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HikCamera 修复触发功能 #57

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Mar 8, 2024
Merged

HikCamera 修复触发功能 #57

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4 changes: 2 additions & 2 deletions doc/tutorials/modules/devices/camera.md
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Expand Up @@ -216,7 +216,7 @@ capture.set(CAMERA_TRIGGER_PERIOD, 100);

```cpp
capture.set(CAMERA_ONCE_WB); // 执行一次白平衡操作，仅在手动白平衡模式下有效
capture.set(CAMERA_SOFT_TRIGGER); // 执行一次软触发，仅在软触发模式下有效
capture.set(CAMERA_TRIGGER_SOFT); // 执行一次软触发，仅在软触发模式下有效
```

## 2. para 参数加载
Expand Down Expand Up @@ -364,7 +364,7 @@ int main()
while (run)
{
std::this_thread::sleep_for(std::chrono::milliseconds(10));
capture.set(rm::CAMERA_SOFT_TRIGGER); // 触发
capture.set(rm::CAMERA_TRIGGER_SOFT); // 触发
}
});

Expand Down
4 changes: 1 addition & 3 deletions modules/camera/CMakeLists.txt
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@@ -1,13 +1,11 @@
find_package(OpenCV REQUIRED)

rmvl_generate_para(
camera
MODULE camera
)

rmvl_add_module(
camera
DEPENDS rmath
EXTERNAL ${OpenCV_LIBS}
)

# --------------------------------------------------------------------------
Expand Down
46 changes: 21 additions & 25 deletions modules/camera/include/rmvl/camera/camutils.hpp
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Expand Up @@ -93,33 +93,29 @@ struct CameraConfig
enum CameraProperties : uint16_t
{
// ---------------- 设备属性 ----------------
CAMERA_AUTO_EXPOSURE = 0x1001, //!< 自动曝光
CAMERA_AUTO_WB = 0x1002, //!< 自动白平衡
CAMERA_MANUAL_EXPOSURE = 0x1003, //!< 手动曝光
CAMERA_MANUAL_WB = 0x1004, //!< 手动白平衡
CAMERA_EXPOSURE = 0x1005, //!< 曝光值
CAMERA_GAIN = 0x1006, //!< 模拟增益
CAMERA_GAMMA = 0x1007, //!< Gamma 值
CAMERA_WB_RGAIN = 0x1008, //!< 白平衡红色分量
CAMERA_WB_GGAIN = 0x1009, //!< 白平衡绿色分量
CAMERA_WB_BGAIN = 0x100a, //!< 白平衡蓝色分量
CAMERA_CONTRAST = 0x100c, //!< 对比度
CAMERA_SATURATION = 0x100d, //!< 饱和度
CAMERA_SHARPNESS = 0x100e, //!< 锐度
CAMERA_FRAME_HEIGHT = 0x100f, //!< 图像帧高度
CAMERA_FRAME_WIDTH = 0x1010, //!< 图像帧宽度
CAMERA_AUTO_EXPOSURE = 0x1, //!< 自动曝光
CAMERA_MANUAL_EXPOSURE = 0x2, //!< 手动曝光
CAMERA_ONCE_EXPOSURE = 0x3, //!< 单次曝光
CAMERA_AUTO_WB = 0x10, //!< 自动白平衡
CAMERA_MANUAL_WB = 0x11, //!< 手动白平衡
CAMERA_ONCE_WB = 0x12, //!< 单次白平衡
CAMERA_EXPOSURE = 0x20, //!< 曝光值
CAMERA_GAIN = 0x21, //!< 模拟增益
CAMERA_GAMMA = 0x22, //!< Gamma 值
CAMERA_WB_RGAIN = 0x23, //!< 白平衡红色分量
CAMERA_WB_GGAIN = 0x24, //!< 白平衡绿色分量
CAMERA_WB_BGAIN = 0x25, //!< 白平衡蓝色分量
CAMERA_CONTRAST = 0x26, //!< 对比度
CAMERA_SATURATION = 0x27, //!< 饱和度
CAMERA_SHARPNESS = 0x28, //!< 锐度
CAMERA_FRAME_HEIGHT = 0x30, //!< 图像帧高度
CAMERA_FRAME_WIDTH = 0x31, //!< 图像帧宽度

// ---------------- 处理属性 ----------------
CAMERA_TRIGGER_DELAY = 0x1101, //!< 硬触发采集延迟（微秒\f$μs\f$）
CAMERA_TRIGGER_COUNT = 0x1102, //!< 单次触发时的触发帧数
CAMERA_TRIGGER_PERIOD = 0x1103, //!< 单次触发时多次采集的周期（微秒\f$μs\f$）
};

