C++ 大恆水星相機的單幀採集及回調採集利用OpenCV轉成 Mat格式

C++ 大恆水星相機的單幀採集及回調採集利用OpenCV轉成 Mat格式
最近購買一大恆水星MER-310-12UC型彩色相機，其SDK在2019年進行了更新，與之前SDK有很大不同，故現在網上資料較少，將一些簡單的採集轉換操作過程進行總結，後一篇將介紹與QT結合在軟件界面中進行視頻播放等操作。環境是Win10，VS2017, OpenCV3.4

1. 使用手冊閱讀

首先我們要在其官網下載大恆相機的SDK，官網地址：http://www.daheng-imaging.com/，點擊下載中心中的軟件下載選擇合適版本進行下載。然後安裝
安裝好了軟件以後，在安裝目錄下找到說明書，路徑一般爲安裝目錄下：\Daheng Imaging\GalaxySDK\Doc 按照說明書搭建編譯環境

認真閱讀裏面的一些函數及環境搭建方法，但是其給出的示例不能調試成功，後面進行更改可以正確運行程序。

我們在工程需要把圖存成Opencv的Mat形式。大恆C++ SDK採集的圖像數據不能直接把圖像的數據存進Mat，需要將原始數據（我這裏是BayerRG8）經過格式轉換之後轉變成RGB24的格式，直接調用SDK的ConvertToRGB24函數。然後再向Mat寫入數據。

2. 相機回調採集

// An highlighted block
#include <iostream>
#include <opencv2/opencv.hpp>
//using namespace cv;
using namespace std;
#include <GalaxyIncludes.h>

cv::Mat img;
//用戶繼承掉線事件處理類
class CSampleDeviceOfflineEventHandler : public IDeviceOfflineEventHandler
{
public:
	void DoOnDeviceOfflineEvent(void* pUserParam)
	{
		cout << "收到設備掉線事件!" << endl;
	}
};

//用戶繼承屬性更新事件處理類

class CSampleFeatureEventHandler : public IFeatureEventHandler
{
public:
	void DoOnFeatureEvent(const GxIAPICPP::gxstring&strFeatureName, void* pUserParam)
	{
		cout << "收到曝光結束事件!" << endl;
	}
};

//用戶繼承採集事件處理類
class CSampleCaptureEventHandler : public ICaptureEventHandler
{
public:
	void DoOnImageCaptured(CImageDataPointer&objImageDataPointer, void* pUserParam)
	{
		cout << "收到一幀圖像!" << endl;
		cout << "ImageInfo: " << objImageDataPointer->GetStatus() << endl;
		cout << "ImageInfo: " << objImageDataPointer->GetWidth() << endl;
		cout << "ImageInfo: " << objImageDataPointer->GetHeight() << endl;
		cout << "ImageInfo: " << objImageDataPointer->GetPayloadSize() << endl;

		img.create(objImageDataPointer->GetHeight(), objImageDataPointer->GetWidth(), CV_8UC3);
		void *pRGB24Buffer = NULL;
		//假設原始數據是BayerRG8圖像
		pRGB24Buffer = objImageDataPointer->ConvertToRGB24(GX_BIT_0_7, GX_RAW2RGB_NEIGHBOUR, true);
		memcpy(img.data, pRGB24Buffer, (objImageDataPointer->GetHeight()) * (objImageDataPointer->GetWidth()) * 3);
		cv::flip(img, img, 0);
		cv::imshow("sss", img);
		cv::waitKey(1);

		cout << "幀數：" << objImageDataPointer->GetFrameID() << endl;		
	}
};

int main(int argc, char* argv[])
{

	//聲明事件回調對象指針
	IDeviceOfflineEventHandler* pDeviceOfflineEventHandler = NULL;///<掉線事件回調對象
	IFeatureEventHandler* pFeatureEventHandler = NULL;///<遠端設備事件回調對象
	ICaptureEventHandler* pCaptureEventHandler = NULL;///<採集回調對象

	//初始化
	IGXFactory::GetInstance().Init();

	try
	{
		do
		{
			//枚舉設備
			gxdeviceinfo_vector vectorDeviceInfo;
			IGXFactory::GetInstance().UpdateDeviceList(1000, vectorDeviceInfo);
			if (0 == vectorDeviceInfo.size())
			{
				cout << "無可用設備!" << endl;
				break;
			}
			cout << vectorDeviceInfo[0].GetVendorName() << endl;
			cout << vectorDeviceInfo[0].GetSN() << endl;
			//打開第一臺設備以及設備下面第一個流
			CGXDevicePointer ObjDevicePtr = IGXFactory::GetInstance().OpenDeviceBySN(
				vectorDeviceInfo[0].GetSN(),
				GX_ACCESS_EXCLUSIVE);
			CGXStreamPointer ObjStreamPtr = ObjDevicePtr->OpenStream(0);

