447 lines
19 KiB
C++
447 lines
19 KiB
C++
// main.cpp
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/* @brief：本示例向用户演示如何运用IKapC库，通过直接连接的相机连续采集图像。
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*
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* @brief：This example shows users how to use IKapC library to grab images continuously with
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* directly linked camera. */
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#include <Windows.h>
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#include <malloc.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <vector>
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#include "../GeneralConfigureCamera/ConfigureCamera.h"
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#include "GeneralGrabCoord3D.h"
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#pragma comment(lib, "IKapBoard.lib")
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#pragma comment(lib, "IKapC.lib")
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/* @brief：注册回调函数。
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*
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* @brief：Register callback functions. */
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void RegisterCallbackWithoutGrabber(pItkCamera pCam);
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/* @brief：清除回调函数。
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*
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* @brief：Unregister callback functions. */
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void UnRegisterCallbackWithoutGrabber(pItkCamera pCam);
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/* @brief：本函数被注册为一个回调函数。当数据流开始时，函数被调用。
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* @param[in] eventType：事件类型。
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* @param[in] pContext：输入参数。
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*
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* @brief：This function is registered as a callback function. When data stream
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* starts, the function will be called.
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* @param[in] eventType：Event type.
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* @param[in] pContext：Input parameter. */
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void IKAPC_CC cbStartOfStream(uint32_t eventType, void* pContext);
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/* @brief：本函数被注册为一个回调函数。当数据流结束时，函数被调用。
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* @param[in] eventType：事件类型。
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* @param[in] pContext：输入参数。
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*
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* @brief：This function is registered as a callback function. When data stream
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* ends, the function will be called.
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* @param[in] eventType：Event type.
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* @param[in] pContext：Input parameter. */
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void IKAPC_CC cbEndOfStream(uint32_t eventType, void* pContext);
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/* @brief：本函数被注册为一个回调函数。当一帧图像采集结束时，函数被调用。
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* @param[in] eventType：事件类型。
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* @param[in] pContext：输入参数。
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*
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* @brief：This function is registered as a callback function. When grabbing a
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* frame of image finished, the function will be called.
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* @param[in] eventType：Event type.
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* @param[in] pContext：Input parameter. */
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void IKAPC_CC cbOnEndOfFrame(uint32_t eventType, void* pContext);
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/* @brief：本函数被注册为一个回调函数。当图像采集超时时，函数被调用。
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* @param[in] eventType：事件类型。
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* @param[in] pContext：输入参数。
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*
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* @brief：This function is registered as a callback function. When grabbing
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* images time out, the function will be called.
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* @param[in] eventType：Event type.
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* @param[in] pContext：Input parameter. */
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void IKAPC_CC cbOnTimeOut(uint32_t eventType, void* pContext);
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/* @brief：本函数被注册为一个回调函数。当采集丢帧时，函数被调用。
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* @param[in] eventType：事件类型。
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* @param[in] pContext：输入参数。
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*
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* @brief：This function is registered as a callback function. When grabbing
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* frame lost, the function will be called.
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* @param[in] eventType：Event type.
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* @param[in] pContext：Input parameter. */
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void IKAPC_CC cbOnFrameLost(uint32_t eventType, void* pContext);
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int main(void)
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{
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/// \~chinese IKapC 函数返回值 \~english Return value of IKapC functions
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ITKSTATUS res = ITKSTATUS_OK;
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ItkCamera cam;
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/// \~chinese 设置buffer个数 \~english Set count of buffers
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cam.g_bufferCount = 10;
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/// \~chinese 设置要采集的帧数 \~english Set count of frames wanted
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cam.g_grabCount = ITKSTREAM_CONTINUOUS;
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/// \~chinese 设置g_SerialNumber为NULL，后续ConfigureCamera函数中使用index打开相机 \~english Set
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/// g_SerialNumber to NULL, ConfigureCamera function will use index to open camera later
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cam.g_SerialNumber = NULL;
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/// \~chinese 设置相机软触发为关闭 \~english Enable softTrigger
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cam.g_bSoftTriggerUsed = 0;
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/// \~chinese 设置chunkdata为关闭 \~english disable chunkdata
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cam.benableChunkData = false;
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/// \~chinese 设置保存图片的文件名称 \~english Set filename of image to be saved
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sprintf_s(cam.g_saveFileName, "D:\\CImage.tif");
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printf("Itek Console GrabWithoutGrabber Example(C version)\n");
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/// \~chinese 初始化 IKapC 运行环境 \~english Initialize IKapC runtime environment
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res = ItkManInitialize();
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CHECK(res);
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uint32_t numDevices = 0;
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res = ItkManGetDeviceCount(&numDevices);
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CHECK(res);
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// 当没有连接的设备时。
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//
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// When there is no connected devices.
