From e3f3bf4071d3dfc7f15115b23d23b9da17a4e128 Mon Sep 17 00:00:00 2001 From: Joey <2565725362@qq.com> Date: Wed, 27 Mar 2024 03:45:53 +0800 Subject: [PATCH] del subprojects --- src/rm_auto_aim | 1 - src/rm_auto_aim/.clang-format | 18 + src/rm_auto_aim/.clang-tidy | 55 + src/rm_auto_aim/.github/workflows/ros_ci.yml | 30 + src/rm_auto_aim/.gitignore | 170 + src/rm_auto_aim/LICENSE | 21 + src/rm_auto_aim/README.md | 61 + .../armor_detector/.idea/.gitignore | 8 + .../armor_detector/.idea/armor_detector.iml | 2 + src/rm_auto_aim/armor_detector/.idea/misc.xml | 4 + .../armor_detector/.idea/modules.xml | 8 + src/rm_auto_aim/armor_detector/.idea/vcs.xml | 6 + src/rm_auto_aim/armor_detector/CMakeLists.txt | 68 + src/rm_auto_aim/armor_detector/README.md | 104 + src/rm_auto_aim/armor_detector/docs/blue.png | Bin 0 -> 7938 bytes .../armor_detector/docs/gray_bin.png | Bin 0 -> 9701 bytes .../armor_detector/docs/hsv_bin.png | Bin 0 -> 17354 bytes src/rm_auto_aim/armor_detector/docs/model.svg | 1 + 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Bin 0 -> 314058 bytes src/rm_auto_aim/armor_detector/package.xml | 37 + .../armor_detector/src/detector.cpp | 245 + .../armor_detector/src/detector_node.cpp | 292 + .../armor_detector/src/number_classifier.cpp | 147 + .../armor_detector/src/pnp_solver.cpp | 58 + .../armor_detector/test/test_node_startup.cpp | 28 + .../armor_detector/test/test_number_cls.cpp | 53 + src/rm_auto_aim/armor_tracker/CMakeLists.txt | 58 + src/rm_auto_aim/armor_tracker/README.md | 84 + .../docs/Kalman_filter_model.png | Bin 0 -> 21247 bytes .../armor_tracker/extended_kalman_filter.hpp | 74 + .../include/armor_tracker/tracker.hpp | 87 + .../include/armor_tracker/tracker_node.hpp | 76 + src/rm_auto_aim/armor_tracker/package.xml | 34 + .../src/extended_kalman_filter.cpp | 51 + src/rm_auto_aim/armor_tracker/src/tracker.cpp | 239 + .../armor_tracker/src/tracker_node.cpp | 336 ++ .../auto_aim_interfaces/CMakeLists.txt | 30 + .../auto_aim_interfaces/msg/Armor.msg | 4 + .../auto_aim_interfaces/msg/Armors.msg | 2 + .../auto_aim_interfaces/msg/DebugArmor.msg | 5 + .../auto_aim_interfaces/msg/DebugArmors.msg | 1 + .../auto_aim_interfaces/msg/DebugLight.msg | 4 + .../auto_aim_interfaces/msg/DebugLights.msg | 1 + .../auto_aim_interfaces/msg/Target.msg | 11 + .../auto_aim_interfaces/msg/TrackerInfo.msg | 6 + .../auto_aim_interfaces/package.xml | 21 + src/rm_auto_aim/docs/rm_vision.svg | 17 + src/rm_auto_aim/rm_auto_aim/CMakeLists.txt | 12 + src/rm_auto_aim/rm_auto_aim/package.xml | 22 + src/rm_gimbal_description | 1 - src/rm_gimbal_description/.gitignore | 51 + src/rm_gimbal_description/CMakeLists.txt | 18 + src/rm_gimbal_description/LICENSE | 201 + src/rm_gimbal_description/README.md | 26 + src/rm_gimbal_description/docs/rm_vision.svg | 17 + src/rm_gimbal_description/package.xml | 21 + .../urdf/rm_gimbal.urdf.xacro | 44 + src/rm_vision | 1 - src/rm_vision/.github/workflows/ci.yml | 33 + src/rm_vision/Dockerfile | 41 + src/rm_vision/LICENSE | 21 + src/rm_vision/README.md | 65 + src/rm_vision/docs/rm_vision.svg | 17 + src/rm_vision/docs/rm_vision_inside.svg | 1 + .../rm_vision_bringup/CMakeLists.txt | 16 + .../rm_vision_bringup/config/camera_info.yaml | 26 + .../config/launch_params.yaml | 9 + .../rm_vision_bringup/config/node_params.yaml | 48 + .../rm_vision_bringup/launch/common.py | 32 + .../launch/no_hardware.launch.py | 27 + .../launch/vision_bringup.launch.py | 82 + src/rm_vision/rm_vision_bringup/package.xml | 18 + src/ros2_hik_camera | 1 - src/ros2_hik_camera/.clang-format | 18 + src/ros2_hik_camera/.clang-tidy | 55 + src/ros2_hik_camera/CMakeLists.txt | 67 + src/ros2_hik_camera/README.md | 14 + src/ros2_hik_camera/config/camera_info.yaml | 26 + src/ros2_hik_camera/config/camera_params.yaml | 6 + .../hikSDK/include/CameraParams.h | 1081 ++++ .../hikSDK/include/MvCameraControl.h | 3398 +++++++++++ .../hikSDK/include/MvErrorDefine.h | 104 + .../hikSDK/include/MvISPErrorDefine.h | 93 + .../hikSDK/include/PixelType.h | 202 + .../launch/hik_camera.launch.py | 34 + src/ros2_hik_camera/package.xml | 28 + src/ros2_hik_camera/src/hik_camera_node.cpp | 204 + src/ros2_mindvision_camera | 1 - src/ros2_mindvision_camera/.clang-format | 18 + src/ros2_mindvision_camera/.clang-tidy | 55 + .../.github/workflows/ros_ci.yml | 20 + src/ros2_mindvision_camera/.gitignore | 170 + src/ros2_mindvision_camera/CMakeLists.txt | 75 + src/ros2_mindvision_camera/LICENSE | 21 + src/ros2_mindvision_camera/README.md | 50 + .../config/camera_info.yaml | 26 + .../config/camera_params.yaml | 7 + src/ros2_mindvision_camera/docs/rqt.png | Bin 0 -> 1021608 bytes .../launch/mv_launch.py | 33 + .../mvsdk/include/CameraApi.h | 5007 +++++++++++++++++ .../mvsdk/include/CameraDefine.h | 836 +++ .../mvsdk/include/CameraStatus.h | 114 + src/ros2_mindvision_camera/package.xml | 35 + .../src/mv_camera_node.cpp | 317 ++ 121 files changed, 15852 insertions(+), 5 deletions(-) delete mode 160000 src/rm_auto_aim create mode 100644 src/rm_auto_aim/.clang-format create mode 100644 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src/ros2_mindvision_camera/.gitignore create mode 100644 src/ros2_mindvision_camera/CMakeLists.txt create mode 100644 src/ros2_mindvision_camera/LICENSE create mode 100644 src/ros2_mindvision_camera/README.md create mode 100644 src/ros2_mindvision_camera/config/camera_info.yaml create mode 100644 src/ros2_mindvision_camera/config/camera_params.yaml create mode 100644 src/ros2_mindvision_camera/docs/rqt.png create mode 100644 src/ros2_mindvision_camera/launch/mv_launch.py create mode 100644 src/ros2_mindvision_camera/mvsdk/include/CameraApi.h create mode 100644 src/ros2_mindvision_camera/mvsdk/include/CameraDefine.h create mode 100644 