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GrabBag/SDK/IKapLibrary/Examples/C/GeneralGrabWithCoord3D/main.cpp

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Mark检测；工件定位和拼接
2025-12-10 00:01:32 +08:00
// main.cpp
/* @brief<65><66><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IKapC<70>⣬ͨ<E2A3AC><CDA8>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD>ӵ<EFBFBD><D3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>
*
* @brief<EFBFBD><EFBFBD>This example shows users how to use IKapC library to grab images continuously with
* directly linked camera. */
#include <Windows.h>
#include <malloc.h>
#include <stdio.h>
#include <stdlib.h>
#include <vector>
#include "../GeneralConfigureCamera/ConfigureCamera.h"
#include "GeneralGrabCoord3D.h"
#pragma comment(lib, "IKapBoard.lib")
#pragma comment(lib, "IKapC.lib")
/* @brief<65><66>ע<EFBFBD><D7A2><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @brief<EFBFBD><EFBFBD>Register callback functions. */
void RegisterCallbackWithoutGrabber(pItkCamera pCam);
/* @brief<65><66><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @brief<EFBFBD><EFBFBD>Unregister callback functions. */
void UnRegisterCallbackWithoutGrabber(pItkCamera pCam);
/* @brief<65><66><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>Ϊһ<CEAA><D2BB><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼʱ<CABC><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>á<EFBFBD>
* @param[in] eventType<EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD><EFBFBD>͡<EFBFBD>
* @param[in] pContext<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @brief<EFBFBD><EFBFBD>This function is registered as a callback function. When data stream
* starts, the function will be called.
* @param[in] eventType<EFBFBD><EFBFBD>Event type.
* @param[in] pContext<EFBFBD><EFBFBD>Input parameter. */
void IKAPC_CC cbStartOfStream(uint32_t eventType, void* pContext);
/* @brief<65><66><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>Ϊһ<CEAA><D2BB><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>á<EFBFBD>
* @param[in] eventType<EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD><EFBFBD>͡<EFBFBD>
* @param[in] pContext<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @brief<EFBFBD><EFBFBD>This function is registered as a callback function. When data stream
* ends, the function will be called.
* @param[in] eventType<EFBFBD><EFBFBD>Event type.
* @param[in] pContext<EFBFBD><EFBFBD>Input parameter. */
void IKAPC_CC cbEndOfStream(uint32_t eventType, void* pContext);
/* @brief<65><66><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>Ϊһ<CEAA><D2BB><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ֡ͼ<D6A1><CDBC><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>á<EFBFBD>
* @param[in] eventType<EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD><EFBFBD>͡<EFBFBD>
* @param[in] pContext<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @brief<EFBFBD><EFBFBD>This function is registered as a callback function. When grabbing a
* frame of image finished, the function will be called.
* @param[in] eventType<EFBFBD><EFBFBD>Event type.
* @param[in] pContext<EFBFBD><EFBFBD>Input parameter. */
void IKAPC_CC cbOnEndOfFrame(uint32_t eventType, void* pContext);
/* @brief<65><66><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>Ϊһ<CEAA><D2BB><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>ʱʱ<CAB1><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>á<EFBFBD>
* @param[in] eventType<EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD><EFBFBD>͡<EFBFBD>
* @param[in] pContext<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @brief<EFBFBD><EFBFBD>This function is registered as a callback function. When grabbing
* images time out, the function will be called.
* @param[in] eventType<EFBFBD><EFBFBD>Event type.
* @param[in] pContext<EFBFBD><EFBFBD>Input parameter. */
void IKAPC_CC cbOnTimeOut(uint32_t eventType, void* pContext);
/* @brief<65><66><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>Ϊһ<CEAA><D2BB><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>֡ʱ<D6A1><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>á<EFBFBD>
* @param[in] eventType<EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD><EFBFBD>͡<EFBFBD>
* @param[in] pContext<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @brief<EFBFBD><EFBFBD>This function is registered as a callback function. When grabbing
* frame lost, the function will be called.
* @param[in] eventType<EFBFBD><EFBFBD>Event type.
