修改HIKROBOT-MVS-CAMERA-ROS适配海康单通道黑白相机（MV-CA013-20GM）
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修改基本是按Display.cc和GrabImage.cc改的
hikrobot_camera.hpp
#ifndef CAMERA_HPP
#define CAMERA_HPP
#include "ros/ros.h"
#include <stdio.h>
#include <pthread.h>
#include <opencv2/opencv.hpp>
#include "MvErrorDefine.h"
#include "CameraParams.h"
#include "MvCameraControl.h"
namespace camera
{
//********** define ************************************/
#define MAX_IMAGE_DATA_SIZE (4 * 2048 * 3072)
//********** frame ************************************/
cv::Mat frame;
//********** frame_empty ******************************/
bool frame_empty = 0;
//********** mutex ************************************/
pthread_mutex_t mutex;
//********** CameraProperties config ************************************/
enum CamerProperties
{
CAP_PROP_FRAMERATE_ENABLE, //帧数可调
CAP_PROP_FRAMERATE, //帧数
CAP_PROP_BURSTFRAMECOUNT, //外部一次触发帧数
CAP_PROP_HEIGHT, //图像高度
CAP_PROP_WIDTH, //图像宽度
CAP_PROP_EXPOSURE_TIME, //曝光时间
CAP_PROP_GAMMA_ENABLE, //伽马因子可调
CAP_PROP_GAMMA, //伽马因子
CAP_PROP_GAINAUTO, //亮度
CAP_PROP_SATURATION_ENABLE, //饱和度可调
CAP_PROP_SATURATION, //饱和度
CAP_PROP_OFFSETX, //X偏置
CAP_PROP_OFFSETY, //Y偏置
CAP_PROP_TRIGGER_MODE, //外部触发
CAP_PROP_TRIGGER_SOURCE, //触发源
CAP_PROP_LINE_SELECTOR //触发线
};
//^ *********************************************************************************** //
//^ ********************************** Camera Class************************************ //
//^ *********************************************************************************** //
class Camera
{
public:
//********** 构造函数 ****************************/
Camera(ros::NodeHandle &node);
//********** 析构函数 ****************************/
~Camera();
//********** 原始信息转换线程 **********************/
static void *HKWorkThread(void *p_handle);
//********** 输出摄像头信息 ***********************/
bool PrintDeviceInfo(MV_CC_DEVICE_INFO *pstMVDevInfo);
//********** 设置摄像头参数 ***********************/
bool set(camera::CamerProperties type, float value);
//********** 恢复默认参数 *************************/
bool reset();
//********** 读图10个相机的原始图像 ********************************/
void ReadImg(cv::Mat &image);
private:
//********** handle ******************************/
void *handle;
//********** nThreadID ******************************/
pthread_t nThreadID;
//********** yaml config ******************************/
int nRet;
int width;
int height;
int Offset_x;
int Offset_y;
bool FrameRateEnable;
int FrameRate;
int BurstFrameCount;
int ExposureTime;
bool GammaEnable;
float Gamma;
int GainAuto;
bool SaturationEnable;
int Saturation;
int TriggerMode;
int TriggerSource;
int LineSelector;
};
//^ *********************************************************************************** //
//^ ********************************** Camera constructor************************************ //
Camera::Camera(ros::NodeHandle &node)
{
handle = NULL;
//********** 读取待设置的摄像头参数 第三个参数是默认值 yaml文件未给出该值时生效 ********************************/
node.param("width", width, 3072);