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if (numDevices == 0) {
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fprintf(stderr, "No device.\n");
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ItkManTerminate();
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pressEnterToExit();
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exit(EXIT_FAILURE);
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}
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printCameraInfo(numDevices);
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/// \~chinese 打开序号为0的相机并配置相机设备 \~english Open camera with 0 index and configure camera device
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int tmpIndex = -1;
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fprintf(stderr, "total device count: %d, the index of which you want to open is:", numDevices);
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fflush(stderr);
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int scanTmp = scanf_s("%u", &tmpIndex);
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if (scanTmp != 1) {
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fprintf(stderr, "Invalid input. Expect an integer.\n");
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ItkManTerminate();
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pressEnterToExit();
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exit(EXIT_FAILURE);
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}
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if (tmpIndex >= numDevices)
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{
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fprintf(stderr, "index: %d is more than %d.\n", tmpIndex, numDevices - 1);
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ItkManTerminate();
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pressEnterToExit();
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exit(EXIT_FAILURE);
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}
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{ int getcharTmp = getchar(); }
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ConfigureCamera(&cam, tmpIndex);
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if (cam.g_hBoard != INVALID_HANDLE_VALUE) {
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fprintf(stderr, "Please select camera without grabber.\n");
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ItkManTerminate();
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pressEnterToExit();
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exit(EXIT_FAILURE);
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}
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/// \~chinese 配置相机触发方式 \~english Configure trigger method of the camera
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SetSoftTriggerWithoutGrabber(&cam);
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/// \~chinese 配置相机chunkdata \~english Configure chunkdata of the camera
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SetChunkData(&cam,cam.benableChunkData);
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/// \~chinese 创建数据流和缓冲区 \~english Create data stream and buffer
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CreateStreamAndBuffer(&cam);
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/// \~chinese 注册回调函数 \~english Register callback functions
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RegisterCallbackWithoutGrabber(&cam);
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/// \~chinese 开始图像采集 \~english Start grabbing images
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res = ItkStreamStart(cam.g_hStream, cam.g_grabCount);
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CHECK(res);
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if (cam.g_bSoftTriggerUsed) {
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printf("Please intput t to softTrigger a frame and input e to exit: ");
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while (true) {
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char T = 0;
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int scanTmp = scanf_s("%c", &T, (unsigned)sizeof(T));
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if (T == 't') {
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res = ItkDevExecuteCommand(cam.g_hCamera, "TriggerSoftware");
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} else if (T == 'e') {
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break;
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} else if (T != '\n') {
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printf("Please intput t to softTrigger a frame and input e to exit: ");
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}
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}
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}
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/// \~chinese 等待图像采集结束 \~english Wait for grabbing images finished
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{ int getcharTmp = getchar(); }
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/// \~chinese 停止图像采集 \~english Stop grabbing images
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ItkStreamStop(cam.g_hStream);
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/// \~chinese 清除回调函数 \~english Unregister callback functions
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UnRegisterCallbackWithoutGrabber(&cam);
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/// \~chinese 释放数据流和缓冲区 \~english Free data stream and buffers
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ItkDevFreeStream(cam.g_hStream);