* @param[in] pContext<EFBFBD><EFBFBD>Input parameter. */
void IKAPC_CC cbOnFrameLost(uint32_t eventType, void* pContext);
int main(void)
{
/// \~chinese IKapC <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ \~english Return value of IKapC functions
ITKSTATUS res = ITKSTATUS_OK;
ItkCamera cam;
/// \~chinese <20><><EFBFBD><EFBFBD>buffer<65><72><EFBFBD><EFBFBD> \~english Set count of buffers
cam.g_bufferCount = 10;
/// \~chinese <20><><EFBFBD><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1> \~english Set count of frames wanted
cam.g_grabCount = ITKSTREAM_CONTINUOUS;
/// \~chinese <20><><EFBFBD><EFBFBD>g_SerialNumberΪNULL<4C><4C><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ConfigureCamera<72><61><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>index<65><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> \~english Set
/// g_SerialNumber to NULL, ConfigureCamera function will use index to open camera later
cam.g_SerialNumber = NULL;
/// \~chinese <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>ر<EFBFBD> \~english Enable softTrigger
cam.g_bSoftTriggerUsed = 0;
/// \~chinese <20><><EFBFBD><EFBFBD>chunkdataΪ<61>ر<EFBFBD> \~english disable chunkdata
cam.benableChunkData = false;
/// \~chinese <20><><EFBFBD>ñ<EFBFBD><C3B1><EFBFBD>ͼƬ<CDBC><C6AC><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> \~english Set filename of image to be saved
sprintf_s(cam.g_saveFileName, "D:\\CImage.tif");
printf("Itek Console GrabWithoutGrabber Example(C version)\n");
/// \~chinese <20><>ʼ<EFBFBD><CABC> IKapC <20><><EFBFBD>л<EFBFBD><D0BB><EFBFBD> \~english Initialize IKapC runtime environment
res = ItkManInitialize();
CHECK(res);
uint32_t numDevices = 0;
res = ItkManGetDeviceCount(&numDevices);
CHECK(res);
// <20><>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>ӵ<EFBFBD><D3B5>豸ʱ<E8B1B8><CAB1>
//
// When there is no connected devices.
if (numDevices == 0) {
fprintf(stderr, "No device.\n");
ItkManTerminate();
pressEnterToExit();
exit(EXIT_FAILURE);
}
printCameraInfo(numDevices);
/// \~chinese <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0<CEAA><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸 \~english Open camera with 0 index and configure camera device
int tmpIndex = -1;
fprintf(stderr, "total device count: %d, the index of which you want to open is:", numDevices);
fflush(stderr);
int scanTmp = scanf_s("%u", &tmpIndex);
if (scanTmp != 1) {
fprintf(stderr, "Invalid input. Expect an integer.\n");
ItkManTerminate();
pressEnterToExit();
exit(EXIT_FAILURE);
}
if (tmpIndex >= numDevices)
{
fprintf(stderr, "index: %d is more than %d.\n", tmpIndex, numDevices - 1);
ItkManTerminate();
pressEnterToExit();
exit(EXIT_FAILURE);
}
{ int getcharTmp = getchar(); }
ConfigureCamera(&cam, tmpIndex);
if (cam.g_hBoard != INVALID_HANDLE_VALUE) {
fprintf(stderr, "Please select camera without grabber.\n");
ItkManTerminate();
pressEnterToExit();
exit(EXIT_FAILURE);
}
/// \~chinese <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ \~english Configure trigger method of the camera
SetSoftTriggerWithoutGrabber(&cam);
/// \~chinese <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>chunkdata \~english Configure chunkdata of the camera
SetChunkData(&cam,cam.benableChunkData);
/// \~chinese <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͻ<EFBFBD><CDBB><EFBFBD><EFBFBD><EFBFBD> \~english Create data stream and buffer
CreateStreamAndBuffer(&cam);
/// \~chinese ע<><D7A2><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD> \~english Register callback functions
RegisterCallbackWithoutGrabber(&cam);
