386 lines
15 KiB
C++
386 lines
15 KiB
C++
/*************************************************************************************
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Copyright : XianZhisensorTechnologiesCo.,Ltd
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File Name : gige_camera.h
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Description: Privide Definition of class
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Author : Yaming Wang
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Version : 1.0
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Data : 2019-11-3
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History :
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*************************************************************************************/
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#ifndef DKAM_GIGE_CAMERA_H
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#define DKAM_GIGE_CAMERA_H
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#include "dkam_log.h"
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#include "dkam_base_type.h"
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#include "dkam_common_socket.h"
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#include "dkam_ftpserver.h"
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#include <iostream>
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#include <stdbool.h>
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#include <vector>
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#include <cstring>
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#include <map>
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#ifdef _WIN32
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#include<windows.h>
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#include <WS2tcpip.h>
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#else
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#include <semaphore.h>
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#endif
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typedef struct {
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int socket_id;
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unsigned int payload_size;
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unsigned int width;
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unsigned int height;
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RoiPoint roi;
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unsigned int pixel_length;
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unsigned int pixel_format;
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unsigned int pack_num;
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unsigned int cloud_unit;
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}DataStreamPrivateInfo;
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typedef struct {
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RecvDataBuff recv_data_buff[3];//暂存区buffer
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RecvDataBuff *read_position[3]; //指向暂存区buffer的读指针
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RecvDataBuff *write_position[3]; // 指向暂存区buffer的写指针
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}DataStreamBufferInfo;
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class GigeStream;
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extern char* sdk_version;
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//相机控制，接收数据类
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class GigeCamera :private CommonSocket{
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public:
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GigeCamera();
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~GigeCamera();
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//获取相机的CCP状态(返回0为可连接)
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int GetCameraCCPStatus(DiscoveryInfo* discovery_info, int *data);
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//连接相机
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int CameraConnect(DiscoveryInfo* discovery_info);
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//建立通道和com之间对应关系
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int ChannalCorrespondComs();
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//获取相机xml所有节点名称
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int GetCameraXMLNodeNames(std::vector<std::string>* node_names);
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//验证ip是否合法
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bool IsIPAddressValid(unsigned int ip_int, unsigned int camera_mask_int);
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//获取节点最大值
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int GetNodeMaxValue(const char* key);
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//获取节点最小值
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int GetNodeMinValue(const char* key);
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//获取int节点增量
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int GetNodeIncValue(const char* key);
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//获取相机内参
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int GetCamInternelParameter(int camera_cnt, float *Kc, float *K);
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//获取相机外参
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int GetCamExternelParameter(int camera_cnt, float *R, float *T);
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//图像膨胀
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void PixelSwell(int *roi_output, PhotoInfo &target_data);
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//图像腐蚀
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void PixelCorrosion(int *roi_output, PhotoInfo &target_data);
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//ROI映射区域坐标
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void ROIMappingCoordinate(int *roi_output, PhotoInfo &target_data, RoiPoint &point_output);
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//ROI检索映射
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void ROIPixelMapping(PhotoInfo &point_data, PhotoInfo &source_data, PhotoInfo &target_data, RoiPoint &roi_input, int *ROI_output);
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//写寄存器 返回写寄存器是否成功的状态码
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int WriteRegister(unsigned int register_addr, int data);
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//保存用户配置文件
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int SaveUserConfig(char* fliename);
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//加载用户配置文件
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int LoadUserConfig(char* fliename);
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//获取节点类型
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int GetNodeType(const char* key);
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//获取节点访问模式
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int GetNodeAccessMode(const char* key);
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//设置Int类型节点值
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int SetIntNodeValue(const char* key, unsigned int value);
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//设置Bool类型节点值
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int SetBoolNodeValue(const char* key, int value);
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//设置Command类型节点值
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int SetCommandNodeValue(const char* key);
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//设置Float类型节点值
