| RMVL 2.3.0 Robotic Manipulation and Vision Library

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samples/camera/hik/sample_hik_writer.cpp

海康机器人工业相机录屏例程

#include <opencv2/highgui.hpp>
#include <opencv2/videoio.hpp>
#include "rmvl/camera/hik_camera.h"
int main()
{
rm::HikCamera capture(rm::CameraConfig::create(rm::GrabMode::Continuous, rm::RetrieveMode::OpenCV));
cv::Mat tmp;
while (!capture.read(tmp))
ERROR_("fail to read the image.");
cv::VideoWriter writer("ts.avi", cv::VideoWriter::fourcc('F', 'L', 'V', '1'), 40, tmp.size());
int exposure = 1000;
int gain = 64;
int r_gain = 1200;
int g_gain = 1200;
int b_gain = 1200;
// Load the last parameters
cv::FileStorage fs("out_para.yml", cv::FileStorage::READ);
if (fs.isOpened())
{
fs["exposure"].isNone() ? void(0) : (fs["exposure"] >> exposure);
fs["gain"].isNone() ? void(0) : (fs["gain"] >> gain);
fs["r_gain"].isNone() ? void(0) : (fs["r_gain"] >> r_gain);
fs["g_gain"].isNone() ? void(0) : (fs["g_gain"] >> g_gain);
fs["b_gain"].isNone() ? void(0) : (fs["b_gain"] >> b_gain);
}
capture.set(rm::CAMERA_MANUAL_EXPOSURE);
capture.set(rm::CAMERA_EXPOSURE, exposure);
capture.set(rm::CAMERA_GAIN, gain);
capture.set(rm::CAMERA_MANUAL_WB);
capture.set(rm::CAMERA_WB_RGAIN, r_gain);
capture.set(rm::CAMERA_WB_GGAIN, g_gain);
capture.set(rm::CAMERA_WB_BGAIN, b_gain);
cv::Mat frame;
while (capture.read(frame))
{
imshow("frame", frame);
writer.write(frame);
if (cv::waitKey(1) == 27)
if (cv::waitKey(0) == 27)
break;
}
}
hik_camera.h
HikRobot 工业相机库
rm::HikCamera
海康机器人相机库
定义 hik_camera.h:37
rm::HikCamera::read
bool read(cv::OutputArray image)
从相机设备中读取图像
rm::HikCamera::set
bool set(int propId, double value=0.0)
设置相机参数/事件
rm::RetrieveMode::OpenCV
@ OpenCV
使用 OpenCV 的 'cvtColor' 进行处理
定义 camutils.hpp:54
rm::CAMERA_WB_BGAIN
@ CAMERA_WB_BGAIN
白平衡蓝色分量
定义 camutils.hpp:108
rm::CAMERA_WB_GGAIN
@ CAMERA_WB_GGAIN
白平衡绿色分量
定义 camutils.hpp:107
rm::CAMERA_MANUAL_EXPOSURE
@ CAMERA_MANUAL_EXPOSURE
手动曝光
定义 camutils.hpp:99
rm::CAMERA_EXPOSURE
@ CAMERA_EXPOSURE
曝光值
定义 camutils.hpp:103
rm::CAMERA_MANUAL_WB
@ CAMERA_MANUAL_WB
手动白平衡
定义 camutils.hpp:102
rm::CAMERA_WB_RGAIN
@ CAMERA_WB_RGAIN
白平衡红色分量
定义 camutils.hpp:106
rm::CAMERA_GAIN
@ CAMERA_GAIN
模拟增益
定义 camutils.hpp:104
rm::GrabMode::Continuous
@ Continuous
连续采样
定义 camutils.hpp:36
ERROR_
#define ERROR_(...)
定义 util.hpp:50
rm::CameraConfig::create
static CameraConfig create(Args &&...modes)
创建相机初始化配置模式
定义 camutils.hpp:72