			//註冊設備掉線事件【目前只有千兆網系列相機支持此事件通知】
			GX_DEVICE_OFFLINE_CALLBACK_HANDLE hDeviceOffline = NULL;
			pDeviceOfflineEventHandler = new CSampleDeviceOfflineEventHandler();
			hDeviceOffline = ObjDevicePtr->RegisterDeviceOfflineCallback(pDeviceOfflineEventHandler, NULL);

			//獲取遠端設備屬性控制器
			CGXFeatureControlPointer ObjFeatureControlPtr = ObjDevicePtr->GetRemoteFeatureControl();
			
			//設置曝光時間(示例中寫死us,只是示例,並不代表真正可工作參數)
			//ObjFeatureControlPtr->GetFloatFeature("ExposureTime")->SetValue(50);

			////註冊遠端設備事件:曝光結束事件【目前只有千兆網系列相機支持曝光結束事件】
			////選擇事件源
			//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);

			//註冊回調採集
			pCaptureEventHandler = new CSampleCaptureEventHandler();
			ObjStreamPtr->RegisterCaptureCallback(pCaptureEventHandler, NULL);

			//發送開採命令
			ObjStreamPtr->StartGrab();
			ObjFeatureControlPtr->GetCommandFeature("AcquisitionStart")->Execute();

			//此時開採成功,控制檯打印信息,直到輸入任意鍵繼續
			getchar();

			//發送停採命令
			ObjFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();
			ObjStreamPtr->StopGrab();

			//註銷採集回調
			ObjStreamPtr->UnregisterCaptureCallback();

			////註銷遠端設備事件
			//ObjFeatureControlPtr->UnregisterFeatureCallback(hFeatureEvent);

			////註銷設備掉線事件
			//ObjDevicePtr->UnregisterDeviceOfflineCallback(hDeviceOffline);

			//釋放資源
			ObjStreamPtr->Close();
			ObjDevicePtr->Close();
		} while (0);
	}

	catch (CGalaxyException&e)
	{
		cout << "錯誤碼: " << e.GetErrorCode() << endl;
		cout << "錯誤描述信息: " << e.what() << endl;
	}
	catch (std::exception&e)
	{
		cout << "錯誤描述信息: " << e.what() << endl;
	}

	//反初始化庫
	IGXFactory::GetInstance().Uninit();

	//銷燬事件回調指針
	if (NULL != pCaptureEventHandler)
	{
		delete pCaptureEventHandler;
		pCaptureEventHandler = NULL;
	}
	if (NULL != pDeviceOfflineEventHandler)
	{
		delete pDeviceOfflineEventHandler;
		pDeviceOfflineEventHandler = NULL;
	}
	if (NULL != pFeatureEventHandler)
	{
		delete pFeatureEventHandler;
		pFeatureEventHandler = NULL;
	}
	return 0;

}

運行會報CGalaxyEeception 找不到標識符的錯誤，我們可以在gxsmartptr.h的文件中，在上面添一句#include “GalaxyException.h” 就好了！

使用的是回調採集方式，其運行結果：

圖中是以視頻幀的方式顯示。

3.單幀採集

// An highlighted block
#include <iostream>
#include <opencv2/opencv.hpp>
//using namespace cv;
using namespace std;
#include <GalaxyIncludes.h>

cv::Mat img;
//用戶繼承掉線事件處理類
class CSampleDeviceOfflineEventHandler : public IDeviceOfflineEventHandler
{
public:
	void DoOnDeviceOfflineEvent(void* pUserParam)
	{
		cout << "收到設備掉線事件!" << endl;
	}
};

//用戶繼承屬性更新事件處理類

class CSampleFeatureEventHandler : public IFeatureEventHandler
{
public:
	void DoOnFeatureEvent(const GxIAPICPP::gxstring&strFeatureName, void* pUserParam)
	{
		cout << "收到曝光結束事件!" << endl;
	}
};

int main(int argc, char* argv[])
{

	//聲明事件回調對象指針
	IDeviceOfflineEventHandler* pDeviceOfflineEventHandler = NULL;///<掉線事件回調對象
	IFeatureEventHandler* pFeatureEventHandler = NULL;///<遠端設備事件回調對象
	ICaptureEventHandler* pCaptureEventHandler = NULL;///<採集回調對象

	//初始化 使用其他接口之前，必須執行初始化
	IGXFactory::GetInstance().Init();

	try
	{
		do
		{
			//枚舉設備
			gxdeviceinfo_vector vectorDeviceInfo;
			IGXFactory::GetInstance().UpdateDeviceList(1000, vectorDeviceInfo);
			if (0 == vectorDeviceInfo.size())
			{
				cout << "無可用設備!" << endl;
				break;
			}
			cout << vectorDeviceInfo[0].GetVendorName() << endl;
			cout << vectorDeviceInfo[0].GetSN() << endl;
			//打開第一臺設備以及設備下面第一個流
			CGXDevicePointer ObjDevicePtr = IGXFactory::GetInstance().OpenDeviceBySN(
				vectorDeviceInfo[0].GetSN(),
				GX_ACCESS_EXCLUSIVE);
			CGXStreamPointer ObjStreamPtr = ObjDevicePtr->OpenStream(0);