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int SetFloatNodeValue(const char* key, float value);
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//设置String类型节点值
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int SetStringNodeValue(const char* key, char* value);
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//设置Enumeration类型节点值
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int SetEnumNodeValue(const char* key, int value);
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//获取Int类型节点值
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int GetIntNodeValue(const char* key, int* value);
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//获取相机节点value
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int GetRegisterAddr(const char* key);
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//读string类型的寄存器
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int ReadStringRegister(const char* key, char* reg_str);
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//写string类型的寄存器
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int WriteStringRegister(const char* key, unsigned short datasize, char* reg_str);
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//获取Bool类型节点值
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int GetBoolNodeValue(const char* key, int* value);
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//获取Command类型节点值
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int GetCommandNodeValue(const char* key, char* value);
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//获取Float类型节点值
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int GetFloatNodeValue(const char* key, float* value);
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//获取String类型节点值
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int GetStringNodeValue(const char* key, char* value);
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//获取Enumeration类型节点值
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int GetEnumNodeValue(const char* key, int* value);
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//读寄存器 返回读寄存器是否成功的状态码 register_addr:寄存器地址 data:读取的寄存器的值
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int ReadRegister(unsigned int register_addr, int *data);
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//设置相机种类 (0：红外；1：RGB)
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int SetCameraType(int camera_cnt);
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//获取相机种类 (0：红外；1：RGB)
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int GetCameraType();
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//获取相机的宽
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int GetCameraWidth(int* width, int camera_cnt);
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//设置相机的宽
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int SetCameraWidth(int width, int camera_cnt);
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//获取相机的高
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int GetCameraHeight(int* height, int camera_cnt);
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//设置相机的高
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int SetCameraHeight(int height, int camera_cnt);
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////设置超时时间
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int SetHeartBeatTimeout(int value);
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//获取超时时间
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int GetHeartBeatTimeout(void);
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//设置相机曝光模式（1手动曝光，0自动曝光 camera_cnt:0是红外， 1是RGB）
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int SetAutoExposure(int status, int camera_cnt);
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//获取相机曝光模式 （ camera_cnt:0是红外， 1是RGB）
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int GetAutoExposure(int camera_cnt);
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//设置RGB摄像头自动曝光增益的级别(>=1 仅支持RGB摄像头) (camera_cnt:相机的摄像头0：红外摄像头 1:RGB摄像头 level:曝光增益等级)
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int SetCamExposureGainLevel(int camera_cnt, int level);
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//获取RGB摄像头自动曝光增益的级别，仅支持RGB摄像头(camera_cnt:相机的摄像头0：红外摄像头 1:RGB摄像头)
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int GetCamExposureGainLevel(int camera_cnt);
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//设置相机曝光类型int status > 0 多曝光 不能是0
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int SetMutipleExposure(int status);
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//获取相机曝光类型
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int GetMutipleExposure(void);
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//设置曝光时间，utimes:曝光时间: 红外镜头范围1000 - 100000um, RGB镜头范围1000 - 56000um, 默认16600，camera_cnt:0是红外， 1是RGB
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int SetExposureTime(int utime, int camera_cnt);
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//获取相机曝光次数 0是红外， 1是RGB
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int GetExposureTime(int camera_cnt);
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//设置多曝光模式 0：等差，1：等比
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int SetMultiExpoMode(int mode);
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//获取多曝光模式
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int GetMultiExpoMode();
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//设置多曝光起点，value 范围：0-100000
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int SetMultiExpoMin(int value);
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//获取多曝光起点
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int GetMultiExpoMin();
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//设置多曝光终点，value 范围：0-100000
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int SetMultiExpoMax(int value);
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//获取多曝光终点
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int GetMultiExpoMax();
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//设置增益 model: 1 模拟增益量 2 数据增益量 value: 增益值 times:缺省参数，缺省为1， 第二次增益times = 2 camera_cnt:0是红外， 1是RGB
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int SetGain(int mode, int value, int camera_cnt);
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//获取相机增益值 mode: 1 模拟增益量 2 数字增益量 camera_cnt:0是红外， 1是RGB
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int GetGain(int mode, int camera_cnt);
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//设置相机触发模式mode: 0 连拍模式 1 触发模式
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int SetTriggerMode(int mode);
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//设置相机触发模式信号来源: 0 软触发 1 硬触发
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int SetTriggerSource(int sourcetype);
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//设置相机RGB触发模式mode: 0 连拍模式 1 触发模式
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int SetRGBTriggerMode(int mode);
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//设置相机触发模式下的触发帧数
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int SetTriggerCount();
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//获取相机触发模式下的触发帧数
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int GetTriggerCount();
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//设置相机RGB触发模式下的触发帧数
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int SetRGBTriggerCount();
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//设置ROI channel_index :数据流通道索引
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int SetRoi(int channel_index, int size_x, int size_y, int offset_x, int offset_y);
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//开启数据流通道 channel_index :数据流通道索引
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int StreamOn(unsigned short channel_index, GigeStream** gigestream);
