| RMVL 2.4.0 Robotic Manipulation and Vision Library

载入中...
搜索中...
未找到
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/camutils.hpp"
#include "rmvl/camera/hik_camera.h"
#include "rmvl/core/util.hpp"
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());
float exposure = 1000;
float 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::CameraProperties::auto_exposure, false);
capture.set(rm::CameraProperties::exposure, exposure);
capture.set(rm::CameraProperties::gain, gain);
capture.set(rm::CameraProperties::auto_wb, false);
capture.set(rm::CameraProperties::wb_rgain, static_cast<uint32_t>(r_gain));
capture.set(rm::CameraProperties::wb_ggain, static_cast<uint32_t>(g_gain));
capture.set(rm::CameraProperties::wb_bgain, static_cast<uint32_t>(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;
}
}
rm::HikCamera
海康机器人相机库
定义 hik_camera.h:36
rm::HikCamera::set
bool set(CameraProperties propId, Tp value) noexcept
设置相机参数
rm::HikCamera::read
bool read(cv::OutputArray image)
从相机设备中读取图像
rm::RetrieveMode::OpenCV
@ OpenCV
使用 OpenCV 的 'cvtColor' 进行处理
定义 camutils.hpp:49
rm::GrabMode::Continuous
@ Continuous
连续采样
定义 camutils.hpp:33
rm::CameraProperties::wb_bgain
@ wb_bgain
白平衡蓝色分量
定义 camutils.hpp:97
rm::CameraProperties::auto_wb
@ auto_wb
自动白平衡
定义 camutils.hpp:91
rm::CameraProperties::auto_exposure
@ auto_exposure
自动曝光
定义 camutils.hpp:90
rm::CameraProperties::wb_ggain
@ wb_ggain
白平衡绿色分量
定义 camutils.hpp:96
rm::CameraProperties::exposure
@ exposure
曝光值
定义 camutils.hpp:92
rm::CameraProperties::wb_rgain
@ wb_rgain
白平衡红色分量
定义 camutils.hpp:95
rm::CameraProperties::gain
@ gain
模拟增益
定义 camutils.hpp:93
ERROR_
#define ERROR_(...)
定义 util.hpp:47
rm::CameraConfig::create
static CameraConfig create(Args &&...modes)
创建相机初始化配置模式
定义 camutils.hpp:66