//! 相机运行时事件
enum CameraEvents : uint16_t
{
CAMERA_ONCE_WB = 0x2001, //!< 执行一次白平衡
CAMERA_SOFT_TRIGGER = 0x2002 //!< 执行软触发
CAMERA_TRIGGER_DELAY = 0x40, //!< 硬触发采集延迟（微秒\f$μs\f$）
CAMERA_TRIGGER_COUNT = 0x41, //!< 单次触发时的触发帧数
CAMERA_TRIGGER_PERIOD = 0x42, //!< 单次触发时多次采集的周期（微秒\f$μs\f$）
CAMERA_TRIGGER_SOFT = 0x43, //!< 执行软触发
};

//! 相机外参
Expand Down
43 changes: 36 additions & 7 deletions modules/camera/src/hik_camera/hik_camera.cpp
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Expand Up @@ -32,7 +32,7 @@ static const MV_CC_PIXEL_CONVERT_PARAM MV_CC_PIXEL_CONVERT_PARAM_Init =
{0, 0, PixelType_Gvsp_Undefined, nullptr, 0, PixelType_Gvsp_Undefined, nullptr, 0, 0, {0}};

HikCamera::Impl::Impl(CameraConfig init_mode, std::string_view serial) noexcept
: _grab_mode(init_mode.grab_mode), _retrieve_mode(init_mode.retrieve_mode), _serial(serial) { _opened = open(); }
: _init_mode(init_mode), _serial(serial) { _opened = open(); }

HikCamera::Impl::~Impl() noexcept { release(); }

Expand Down Expand Up @@ -63,6 +63,9 @@ void HikCamera::Impl::release() noexcept

bool HikCamera::Impl::open() noexcept
{
// 提取初始化模式
auto grab_mode = _init_mode.grab_mode;
auto trigger_chn = _init_mode.trigger_channel;
// ----------------------- 设备枚举 -----------------------
int ret = MV_OK;
ret = MV_CC_EnumDevices(MV_USB_DEVICE, &_devices);
Expand Down Expand Up @@ -108,16 +111,41 @@ bool HikCamera::Impl::open() noexcept
return false;
}
// --------------------- 设置工作模式 ---------------------
if (_grab_mode == GrabMode::Continuous)
ret = MV_CC_SetEnumValue(_handle, "TriggerMode", 0); // 连续采样
if (grab_mode == GrabMode::Continuous)
ret = MV_CC_SetEnumValue(_handle, "TriggerMode", MV_TRIGGER_MODE_OFF); // 连续采样
else
ret = MV_CC_SetEnumValue(_handle, "TriggerMode", 1); // 触发模式
ret = MV_CC_SetEnumValue(_handle, "TriggerMode", MV_TRIGGER_MODE_ON); // 触发模式
if (ret != MV_OK)
{
ERROR_("hik - failed to set trigger mode (error: \"%s\")", errorCode2Str(ret));
return false;
}
// 开始取流
// ---------------------- 设置触发源 ----------------------
if (grab_mode == GrabMode::Software)
ret = MV_CC_SetEnumValue(_handle, "TriggerSource", MV_TRIGGER_SOURCE_SOFTWARE); // 软触发
else if (grab_mode == GrabMode::Hardware)
{
// 硬触发通道选择
switch (trigger_chn)
{
case TriggerChannel::Chn0:
ret = MV_CC_SetEnumValue(_handle, "TriggerSource", MV_TRIGGER_SOURCE_LINE0);
break;
case TriggerChannel::Chn1:
ret = MV_CC_SetEnumValue(_handle, "TriggerSource", MV_TRIGGER_SOURCE_LINE1);
break;
case TriggerChannel::Chn2:
ret = MV_CC_SetEnumValue(_handle, "TriggerSource", MV_TRIGGER_SOURCE_LINE2);
break;
case TriggerChannel::Chn3:
ret = MV_CC_SetEnumValue(_handle, "TriggerSource", MV_TRIGGER_SOURCE_LINE3);
break;
default:
ERROR_("hik - invalid trigger channel: %d", static_cast<int>(trigger_chn));
return false;
}
}
// ----------------------- 开始取流 -----------------------
ret = MV_CC_StartGrabbing(_handle);
if (ret != MV_OK)
{
Expand Down Expand Up @@ -208,7 +236,7 @@ bool HikCamera::Impl::retrieve(cv::OutputArray image, RetrieveMode flag) noexcep
}
// 无效参数
else
ERROR_("hik - failed to retrieve, invalid retrieve mode: %d.", static_cast<int>(_retrieve_mode));
ERROR_("hik - failed to retrieve, invalid retrieve mode: %d.", static_cast<int>(_init_mode.retrieve_mode));
// 处理失败默认操作
image.assign(cv::Mat());
return false;
Expand All @@ -219,11 +247,12 @@ bool HikCamera::Impl::read(cv::OutputArray image) noexcept
// 获取图像地址
auto ret = MV_CC_GetImageBuffer(_handle, &_p_out, 1000);
if (ret == MV_OK)
retrieve(image, _retrieve_mode);
retrieve(image, _init_mode.retrieve_mode);
else
{
WARNING_("hik - No data in getting image buffer");
reconnect();
return false;
}
// 释放图像缓存
if (_p_out.pBufAddr != nullptr)
Expand Down
5 changes: 2 additions & 3 deletions modules/camera/src/hik_camera/hik_camera_impl.h
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Expand Up @@ -23,10 +23,9 @@ class HikCamera::Impl
// -------------------------- 相机信息 --------------------------
void *_handle; //!< 相机设备句柄
MV_CC_DEVICE_INFO_LIST _devices; //!< 设备信息列表
GrabMode _grab_mode; //!< 采集模式
RetrieveMode _retrieve_mode; //!< 处理模式
CameraConfig _init_mode; //!< 初始化配置模式
std::string _serial; //!< 相机序列号 S/N
bool _opened = false; //!< 相机是否打开
bool _opened{}; //!< 相机是否打开

