683 lines
19 KiB
C++
683 lines
19 KiB
C++
#include "GalaxyCamera.h"
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#include <cstring>
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#include <algorithm>
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#ifdef _WIN32
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#include <windows.h>
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#endif
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// 静态成员初始化
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bool GalaxyCamera::s_sdkInitialized = false;
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int GalaxyCamera::s_instanceCount = 0;
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std::mutex GalaxyCamera::s_sdkMutex;
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GalaxyCamera::GalaxyCamera()
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: m_pCaptureEventHandler(nullptr)
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, m_bIsOpen(false)
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, m_bIsStreaming(false)
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, m_bHasNewFrame(false) {
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std::lock_guard<std::mutex> lock(s_sdkMutex);
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s_instanceCount++;
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}
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GalaxyCamera::~GalaxyCamera() {
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try {
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StopStreaming();
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Close();
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}
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catch (...) {
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// 忽略清理异常
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}
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std::lock_guard<std::mutex> lock(s_sdkMutex);
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s_instanceCount--;
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// 注意：不在析构函数中反初始化SDK
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// SDK应该在程序退出时统一清理，或者由最后一个实际使用的相机来清理
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// 因为DetectAvailableBrands会频繁创建/销毁临时实例
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}
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// 检查大恒SDK DLL是否可用
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static bool IsGalaxySDKAvailable() {
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#ifdef _WIN32
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// 尝试加载大恒SDK主DLL
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// 使用 LOAD_LIBRARY_AS_DATAFILE 避免触发DLL的依赖加载
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HMODULE hModule = LoadLibraryExA("GxIAPI.dll", nullptr, LOAD_LIBRARY_AS_DATAFILE);
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if (hModule == nullptr) {
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// DLL不在PATH中或不存在
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return false;
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}
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FreeLibrary(hModule);
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// 进一步检查：尝试真正加载DLL（会检查依赖）
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hModule = LoadLibraryA("GxIAPI.dll");
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if (hModule == nullptr) {
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// DLL存在但依赖项缺失（如缺少MSVCP140D.dll）
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return false;
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}
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FreeLibrary(hModule);
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return true;
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#else
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return true; // 非Windows平台假设可用
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#endif
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}
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bool GalaxyCamera::Init(const std::string& sdkPath) {
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(void)sdkPath;
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std::lock_guard<std::mutex> lock(s_sdkMutex);
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// 如果SDK已经初始化，直接返回成功
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if (s_sdkInitialized) {
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return true;
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}
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// 首先检查SDK DLL是否可用
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if (!IsGalaxySDKAvailable()) {
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return false;
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}
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try {
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// 尝试获取工厂实例并初始化
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IGXFactory& factory = IGXFactory::GetInstance();
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factory.Init();
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s_sdkInitialized = true;
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return true;
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}
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catch (CGalaxyException& e) {
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(void)e;
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s_sdkInitialized = false;
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return false;
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}
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catch (std::exception& e) {
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(void)e;
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s_sdkInitialized = false;
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return false;
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}
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catch (...) {
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// 捕获所有其他异常
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s_sdkInitialized = false;
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return false;
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}
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}
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std::vector<DeviceInfo> GalaxyCamera::Discover() {
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std::vector<DeviceInfo> devices;
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m_vectorDeviceInfo.clear();
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if (!s_sdkInitialized) {
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return devices;
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}
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try {
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// 枚举设备，超时1000ms
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IGXFactory::GetInstance().UpdateDeviceList(1000, m_vectorDeviceInfo);
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for (uint32_t i = 0; i < m_vectorDeviceInfo.size(); i++) {
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DeviceInfo appDevInfo;
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// 获取设备序列号作为ID
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appDevInfo.id = m_vectorDeviceInfo[i].GetSN().c_str();
