大恒工业相机搭建双目相机（软件）

本文主要介绍使用大恒工业水星139相机搭建双目相机的软件过程.以下主要介绍相机采集图像以及保存的过程。

#include <vector>
#include <string>
#include <iostream>
#include <fstream>
#include <queue>
#include <thread>
#include <mutex>
#include <unistd.h>
#include "opencv2/opencv.hpp"
#include "camera_api.h"
#include "tic_toc.h"bool time_flag_0 = false;
std::chrono::time_point<std::chrono::system_clock> start_0, end_0;bool time_flag_1 = false;
std::chrono::time_point<std::chrono::system_clock> start_1, end_1;std::queue<cv::Mat> img0_buf;
std::queue<unsigned int> frame0_ID_buf;
std::queue<double> time0_buf;
std::mutex m0_buf;std::queue<cv::Mat> img1_buf;
std::queue<unsigned int> frame1_ID_buf;
std::queue<double> time1_buf;
std::mutex m1_buf;#define image_width 640
#define image_height 480char *pRGB24Buf_0 = new char[image_width * image_height * 3];
char *pRGB24Buf_1 = new char[image_width * image_height * 3];void Frame_0_ProcessRGB(GX_FRAME_CALLBACK_PARAM* pFrame)
{if (pFrame->status == GX_FRAME_STATUS_SUCCESS){std::chrono::time_point<std::chrono::system_clock,std::chrono::microseconds> tp =std::chrono::time_point_cast<std::chrono::microseconds>(std::chrono::system_clock::now());//获取当前时间点double time_now =  tp.time_since_epoch().count();start_0 = std::chrono::system_clock::now();//double time_now = start_0.time_since_epoch().count();if(!time_flag_0){end_0 = start_0;time_flag_0 = true;}else{std::chrono::duration<double> elapsed_seconds = start_0 - end_0;std::cout << "the CAM_0 frame frequency is: " << 1/elapsed_seconds.count() << std::endl;end_0 = start_0;}//缓冲区初始化*/memset(pRGB24Buf_0,0,pFrame->nWidth * pFrame->nHeight * 3 * sizeof(char));    //缓冲区初始化*/DX_BAYER_CONVERT_TYPE cvtype    = RAW2RGB_NEIGHBOUR;           //选择插值算法DX_PIXEL_COLOR_FILTER nBayerType = BAYERRG;                   //选择图像Bayer格式bool bFlip = false;VxInt32 DxStatus = DxRaw8toRGB24(const_cast<void *>(pFrame->pImgBuf),pRGB24Buf_0,pFrame->nWidth,pFrame->nHeight,cvtype,nBayerType,bFlip);if (DxStatus != DX_OK){return ;}cv::Mat image_rgb24(pFrame->nHeight, pFrame->nWidth, CV_8UC3);memcpy(image_rgb24.data, pRGB24Buf_0, pFrame->nHeight * pFrame->nWidth * 3);unsigned int frame_id = pFrame->nFrameID;m0_buf.lock();img0_buf.push(image_rgb24);frame0_ID_buf.push(frame_id);time0_buf.push(time_now);m0_buf.unlock()}return ;
}void Frame_1_ProcessRGB(GX_FRAME_CALLBACK_PARAM* pFrame)
{if (pFrame->status == GX_FRAME_STATUS_SUCCESS){std::chrono::time_point<std::chrono::system_clock,std::chrono::microseconds> tp =std::chrono::time_point_cast<std::chrono::microseconds>(std::chrono::system_clock::now());//获取当前时间点double time_now =  tp.time_since_epoch().count();start_1 = std::chrono::system_clock::now();if(!time_flag_1){end_1 = start_1;time_flag_1 = true;}else{std::chrono::duration<double> elapsed_seconds = start_1 - end_1;std::cout << "the CAM_1 frame frequency is: " << 1/elapsed_seconds.count() << std::endl;end_1 = start_1;}//缓冲区初始化*/memset(pRGB24Buf_1,0,pFrame->nWidth * pFrame->nHeight * 3 * sizeof(char));    //缓冲区初始化*/DX_BAYER_CONVERT_TYPE cvtype    = RAW2RGB_NEIGHBOUR;           //选择插值算法DX_PIXEL_COLOR_FILTER nBayerType = BAYERRG;                   //选择图像Bayer格式bool bFlip = false;VxInt32 DxStatus = DxRaw8toRGB24(const_cast<void *>(pFrame->pImgBuf),pRGB24Buf_1,pFrame->nWidth,pFrame->nHeight,cvtype,nBayerType,bFlip);if (DxStatus != DX_OK){return ;}cv::Mat image_rgb24(pFrame->nHeight, pFrame->nWidth, CV_8UC3);memcpy(image_rgb24.data, pRGB24Buf_1, pFrame->nHeight * pFrame->nWidth * 3);unsigned int frame_id = pFrame->nFrameID;m1_buf.lock();img1_buf.push(image_rgb24);frame1_ID_buf.push(frame_id);time1_buf.push(time_now);m1_buf.unlock();}return ;