			//註冊設備掉線事件【目前只有千兆網系列相機支持此事件通知】
			GX_DEVICE_OFFLINE_CALLBACK_HANDLE hDeviceOffline = NULL;
			pDeviceOfflineEventHandler = new CSampleDeviceOfflineEventHandler();
			hDeviceOffline = ObjDevicePtr->RegisterDeviceOfflineCallback(pDeviceOfflineEventHandler, NULL);

			//獲取遠端設備屬性控制器
			CGXFeatureControlPointer ObjFeatureControlPtr = ObjDevicePtr->GetRemoteFeatureControl();

			//設置曝光時間(示例中寫死us,只是示例,並不代表真正可工作參數)
			//ObjFeatureControlPtr->GetFloatFeature("ExposureTime")->SetValue(50);

			////註冊遠端設備事件:曝光結束事件【目前只有千兆網系列相機支持曝光結束事件】
			////選擇事件源
			//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);

			//註冊回調採集
			//pCaptureEventHandler = new CSampleCaptureEventHandler();
			//ObjStreamPtr->RegisterCaptureCallback(pCaptureEventHandler, NULL);

			//發送開採命令
			ObjStreamPtr->StartGrab();
			ObjFeatureControlPtr->GetCommandFeature("AcquisitionStart")->Execute();

			//採單幀

			CImageDataPointer objImageDataPtr;

			objImageDataPtr = ObjStreamPtr->GetImage(500);//超時時間使用500ms，用戶可以自行設定

			if (objImageDataPtr->GetStatus() == GX_FRAME_STATUS_SUCCESS)				//採圖成功而且是完整幀，可以進行圖像處理...

			{
				cout << "收到一幀圖像!" << endl;
				cout << "ImageInfo: " << objImageDataPtr->GetStatus() << endl;
				cout << "ImageInfo: " << objImageDataPtr->GetWidth() << endl;
				cout << "ImageInfo: " << objImageDataPtr->GetHeight() << endl;
				cout << "ImageInfo: " << objImageDataPtr->GetPayloadSize() << endl;

				img.create(objImageDataPtr->GetHeight(), objImageDataPtr->GetWidth(), CV_8UC3);
				void *pRGB24Buffer = NULL;
				//假設原始數據是BayerRG8圖像
				pRGB24Buffer = objImageDataPtr->ConvertToRGB24(GX_BIT_0_7, GX_RAW2RGB_NEIGHBOUR, true);
				memcpy(img.data, pRGB24Buffer, (objImageDataPtr->GetHeight()) * (objImageDataPtr->GetWidth()) * 3);
				cv::flip(img, img, 0);
				cv::imshow("sss", img);
				cv::waitKey(1);
				cv::imwrite("01.bmp", img);

				cout << "幀數：" << objImageDataPtr->GetFrameID() << endl;

			}

			//此時開採成功,控制檯打印信息,直到輸入任意鍵繼續
			//getchar();

			//發送停採命令
			ObjFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();
			ObjStreamPtr->StopGrab();

			//註銷採集回調
			ObjStreamPtr->UnregisterCaptureCallback();

			////註銷遠端設備事件
			//ObjFeatureControlPtr->UnregisterFeatureCallback(hFeatureEvent);

			////註銷設備掉線事件
			//ObjDevicePtr->UnregisterDeviceOfflineCallback(hDeviceOffline);

			//釋放資源
			ObjStreamPtr->Close();
			ObjDevicePtr->Close();
		} while (0);
	}

	catch (CGalaxyException&e)
	{
		cout << "錯誤碼: " << e.GetErrorCode() << endl;
		cout << "錯誤描述信息: " << e.what() << endl;
	}
	catch (std::exception&e)
	{
		cout << "錯誤描述信息: " << e.what() << endl;
	}

	//反初始化庫 關閉設備之後，不能再調用其他任何庫接口
	IGXFactory::GetInstance().Uninit();

	//銷燬事件回調指針
	if (NULL != pCaptureEventHandler)
	{
		delete pCaptureEventHandler;
		pCaptureEventHandler = NULL;
	}
	if (NULL != pDeviceOfflineEventHandler)
	{
		delete pDeviceOfflineEventHandler;
		pDeviceOfflineEventHandler = NULL;
	}
	if (NULL != pFeatureEventHandler)
	{
		delete pFeatureEventHandler;
		pFeatureEventHandler = NULL;
	}
	return 0;

}

並將其採集圖像保存在01.bmp中，結果：

C++ 大恆水星相機的單幀採集及回調採集利用OpenCV轉成 Mat格式

1. 使用手冊閱讀

2. 相機回調採集

3.單幀採集

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C++ 大恆水星相機的單幀採集及回調採集利用OpenCV轉成 Mat格式

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C++ 大恆水星相機的單幀採集及回調採集 利用OpenCV轉成 Mat格式

1. 使用手冊閱讀

2. 相機回調採集

3.單幀採集

C++ 大恆水星相機的單幀採集及回調採集利用OpenCV轉成 Mat格式