node.param("height", height, 2048);
node.param("FrameRateEnable", FrameRateEnable, false);
node.param("FrameRate", FrameRate, 10);
node.param("BurstFrameCount", BurstFrameCount, 10); // 一次触发采集的次数
node.param("ExposureTime", ExposureTime, 50000);
node.param("GammaEnable", GammaEnable, false);
node.param("Gamma", Gamma, (float)0.7);
node.param("GainAuto", GainAuto, 2);
node.param("SaturationEnable", SaturationEnable,true);
node.param("Saturation", Saturation, 128);
node.param("Offset_x", Offset_x, 0);
node.param("Offset_y", Offset_y, 0);
node.param("TriggerMode", TriggerMode, 1);
node.param("TriggerSource", TriggerSource, 2);
node.param("LineSelector", LineSelector, 2);
//********** 枚举设备 ********************************/
MV_CC_DEVICE_INFO_LIST stDeviceList;
memset(&stDeviceList, 0, sizeof(MV_CC_DEVICE_INFO_LIST));
//enum device
nRet = MV_CC_EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE, &stDeviceList);
if (MV_OK != nRet)
{
printf("MV_CC_EnumDevices fail! nRet [%x]\\n", nRet);
exit(-1);
}
unsigned int nIndex = 0;
if (stDeviceList.nDeviceNum > 0)
{
for (int i = 0; i < stDeviceList.nDeviceNum; i++)
{
printf("[device %d]:\\n", i);
MV_CC_DEVICE_INFO *pDeviceInfo = stDeviceList.pDeviceInfo[i];
if (NULL == pDeviceInfo)
{
break;
}
PrintDeviceInfo(pDeviceInfo);
}
}
else
{
printf("Find No Devices!\\n");
exit(-1);
}
//********** 选择设备并创建句柄 *************************/
nRet = MV_CC_CreateHandle(&handle, stDeviceList.pDeviceInfo[nIndex]);
if (MV_OK != nRet)
{
printf("MV_CC_CreateHandle fail! nRet [%x]\\n", nRet);
exit(-1);
}
// 打开设备
//********** frame **********/
nRet = MV_CC_OpenDevice(handle);
if (MV_OK != nRet)
{
printf("MV_CC_OpenDevice fail! nRet [%x]\\n", nRet);
exit(-1);
}
// ch:探测网络最佳包大小(只对GigE相机有效) | en:Detection network optimal package size(It only works for the GigE camera)
if (stDeviceList.pDeviceInfo[nIndex]->nTLayerType == MV_GIGE_DEVICE)
{
int nPacketSize = MV_CC_GetOptimalPacketSize(handle);
if (nPacketSize > 0)
{
nRet = MV_CC_SetIntValue(handle,"GevSCPSPacketSize",nPacketSize);
if(nRet != MV_OK)
{
printf("Warning: Set Packet Size fail nRet [0x%x]!\\n", nRet);
}
}
else
{
printf("Warning: Get Packet Size fail nRet [0x%x]!\\n", nPacketSize);
}
}
//设置 yaml 文件里面的配置
/*
this->set(CAP_PROP_FRAMERATE_ENABLE, FrameRateEnable);
if (FrameRateEnable)
this->set(CAP_PROP_FRAMERATE, FrameRate);
// this->set(CAP_PROP_BURSTFRAMECOUNT, BurstFrameCount);
this->set(CAP_PROP_HEIGHT, height);
this->set(CAP_PROP_WIDTH, width);
this->set(CAP_PROP_OFFSETX, Offset_x);
this->set(CAP_PROP_OFFSETY, Offset_y);
this->set(CAP_PROP_EXPOSURE_TIME, ExposureTime);
// printf("\\n%d\\n",GammaEnable);
this->set(CAP_PROP_GAMMA_ENABLE, GammaEnable);
// printf("\\n%d\\n",GammaEnable);
if (GammaEnable)
this->set(CAP_PROP_GAMMA, Gamma);
this->set(CAP_PROP_GAINAUTO, GainAuto);
// this->set(CAP_PROP_TRIGGER_MODE, TriggerMode);
// this->set(CAP_PROP_TRIGGER_SOURCE, TriggerSource);
// this->set(CAP_PROP_LINE_SELECTOR, LineSelector);
*/
//********** frame **********/
//白平衡 非自适应（给定参数0）
//nRet = MV_CC_SetEnumValue(handle, "BalanceWhiteAuto", 0);
