相机模块

相机模块 的协作图:

模块
	迈德威视（MindVision）相机库
	海康机器人（HikRobot）工业相机库

宏定义
#define	CAM_WARNING(msg...)
#define	CAM_PASS(msg...)
#define	CAM_ERROR(msg...)
#define	CAM_INFO(msg...)

类型定义
using	rm::capture_ptr = std::unique_ptr< cv::VideoCapture >
using	rm::RetrieveMode = int
	处理模式 Camera retrieve mode 更多...

枚举
enum	rm::GrabMode : int { rm::GRAB_CONTINUOUS = 0 , rm::GRAB_SOFTWARE = 1 , rm::GRAB_HARDWARE = 2 }
	采集模式 Camera grab mode 更多...
enum	rm::_RetrieveMode : RetrieveMode { rm::RETRIEVE_SDK = 0x01 , rm::RETRIEVE_CV = 0x02 , rm::RETRIEVE_LUT = 0x10 }
enum	rm::RMVideoActivities : uint16_t { rm::CAP_ACT_RM_ONCE_WB = 0x0101 , rm::CAP_ACT_RM_SOFT_TRIGGER = 0x0102 }
	RoboMaster Video Capture Activities 更多...
enum	rm::RMVideoProperties : uint16_t {   rm::CAP_PROP_RM_AUTO_EXPOSURE = 0x001 , rm::CAP_PROP_RM_AUTO_WB = 0x002 , rm::CAP_PROP_RM_MANUAL_EXPOSURE = 0x003 , rm::CAP_PROP_RM_MANUAL_WB = 0x004 ,   rm::CAP_PROP_RM_EXPOSURE = 0x005 , rm::CAP_PROP_RM_GAIN = 0x006 , rm::CAP_PROP_RM_GAMMA = 0x007 , rm::CAP_PROP_RM_WB_RGAIN = 0x008 ,   rm::CAP_PROP_RM_WB_GGAIN = 0x009 , rm::CAP_PROP_RM_WB_BGAIN = 0x00a , rm::CAP_PROP_RM_CONTRAST = 0x00c , rm::CAP_PROP_RM_SATURATION = 0x00d ,   rm::CAP_PROP_RM_SHARPNESS = 0x00e , rm::CAP_PROP_RM_FRAME_HEIGHT = 0x00f , rm::CAP_PROP_RM_FRAME_WIDTH = 0x010 , rm::CAP_PROP_RM_TRIGGER_DELAY = 0x041 ,   rm::CAP_PROP_RM_TRIGGER_COUNT = 0x042 , rm::CAP_PROP_RM_TRIGGER_PERIOD = 0x043 }
	RoboMaster Video Capture Properties 更多...

详细描述

宏定义说明

CAM_ERROR

#define CAM_ERROR

(

msg...

)

#include <rmvl/camera/camera_logging.h>

值:

    do                                       \
    {                                        \
        printf("\033[31m[ CAM-ERR  ] " msg); \
        printf("\033[0m\n");                 \
    } while (false)

CAM_INFO

#define CAM_INFO

(

msg...

)

#include <rmvl/camera/camera_logging.h>

值:

    do                               \
    {                                \
        printf("[ CAM-INFO ] " msg); \
        printf("\n");                \
    } while (false)

示例

samples/camera/hik/sample_hik_multi.cpp.

CAM_PASS

#define CAM_PASS

(

msg...

)

#include <rmvl/camera/camera_logging.h>

值:

    do                                       \
    {                                        \
        printf("\033[32m[ CAM-PASS ] " msg); \
        printf("\033[0m\n");                 \
    } while (false)

CAM_WARNING

#define CAM_WARNING

(

msg...

)

#include <rmvl/camera/camera_logging.h>

值:

    do                                       \
    {                                        \
        printf("\033[33m[ CAM-WARN ] " msg); \
        printf("\033[0m\n");                 \
    } while (false)

类型定义说明

capture_ptr

using rm::capture_ptr = typedef std::unique_ptr<cv::VideoCapture>

#include <rmvl/camera/camera_define.h>

示例

samples/detector/hik/sample_hik_armor_size_classify.cpp , 以及 samples/detector/mv/sample_mv_armor_size_classify.cpp.

RetrieveMode

using rm::RetrieveMode = typedef int

#include <rmvl/camera/camera_define.h>

处理模式 Camera retrieve mode

枚举类型说明

_RetrieveMode

enum rm::_RetrieveMode : RetrieveMode

#include <rmvl/camera/camera_define.h>

枚举值
RETRIEVE_SDK	使用官方 SDK 进行处理 Retrieve using official SDK
RETRIEVE_CV	使用 OpenCV 的 'cvtColor' 进行处理 Retrieve using cvtColor function in OpenCV
RETRIEVE_LUT	使用 LUT 进行处理，需配合 RETRIEVE_CV 进行使用 Retrieve using cvtColor function with Look - Up Table

GrabMode

enum rm::GrabMode : int

#include <rmvl/camera/camera_define.h>

采集模式 Camera grab mode

枚举值
GRAB_CONTINUOUS	连续采样 Continuous grabbing
GRAB_SOFTWARE	软触发 Grab by software trigger
GRAB_HARDWARE	硬触发 Grab by hardware trigger

RMVideoActivities

enum rm::RMVideoActivities : uint16_t

#include <rmvl/camera/camera_define.h>

RoboMaster Video Capture Activities

枚举值
CAP_ACT_RM_ONCE_WB	执行一次白平衡 Preform once white balance
CAP_ACT_RM_SOFT_TRIGGER	执行软触发 Preform a software trigger

RMVideoProperties

enum rm::RMVideoProperties : uint16_t

#include <rmvl/camera/camera_define.h>

RoboMaster Video Capture Properties

枚举值
CAP_PROP_RM_AUTO_EXPOSURE	自动曝光 Automatic exposure
CAP_PROP_RM_AUTO_WB	自动白平衡 Automatic white balance
CAP_PROP_RM_MANUAL_EXPOSURE	手动曝光 Manual exposure
CAP_PROP_RM_MANUAL_WB	手动白平衡 Manual white balance
CAP_PROP_RM_EXPOSURE	曝光值 Expusure
CAP_PROP_RM_GAIN	模拟增益 Analog gain
CAP_PROP_RM_GAMMA	Gamma 值 Gamma
CAP_PROP_RM_WB_RGAIN	白平衡红色分量 Red channel gain of white balance
CAP_PROP_RM_WB_GGAIN	白平衡绿色分量 Green channel gain of white balance
CAP_PROP_RM_WB_BGAIN	白平衡蓝色分量 Blue channel gain of white balance
CAP_PROP_RM_CONTRAST	对比度 Contrast ratio
CAP_PROP_RM_SATURATION	饱和度 Saturation ratio
CAP_PROP_RM_SHARPNESS	锐度 Sharpness ratio
CAP_PROP_RM_FRAME_HEIGHT	图像帧高度 Frame height
CAP_PROP_RM_FRAME_WIDTH	图像帧宽度 Frame width
CAP_PROP_RM_TRIGGER_DELAY	硬触发采集延迟（微秒）Hard trigger collection delay (μs)
CAP_PROP_RM_TRIGGER_COUNT	单次触发时的触发帧数 The number of frames in a single trigger
CAP_PROP_RM_TRIGGER_PERIOD	单次触发时多次采集的周期（微秒）The period of multiple collection for a single trigger (μs)