/// \~chinese <20><>ʼͼ<CABC><CDBC><EFBFBD>ɼ<EFBFBD> \~english Start grabbing images
res = ItkStreamStart(cam.g_hStream, cam.g_grabCount);
CHECK(res);
if (cam.g_bSoftTriggerUsed) {
printf("Please intput t to softTrigger a frame and input e to exit: ");
while (true) {
char T = 0;
int scanTmp = scanf_s("%c", &T, (unsigned)sizeof(T));
if (T == 't') {
res = ItkDevExecuteCommand(cam.g_hCamera, "TriggerSoftware");
} else if (T == 'e') {
break;
} else if (T != '\n') {
printf("Please intput t to softTrigger a frame and input e to exit: ");
}
}
}
/// \~chinese <20>ȴ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD> \~english Wait for grabbing images finished
{ int getcharTmp = getchar(); }
/// \~chinese ֹͣͼ<D6B9><CDBC><EFBFBD>ɼ<EFBFBD> \~english Stop grabbing images
ItkStreamStop(cam.g_hStream);
/// \~chinese <20><><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD> \~english Unregister callback functions
UnRegisterCallbackWithoutGrabber(&cam);
/// \~chinese <20>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͻ<EFBFBD><CDBB><EFBFBD><EFBFBD><EFBFBD> \~english Free data stream and buffers
ItkDevFreeStream(cam.g_hStream);
/// \~chinese <20>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸 \~english Close camera device
res = ItkDevClose(cam.g_hCamera);
CHECK(res);
/// \~chinese <20>ͷ<EFBFBD><CDB7>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4>Ż<EFBFBD><C5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><DDB5>ڴ<EFBFBD> \~english Release the memory for storing the buffer data
if (cam.g_bufferData != NULL)
free(cam.g_bufferData);
/// \~chinese <20>ͷ<EFBFBD><CDB7>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Buffer<65><72>ַ<EFBFBD><D6B7><EFBFBD>ڴ<EFBFBD> \~english Release the memory that the user requests for setting the Buffer address
/*if (cam.g_user_buffer!=NULL)
free(cam.g_user_buffer);*/
/// \~chinese <20>ͷ<EFBFBD> IKapC <20><><EFBFBD>л<EFBFBD><D0BB><EFBFBD> \~english Release IKapC runtime environment
ItkManTerminate();
pressEnterToExit();
return EXIT_SUCCESS;
}
/// \~chinese ע<><D7A2><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD> \~english Register callback functions
/// \~chinese ע<><D7A2><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>ʹ<EFBFBD><CAB9>static<69><63><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD>̬<EFBFBD><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>ó<EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><D7A2><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><DAA3>ڸó<DAB8>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>ǰ<EFBFBD><C7B0>ʹ<EFBFBD><CAB9> ItkStreamUnregisterCallback() ȡ<><C8A1>ע<EFBFBD><D7A2><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڳ<EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD>Ѿ<EFBFBD><D1BE><EFBFBD><EFBFBD>ͷŵ<CDB7><C5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>´<EFBFBD><C2B4><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣
/// \~english Use a static function declared with 'static' to register a callback, if using a member function, be aware of the lifetime of the object that owns the member function and unregister the callback by ItkStreamUnregisterCallback() before the object is destroyed, or if the callback is triggered after the object has been released, it will cause an exception
void RegisterCallbackWithoutGrabber(pItkCamera pCam)
{
ITKSTATUS res = ITKSTATUS_OK;
res = ItkStreamRegisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_START_OF_STREAM, cbStartOfStream, pCam);
CHECK(res);
res = ItkStreamRegisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_END_OF_STREAM, cbEndOfStream, pCam);
CHECK(res);