}void cam0_process()
{int cam0_num = 0;while(1){cv::Mat img_frame;unsigned int id = 0;double time = 0;m0_buf.lock();if(!img0_buf.empty()){std::cout << "the img0_buf size is: " << img0_buf.size() << std::endl;img_frame = img0_buf.front().clone();id = frame0_ID_buf.front();time = time0_buf.front();img0_buf.pop();frame0_ID_buf.pop();time0_buf.pop();}m0_buf.unlock();if(img_frame.data){cvtColor(img_frame, img_frame, CV_BGR2RGB);//cv::imshow("img0:",img_frame);std::string img0_path = "/home/h1/CODE/stereo_img_record/build/img0/" + std::to_string(cam0_num++) + ".jpg";std::cout << img0_path << std::endl;cv::imwrite(img0_path, img_frame);//cv::imwrite("/home/h1/CODE/stereo_img_record/capture_image/2021.7.30.jpg", img_frame);cv::waitKey(1);}else{return；}std::chrono::milliseconds dura(1);std::this_thread::sleep_for(dura);}}void cam1_process()
{int cam1_num = 1;while(1){cv::Mat img_frame;unsigned int id = 0;double time = 0;m1_buf.lock();if(!img1_buf.empty()){//std::cout << "the img0_buf size is: " << img0_buf.size() << std::endl;img_frame = img1_buf.front().clone();id = frame1_ID_buf.front();time = time1_buf.front();img1_buf.pop();frame1_ID_buf.pop();time1_buf.pop();}m1_buf.unlock();if(img_frame.data){cvtColor(img_frame, img_frame, CV_BGR2RGB);std::string img1_path = "/home/h1/CODE/stereo_img_record/build/img1/" + std::to_string(cam1_num++) + ".jpg";std::cout << img1_path << std::endl;cv::imwrite(img1_path, img_frame);cv::imshow("img1:",img_frame);}else{return;}std::chrono::milliseconds dura(1);std::this_thread::sleep_for(dura);}}int main()
{GX_STATUS status = Config();if(status != GX_STATUS_SUCCESS){std::cout << "config Camera Faile ..." << std::endl;return  0;}camera_config cam0_info;cam0_info.sn_str = "KE0200100061";cam0_info.SN = &cam0_info.sn_str[0];camera_config cam1_info;cam1_info.sn_str = "KE0200120158";cam1_info.SN = &cam1_info.sn_str[0];MercureDriver* cam0 = new MercureDriver(cam0_info);MercureDriver* cam1 = new MercureDriver(cam1_info);cam0->InitCamera();cam1->InitCamera();if(cam0->status != GX_STATUS_SUCCESS || cam1->status != GX_STATUS_SUCCESS){std::cout << "Initial Stereo Camera Faile ..." << std::endl;return 0;}status = GXRegisterCaptureCallback(cam0->hDevice_, NULL, Frame_0_ProcessRGB);status = GXSendCommand(cam0->hDevice_, GX_COMMAND_ACQUISITION_START);if(status != GX_STATUS_SUCCESS){std::cout << "Cam0 Start Read Faile ..." << std::endl;return  0;}status = GXRegisterCaptureCallback(cam1->hDevice_, NULL, Frame_1_ProcessRGB);status = GXSendCommand(cam1->hDevice_, GX_COMMAND_ACQUISITION_START);if(status != GX_STATUS_SUCCESS){std::cout << "Cam1 Start Read Faile ..." << std::endl;return  0;}std::thread cam0_thread{cam0_process};std::thread cam1_thread{cam1_process};while(1){std::chrono::milliseconds dura(5);std::this_thread::sleep_for(dura);}return 0;
}

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