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// 设置激光模型 1：line， 0：plane
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int SetLaserMode(int mode);
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// 获取激光模型
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int GetLaserMode();
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//设置点云后处理模型
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int SetPointCloudPostProcessMode(int mode);
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//获取点云后处理模型
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int GetPointCloudPostProcessMode();
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//设置点云增益值，取值范围：0-30，只有当点云自动增益等级为0时才可以设置该值
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int SetPointCloudThresholdValue(int value);
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//获取点云增益值
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int GetPointCloudThresholdValue(int* value);
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//设置点云自动增益等级: 0-20
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int SetPointCloudThresholdLevel(int level);
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//获取点云自动增益等级
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int GetPointCloudThresholdLevel(int* level);
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// 获取xml buffer size
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int GetXMLBufferSize(int* size);
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//获取xml buffer
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int GetXMLBuffer(char* buffer);
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//开启或关闭时间戳同步status: 0 关闭时间戳同步 1 开启时间戳同步
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int SetTimestamp(int status);
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//获取时间戳是否开启
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int GetTimestamp();
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//获取PTPD状态码
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int GetTimestampStatus();
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//控制锁存时间戳
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int SetTimestampControlLatch();
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//获取时间戳
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unsigned long long GetTimestampValue();
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//获取时间戳频率
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unsigned long long GetTimestampTickFrequency();
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//开始接受数据
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int AcquisitionStart(void);
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//停止接受数据
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int AcquisitionStop(void);
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//关闭数据流通道
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int StreamOff(unsigned short channel_index, GigeStream* gigestream);
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//相机断开连接
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int CameraDisconnect();
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//保存xml到本地
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int SaveXmlToLocal(std::string pathname);
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//点云从char *转成float ＊
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void Convert3DPointFromCharToFloat(PhotoInfo &raw_data, float* output);
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//rawdata转RGB888图,输出的数据仍存放在PhotoInfo结构体的pixel中
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int RawdataToRgb888(PhotoInfo &rgb_data);
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//点云滤波(基于空间密度的点云去噪)
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void FilterPointCloud(PhotoInfo &raw_data, double level);
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//空间滤波(基于空间网格的点云去噪) 20220225: 弃用, FilterPointCloud为该API的升级版
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int SpatialFilterPointcloud(PhotoInfo &raw_data, int Area_PointCloudCount);
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//获取点云的X平面数据
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int GetCloudPlaneX(PhotoInfo &raw_data, short *imagedata);
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//获取点云的Y平面数据
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int GetCloudPlaneY(PhotoInfo &raw_data, short *imagedata);
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//获取点云的Z平面数据
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int GetCloudPlaneZ(PhotoInfo &raw_data, short *imagedata);
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//保存点云某个平面数据
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int SaveCloudPlane(PhotoInfo &raw_data, short *imagedata, char* path_name);
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//保存点云 to pcd 格式
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int SavePointCloudToPcd(PhotoInfo &raw_data, char* path_name);
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//保存点云 to txt 格式
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int SavePointCloudToTxt(PhotoInfo &raw_data, char* path_name);
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//保存点云 to ply 格式
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int SavePointCloudToPly(PhotoInfo &raw_data, char* path_name);
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//保存BMP图片
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int SaveToBMP(PhotoInfo &data, char *path_name);
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//保存点云深度图 to png
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int SaveDepthToPng(PhotoInfo &raw_data, char* path_name);
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//点云与图片融合(image_data:图片数据, raw_data:点云数据, image_cloud点云图片融合后的数据, is_filter是否进行滤波，默认滤波)
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int FusionImageTo3D(PhotoInfo &image_data, PhotoInfo &raw_data, float * image_cloud);
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//点云RGB进行融合(以RGB为标准重排点云，重排后的点云index对应无畸变的rgb图像)
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int Fusion3DToRGBWithOutDistortion(PhotoInfo& rgb_data, PhotoInfo& raw_data, PhotoInfo& xyz);
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//保存与图片融合后的点云txt
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int SavePointCloudWithImageToTxt(PhotoInfo &raw_data, float * image_cloud, char *path_name);
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//保存与图片融合后的点云Ply
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int SavePointCloudWithImageToPly(PhotoInfo &raw_data, float * image_cloud, char *path_name);
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//保存与图片融合后的点云Pcd
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int SavePointCloudWithImageToPcd(PhotoInfo &raw_data, float * image_cloud, char *path_name);
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//相机固件的版本号
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char* CameraVerion(DiscoveryInfo discovery_info);
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//SDK的版本号
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char* SDKVersion();
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//点云RGB进行融合(以RGB为标准重排点云)
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int Fusion3DToRGB(PhotoInfo &rgb_data, PhotoInfo &raw_data, PhotoInfo &xyz);
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//固件升级
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int FirmwareUpgrade(DiscoveryInfo discovery_info, const char *localfilename);
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//内核升级