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// 获取设备显示名称
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appDevInfo.name = m_vectorDeviceInfo[i].GetDisplayName().c_str();
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// 标记品牌
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appDevInfo.brand = "Galaxy";
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devices.push_back(appDevInfo);
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}
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}
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catch (CGalaxyException& e) {
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(void)e;
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}
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catch (std::exception& e) {
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(void)e;
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}
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return devices;
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}
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bool GalaxyCamera::Open(const std::string& deviceID) {
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if (m_bIsOpen) {
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Close();
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}
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if (!s_sdkInitialized) {
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return false;
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}
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bool bIsDeviceOpen = false;
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bool bIsStreamOpen = false;
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try {
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// 通过序列号打开设备
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m_objDevicePtr = IGXFactory::GetInstance().OpenDeviceBySN(
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deviceID.c_str(), GX_ACCESS_EXCLUSIVE);
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bIsDeviceOpen = true;
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// 获取远程属性控制器
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m_objFeatureControlPtr = m_objDevicePtr->GetRemoteFeatureControl();
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// 设置采集模式为连续采集
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m_objFeatureControlPtr->GetEnumFeature("AcquisitionMode")->SetValue("Continuous");
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// 设置触发模式为关（软件触发时先关闭，后续按需开启）
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m_objFeatureControlPtr->GetEnumFeature("TriggerMode")->SetValue("Off");
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// 获取设备流个数
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int nStreamCount = m_objDevicePtr->GetStreamCount();
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if (nStreamCount > 0) {
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m_objStreamPtr = m_objDevicePtr->OpenStream(0);
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m_objStreamFeatureControlPtr = m_objStreamPtr->GetFeatureControl();
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bIsStreamOpen = true;
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}
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else {
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throw std::exception("未发现设备流!");
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}
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// 对于GigE相机，设置最优包长
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GX_DEVICE_CLASS_LIST objDeviceClass = m_objDevicePtr->GetDeviceInfo().GetDeviceClass();
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if (GX_DEVICE_CLASS_GEV == objDeviceClass) {
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if (m_objFeatureControlPtr->IsImplemented("GevSCPSPacketSize")) {
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int nPacketSize = m_objStreamPtr->GetOptimalPacketSize();
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m_objFeatureControlPtr->GetIntFeature("GevSCPSPacketSize")->SetValue(nPacketSize);
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}
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}
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// 创建采集回调处理器
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m_pCaptureEventHandler = new CaptureEventHandler(this);
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m_bIsOpen = true;
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return true;
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}
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catch (CGalaxyException& e) {
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(void)e;
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if (bIsStreamOpen && !m_objStreamPtr.IsNull()) {
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m_objStreamPtr->Close();
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}
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if (bIsDeviceOpen && !m_objDevicePtr.IsNull()) {
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m_objDevicePtr->Close();
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}
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m_bIsOpen = false;
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return false;
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}
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catch (std::exception& e) {
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(void)e;
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if (bIsStreamOpen && !m_objStreamPtr.IsNull()) {
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m_objStreamPtr->Close();
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}
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if (bIsDeviceOpen && !m_objDevicePtr.IsNull()) {
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m_objDevicePtr->Close();
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}
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m_bIsOpen = false;
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return false;
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}
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}
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void GalaxyCamera::Close() {
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if (!m_bIsOpen) {
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return;
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}
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try {
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// 停止采集
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StopStreaming();
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// 关闭流对象
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if (!m_objStreamPtr.IsNull()) {
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m_objStreamPtr->Close();
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}
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// 关闭设备
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if (!m_objDevicePtr.IsNull()) {
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m_objDevicePtr->Close();
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}
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}
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catch (CGalaxyException&) {
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// 忽略关闭异常