src/ros2_mindvision_camera/mvsdk/include/CameraStatus.h create mode 100644 src/ros2_mindvision_camera/package.xml create mode 100644 src/ros2_mindvision_camera/src/mv_camera_node.cpp diff --git a/src/rm_auto_aim b/src/rm_auto_aim deleted file mode 160000 index 5206f172..00000000 --- a/src/rm_auto_aim +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 5206f172c2de996ae3dcdbe42f0cbedca3e2aa70 diff --git a/src/rm_auto_aim/.clang-format b/src/rm_auto_aim/.clang-format new file mode 100644 index 00000000..2f8d64b6 --- /dev/null +++ b/src/rm_auto_aim/.clang-format @@ -0,0 +1,18 @@ +--- +Language: Cpp +BasedOnStyle: Google + +AccessModifierOffset: -2 +AlignAfterOpenBracket: AlwaysBreak +BraceWrapping: + AfterClass: true + AfterFunction: true + AfterNamespace: true + AfterStruct: true +BreakBeforeBraces: Custom +ColumnLimit: 100 +ConstructorInitializerIndentWidth: 0 +ContinuationIndentWidth: 2 +DerivePointerAlignment: false +PointerAlignment: Middle +ReflowComments: false \ No newline at end of file diff --git a/src/rm_auto_aim/.clang-tidy b/src/rm_auto_aim/.clang-tidy new file mode 100644 index 00000000..bf3d848f --- /dev/null +++ b/src/rm_auto_aim/.clang-tidy @@ -0,0 +1,55 @@ +--- +Checks: '-*, + performance-*, + -performance-unnecessary-value-param, + llvm-namespace-comment, + modernize-redundant-void-arg, + modernize-use-nullptr, + modernize-use-default, + modernize-use-override, + modernize-loop-convert, + modernize-make-shared, + modernize-make-unique, + misc-unused-parameters, + readability-named-parameter, + readability-redundant-smartptr-get, + readability-redundant-string-cstr, + readability-simplify-boolean-expr, + readability-container-size-empty, + readability-identifier-naming, + ' +HeaderFilterRegex: '' +AnalyzeTemporaryDtors: false +CheckOptions: + - key: llvm-namespace-comment.ShortNamespaceLines + value: '10' + - key: llvm-namespace-comment.SpacesBeforeComments + value: '2' + - key: misc-unused-parameters.StrictMode + value: '1' + - key: readability-braces-around-statements.ShortStatementLines + value: '2' + # type names + - key: readability-identifier-naming.ClassCase + value: CamelCase + - key: readability-identifier-naming.EnumCase + value: CamelCase + - key: readability-identifier-naming.UnionCase + value: CamelCase + # method names + - key: readability-identifier-naming.MethodCase + value: camelBack + # variable names + - key: readability-identifier-naming.VariableCase + value: lower_case + - key: readability-identifier-naming.ClassMemberSuffix + value: '_' + # const static or global variables are UPPER_CASE + - key: readability-identifier-naming.EnumConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.StaticConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.ClassConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.GlobalVariableCase + value: UPPER_CASE \ No newline at end of file diff --git a/src/rm_auto_aim/.github/workflows/ros_ci.yml b/src/rm_auto_aim/.github/workflows/ros_ci.yml new file mode 100644 index 00000000..17f48508 --- /dev/null +++ b/src/rm_auto_aim/.github/workflows/ros_ci.yml @@ -0,0 +1,30 @@ +name: Build and Test (humble) +on: + push: + branches: [ main ] + pull_request: + branches: [ main ] +jobs: + build-and-test: + runs-on: ubuntu-22.04 + steps: + - name: Setup ROS 2 + uses: ros-tooling/setup-ros@v0.4 + with: + required-ros-distributions: humble + - name: Build rm_auto_aim + uses: ros-tooling/action-ros-ci@v0.2 + with: + package-name: rm_auto_aim + target-ros2-distro: humble + skip-tests: true + - name: Test armor_detector + run: | + source /opt/ros/humble/setup.sh + cd ros_ws + colcon test --packages-select armor_detector --event-handlers console_cohesion+ --return-code-on-test-failure + - name: Test armor_tracker + run: | + source /opt/ros/humble/setup.sh + cd ros_ws + colcon test --packages-select armor_tracker --event-handlers console_cohesion+ --return-code-on-test-failure diff --git a/src/rm_auto_aim/.gitignore b/src/rm_auto_aim/.gitignore new file mode 100644 index 00000000..3f4f07a1 --- /dev/null +++ b/src/rm_auto_aim/.gitignore @@ -0,0 +1,170 @@ + +# Created by https://www.gitignore.io/api/c++,linux,macos,clion +# Edit at https://www.gitignore.io/?templates=c++,linux,macos,clion + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### CLion ### +# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and WebStorm +# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839 + +# User-specific stuff +.idea/**/workspace.xml +.idea/**/tasks.xml +.idea/**/usage.statistics.xml +.idea/**/dictionaries +.idea/**/shelf + +# Generated files +.idea/**/contentModel.xml + +# Sensitive or high-churn files +.idea/**/dataSources/ +.idea/**/dataSources.ids +.idea/**/dataSources.local.xml +.idea/**/sqlDataSources.xml +.idea/**/dynamic.xml +.idea/**/uiDesigner.xml +.idea/**/dbnavigator.xml + +# Gradle +.idea/**/gradle.xml +.idea/**/libraries + +# Gradle and Maven with auto-import +# When using Gradle or Maven with auto-import, you should exclude module files, +# since they will be recreated, and may cause churn. Uncomment if using +# auto-import. +# .idea/modules.xml +# .idea/*.iml +# .idea/modules +# *.iml +# *.ipr + +# CMake +cmake-build-*/ + +# Mongo Explorer plugin +.idea/**/mongoSettings.xml + +# File-based project format +*.iws + +# IntelliJ +out/ + +# mpeltonen/sbt-idea plugin +.idea_modules/ + +# JIRA plugin +atlassian-ide-plugin.xml + +# Cursive Clojure plugin +.idea/replstate.xml + +# Crashlytics plugin (for Android Studio and IntelliJ) +com_crashlytics_export_strings.xml +crashlytics.properties +crashlytics-build.properties +fabric.properties + +# Editor-based Rest Client +.idea/httpRequests + +# Android studio 3.1+ serialized cache file +.idea/caches/build_file_checksums.ser + +### CLion Patch ### +# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721 + +# *.iml +# modules.xml +# .idea/misc.xml +# *.ipr + +# Sonarlint plugin +.idea/**/sonarlint/ + +# SonarQube Plugin +.idea/**/sonarIssues.xml + +# Markdown Navigator plugin +.idea/**/markdown-navigator.xml +.idea/**/markdown-navigator/ + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +# End of https://www.gitignore.io/api/c++,linux,macos,clion diff --git a/src/rm_auto_aim/LICENSE b/src/rm_auto_aim/LICENSE new file mode 100644 index 00000000..d1e647e9 --- /dev/null +++ b/src/rm_auto_aim/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2022 ChenJun + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/src/rm_auto_aim/README.md b/src/rm_auto_aim/README.md new file mode 100644 index 00000000..f5c64726 --- /dev/null +++ b/src/rm_auto_aim/README.md @@ -0,0 +1,61 @@ +# rm_auto_aim + +## Overview + +RoboMaster 装甲板自瞄算法模块 + +rm_vision + +该项目为 [rm_vision](https://github.com/chenjunnn/rm_vision) 的子模块 + +若有帮助请Star这个项目，感谢~ + +### License + +The source code is released under a [MIT license](rm_auto_aim/LICENSE). + +[![License: MIT](https://img.shields.io/badge/License-MIT-blue.svg)](https://opensource.org/licenses/MIT) + +Author: Chen Jun + +运行环境：Ubuntu 22.04 / ROS2 Humble (未在其他环境下测试) + +![Build Status](https://github.com/chenjunnn/rm_auto_aim/actions/workflows/ros_ci.yml/badge.svg) + +## Building from Source + +### Building + +在 Ubuntu 22.04 环境下安装 [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) + +创建 ROS 工作空间后 clone 项目，使用 rosdep 安装依赖后编译代码 + + cd ros_ws/src + git clone https://github.com/chenjunnn/rm_auto_aim.git + cd .. + rosdep install --from-paths src --ignore-src -r -y + colcon build --symlink-install --packages-up-to auto_aim_bringup + +### Testing + +Run the tests with + + colcon test --packages-up-to auto_aim_bringup + +## Packages + +- [armor_detector](armor_detector) + + 订阅相机参数及图像流进行装甲板的识别并解算三维位置，输出识别到的装甲板在输入frame下的三维位置 (一般是以相机光心为原点的相机坐标系) + +- [armor_tracker](armor_tracker) + + 订阅识别节点发布的装甲板三维位置及机器人的坐标转换信息，将装甲板三维位置变换到指定惯性系（一般是以云台中心为原点，IMU 上电时的 Yaw 朝向为 X 轴的惯性系）下，然后将装甲板目标送入跟踪器中，输出跟踪机器人在指定惯性系下的状态 + +- auto_aim_interfaces + + 定义了识别节点和处理节点的接口以及定义了用于 Debug 的信息 + +- auto_aim_bringup + + 包含启动识别节点和处理节点的默认参数文件及 launch 文件 diff --git a/src/rm_auto_aim/armor_detector/.idea/.gitignore b/src/rm_auto_aim/armor_detector/.idea/.gitignore new file mode 100644 index 00000000..35410cac --- /dev/null +++ b/src/rm_auto_aim/armor_detector/.idea/.gitignore @@ -0,0 +1,8 @@ +# 默认忽略的文件 +/shelf/ +/workspace.xml +# 基于编辑器的 HTTP 客户端请求 +/httpRequests/ +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml diff --git a/src/rm_auto_aim/armor_detector/.idea/armor_detector.iml b/src/rm_auto_aim/armor_detector/.idea/armor_detector.iml new file mode 100644 index 00000000..f08604bb --- /dev/null +++ b/src/rm_auto_aim/armor_detector/.idea/armor_detector.iml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/src/rm_auto_aim/armor_detector/.idea/misc.xml b/src/rm_auto_aim/armor_detector/.idea/misc.xml new file mode 100644 index 00000000..79b3c948 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/src/rm_auto_aim/armor_detector/.idea/modules.xml b/src/rm_auto_aim/armor_detector/.idea/modules.xml new file mode 100644 index 00000000..63495157 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/src/rm_auto_aim/armor_detector/.idea/vcs.xml b/src/rm_auto_aim/armor_detector/.idea/vcs.xml new file mode 100644 index 00000000..6c0b8635 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/src/rm_auto_aim/armor_detector/CMakeLists.txt b/src/rm_auto_aim/armor_detector/CMakeLists.txt new file mode 100644 index 00000000..f1cd1434 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/CMakeLists.txt @@ -0,0 +1,68 @@ +cmake_minimum_required(VERSION 3.10) +project(armor_detector) + +## Use C++14 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +## By adding -Wall and -Werror, the compiler does not ignore warnings anymore, +## enforcing cleaner code. +add_definitions(-Wall -Werror) + +## Export compile commands for clangd +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +####################### +## Find dependencies ## +####################### + +find_package(ament_cmake_auto REQUIRED) +find_package(OpenCV REQUIRED) +ament_auto_find_build_dependencies() + +########### +## Build ## +########### + +ament_auto_add_library(${PROJECT_NAME} SHARED + DIRECTORY src +) + +target_include_directories(${PROJECT_NAME} PUBLIC ${OpenCV_INCLUDE_DIRS}) +target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS}) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN rm_auto_aim::ArmorDetectorNode + EXECUTABLE armor_detector_node +) + +############# +## Testing ## +############# + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + list(APPEND AMENT_LINT_AUTO_EXCLUDE + ament_cmake_copyright + ament_cmake_uncrustify + ament_cmake_cpplint + ) + ament_lint_auto_find_test_dependencies() + + find_package(ament_cmake_gtest) + ament_add_gtest(test_node_startup test/test_node_startup.cpp) + target_link_libraries(test_node_startup ${PROJECT_NAME}) + + ament_add_gtest(test_number_cls test/test_number_cls.cpp) + target_link_libraries(test_number_cls ${PROJECT_NAME}) + +endif() + +############# +## Install ## +############# + +ament_auto_package( + INSTALL_TO_SHARE + model +) diff --git a/src/rm_auto_aim/armor_detector/README.md b/src/rm_auto_aim/armor_detector/README.md new file mode 100644 index 00000000..d5d49dbe --- /dev/null +++ b/src/rm_auto_aim/armor_detector/README.md @@ -0,0 +1,104 @@ +# armor_detector + +- [DetectorNode](#basedetectornode) + - [Detector](#detector) + - [NumberClassifier](#numberclassifier) + - [PnPSolver](#pnpsolver) + +## 识别节点 + +订阅相机参数及图像流进行装甲板的识别并解算三维位置，输出识别到的装甲板在输入frame下的三维位置 (一般是以相机光心为原点的相机坐标系) + +### DetectorNode +装甲板识别节点 + +包含[Detector](#detector) +包含[PnPSolver](#pnpsolver) + +订阅： +- 相机参数 `/camera_info` +- 彩色图像 `/image_raw` + +发布： +- 识别目标 `/detector/armors` + +静态参数： +- 筛选灯条的参数 `light` + - 长宽比范围 `min/max_ratio` + - 最大倾斜角度 `max_angle` +- 筛选灯条配对结果的参数 `armor` + - 两灯条的最小长度之比（短边/长边）`min_light_ratio ` + - 装甲板两灯条中心的距离范围（大装甲板）`min/max_large_center_distance` + - 装甲板两灯条中心的距离范围（小装甲板）`min/max_small_center_distance` + - 装甲板的最大倾斜角度 `max_angle` + +动态参数： +- 是否发布 debug 信息 `debug` +- 识别目标颜色 `detect_color` +- 二值化的最小阈值 `binary_thres` +- 数字分类器 `classifier` + - 置信度阈值 `threshold` + +## Detector +装甲板识别器 + +### preprocessImage +预处理 + +| ![](docs/raw.png) | ![](docs/hsv_bin.png) | ![](docs/gray_bin.png) | +| :---------------: | :-------------------: | :--------------------: | +| 原图 | 通过颜色二值化 | 通过灰度二值化 | + +由于一般工业相机的动态范围不够大，导致若要能够清晰分辨装甲板的数字，得到的相机图像中灯条中心就会过曝，灯条中心的像素点的值往往都是 R=B。根据颜色信息来进行二值化效果不佳，因此此处选择了直接通过灰度图进行二值化，将灯条的颜色判断放到后续处理中。 + +### findLights +寻找灯条 + +通过 findContours 得到轮廓，再通过 minAreaRect 获得最小外接矩形，对其进行长宽比和倾斜角度的判断，可以高效的筛除形状不满足的亮斑。 + +判断灯条颜色这里采用了对轮廓内的的R/B值求和，判断两和的的大小的方法，若 `sum_r > sum_b` 则认为是红色灯条，反之则认为是蓝色灯条。 + +| ![](docs/red.png) | ![](docs/blue.png) | +| :---------------: | :----------------: | +| 提取出的红色灯条 | 提取出的蓝色灯条 | + +### matchLights +配对灯条 + +根据 `detect_color` 选择对应颜色的灯条进行两两配对，首先筛除掉两条灯条中间包含另一个灯条的情况，然后根据两灯条的长度之比、两灯条中心的距离、配对出装甲板的倾斜角度来筛选掉条件不满足的结果，得到形状符合装甲板特征的灯条配对。 + +## NumberClassifier +数字分类器 + +### extractNumbers +提取数字 + +| ![](docs/num_raw.png) | ![](docs/num_warp.png) | ![](docs/num_roi.png) | ![](docs/num_bin.png) | +| :-------------------: | :--------------------: | :-------------------: | :-------------------: | +| 原图 | 透视变换 | 取ROI | 二值化 | + +将每条灯条上下的角点拉伸到装甲板的上下边缘作为待变换点，进行透视变换，再对变换后的图像取ROI。考虑到数字图案实质上就是黑色背景+白色图案，所以此处使用了大津法进行二值化。 + +### Classify +分类 + +由于上一步对于数字的提取效果已经非常好，数字图案的特征非常清晰明显，装甲板的远近、旋转都不会使图案产生过多畸变，且图案像素点少，所以我们使用多层感知机（MLP）进行分类。 + +网络结构中定义了两个隐藏层和一个分类层，将二值化后的数字展平成 20x28=560 维的输入，送入网络进行分类。 + +网络结构： + +![](docs/model.svg) + + + + + +## PnPSolver +PnP解算器 + +[Perspective-n-Point (PnP) pose computation](https://docs.opencv.org/4.x/d5/d1f/calib3d_solvePnP.html) + +PnP解算器将 `cv::solvePnP()` 封装，接口中传入 `Armor` 类型的数据即可得到 `geometry_msgs::msg::Point` 类型的三维坐标。 + +考虑到装甲板的四个点在一个平面上，在PnP解算方法上我们选择了 `cv::SOLVEPNP_IPPE` (Method is based on the paper of T. Collins and A. Bartoli. ["Infinitesimal Plane-Based Pose Estimation"](https://link.springer.com/article/10.1007/s11263-014-0725-5). 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z-71?7J{J%qBO}WZuP6gBi2N}ju0{l9E_;^5B{@`)x)q>Bj=*)2bx}eT%TZ>4`1*{P zlhyj<>HHuLgCcV!nzh)83CMN(l;kpe!HsjiWPSjjABs<4^8o~wIHCFe(8j78ALWbp zmu{uk>K~NQ;2yMYO@rR&F#|tgn>?i(X&yb$k)Tw!lH`v8ZiYdR^4X#ce>I42??Jl) z3ufwE8wEIG&+2nEJmI@W=XDeMOq@NI zLOZ-<`{p7^@u+8;59&4apsE`iA`sGZY<59Lpp0=^3kD*U0OnJm*}ds9ydG7Jtf|Cl zed<{3B``BMgMM08j{(2_TMFwDlt`=IxiJ1UX99O^)c^7UpgBV+dt~&dc;uM5YtHtB znpS_q7l9ub@B^ANV)$2rzirnPa5}bceSpl+__zKf2CC2cChNd|t*i^$t#^AJ20`Bm Tqzd?*BP5wuiV{UH4gCHGUL5(R literal 0 HcmV?d00001 diff --git a/src/rm_auto_aim/armor_detector/include/armor_detector/armor.hpp b/src/rm_auto_aim/armor_detector/include/armor_detector/armor.hpp new file mode 100644 index 00000000..16705e51 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/include/armor_detector/armor.hpp @@ -0,0 +1,72 @@ +// Copyright 2022 Chen Jun +// Licensed under the MIT License. + +#ifndef ARMOR_DETECTOR__ARMOR_HPP_ +#define ARMOR_DETECTOR__ARMOR_HPP_ + +#include + +// STL +#include +#include + +namespace rm_auto_aim { + const int RED = 0; + const int BLUE = 1; + + enum class ArmorType { + SMALL, LARGE, INVALID + }; + const std::string ARMOR_TYPE_STR[3] = {"small", "large", "invalid"}; + + struct Light : public cv::RotatedRect { + Light() = default; + + explicit Light(cv::RotatedRect box) : cv::RotatedRect(box) { + cv::Point2f p[4]; + box.points(p); + std::sort(p, p + 4, [](const cv::Point2f &a, const cv::Point2f &b) { return a.y < b.y; }); + top = (p[0] + p[1]) / 2; + bottom = (p[2] + p[3]) / 2; + + length = cv::norm(top - bottom); + width = cv::norm(p[0] - p[1]); + + tilt_angle = std::atan2(std::abs(top.x - bottom.x), std::abs(top.y - bottom.y)); + tilt_angle = tilt_angle / CV_PI * 180; + } + + int color; + cv::Point2f top, bottom; + double length; + double width; + float tilt_angle; + }; + + struct Armor { + Armor() = default; + + Armor(const Light &l1, const Light &l2) { + if (l1.center.x < l2.center.x) { + left_light = l1, right_light = l2; + } else { + left_light = l2, right_light = l1; + } + center = (left_light.center + right_light.center) / 2; + } + + // Light pairs part + Light left_light, right_light; + cv::Point2f center; + ArmorType type; + + // Number part + cv::Mat number_img; + std::string number; + float confidence; + std::string classfication_result; + }; + +} // namespace rm_auto_aim + +#endif // ARMOR_DETECTOR__ARMOR_HPP_ diff --git a/src/rm_auto_aim/armor_detector/include/armor_detector/detector.hpp b/src/rm_auto_aim/armor_detector/include/armor_detector/detector.hpp new file mode 100644 index 00000000..5e3cd749 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/include/armor_detector/detector.hpp @@ -0,0 +1,83 @@ +// Copyright 2022 Chen Jun +// Licensed under the MIT License. + +#ifndef ARMOR_DETECTOR__DETECTOR_HPP_ +#define ARMOR_DETECTOR__DETECTOR_HPP_ + +// OpenCV +#include +#include + +// STD +#include +#include +#include + +#include "armor_detector/armor.hpp" +#include "armor_detector/number_classifier.hpp" +#include "auto_aim_interfaces/msg/debug_armors.hpp" +#include "auto_aim_interfaces/msg/debug_lights.hpp" + +namespace rm_auto_aim +{ +class Detector +{ +public: + struct LightParams + { + // width / height + double min_ratio; + double