/// \~chinese ֡<><D6A1><EFBFBD>ɻص<C9BB><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>в<EFBFBD>Ӧִ<D3A6>к<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1s/֡<><D6A1> <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD><C9A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1>ʧ
/// \~english in cbOnEndOfFrame callback function, should not execute time-consuming operation, and finish in time of 1s/framerate, or could cause framelost
res = ItkStreamRegisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_END_OF_FRAME, cbOnEndOfFrame, pCam);
CHECK(res);
res = ItkStreamRegisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_TIME_OUT, cbOnTimeOut, pCam);
CHECK(res);
res = ItkStreamRegisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_FRAME_LOST, cbOnFrameLost, pCam);
CHECK(res);
}
/// \~chinese <20><><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD> \~english Unregister callback functions
void UnRegisterCallbackWithoutGrabber(pItkCamera pCam)
{
ITKSTATUS res = ITKSTATUS_OK;
res = ItkStreamUnregisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_START_OF_STREAM);
res = ItkStreamUnregisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_END_OF_STREAM);
res = ItkStreamUnregisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_END_OF_FRAME);
res = ItkStreamUnregisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_TIME_OUT);
res = ItkStreamUnregisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_FRAME_LOST);
}
void IKAPC_CC cbStartOfStream(uint32_t eventType, void* pContext)
{
pItkCamera cam = (pItkCamera)pContext;
printf("On start of stream of camera with serialNumber:%s. \n", cam->g_devInfo.SerialNumber);
}
void IKAPC_CC cbEndOfStream(uint32_t eventType, void* pContext)
{
pItkCamera cam = (pItkCamera)pContext;
printf("On end of stream of camera with serialNumber:%s. \n", cam->g_devInfo.SerialNumber);
}
void IKAPC_CC cbOnEndOfFrame(uint32_t eventType, void* pContext)
{
ITKSTATUS res = ITKSTATUS_OK;
ITKBUFFER hBuffer = NULL;
pItkCamera cam = (pItkCamera)pContext;
ITK_BUFFER_INFO bufferInfo = {0};
printf("On end of frame of camera with serialNumber:%s. \n", cam->g_devInfo.SerialNumber);
// \~chinese <20><>ȡ<EFBFBD><C8A1>ǰbuffer \~english get current buffer
res = ItkStreamGetCurrentBuffer(cam->g_hStream, &hBuffer);
CHECK(res);
// \~chinese <20><>ȡ<EFBFBD><C8A1>ǰbuffer<65><72>Ϣ \~english get current buffer info
res = ItkBufferGetInfo(hBuffer, &bufferInfo);
CHECK(res);
/// \~chinese <20><>ͼ<EFBFBD>񻺳<EFBFBD><F1BBBAB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>񻺳<EFBFBD><F1BBBAB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD><DEB7>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ֡ͼ<D6A1><CDBC>ʱ \~english When buffer is full or buffer is not full but cannot grab a complete frame of image
if (bufferInfo.State == ITKBUFFER_VAL_STATE_FULL || bufferInfo.State == ITKBUFFER_VAL_STATE_UNCOMPLETED) {
ITKBUFFER splitOutBuffer = NULL;
/// \~chinese <20><><EFBFBD><EFBFBD>C32<33><32>AC32<33><32><EFBFBD>ظ<EFBFBD>ʽ<EFBFBD><CABD><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD>3DSplit<69>ӿڽ<D3BF>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD>ͷֲ<CDB7><D6B2>Ų<EFBFBD>
if (bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_C32 || bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_AC32)
{
unsigned short acquisitionLineCount = 1000; //<2F>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
//ֱ<>ӵ<EFBFBD><D3B5><EFBFBD>ItkBufferSave<76>ӿڿ<D3BF><DABF>Խ<EFBFBD>3Dͼ<44><CDBC><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD>ֱ𱣴<D6B1>Ϊtifͼ<66><CDBC><EFBFBD>ṩ<EFBFBD>˷ֲ<CBB7><D6B2><EFBFBD><EFBFBD>Ų<EFBFBD>ѡ<EFBFBD><D1A1>:ITKBUFFER_VAL_3D_SPLIT_INTO_BLOCK_AND_STRATIFIED <20><> ITKBUFFER_VAL_3D_SPLIT_INTO_BLOCK
