samples/camera/hik/sample_hik_multi.cpp

海康机器人工业相机——多相机例程

#include <iostream>
 
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <MvCameraControl.h>
 
#include "rmvl/camera/hik_camera.h"
 
int main()
{
    int ret = MV_OK;
    MV_CC_DEVICE_INFO_LIST camera_list;
    ret = MV_CC_EnumDevices(MV_USB_DEVICE, &camera_list);
    if (ret != MV_OK)
        INFO_("failed to enum camera devices");
    unsigned int nums = camera_list.nDeviceNum;
    auto info = camera_list.pDeviceInfo;
    INFO_("camera quantity: %u", nums);
 
    printf("┌──────┬──────────────┬────────────────┬─────────────────────┬────────────────┐\n");
    printf("│ 索引 │  相机序列号  │    型号名字    │     设备版本号      │    通信协议    │\n");
    printf("├──────┼──────────────┼────────────────┼─────────────────────┼────────────────┤\n");
    std::unordered_map<unsigned int, std::string> layer_type_t;
    layer_type_t[MV_UNKNOW_DEVICE] = "Unknown device";
    layer_type_t[MV_GIGE_DEVICE] = "GigE device";
    layer_type_t[MV_1394_DEVICE] = "1394 device";
    layer_type_t[MV_USB_DEVICE] = "USB device";
    layer_type_t[MV_CAMERALINK_DEVICE] = "CameraLink device";
    for (unsigned int i = 0; i < nums; ++i)
    {
        const auto &usb_info = info[i]->SpecialInfo.stUsb3VInfo;
        printf("│  %02d  │ %-12.12s │ %-14.14s │ %-19.19s │ %-14.14s │\n",
               i, usb_info.chSerialNumber, usb_info.chModelName, usb_info.chDeviceVersion,
               layer_type_t[info[i]->nTLayerType].c_str());
    }
    printf("└──────┴──────────────┴────────────────┴─────────────────────┴────────────────┘\n");
    printf("\033[33m输入相机序列号, 退出输入 \"q\": \033[0m");
    std::string sn;
    std::cin >> sn;
    if (sn == "q")
        return 0;
 
    rm::HikCamera capture(rm::CameraConfig::create(rm::GrabMode::Continuous, rm::RetrieveMode::OpenCV), sn.c_str());
 
    int exposure = 1000;
    int gain = 0;
    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);
 
    namedWindow("图像画面", cv::WINDOW_NORMAL);
    resizeWindow("图像画面", cv::Size(640, 480));
 
    cv::Mat frame;
    while (capture.read(frame))
    {
        imshow("图像画面", frame);
        if (cv::waitKey(1) == 27)
            if (cv::waitKey(0) == 27)
                break;
    }
 
    return 0;
}