max_ratio; + // vertical angle + double max_angle; + }; + + struct ArmorParams + { + double min_light_ratio; + // light pairs distance + double min_small_center_distance; + double max_small_center_distance; + double min_large_center_distance; + double max_large_center_distance; + // horizontal angle + double max_angle; + }; + + Detector(const int & bin_thres, const int & color, const LightParams & l, const ArmorParams & a); + + std::vector detect(const cv::Mat & input); + + cv::Mat preprocessImage(const cv::Mat & input); + std::vector findLights(const cv::Mat & rbg_img, const cv::Mat & binary_img); + std::vector matchLights(const std::vector & lights); + + // For debug usage + cv::Mat getAllNumbersImage(); + void drawResults(cv::Mat & img); + + int binary_thres; + int detect_color; + LightParams l; + ArmorParams a; + + std::unique_ptr classifier; + + // Debug msgs + cv::Mat binary_img; + auto_aim_interfaces::msg::DebugLights debug_lights; + auto_aim_interfaces::msg::DebugArmors debug_armors; + +private: + bool isLight(const Light & possible_light); + bool containLight( + const Light & light_1, const Light & light_2, const std::vector & lights); + ArmorType isArmor(const Light & light_1, const Light & light_2); + + std::vector lights_; + std::vector armors_; +}; + +} // namespace rm_auto_aim + +#endif // ARMOR_DETECTOR__DETECTOR_HPP_ diff --git a/src/rm_auto_aim/armor_detector/include/armor_detector/detector_node.hpp b/src/rm_auto_aim/armor_detector/include/armor_detector/detector_node.hpp new file mode 100644 index 00000000..0cd88f39 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/include/armor_detector/detector_node.hpp @@ -0,0 +1,81 @@ +// Copyright 2022 Chen Jun +// Licensed under the MIT License. + +#ifndef ARMOR_DETECTOR__DETECTOR_NODE_HPP_ +#define ARMOR_DETECTOR__DETECTOR_NODE_HPP_ + +// ROS +#include +#include +#include +#include +#include +#include +#include +#include + +// STD +#include +#include +#include + +#include "armor_detector/detector.hpp" +#include "armor_detector/number_classifier.hpp" +#include "armor_detector/pnp_solver.hpp" +#include "auto_aim_interfaces/msg/armors.hpp" + +namespace rm_auto_aim +{ + +class ArmorDetectorNode : public rclcpp::Node +{ +public: + ArmorDetectorNode(const rclcpp::NodeOptions & options); + +private: + void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr img_msg); + + std::unique_ptr initDetector(); + std::vector detectArmors(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg); + + void createDebugPublishers(); + void destroyDebugPublishers(); + + void publishMarkers(); + + // Armor Detector + std::unique_ptr detector_; + + // Detected armors publisher + auto_aim_interfaces::msg::Armors armors_msg_; + rclcpp::Publisher::SharedPtr armors_pub_; + + // Visualization marker publisher + visualization_msgs::msg::Marker armor_marker_; + visualization_msgs::msg::Marker text_marker_; + visualization_msgs::msg::MarkerArray marker_array_; + rclcpp::Publisher::SharedPtr marker_pub_; + + // Camera info part + rclcpp::Subscription::SharedPtr cam_info_sub_; + cv::Point2f cam_center_; + std::shared_ptr cam_info_; + std::unique_ptr pnp_solver_; + + // Image subscrpition + rclcpp::Subscription::SharedPtr img_sub_; + + // Debug information + bool debug_; + std::shared_ptr debug_param_sub_; + std::shared_ptr debug_cb_handle_; + rclcpp::Publisher::SharedPtr lights_data_pub_; + rclcpp::Publisher::SharedPtr armors_data_pub_; + image_transport::Publisher binary_img_pub_; + image_transport::Publisher number_img_pub_; + image_transport::Publisher result_img_pub_; +}; + +} // namespace rm_auto_aim + +#endif // ARMOR_DETECTOR__DETECTOR_NODE_HPP_ diff --git a/src/rm_auto_aim/armor_detector/include/armor_detector/number_classifier.hpp b/src/rm_auto_aim/armor_detector/include/armor_detector/number_classifier.hpp new file mode 100644 index 00000000..7a687996 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/include/armor_detector/number_classifier.hpp @@ -0,0 +1,40 @@ +// Copyright 2022 Chen Jun + +#ifndef ARMOR_DETECTOR__NUMBER_CLASSIFIER_HPP_ +#define ARMOR_DETECTOR__NUMBER_CLASSIFIER_HPP_ + +// OpenCV +#include + +// STL +#include +#include +#include +#include +#include + +#include "armor_detector/armor.hpp" + +namespace rm_auto_aim +{ +class NumberClassifier +{ +public: + NumberClassifier( + const std::string & model_path, const std::string & label_path, const double threshold, + const std::vector & ignore_classes = {}); + + void extractNumbers(const cv::Mat & src, std::vector & armors); + + void classify(std::vector & armors); + + double threshold; + +private: + cv::dnn::Net net_; + std::vector class_names_; + std::vector ignore_classes_; +}; +} // namespace rm_auto_aim + +#endif // ARMOR_DETECTOR__NUMBER_CLASSIFIER_HPP_ diff --git a/src/rm_auto_aim/armor_detector/include/armor_detector/pnp_solver.hpp b/src/rm_auto_aim/armor_detector/include/armor_detector/pnp_solver.hpp new file mode 100644 index 00000000..e0005aec --- /dev/null +++ b/src/rm_auto_aim/armor_detector/include/armor_detector/pnp_solver.hpp @@ -0,0 +1,48 @@ +// Copyright 2022 Chen Jun +// Licensed under the MIT License. + +#ifndef ARMOR_DETECTOR__PNP_SOLVER_HPP_ +#define ARMOR_DETECTOR__PNP_SOLVER_HPP_ + +#include +#include + +// STD +#include +#include + +#include "armor_detector/armor.hpp" + +namespace rm_auto_aim +{ +class PnPSolver +{ +public: + PnPSolver( + const std::array & camera_matrix, + const std::vector & distortion_coefficients); + + // Get 3d position + bool solvePnP(const Armor & armor, cv::Mat & rvec, cv::Mat & tvec); + + // Calculate the distance between armor center and image center + float calculateDistanceToCenter(const cv::Point2f & image_point); + +private: + cv::Mat camera_matrix_; + cv::Mat