res = ItkBufferSave(hBuffer, "test.tiff", ITKBUFFER_VAL_TIFF | (ITKBUFFER_VAL_3D_SPLIT_INTO_BLOCK_AND_STRATIFIED<<25) | (acquisitionLineCount<<8));
CHECK(res);
}
// <20><><EFBFBD>ڴ<EFBFBD><DAB4>з<EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ų<EFBFBD><C5B2><EFBFBD><EFBFBD>ṩ<EFBFBD>˷ֲ<CBB7>ѡ<EFBFBD><D1A1>
{
if (bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_C32)
{
res = ItkBufferNew(bufferInfo.ImageWidth, bufferInfo.ImageHeight, ITKBUFFER_VAL_FORMAT_DATA_16_WITH_8U, &splitOutBuffer);
CHECK(res);
}
if (bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_AC32)
{
res = ItkBufferNew(bufferInfo.ImageWidth, bufferInfo.ImageHeight, ITKBUFFER_VAL_FORMAT_DATA_32_WITH_8U, &splitOutBuffer);
CHECK(res);
}
// ItkBuffer3DSplit<69><74>options1<73><31><EFBFBD><EFBFBD>ΪITKBUFFER_VAL_3D_SPLIT_INTO_BLOCK_AND_STRATIFIED<45><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>options2<73><32><EFBFBD><EFBFBD>Ӧ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD>batchCount<6E><74><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD>AcquisitionLineCount<6E><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
res = ItkBuffer3DSplit(hBuffer, splitOutBuffer, ITKBUFFER_VAL_3D_SPLIT_INTO_BLOCK_AND_STRATIFIED, acquisitionLineCount);
CHECK(res);
ITK_BUFFER_INFO splitBufferInfo = { 0 };
res = ItkBufferGetInfo(splitOutBuffer, &splitBufferInfo);
CHECK(res);
char* splitOutBufferAddr = (char*)(splitBufferInfo.BaseAddress);
if (bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_C32)
{
short* C_Addr = (short*)(splitBufferInfo.BaseAddress); // Cͨ<43><CDA8>short<72><74><EFBFBD><EFBFBD><EFBFBD>׵<EFBFBD>ַ <20><><EFBFBD><EFBFBD>ΪbufferInfo.ImageWidth * bufferInfo.ImageHeight
uint8_t* R_Addr= (uint8_t*)(C_Addr+ bufferInfo.ImageWidth * bufferInfo.ImageHeight); // Rͨ<52><CDA8>uint8_t<5F><74><EFBFBD><EFBFBD><EFBFBD>׵<EFBFBD>ַ <20><><EFBFBD><EFBFBD>ΪbufferInfo.ImageWidth * bufferInfo.ImageHeight
}
if (bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_AC32)
{
short* A_Addr = (short*)(splitBufferInfo.BaseAddress); // Aͨ<41><CDA8>short<72><74><EFBFBD><EFBFBD><EFBFBD>׵<EFBFBD>ַ <20><><EFBFBD><EFBFBD>ΪbufferInfo.ImageWidth * bufferInfo.ImageHeight
short* C_Addr = (short*)(A_Addr + bufferInfo.ImageWidth * bufferInfo.ImageHeight); // Cͨ<43><CDA8>short<72><74><EFBFBD><EFBFBD><EFBFBD>׵<EFBFBD>ַ <20><><EFBFBD><EFBFBD>ΪbufferInfo.ImageWidth * bufferInfo.ImageHeight
uint8_t* RAddr = (uint8_t*)(C_Addr + bufferInfo.ImageWidth * bufferInfo.ImageHeight); // Rͨ<52><CDA8>uint8_t<5F><74><EFBFBD><EFBFBD><EFBFBD>׵<EFBFBD>ַ <20><><EFBFBD><EFBFBD>ΪbufferInfo.ImageWidth * bufferInfo.ImageHeight
}
}
}
/// \~chinese <20><>ȡchunk<6E><6B><EFBFBD>ݣ<EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>ChunkModeActive<76>ѿ<EFBFBD><D1BF><EFBFBD><EFBFBD><EFBFBD>ChunkSelector<6F><72><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9> \~english Get chunk data provided that ChunkModeActive is on and the following corresponding parameters in ChunkSelector are enabled
if (cam->benableChunkData)
{
int64_t nChunkWidth = 0;
res = ItkBufferGetChunkInt64(hBuffer, "ChunkWidth", &nChunkWidth);
CHECK(res);
int64_t nChunkHeight = 0;
res = ItkBufferGetChunkInt64(hBuffer, "ChunkHeight", &nChunkHeight);
CHECK(res);
int64_t nChunkOffsetX = 0;
res = ItkBufferGetChunkInt64(hBuffer, "ChunkOffsetX", &nChunkOffsetX);
CHECK(res);
int64_t nChunkOffsetY = 0;
res = ItkBufferGetChunkInt64(hBuffer, "ChunkOffsetY", &nChunkOffsetY);
CHECK(res);
char strChunkPixelFormat[128] = {0};