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/// \~chinese 关闭相机设备 \~english Close camera device
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res = ItkDevClose(cam.g_hCamera);
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CHECK(res);
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/// \~chinese 释放用户申请的用于存放缓冲区数据的内存 \~english Release the memory for storing the buffer data
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if (cam.g_bufferData != NULL)
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free(cam.g_bufferData);
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/// \~chinese 释放用户申请的用于设置Buffer地址的内存 \~english Release the memory that the user requests for setting the Buffer address
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/*if (cam.g_user_buffer!=NULL)
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free(cam.g_user_buffer);*/
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/// \~chinese 释放 IKapC 运行环境 \~english Release IKapC runtime environment
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ItkManTerminate();
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pressEnterToExit();
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return EXIT_SUCCESS;
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}
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/// \~chinese 注册回调函数 \~english Register callback functions
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/// \~chinese 注册回调函数时须使用static声明的静态函数，如果使用成员函数的情况下需注意成员函数的生命周期，在该成员函数被释放前需使用 ItkStreamUnregisterCallback() 取消注册回调函数，否则在成员函数已经被释放的情况下触发回调函数，会引发异常
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/// \~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
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void RegisterCallbackWithoutGrabber(pItkCamera pCam)
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{
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ITKSTATUS res = ITKSTATUS_OK;
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res = ItkStreamRegisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_START_OF_STREAM, cbStartOfStream, pCam);
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CHECK(res);
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res = ItkStreamRegisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_END_OF_STREAM, cbEndOfStream, pCam);
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CHECK(res);
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/// \~chinese 帧完成回调函数中不应执行耗时操作，应控制在 1s/帧率 的时间内完成，否则可能引起帧丢失
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/// \~english in cbOnEndOfFrame callback function, should not execute time-consuming operation, and finish in time of 1s/framerate, or could cause framelost
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res = ItkStreamRegisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_END_OF_FRAME, cbOnEndOfFrame, pCam);
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CHECK(res);
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res = ItkStreamRegisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_TIME_OUT, cbOnTimeOut, pCam);
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CHECK(res);
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res = ItkStreamRegisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_FRAME_LOST, cbOnFrameLost, pCam);
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CHECK(res);
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}
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/// \~chinese 清除回调函数 \~english Unregister callback functions
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void UnRegisterCallbackWithoutGrabber(pItkCamera pCam)
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{
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ITKSTATUS res = ITKSTATUS_OK;
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res = ItkStreamUnregisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_START_OF_STREAM);
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res = ItkStreamUnregisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_END_OF_STREAM);
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res = ItkStreamUnregisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_END_OF_FRAME);
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res = ItkStreamUnregisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_TIME_OUT);
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res = ItkStreamUnregisterCallback(pCam->g_hStream, ITKSTREAM_VAL_EVENT_TYPE_FRAME_LOST);
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}
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void IKAPC_CC cbStartOfStream(uint32_t eventType, void* pContext)
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{
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pItkCamera cam = (pItkCamera)pContext;
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printf("On start of stream of camera with serialNumber:%s. \n", cam->g_devInfo.SerialNumber);
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}
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void IKAPC_CC cbEndOfStream(uint32_t eventType, void* pContext)
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{
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pItkCamera cam = (pItkCamera)pContext;
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printf("On end of stream of camera with serialNumber:%s. \n", cam->g_devInfo.SerialNumber);
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}
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void IKAPC_CC cbOnEndOfFrame(uint32_t eventType, void* pContext)