// //白平衡度
// int rgb[3] = {1742, 1024, 2371};
// for (int i = 0; i < 3; i++)
// {
// //********** frame **********/
// nRet = MV_CC_SetEnumValue(handle, "BalanceRatioselector", i);
// nRet = MV_CC_SetIntValue(handle, "BalanceRatio", rgb[i]);
// }
/*
if (MV_OK == nRet)
{
printf("set BalanceRatio OK! value=%f\\n",0.0 );
}
else
{
printf("Set BalanceRatio Failed! nRet = [%x]\\n\\n", nRet);
}
this->set(CAP_PROP_SATURATION_ENABLE, SaturationEnable);
if (SaturationEnable)
this->set(CAP_PROP_SATURATION, Saturation);
*/
//软件触发
// ********** frame **********/
nRet = MV_CC_SetEnumValue(handle, "TriggerMode", 0);
if (MV_OK == nRet)
{
printf("set TriggerMode OK!\\n");
}
else
{
printf("MV_CC_SetTriggerMode fail! nRet [%x]\\n", nRet);
}
//********** 图像格式 **********/
// 0x01100003:Mono10
// 0x010C0004:Mono10Packed
// 0x01100005:Mono12
// 0x010C0006:Mono12Packed
// 0x01100007:Mono16
// 0x02180014:RGB8Packed
// 0x02100032:YUV422_8
// 0x0210001F:YUV422_8_UYVY
// 0x01080008:BayerGR8
// 0x01080009:BayerRG8
// 0x0108000A:BayerGB8
// 0x0108000B:BayerBG8
// 0x0110000e:BayerGB10
// 0x01100012:BayerGB12
// 0x010C002C:BayerGB12Packed
//peak.ding
/*
nRet = MV_CC_SetEnumValue(handle, "PixelFormat", 0x02180014); // 目前 RGB
if (MV_OK == nRet)
{
printf("set PixelFormat OK ! value = RGB\\n");
}
else
{
printf("MV_CC_SetPixelFormat fail! nRet [%x]\\n", nRet);
}
*/
//MVCC_ENUMVALUE t = {0};
//********** frame **********/
/*
nRet = MV_CC_GetEnumValue(handle, "PixelFormat", &t);
if (MV_OK == nRet)
{
printf("PixelFormat :%d!\\n", t.nCurValue); // 35127316
}
else
{
printf("get PixelFormat fail! nRet [%x]\\n", nRet);
}
*/
// 开始取流
//********** frame **********/
nRet = MV_CC_StartGrabbing(handle);
if (MV_OK != nRet)
{
printf("MV_CC_StartGrabbing fail! nRet [%x]\\n", nRet);
exit(-1);
}
//初始化互斥量
nRet = pthread_mutex_init(&mutex, NULL);
if (nRet != 0)
{
perror("pthread_create failed\\n");
exit(-1);
}
//********** frame **********/
nRet = pthread_create(&nThreadID, NULL, HKWorkThread, handle);
if (nRet != 0)
{
printf("thread create failed.ret = %d\\n", nRet);
exit(-1);
}
}
//^ ********************************** Camera constructor************************************ //
Camera::~Camera()
{
int nRet;
//********** frame **********/
pthread_join(nThreadID, NULL);
//********** frame **********/
nRet = MV_CC_StopGrabbing(handle);
if (MV_OK != nRet)
{
printf("MV_CC_StopGrabbing fail! nRet [%x]\\n", nRet);
exit(-1);
}
printf("MV_CC_StopGrabbing succeed.\\n");
// 关闭设备
//********** frame **********/
nRet = MV_CC_CloseDevice(handle);
if (MV_OK != nRet)
{
printf("MV_CC_CloseDevice fail! nRet [%x]\\n", nRet);
exit(-1);
}
printf("MV_CC_CloseDevice succeed.\\n");
// 销毁句柄
//********** frame **********/
nRet = MV_CC_DestroyHandle(handle);
if (MV_OK != nRet)
{
printf("MV_CC_DestroyHandle fail! nRet [%x]\\n", nRet);
exit(-1);
}
printf("MV_CC_DestroyHandle succeed.\\n");
// 销毁互斥量
pthread_mutex_destroy(&mutex);
}
//^ ********************************** Camera constructor************************************ //
