN = &cam0_info.sn_str[0];
camera_config cam1_info;
cam1_info.sn_str = "KE0200120158";
cam1_info.SN = &cam1_info.sn_str[0];
MercureDriver* cam0 = new MercureDriver(cam0_info);
MercureDriver* cam1 = new MercureDriver(cam1_info);
cam0->InitCamera();
cam1->InitCamera();
if(cam0->status != GX_STATUS_SUCCESS || cam1->status != GX_STATUS_SUCCESS)
{
std::cout << "Initial Stereo Camera Faile ..." << std::endl;
return 0;
}
status = GXRegisterCaptureCallback(cam0->hDevice_, NULL, Frame_0_ProcessRGB);
status = GXSendCommand(cam0->hDevice_, GX_COMMAND_ACQUISITION_START);
if(status != GX_STATUS_SUCCESS)
{
std::cout << "Cam0 Start Read Faile ..." << std::endl;
return 0;
}
status = GXRegisterCaptureCallback(cam1->hDevice_, NULL, Frame_1_ProcessRGB);
status = GXSendCommand(cam1->hDevice_, GX_COMMAND_ACQUISITION_START);
if(status != GX_STATUS_SUCCESS)
{
std::cout << "Cam1 Start Read Faile ..." << std::endl;
return 0;
}
std::thread cam0_thread{
cam0_process};
std::thread cam1_thread{
cam1_process};
while(1)
{
std::chrono::milliseconds dura(5);
std::this_thread::sleep_for(dura);
}
return 0;
}