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{
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ITKSTATUS res = ITKSTATUS_OK;
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ITKBUFFER hBuffer = NULL;
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pItkCamera cam = (pItkCamera)pContext;
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ITK_BUFFER_INFO bufferInfo = {0};
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printf("On end of frame of camera with serialNumber:%s. \n", cam->g_devInfo.SerialNumber);
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// \~chinese 获取当前buffer \~english get current buffer
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res = ItkStreamGetCurrentBuffer(cam->g_hStream, &hBuffer);
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CHECK(res);
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// \~chinese 获取当前buffer信息 \~english get current buffer info
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res = ItkBufferGetInfo(hBuffer, &bufferInfo);
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CHECK(res);
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/// \~chinese 当图像缓冲区满或者图像缓冲区非满但是无法采集完整的一帧图像时 \~english When buffer is full or buffer is not full but cannot grab a complete frame of image
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if (bufferInfo.State == ITKBUFFER_VAL_STATE_FULL || bufferInfo.State == ITKBUFFER_VAL_STATE_UNCOMPLETED) {
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ITKBUFFER splitOutBuffer = NULL;
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/// \~chinese 对于C32和AC32像素格式可以调用3DSplit接口将图像分通道和分层排布
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if (bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_C32 || bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_AC32)
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{
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unsigned short acquisitionLineCount = 1000; //该参数需要提前从相机读到
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{
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//直接调用ItkBufferSave接口可以将3D图像分通道分别保存为tif图并提供了分层重排布选项:ITKBUFFER_VAL_3D_SPLIT_INTO_BLOCK_AND_STRATIFIED 或 ITKBUFFER_VAL_3D_SPLIT_INTO_BLOCK
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res = ItkBufferSave(hBuffer, "test.tiff", ITKBUFFER_VAL_TIFF | (ITKBUFFER_VAL_3D_SPLIT_INTO_BLOCK_AND_STRATIFIED<<25) | (acquisitionLineCount<<8));
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CHECK(res);
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}
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// 在内存中分通道重新排布并提供了分层选项
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{
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if (bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_C32)
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{
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res = ItkBufferNew(bufferInfo.ImageWidth, bufferInfo.ImageHeight, ITKBUFFER_VAL_FORMAT_DATA_16_WITH_8U, &splitOutBuffer);
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CHECK(res);
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}
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if (bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_AC32)
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{
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res = ItkBufferNew(bufferInfo.ImageWidth, bufferInfo.ImageHeight, ITKBUFFER_VAL_FORMAT_DATA_32_WITH_8U, &splitOutBuffer);
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CHECK(res);
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}
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// ItkBuffer3DSplit在options1参数为ITKBUFFER_VAL_3D_SPLIT_INTO_BLOCK_AND_STRATIFIED的情况下options2参数应该传入batchCount，可以从相机AcquisitionLineCount特征获得
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res = ItkBuffer3DSplit(hBuffer, splitOutBuffer, ITKBUFFER_VAL_3D_SPLIT_INTO_BLOCK_AND_STRATIFIED, acquisitionLineCount);
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CHECK(res);
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ITK_BUFFER_INFO splitBufferInfo = { 0 };
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res = ItkBufferGetInfo(splitOutBuffer, &splitBufferInfo);
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CHECK(res);
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char* splitOutBufferAddr = (char*)(splitBufferInfo.BaseAddress);
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if (bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_C32)
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{
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short* C_Addr = (short*)(splitBufferInfo.BaseAddress); // C通道short类型首地址 长度为bufferInfo.ImageWidth * bufferInfo.ImageHeight
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uint8_t* R_Addr= (uint8_t*)(C_Addr+ bufferInfo.ImageWidth * bufferInfo.ImageHeight); // R通道uint8_t类型首地址 长度为bufferInfo.ImageWidth * bufferInfo.ImageHeight
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}
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if (bufferInfo.PixelFormat == ITKBUFFER_VAL_FORMAT_CALIBRATED_COORD3D_AC32)
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{
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short* A_Addr = (short*)(splitBufferInfo.BaseAddress); // A通道short类型首地址 长度为bufferInfo.ImageWidth * bufferInfo.ImageHeight
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short* C_Addr = (short*)(A_Addr + bufferInfo.ImageWidth * bufferInfo.ImageHeight); // C通道short类型首地址 长度为bufferInfo.ImageWidth * bufferInfo.ImageHeight