// -------------------------- 图像信息 --------------------------
MV_FRAME_OUT _p_out; //!< 输出图像的数据及信息
Expand Down
21 changes: 11 additions & 10 deletions modules/camera/src/hik_camera/hik_properties.cpp
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Expand Up @@ -21,17 +21,21 @@ bool HikCamera::Impl::set(int propId, double value) noexcept
{
// Properties
case CAMERA_AUTO_EXPOSURE:
return MV_CC_SetEnumValue(_handle, "ExposureAuto", 2) == MV_OK; // Continuous
return MV_CC_SetEnumValue(_handle, "ExposureAuto", MV_EXPOSURE_AUTO_MODE_CONTINUOUS) == MV_OK;
case CAMERA_MANUAL_EXPOSURE:
return MV_CC_SetEnumValue(_handle, "ExposureAuto", 0) == MV_OK; // Off
return MV_CC_SetEnumValue(_handle, "ExposureAuto", MV_EXPOSURE_AUTO_MODE_OFF) == MV_OK;
case CAMERA_ONCE_EXPOSURE:
return MV_CC_SetEnumValue(_handle, "ExposureAuto", MV_EXPOSURE_AUTO_MODE_ONCE) == MV_OK;
case CAMERA_AUTO_WB:
return MV_CC_SetEnumValue(_handle, "BalanceWhiteAuto", MV_BALANCEWHITE_AUTO_CONTINUOUS) == MV_OK;
case CAMERA_MANUAL_WB:
return MV_CC_SetEnumValue(_handle, "BalanceWhiteAuto", MV_BALANCEWHITE_AUTO_OFF) == MV_OK;
case CAMERA_ONCE_WB:
return MV_CC_SetEnumValue(_handle, "BalanceWhiteAuto", MV_BALANCEWHITE_AUTO_ONCE) == MV_OK;
case CAMERA_EXPOSURE:
return MV_CC_SetFloatValue(_handle, "ExposureTime", static_cast<float>(value)) == MV_OK;
case CAMERA_GAIN:
return MV_CC_SetFloatValue(_handle, "Gain", static_cast<float>(value)) == MV_OK;
case CAMERA_AUTO_WB:
return MV_CC_SetEnumValue(_handle, "BalanceWhiteAuto", 1) == MV_OK; // Continuous
case CAMERA_MANUAL_WB:
return MV_CC_SetEnumValue(_handle, "BalanceWhiteAuto", 0) == MV_OK; // Off
case CAMERA_WB_BGAIN:
return MV_CC_SetEnumValue(_handle, "BalanceRatioSelector", 2) == MV_OK && // Blue
MV_CC_SetIntValue(_handle, "BalanceRatio", static_cast<unsigned int>(value)) == MV_OK;
Expand All @@ -48,10 +52,7 @@ bool HikCamera::Impl::set(int propId, double value) noexcept
case CAMERA_SATURATION:
return MV_CC_SetBoolValue(_handle, "SaturationEnable", true) == MV_OK &&
MV_CC_SetFloatValue(_handle, "Saturation", static_cast<float>(value)) == MV_OK;
// Activities
case CAMERA_ONCE_WB:
return MV_CC_SetEnumValue(_handle, "BalanceWhiteAuto", 2) == MV_OK; // Once
case CAMERA_SOFT_TRIGGER:
case CAMERA_TRIGGER_SOFT:
return MV_CC_SetCommandValue(_handle, "TriggerSoftware") == MV_OK;
default:
ERROR_("Try to set undefined variable, id: %d.", propId);
Expand Down
2 changes: 1 addition & 1 deletion modules/camera/src/mv_camera/mv_properties.cpp
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Expand Up @@ -74,7 +74,7 @@ bool MvCamera::Impl::set(int propId, double value) noexcept
// Activities
case CAMERA_ONCE_WB:
return CameraSetOnceWB(_handle) == CAMERA_STATUS_SUCCESS;
case CAMERA_SOFT_TRIGGER:
case CAMERA_TRIGGER_SOFT:
if (_grab_mode != GrabMode::Continuous)
return CameraSoftTrigger(_handle) == CAMERA_STATUS_SUCCESS;
else
Expand Down
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