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}
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catch (std::exception&) {
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// 忽略关闭异常
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}
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// 释放回调处理器
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if (m_pCaptureEventHandler != nullptr) {
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delete m_pCaptureEventHandler;
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m_pCaptureEventHandler = nullptr;
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}
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m_bIsOpen = false;
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}
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bool GalaxyCamera::SetROI(int x, int y, int w, int h) {
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if (!m_bIsOpen || m_objFeatureControlPtr.IsNull()) {
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return false;
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}
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try {
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// 获取最大宽高
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int64_t widthMax = m_objFeatureControlPtr->GetIntFeature("WidthMax")->GetValue();
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int64_t heightMax = m_objFeatureControlPtr->GetIntFeature("HeightMax")->GetValue();
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// 基本验证
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if (w <= 0 || h <= 0 || x < 0 || y < 0 ||
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(x + w) > widthMax || (y + h) > heightMax) {
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return false;
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}
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// 大恒相机ROI通常需要是4的倍数
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w = (w / 4) * 4;
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h = (h / 4) * 4;
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x = (x / 4) * 4;
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y = (y / 4) * 4;
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if (w <= 0) w = 4;
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if (h <= 0) h = 4;
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// 设置ROI
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m_objFeatureControlPtr->GetIntFeature("Width")->SetValue(w);
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m_objFeatureControlPtr->GetIntFeature("Height")->SetValue(h);
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m_objFeatureControlPtr->GetIntFeature("OffsetX")->SetValue(x);
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m_objFeatureControlPtr->GetIntFeature("OffsetY")->SetValue(y);
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return true;
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}
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catch (CGalaxyException& e) {
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(void)e;
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return false;
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}
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catch (std::exception& e) {
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(void)e;
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return false;
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}
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}
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bool GalaxyCamera::StartStreaming(FrameCallback callback) {
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if (!m_bIsOpen || m_bIsStreaming) {
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return false;
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}
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try {
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// 保存回调函数
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m_frameCallback = callback;
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// 设置Buffer处理模式
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try {
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m_objStreamFeatureControlPtr->GetEnumFeature("StreamBufferHandlingMode")->SetValue("OldestFirst");
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}
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catch (...) {
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// 部分相机可能不支持此特性，忽略
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}
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// 注册采集回调
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m_objStreamPtr->RegisterCaptureCallback(m_pCaptureEventHandler, this);
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// 开启流层采集
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m_objStreamPtr->StartGrab();
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// 发送开采命令
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m_objFeatureControlPtr->GetCommandFeature("AcquisitionStart")->Execute();
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m_bIsStreaming = true;
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return true;
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}
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catch (CGalaxyException& e) {
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(void)e;
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// 清理
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try {
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m_objStreamPtr->StopGrab();
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m_objStreamPtr->UnregisterCaptureCallback();
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}
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catch (...) {}
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m_bIsStreaming = false;
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return false;
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}
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catch (std::exception& e) {
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(void)e;
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try {
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m_objStreamPtr->StopGrab();
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m_objStreamPtr->UnregisterCaptureCallback();
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}
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catch (...) {}
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m_bIsStreaming = false;
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return false;
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}
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}
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void GalaxyCamera::StopStreaming() {
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if (!m_bIsOpen || !m_bIsStreaming) {
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return;
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}
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try {
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// 发送停采命令
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m_objFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();
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// 关闭流层采集
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m_objStreamPtr->StopGrab();