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int KernelUpgrade(DiscoveryInfo discovery_info, const char* localfilename);
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//获取下位机日志
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int DownloadCameraLog(DiscoveryInfo discovery_info, const char* path, const char* name);
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//获取下位机日志目录
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int CameraLogList(DiscoveryInfo discovery_info, std::vector<std::string>* filename_s, int* len);
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//根据roi对数据进行裁剪，可以传入rgb和gray数据
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int ImageRoiCrop(PhotoInfo& source_data, RoiPoint roi, PhotoInfo& target_data);
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//获取相机盖状态，此接口只对特定型号相机适用， 0：相机盖关闭，1：相机盖打开， 其他：查看错误码
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int GetCameraCoverStatus(int* status);
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//打开相机盖，此接口只对特定型号相机适用
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int TurnOnCameraCover();
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//关闭相机盖，此接口只对特定型号相机适用
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int TurnOffCameraCover();
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// 设置激光器正常/关闭接口，1：关闭，0：正常，默认是正常状态
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int SetLaserStatus(int status);
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// 获取激光器正常/关闭接口，1：关闭，0：正常，返回值，0：成功，其他查看错误码
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int GetLaserStatus(int *status);
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private:
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#ifdef _WIN32
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static unsigned int _stdcall HeartBeat(void* arg);
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#else
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static void* HeartBeat(void* arg);
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#endif
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//读内存
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int ReadMem(unsigned int mem_addr, unsigned short count, char* recv_buf);
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//写内存
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int WriteMem(unsigned int mem_addr, unsigned short count, char* recv_buf);
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//获取相机xml配置文件
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int GetXMLfromCamera();
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////获取节点int类型的属性值
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//int GetNodeProperty(const char* key, char *property);
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//协商数据流包大小
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int GetPacketSize();
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//YUYV转RGB888图,输出的数据仍存放在PhotoInfo结构体的pixel中
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int YuyvToRgb888(PhotoInfo &rgb_data);
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//JPEG转RGB888图,输出的数据仍存放在PhotoInfo结构体的pixel中
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int JpegToRgb888(PhotoInfo &rgb_data);
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//BayerRG8转RGB888图,输出的数据仍存放在PhotoInfo结构体的pixel中
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int BayerRG8ToRgb888(PhotoInfo &rgb_data);
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//获取点云的某个平面数据
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int GetCloudPlane(PhotoInfo &raw_data, short *imagedata, int plane);
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//保存红外图 to bmp 格式
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int SaveGrayImageToBmp(PhotoInfo &gray_data, char *path_name);
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//保存rgb图 (RGB888)
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int SaveRgb888ToBmp(PhotoInfo &rgb_data, char* path_name);
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//保存rgb图 (RGB565)
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int SaveRgb565ToBmp(PhotoInfo &rgb_data, char* path_name);
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//保存rgb图(YUYV)
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int SaveYuyvRgbToBmp(PhotoInfo &rgb_data, char* path_name);
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int SaveBayerRG8ToBmp(PhotoInfo &rgb_data, char* path_name);
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int SaveJpegDataToJpeg(PhotoInfo &rgb_data, char* path_name);
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//清空socket
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void flush_socket_buffer(int skt);
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char *CameraIP(unsigned int Camera_IP);
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private:
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#ifdef _WIN32
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//读写寄存器信号量
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HANDLE rw_reg_sem = NULL;
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//心跳线程线程句柄
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HANDLE ccp_thread_id = NULL;
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#else
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//读写寄存器信号量
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sem_t rw_reg_sem;
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//心跳线程线程ID
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pthread_t ccp_thread_id = 0;
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#endif
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unsigned short req_id_;
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int camera_num_;
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int gvcp_socket_id_;
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int ccp_flag_;
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//保存相机配置文件xml
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char* xml_buffer_;
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//相机配置文件名
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std::string xml_name_;
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//相机配置文件xml的后缀: xml or zip
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std::string xml_extension_;
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//相机配置文件xml的文件大小
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int xml_size_;
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//PC端MTU
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int mtu_;
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//流通道索引
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//unsigned short stream_channel_index_;
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//接收数据流包大小
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int pack_size_; //包大小
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//心跳超时时间
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int heart_beat_timeout_;
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//记录主机和客户端信息
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InstanceDevice device_info_;
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cameralog logfile;
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std::vector<CameraParameter> cam_para;
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||
//通道和cmos对应关系
|
||
int* streamList;
|
||
int* comsList;
|
||
int streamSize;
|
||
int comsSize;
|
||
|
||
char *camera_ip_;
|
||
FtpServer ftpserver;
|
||
public:
|
||
void *node_map;
|
||
void *Register_Data;
|
||
};
|
||
|
||
#endif //!DKAM_GIGE_CAMERA_H
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