uint32_t strLen = sizeof(strChunkPixelFormat);
res = ItkBufferToChunkString(hBuffer, "ChunkPixelFormat",
strChunkPixelFormat, &strLen);
int64_t nChunkTimestamp = 0;
res =
ItkBufferGetChunkInt64(hBuffer, "ChunkTimestamp", &nChunkTimestamp);
CHECK(res);
double dchunkGain = 0;
res = ItkBufferGetChunkDouble(hBuffer, "ChunkGain", &dchunkGain);
CHECK(res);
/// \~chinese ֻ<>в<EFBFBD>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Щ<EFBFBD><D0A9><EFBFBD><EFBFBD> \~english Only the color cameras have these parameters
/*{
double dchunkRedGain = 0;
res =
ItkBufferGetChunkDouble(hBuffer, "ChunkRedGain", &dchunkRedGain);
CHECK(res);
double dChunkG1Gain = 0;
res = ItkBufferGetChunkDouble(hBuffer, "ChunkG1Gain", &dChunkG1Gain);
CHECK(res);
double dChunkG2Gain = 0;
res = ItkBufferGetChunkDouble(hBuffer, "ChunkG2Gain", &dChunkG2Gain);
CHECK(res);
double dChunkBlueGain = 0;
res = ItkBufferGetChunkDouble(hBuffer, "ChunkBlueGain",
&dChunkBlueGain);
CHECK(res);
} */
int64_t nChunkExposureTime = 0;
res = ItkBufferGetChunkInt64(hBuffer, "ChunkExposureTime",
&nChunkExposureTime);
CHECK(res);
int64_t nChunkBrightnessInfo = 0;
res = ItkBufferGetChunkInt64(hBuffer, "ChunkBrightnessInfo",
&nChunkBrightnessInfo);
CHECK(res);
int64_t nChunkFrameCounter = 0;
res = ItkBufferGetChunkInt64(hBuffer, "ChunkFrameCounter",
&nChunkFrameCounter);
CHECK(res);
int64_t nChunkExtTriggerCount = 0;
res = ItkBufferGetChunkInt64(hBuffer, "ChunkExtTriggerCount",
&nChunkExtTriggerCount);
CHECK(res);
}
ITKBUFFER hConvert = nullptr;
/// \~chinese <20>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ظ<EFBFBD>ʽ<EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ת<EFBFBD><D7AA> \~english Judge if need convert
if (bufferInfo.NeedAutoConvert) {
res = ItkBufferNew(1024, 1204, ITKBUFFER_VAL_FORMAT_MONO8, &hConvert);
CHECK(res);
res = ItkBufferConvert(hBuffer, hConvert, 0, ITKBUFFER_VAL_CONVERT_OPTION_AUTO_FORMAT);
CHECK(res);
}
/// \~chinese <20><><EFBFBD><EFBFBD>MultiExposureTimeCount<6E><74><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ع⹦<D8B9>ܣ<EFBFBD><DCA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪN<CEAA><4E><EFBFBD>ع<EFBFBD>ʱ<EFBFBD>䣬[0~1*Height/N-1]<5D>ж<EFBFBD>ӦExposureSelectΪ1ʱ<31><CAB1>ExposureTime<6D><65>[1*Height/N~2*Height/N-1]<5D>ж<EFBFBD>ӦExposureSelectΪ2ʱ<32><CAB1>ExposureTime<6D><65>...<2E><>[(N-1)*Height/N~Height-1]<5D>ж<EFBFBD>ӦExposureSelectΪNʱ<4E><CAB1>ExposureTime. \~english If the MultiExposureTimeCount feature value is greater than 1, the multiple exposure function is turned on, The collected images were all divided into N exposure times, line [0~1 * Height / N-1] corresponds to the ExposureTime at a ExposureSelect of 1, line [1 * Height / N~2 * Height / N-1] corresponds to ExposureTime at ExposureSelect 2,..., line [(N-1) * Height / N~Height-1] corresponds to ExposureTime at ExposureSelect N.
res = ItkBufferRead(hBuffer, 0, cam->g_bufferData, bufferInfo.ValidImageSize);
CHECK(res);
/// \~chinese <20><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC> \~english Save image
/*
res = ItkBufferSave(hBuffer,cam->g_saveFileName,ITKBUFFER_VAL_TIFF);
CHECK(res);
*/
if (nullptr != hConvert)
ItkBufferFree(hConvert);
}
}
void IKAPC_CC cbOnTimeOut(uint32_t eventType, void* pContext)
{
pItkCamera cam = (pItkCamera)pContext;
printf("on time out of camera with serialNumber:%s. \n", cam->g_devInfo.SerialNumber);
}
void IKAPC_CC cbOnFrameLost(uint32_t eventType, void* pContext)
{
pItkCamera cam = (pItkCamera)pContext;
printf("on frame lost of camera with serialNumber:%s. \n", cam->g_devInfo.SerialNumber);
}
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