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// 注销回调函数
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m_objStreamPtr->UnregisterCaptureCallback();
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}
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catch (CGalaxyException&) {
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// 忽略异常
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}
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catch (std::exception&) {
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// 忽略异常
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}
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m_bIsStreaming = false;
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m_bHasNewFrame = false;
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}
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bool GalaxyCamera::IsStreaming() const {
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return m_bIsStreaming;
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}
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bool GalaxyCamera::GrabCurrentFrame(ImageBuffer& out) {
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if (!m_bIsStreaming) {
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return false;
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}
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std::lock_guard<std::mutex> lock(m_frameMutex);
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if (!m_latestFramePtr || m_latestFramePtr->data.empty()) {
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return false;
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}
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// 复制最新帧数据
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out = *m_latestFramePtr;
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m_bHasNewFrame = false;
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return true;
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}
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bool GalaxyCamera::Capture(ImageBuffer& out) {
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if (!m_bIsOpen) {
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return false;
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}
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// 如果正在流模式，使用GrabCurrentFrame
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if (m_bIsStreaming) {
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return GrabCurrentFrame(out);
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}
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try {
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// 单帧采集模式
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// 开启流层采集
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m_objStreamPtr->StartGrab();
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// 发送开采命令
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m_objFeatureControlPtr->GetCommandFeature("AcquisitionStart")->Execute();
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// 获取一帧图像，超时5000ms
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CImageDataPointer objImageDataPointer = m_objStreamPtr->GetImage(5000);
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if (objImageDataPointer.IsNull()) {
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m_objFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();
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m_objStreamPtr->StopGrab();
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return false;
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}
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// 检查图像状态
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if (objImageDataPointer->GetStatus() != GX_FRAME_STATUS_SUCCESS) {
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m_objFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();
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m_objStreamPtr->StopGrab();
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return false;
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}
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// 转换图像数据
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out.width = static_cast<int>(objImageDataPointer->GetWidth());
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out.height = static_cast<int>(objImageDataPointer->GetHeight());
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out.pixelFormat = convertPixelFormat(objImageDataPointer->GetPixelFormat());
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// 计算数据大小
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size_t dataSize = objImageDataPointer->GetPayloadSize();
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out.data.resize(dataSize);
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// 复制图像数据
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void* pBuffer = objImageDataPointer->GetBuffer();
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if (pBuffer) {
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std::memcpy(out.data.data(), pBuffer, dataSize);
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}
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// 停止采集
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m_objFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();
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m_objStreamPtr->StopGrab();
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return true;
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}
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catch (CGalaxyException& e) {
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(void)e;
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try {
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m_objFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();
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m_objStreamPtr->StopGrab();
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}
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catch (...) {}
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return false;
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}
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catch (std::exception& e) {
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(void)e;
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try {
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m_objFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();
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m_objStreamPtr->StopGrab();
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}
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catch (...) {}
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return false;
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}
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}
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bool GalaxyCamera::GetIntValue(const std::string& name, int& value) {
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if (!m_bIsOpen || m_objFeatureControlPtr.IsNull()) {
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return false;
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}
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try {
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// 映射参数名称
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std::string gxName = name;
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if (name == "Width" || name == "Height" ||