bool Camera::set(CamerProperties type, float value)
{
switch (type)
{
case CAP_PROP_FRAMERATE_ENABLE:
{
//********** frame **********/
nRet = MV_CC_SetBoolValue(handle, "AcquisitionFrameRateEnable", value);
if (MV_OK == nRet)
{
printf("set AcquisitionFrameRateEnable OK! value=%f\\n",value);
}
else
{
printf("Set AcquisitionFrameRateEnable Failed! nRet = [%x]\\n\\n", nRet);
}
break;
}
case CAP_PROP_FRAMERATE:
{
//********** frame **********/
nRet = MV_CC_SetFloatValue(handle, "AcquisitionFrameRate", value);
if (MV_OK == nRet)
{
printf("set AcquisitionFrameRate OK! value=%f\\n",value);
}
else
{
printf("Set AcquisitionFrameRate Failed! nRet = [%x]\\n\\n", nRet);
}
break;
}
case CAP_PROP_BURSTFRAMECOUNT:
{
//********** frame **********/
nRet = MV_CC_SetIntValue(handle, "AcquisitionBurstFrameCount", value);
if (MV_OK == nRet)
{
printf("set AcquisitionBurstFrameCount OK!\\n");
}
else
{
printf("Set AcquisitionBurstFrameCount Failed! nRet = [%x]\\n\\n", nRet);
}
break;
}
case CAP_PROP_HEIGHT:
{
//********** frame **********/
nRet = MV_CC_SetIntValue(handle, "Height", value); //图像高度
if (MV_OK == nRet)
{
printf("set Height OK!\\n");
}
else
{
printf("Set Height Failed! nRet = [%x]\\n\\n", nRet);
}
break;
}
case CAP_PROP_WIDTH:
{
//********** frame **********/
nRet = MV_CC_SetIntValue(handle, "Width", value); //图像宽度
if (MV_OK == nRet)
{
printf("set Width OK!\\n");
}
else
{
printf("Set Width Failed! nRet = [%x]\\n\\n", nRet);
}
break;
}
case CAP_PROP_OFFSETX:
{
//********** frame **********/
nRet = MV_CC_SetIntValue(handle, "OffsetX", value); //图像宽度
if (MV_OK == nRet)
{
printf("set Offset X OK!\\n");
}
else
{
printf("Set Offset X Failed! nRet = [%x]\\n\\n", nRet);
}
break;
}
case CAP_PROP_OFFSETY:
{
//********** frame **********/
nRet = MV_CC_SetIntValue(handle, "OffsetY", value); //图像宽度
if (MV_OK == nRet)
{
printf("set Offset Y OK!\\n");
}
else
{
printf("Set Offset Y Failed! nRet = [%x]\\n\\n", nRet);
}
break;
}
case CAP_PROP_EXPOSURE_TIME:
{
//********** frame **********/
nRet = MV_CC_SetFloatValue(handle, "ExposureTime", value); //曝光时间
if (MV_OK == nRet)
{
printf("set ExposureTime OK! value=%f\\n",value);
}
else
{
printf("Set ExposureTime Failed! nRet = [%x]\\n\\n", nRet);
}
break;
}
case CAP_PROP_GAMMA_ENABLE:
{
//********** frame **********/
nRet = MV_CC_SetBoolValue(handle, "GammaEnable", value); //伽马因子是否可调 默认不可调（false）
if (MV_OK == nRet)
{
printf("set GammaEnable OK! value=%f\\n",value);
}
else
{
printf("Set GammaEnable Failed! nRet = [%x]\\n\\n", nRet);
}
break;
}
case CAP_PROP_GAMMA:
{
//********** frame **********/
nRet = MV_CC_SetFloatValue(handle, "Gamma", value); //伽马越小 亮度越大
if (MV_OK == nRet)
{
printf("set Gamma OK! value=%f\\n",value);
}
else
{
printf("Set Gamma Failed! nRet = [%x]\\n\\n", nRet);
}
break;
}
case CAP_PROP_GAINAUTO:
{
//********** frame **********/
nRet = MV_CC_SetEnumValue(handle, "GainAuto", value); //亮度 越大越亮
if (MV_OK == nRet)
{
printf("set GainAuto OK! value=%f\\n",value);
}
else
{
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