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uint8_t* RAddr = (uint8_t*)(C_Addr + bufferInfo.ImageWidth * bufferInfo.ImageHeight); // R通道uint8_t类型首地址 长度为bufferInfo.ImageWidth * bufferInfo.ImageHeight
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}
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}
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}
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/// \~chinese 获取chunk数据，前提是ChunkModeActive已开启，ChunkSelector中以下对应参数已使能 \~english Get chunk data provided that ChunkModeActive is on and the following corresponding parameters in ChunkSelector are enabled
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if (cam->benableChunkData)
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{
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int64_t nChunkWidth = 0;
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res = ItkBufferGetChunkInt64(hBuffer, "ChunkWidth", &nChunkWidth);
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CHECK(res);
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int64_t nChunkHeight = 0;
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res = ItkBufferGetChunkInt64(hBuffer, "ChunkHeight", &nChunkHeight);
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CHECK(res);
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int64_t nChunkOffsetX = 0;
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res = ItkBufferGetChunkInt64(hBuffer, "ChunkOffsetX", &nChunkOffsetX);
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CHECK(res);
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int64_t nChunkOffsetY = 0;
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res = ItkBufferGetChunkInt64(hBuffer, "ChunkOffsetY", &nChunkOffsetY);
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CHECK(res);
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char strChunkPixelFormat[128] = {0};
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uint32_t strLen = sizeof(strChunkPixelFormat);
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res = ItkBufferToChunkString(hBuffer, "ChunkPixelFormat",
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strChunkPixelFormat, &strLen);
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int64_t nChunkTimestamp = 0;
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res =
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ItkBufferGetChunkInt64(hBuffer, "ChunkTimestamp", &nChunkTimestamp);
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CHECK(res);
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double dchunkGain = 0;
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res = ItkBufferGetChunkDouble(hBuffer, "ChunkGain", &dchunkGain);
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CHECK(res);
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/// \~chinese 只有彩色相机才有这些参数 \~english Only the color cameras have these parameters
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/*{
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double dchunkRedGain = 0;
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res =
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ItkBufferGetChunkDouble(hBuffer, "ChunkRedGain", &dchunkRedGain);
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CHECK(res);
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double dChunkG1Gain = 0;
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res = ItkBufferGetChunkDouble(hBuffer, "ChunkG1Gain", &dChunkG1Gain);
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CHECK(res);
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double dChunkG2Gain = 0;
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res = ItkBufferGetChunkDouble(hBuffer, "ChunkG2Gain", &dChunkG2Gain);
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CHECK(res);
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double dChunkBlueGain = 0;
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res = ItkBufferGetChunkDouble(hBuffer, "ChunkBlueGain",
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&dChunkBlueGain);
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CHECK(res);
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} */
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int64_t nChunkExposureTime = 0;
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res = ItkBufferGetChunkInt64(hBuffer, "ChunkExposureTime",
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&nChunkExposureTime);
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CHECK(res);
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int64_t nChunkBrightnessInfo = 0;
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res = ItkBufferGetChunkInt64(hBuffer, "ChunkBrightnessInfo",
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&nChunkBrightnessInfo);
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CHECK(res);
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int64_t nChunkFrameCounter = 0;
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res = ItkBufferGetChunkInt64(hBuffer, "ChunkFrameCounter",
|
||
&nChunkFrameCounter);
|
||
CHECK(res);
|
||
|
||
int64_t nChunkExtTriggerCount = 0;
|
||
res = ItkBufferGetChunkInt64(hBuffer, "ChunkExtTriggerCount",
|
||
&nChunkExtTriggerCount);
|
||
CHECK(res);
|
||
}
|
||
|
||
ITKBUFFER hConvert = nullptr;
|
||
|
||
/// \~chinese 判断像素格式是否可转换 \~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 如果MultiExposureTimeCount特征值大于1则开启了多重曝光功能，采集到的图像均分为N种曝光时间，[0~1*Height/N-1]行对应ExposureSelect为1时的ExposureTime，[1*Height/N~2*Height/N-1]行对应ExposureSelect为2时的ExposureTime，...，[(N-1)*Height/N~Height-1]行对应ExposureSelect为N时的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 保存图像 \~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);
|
||
}
|
||
|