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name == "OffsetX" || name == "OffsetY") {
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// 直接使用
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}
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value = static_cast<int>(m_objFeatureControlPtr->GetIntFeature(gxName.c_str())->GetValue());
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return true;
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}
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catch (CGalaxyException&) {
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return false;
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}
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catch (std::exception&) {
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return false;
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}
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}
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bool GalaxyCamera::SetIntValue(const std::string& name, int value) {
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if (!m_bIsOpen || m_objFeatureControlPtr.IsNull()) {
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return false;
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}
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try {
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m_objFeatureControlPtr->GetIntFeature(name.c_str())->SetValue(value);
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return true;
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}
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catch (CGalaxyException&) {
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return false;
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}
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catch (std::exception&) {
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return false;
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}
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}
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bool GalaxyCamera::GetFloatValue(const std::string& name, float& value) {
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if (!m_bIsOpen || m_objFeatureControlPtr.IsNull()) {
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return false;
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}
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try {
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// 映射参数名称到大恒SDK参数名
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std::string gxName = name;
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if (name == "ExposureTime") {
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gxName = "ExposureTime";
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}
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else if (name == "Gain") {
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gxName = "Gain";
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}
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value = static_cast<float>(m_objFeatureControlPtr->GetFloatFeature(gxName.c_str())->GetValue());
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return true;
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}
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catch (CGalaxyException&) {
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return false;
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}
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catch (std::exception&) {
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return false;
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}
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}
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bool GalaxyCamera::SetFloatValue(const std::string& name, float value) {
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if (!m_bIsOpen || m_objFeatureControlPtr.IsNull()) {
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return false;
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}
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try {
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// 映射参数名称
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std::string gxName = name;
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if (name == "ExposureTime") {
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gxName = "ExposureTime";
|
||
}
|
||
else if (name == "Gain") {
|
||
gxName = "Gain";
|
||
}
|
||
|
||
m_objFeatureControlPtr->GetFloatFeature(gxName.c_str())->SetValue(value);
|
||
return true;
|
||
}
|
||
catch (CGalaxyException&) {
|
||
return false;
|
||
}
|
||
catch (std::exception&) {
|
||
return false;
|
||
}
|
||
}
|
||
|
||
bool GalaxyCamera::IsConnected() {
|
||
return m_bIsOpen && !m_objDevicePtr.IsNull();
|
||
}
|
||
|
||
void GalaxyCamera::Cleanup() {
|
||
Close();
|
||
}
|
||
|
||
void GalaxyCamera::UninitSDK() {
|
||
std::lock_guard<std::mutex> lock(s_sdkMutex);
|
||
if (s_sdkInitialized) {
|
||
try {
|
||
IGXFactory::GetInstance().Uninit();
|
||
s_sdkInitialized = false;
|
||
}
|
||
catch (...) {
|
||
// 忽略清理异常
|
||
}
|
||
}
|
||
}
|
||
|
||
// 采集回调处理
|
||
void GalaxyCamera::CaptureEventHandler::DoOnImageCaptured(
|
||
CImageDataPointer& objImageDataPointer, void* pUserParam) {
|
||
|
||
try {
|
||
GalaxyCamera* pCamera = static_cast<GalaxyCamera*>(pUserParam);
|
||
if (pCamera) {
|
||
pCamera->processFrame(objImageDataPointer);
|
||
}
|
||
}
|
||
catch (CGalaxyException&) {
|
||
// 忽略异常
|
||
}
|
||
catch (std::exception&) {
|
||
// 忽略异常
|
||
}
|
||
}
|
||
|
||
void GalaxyCamera::processFrame(CImageDataPointer& objImageDataPointer) {
|
||
if (objImageDataPointer.IsNull()) {
|
||
return;
|
||
}
|
||
|
||
// 检查图像状态
|
||
if (objImageDataPointer->GetStatus() != GX_FRAME_STATUS_SUCCESS) {
|
||
return;
|
||
}
|
||
|
||
try {
|
||
// 创建新的图像缓冲区
|
||
auto newFrame = std::make_shared<ImageBuffer>();
|
||
|
||
newFrame->width = static_cast<int>(objImageDataPointer->GetWidth());
|
||
newFrame->height = static_cast<int>(objImageDataPointer->GetHeight());
|
||
newFrame->pixelFormat = convertPixelFormat(objImageDataPointer->GetPixelFormat());
|
||
|
||
// 获取图像数据大小
|
||
size_t dataSize = objImageDataPointer->GetPayloadSize();
|
||
newFrame->data.resize(dataSize);
|
||
|
||
// 复制图像数据
|
||
void* pBuffer = objImageDataPointer->GetBuffer();
|
||
if (pBuffer) {
|
||
std::memcpy(newFrame->data.data(), pBuffer, dataSize);
|
||
}
|
||
|
||
// 更新最新帧
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_frameMutex);
|
||
m_latestFramePtr = newFrame;
|
||
m_bHasNewFrame = true;
|
||
}
|
||
|
||
// 调用用户回调
|
||
if (m_frameCallback) {
|
||
m_frameCallback(newFrame);
|
||
}
|
||
}
|
||
catch (std::exception&) {
|
||
// 忽略异常
|
||
}
|
||
}
|
||
|
||
PixelFormat GalaxyCamera::convertPixelFormat(GX_PIXEL_FORMAT_ENTRY gxFormat) {
|
||
switch (gxFormat) {
|
||
case GX_PIXEL_FORMAT_MONO8:
|
||
return PixelFormat::Mono8;
|
||
case GX_PIXEL_FORMAT_MONO10:
|
||
return PixelFormat::Mono10;
|
||
case GX_PIXEL_FORMAT_MONO12:
|
||
return PixelFormat::Mono12;
|
||
case GX_PIXEL_FORMAT_MONO16:
|
||
return PixelFormat::Mono16;
|
||
case GX_PIXEL_FORMAT_BAYER_RG8:
|
||
return PixelFormat::BayerRG8;
|
||
case GX_PIXEL_FORMAT_BAYER_GB8:
|
||
return PixelFormat::BayerGB8;
|
||
case GX_PIXEL_FORMAT_BAYER_GR8:
|
||
return PixelFormat::BayerGR8;
|
||
case GX_PIXEL_FORMAT_BAYER_BG8:
|
||
return PixelFormat::BayerBG8;
|
||
default:
|
||
// 对于未知格式，默认返回Mono8
|
||
return PixelFormat::Mono8;
|
||
}
|
||
}
|