dist_coeffs_; + + // Unit: mm + static constexpr float SMALL_ARMOR_WIDTH = 135; + static constexpr float SMALL_ARMOR_HEIGHT = 55; + static constexpr float LARGE_ARMOR_WIDTH = 225; + static constexpr float LARGE_ARMOR_HEIGHT = 55; + + // Four vertices of armor in 3d + std::vector small_armor_points_; + std::vector large_armor_points_; +}; + +} // namespace rm_auto_aim + +#endif // ARMOR_DETECTOR__PNP_SOLVER_HPP_ diff --git a/src/rm_auto_aim/armor_detector/model/label.txt b/src/rm_auto_aim/armor_detector/model/label.txt new file mode 100644 index 00000000..64bf0fd2 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/model/label.txt @@ -0,0 +1,9 @@ +1 +2 +3 +4 +5 +outpost +guard +base +negative \ No newline at end of file diff --git a/src/rm_auto_aim/armor_detector/model/mlp.onnx b/src/rm_auto_aim/armor_detector/model/mlp.onnx new file mode 100644 index 0000000000000000000000000000000000000000..208938074588d0e03264b3fd9ebd1a3b56b5ed8b GIT binary patch literal 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armor_detector + 0.1.0 + A template for ROS packages. + Chen Jun + BSD + https://github.com/chenjunnn/rm_auto_aim + https://github.com/chenjunnn/rm_auto_aim/issues + Chen Jun + + + ament_cmake + + + rclcpp + rclcpp_components + sensor_msgs + geometry_msgs + visualization_msgs + message_filters + cv_bridge + image_transport + image_transport_plugins + auto_aim_interfaces + vision_opencv + tf2_geometry_msgs + + ament_lint_auto + ament_lint_common + ament_cmake_clang_format + + + ament_cmake + + diff --git a/src/rm_auto_aim/armor_detector/src/detector.cpp b/src/rm_auto_aim/armor_detector/src/detector.cpp new file mode 100644 index 00000000..18887eb1 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/src/detector.cpp @@ -0,0 +1,245 @@ +// Copyright (c) 2022 ChenJun +// Licensed under the MIT License. + +// OpenCV +#include +#include +#include +#include +#include + +// STD +#include +#include +#include + +#include "armor_detector/detector.hpp" +#include "auto_aim_interfaces/msg/debug_armor.hpp" +#include "auto_aim_interfaces/msg/debug_light.hpp" + +namespace rm_auto_aim +{ +Detector::Detector( + const int & bin_thres, const int & color, const LightParams & l, const ArmorParams & a) +: binary_thres(bin_thres), detect_color(color), l(l), a(a) +{ +} + +std::vector Detector::detect(const cv::Mat & input) +{ + binary_img = preprocessImage(input); + lights_ = findLights(input, binary_img); + armors_ = matchLights(lights_); + + if (!armors_.empty()) { + classifier->extractNumbers(input, armors_); + classifier->classify(armors_); + } + + return armors_; +} + +cv::Mat Detector::preprocessImage(const cv::Mat & rgb_img) +{ + cv::Mat gray_img; + cv::cvtColor(rgb_img, gray_img, cv::COLOR_RGB2GRAY); + + cv::Mat binary_img; + cv::threshold(gray_img, binary_img, binary_thres, 255, cv::THRESH_BINARY); + + return binary_img; +} + +std::vector Detector::findLights(const cv::Mat & rbg_img, const cv::Mat & binary_img) +{ + using std::vector; + vector> contours; + vector hierarchy; + cv::findContours(binary_img, contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); + + vector lights; + this->debug_lights.data.clear(); + + for (const auto & contour : contours) { + if (contour.size() < 5) continue; + + auto r_rect = cv::minAreaRect(contour); + auto light = Light(r_rect); + + if (isLight(light)) { + auto rect = light.boundingRect(); + if ( // Avoid assertion failed + 0 <= rect.x && 0 <= rect.width && rect.x + rect.width <= rbg_img.cols && 0 <= rect.y && + 0 <= rect.height && rect.y + rect.height <= rbg_img.rows) { + int sum_r = 0, sum_b = 0; + auto roi = rbg_img(rect); + // Iterate through the ROI + for (int i = 0; i < roi.rows; i++) { + for (int j = 0; j < roi.cols; j++) { + if (cv::pointPolygonTest(contour, cv::Point2f(j + rect.x, i + rect.y), false) >= 0) { + // if point is inside contour + sum_r += roi.at(i, j)[0]; + sum_b += roi.at(i, j)[2]; + } + } + } + // Sum of red pixels > sum of blue pixels ? + light.color = sum_r > sum_b ? RED : BLUE; + lights.emplace_back(light); + } + } + } + + return lights; +} + +bool Detector::isLight(const Light & light) +{ + // The ratio of light (short side / long side) + float ratio = light.width / light.length; + bool ratio_ok = l.min_ratio < ratio && ratio < l.max_ratio; + + bool angle_ok = light.tilt_angle < l.max_angle; + + bool is_light = ratio_ok && angle_ok; + + // Fill in debug information + auto_aim_interfaces::msg::DebugLight light_data; + light_data.center_x = light.center.x; + light_data.ratio = ratio; + light_data.angle = light.tilt_angle; + light_data.is_light = is_light; + this->debug_lights.data.emplace_back(light_data); + + return is_light; +} + +std::vector Detector::matchLights(const std::vector & lights) +{ + std::vector armors; + this->debug_armors.data.clear(); + + // Loop all the pairing of lights + for (auto light_1 = lights.begin(); light_1 != lights.end(); light_1++) { + for (auto light_2 = light_1 + 1; light_2 != lights.end(); light_2++) { + if (light_1->color != detect_color || light_2->color != detect_color) continue; + + if (containLight(*light_1, *light_2, lights)) { + continue; + } + + auto type = isArmor(*light_1, *light_2); + if (type != ArmorType::INVALID) { + auto armor = Armor(*light_1, *light_2); + armor.type = type; + armors.emplace_back(armor); + } + } + } + + return armors; +} + +// Check if there is another light in the boundingRect formed by the 2 lights +bool Detector::containLight( + const Light & light_1, const Light & light_2, const std::vector & lights) +{ + auto points = std::vector{light_1.top, light_1.bottom, light_2.top, light_2.bottom}; + auto bounding_rect = cv::boundingRect(points); + + for (const auto & test_light : lights) { + if (test_light.center == light_1.center || test_light.center == light_2.center) continue; + + if ( + bounding_rect.contains(test_light.top) || bounding_rect.contains(test_light.bottom) || + bounding_rect.contains(test_light.center)) { + return true; + } + } + + return false; +} + +ArmorType Detector::isArmor(const Light & light_1, const Light & light_2) +{ + // Ratio of the length of 2 lights (short side / long side) + float light_length_ratio = light_1.length < light_2.length ? light_1.length / light_2.length + : light_2.length / light_1.length; + bool light_ratio_ok = light_length_ratio > a.min_light_ratio; + + // Distance between the center of 2 lights (unit : light length) + float avg_light_length = (light_1.length + light_2.length) / 2; + float center_distance = cv::norm(light_1.center - light_2.center) / avg_light_length; + bool center_distance_ok = (a.min_small_center_distance <= center_distance && + center_distance < a.max_small_center_distance) || + (a.min_large_center_distance <= center_distance && + center_distance < a.max_large_center_distance); + + // Angle of light center connection + cv::Point2f diff = light_1.center - light_2.center; + float angle = std::abs(std::atan(diff.y / diff.x)) / CV_PI * 180; + bool angle_ok = angle < a.max_angle; + + bool is_armor = light_ratio_ok && center_distance_ok && angle_ok; + + // Judge armor type + ArmorType type; + if (is_armor) { + type = center_distance > a.min_large_center_distance ? ArmorType::LARGE : ArmorType::SMALL; + } else { + type = ArmorType::INVALID; + } + + // Fill in debug information + auto_aim_interfaces::msg::DebugArmor armor_data; + armor_data.type = ARMOR_TYPE_STR[static_cast(type)]; + armor_data.center_x = (light_1.center.x + light_2.center.x) / 2; + armor_data.light_ratio = light_length_ratio; + armor_data.center_distance = center_distance; + armor_data.angle = angle; + this->debug_armors.data.emplace_back(armor_data); + + return type; +} + +cv::Mat Detector::getAllNumbersImage() +{ + if (armors_.empty()) { + return cv::Mat(cv::Size(20, 28), CV_8UC1); + } else { + std::vector number_imgs; + number_imgs.reserve(armors_.size()); + for (auto & armor : armors_) { + number_imgs.emplace_back(armor.number_img); + } + cv::Mat all_num_img; + cv::vconcat(number_imgs, all_num_img); + return all_num_img; + } +} + +void Detector::drawResults(cv::Mat & img) +{ + // Draw Lights + for (const auto & light : lights_) { + cv::circle(img, light.top, 3, cv::Scalar(255, 255, 255), 1); + cv::circle(img, light.bottom, 3, cv::Scalar(255, 255, 255), 1); + auto line_color = light.color == RED ? cv::Scalar(255, 255, 0) : cv::Scalar(255, 0, 255); + cv::line(img, light.top, light.bottom, line_color, 1); + } + + // Draw armors + for (const auto & armor : armors_) { + cv::line(img, armor.left_light.top, armor.right_light.bottom, cv::Scalar(0, 255, 0), 2); + cv::line(img, armor.left_light.bottom, armor.right_light.top, cv::Scalar(0, 255, 0), 2); + } + + // Show numbers and confidence + for (const auto & armor : armors_) { + cv::putText( + img, armor.classfication_result, armor.left_light.top, cv::FONT_HERSHEY_SIMPLEX, 0.8, + cv::Scalar(0, 255, 255), 2); + } +} + +} // namespace rm_auto_aim diff --git a/src/rm_auto_aim/armor_detector/src/detector_node.cpp b/src/rm_auto_aim/armor_detector/src/detector_node.cpp new file mode 100644 index 00000000..63050a39 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/src/detector_node.cpp @@ -0,0 +1,292 @@ +// Copyright 2022 Chen Jun +// Licensed under the MIT License. + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +// STD +#include +#include +#include +#include +#include + +#include "armor_detector/armor.hpp" +#include "armor_detector/detector_node.hpp" + +namespace rm_auto_aim +{ +ArmorDetectorNode::ArmorDetectorNode(const rclcpp::NodeOptions & options) +: Node("armor_detector", options) +{ + RCLCPP_INFO(this->get_logger(), "Starting DetectorNode!"); + + // Detector + detector_ = initDetector(); + + // Armors Publisher + armors_pub_ = this->create_publisher( + "/detector/armors", rclcpp::SensorDataQoS()); + + // Visualization Marker Publisher + // See http://wiki.ros.org/rviz/DisplayTypes/Marker + armor_marker_.ns = "armors"; + armor_marker_.action = visualization_msgs::msg::Marker::ADD; + armor_marker_.type = visualization_msgs::msg::Marker::CUBE; + armor_marker_.scale.x = 0.05; + armor_marker_.scale.z = 0.125; + armor_marker_.color.a = 1.0; + armor_marker_.color.g = 0.5; + armor_marker_.color.b = 1.0; + armor_marker_.lifetime = rclcpp::Duration::from_seconds(0.1); + + text_marker_.ns = "classification"; + text_marker_.action = visualization_msgs::msg::Marker::ADD; + text_marker_.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; + text_marker_.scale.z = 0.1; + text_marker_.color.a = 1.0; + text_marker_.color.r = 1.0; + text_marker_.color.g = 1.0; + text_marker_.color.b = 1.0; + text_marker_.lifetime = rclcpp::Duration::from_seconds(0.1); + + marker_pub_ = + this->create_publisher("/detector/marker", 10); + + // Debug Publishers + debug_ = this->declare_parameter("debug", false); + if (debug_) { + createDebugPublishers(); + } + + // Debug param change moniter + debug_param_sub_ = std::make_shared(this); + debug_cb_handle_ = + debug_param_sub_->add_parameter_callback("debug", [this](const rclcpp::Parameter & p) { + debug_ = p.as_bool(); + debug_ ? createDebugPublishers() : destroyDebugPublishers(); + }); + + cam_info_sub_ = this->create_subscription( + "/camera_info", rclcpp::SensorDataQoS(), + [this](sensor_msgs::msg::CameraInfo::ConstSharedPtr camera_info) { + cam_center_ = cv::Point2f(camera_info->k[2], camera_info->k[5]); + cam_info_ = std::make_shared(*camera_info); + pnp_solver_ = std::make_unique(camera_info->k, camera_info->d); + cam_info_sub_.reset(); + }); + + img_sub_ = this->create_subscription( + "/image_raw", rclcpp::SensorDataQoS(), + std::bind(&ArmorDetectorNode::imageCallback, this, std::placeholders::_1)); +} + +void ArmorDetectorNode::imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr img_msg) +{ + auto armors = detectArmors(img_msg); + + if (pnp_solver_ != nullptr) { + armors_msg_.header = armor_marker_.header = text_marker_.header = img_msg->header; + armors_msg_.armors.clear(); + marker_array_.markers.clear(); + armor_marker_.id = 0; + text_marker_.id = 0; + + auto_aim_interfaces::msg::Armor armor_msg; + for (const auto & armor : armors) { + cv::Mat rvec, tvec; + bool success = pnp_solver_->solvePnP(armor, rvec, tvec); + if (success) { + // Fill basic info + armor_msg.type = ARMOR_TYPE_STR[static_cast(armor.type)]; + armor_msg.number = armor.number; + + // Fill pose + armor_msg.pose.position.x = tvec.at(0); + armor_msg.pose.position.y = tvec.at(1); + armor_msg.pose.position.z = tvec.at(2); + // rvec to 3x3 rotation matrix + cv::Mat rotation_matrix; + cv::Rodrigues(rvec, rotation_matrix); + // rotation matrix to quaternion + tf2::Matrix3x3 tf2_rotation_matrix( + rotation_matrix.at(0, 0), rotation_matrix.at(0, 1), + rotation_matrix.at(0, 2), rotation_matrix.at(1, 0), + rotation_matrix.at(1, 1), rotation_matrix.at(1, 2), + rotation_matrix.at(2, 0), rotation_matrix.at(2, 1), + rotation_matrix.at(2, 2)); + tf2::Quaternion tf2_q; + tf2_rotation_matrix.getRotation(tf2_q); + armor_msg.pose.orientation = tf2::toMsg(tf2_q); + + // Fill the distance to image center + armor_msg.distance_to_image_center = pnp_solver_->calculateDistanceToCenter(armor.center); + + // Fill the markers + armor_marker_.id++; + armor_marker_.scale.y = armor.type == ArmorType::SMALL ? 0.135 : 0.23; + armor_marker_.pose = armor_msg.pose; + text_marker_.id++; + text_marker_.pose.position = armor_msg.pose.position; + text_marker_.pose.position.y -= 0.1; + text_marker_.text = armor.classfication_result; + armors_msg_.armors.emplace_back(armor_msg); + marker_array_.markers.emplace_back(armor_marker_); + marker_array_.markers.emplace_back(text_marker_); + } else { + RCLCPP_WARN(this->get_logger(), "PnP failed!"); + } + } + + // Publishing detected armors + armors_pub_->publish(armors_msg_); + + // Publishing marker + publishMarkers(); + } +} + +std::unique_ptr ArmorDetectorNode::initDetector() +{ + rcl_interfaces::msg::ParameterDescriptor param_desc; + param_desc.integer_range.resize(1); + param_desc.integer_range[0].step = 1; + param_desc.integer_range[0].from_value = 0; + param_desc.integer_range[0].to_value = 255; + int binary_thres = declare_parameter("binary_thres", 160, param_desc); + + param_desc.description = "0-RED, 1-BLUE"; + param_desc.integer_range[0].from_value = 0; + param_desc.integer_range[0].to_value = 1; + auto detect_color = declare_parameter("detect_color", RED, param_desc); + + Detector::LightParams l_params = { + .min_ratio = declare_parameter("light.min_ratio", 0.1), + .max_ratio = declare_parameter("light.max_ratio", 0.4), + .max_angle = declare_parameter("light.max_angle", 40.0)}; + + Detector::ArmorParams a_params = { + .min_light_ratio = declare_parameter("armor.min_light_ratio", 0.7), + .min_small_center_distance = declare_parameter("armor.min_small_center_distance", 0.8), + .max_small_center_distance = declare_parameter("armor.max_small_center_distance", 3.2), + .min_large_center_distance = declare_parameter("armor.min_large_center_distance", 3.2), + .max_large_center_distance = declare_parameter("armor.max_large_center_distance", 5.0), + .max_angle = declare_parameter("armor.max_angle", 35.0)}; + + auto detector = std::make_unique(binary_thres, detect_color, l_params, a_params); + + // Init classifier + auto pkg_path = ament_index_cpp::get_package_share_directory("armor_detector"); + auto model_path = pkg_path + "/model/mlp.onnx"; + auto label_path = pkg_path + "/model/label.txt"; + double threshold = this->declare_parameter("classifier_threshold", 0.7); + std::vector ignore_classes = + this->declare_parameter("ignore_classes", std::vector{"negative"}); + detector->classifier = + std::make_unique(model_path, label_path, threshold, ignore_classes); + + return detector; +} + +std::vector ArmorDetectorNode::detectArmors( + const sensor_msgs::msg::Image::ConstSharedPtr & img_msg) +{ + // Convert ROS img to cv::Mat + auto img = cv_bridge::toCvShare(img_msg, "rgb8")->image; + + // Update params + detector_->binary_thres = get_parameter("binary_thres").as_int(); + detector_->detect_color = get_parameter("detect_color").as_int(); + detector_->classifier->threshold = get_parameter("classifier_threshold").as_double(); + + auto armors = detector_->detect(img); + + auto final_time = this->now(); + auto latency = (final_time - img_msg->header.stamp).seconds() * 1000; + RCLCPP_DEBUG_STREAM(this->get_logger(), "Latency: " << latency << "ms"); + + // Publish debug info + if (debug_) { + binary_img_pub_.publish( + cv_bridge::CvImage(img_msg->header, "mono8", detector_->binary_img).toImageMsg()); + + // Sort lights and armors data by x coordinate + std::sort( + detector_->debug_lights.data.begin(), detector_->debug_lights.data.end(), + [](const auto & l1, const auto & l2) { return l1.center_x < l2.center_x; }); + std::sort( + detector_->debug_armors.data.begin(), detector_->debug_armors.data.end(), + [](const auto & a1, const auto & a2) { return a1.center_x < a2.center_x; }); + + lights_data_pub_->publish(detector_->debug_lights); + armors_data_pub_->publish(detector_->debug_armors); + + if (!armors.empty()) { + auto all_num_img = detector_->getAllNumbersImage(); + number_img_pub_.publish( + *cv_bridge::CvImage(img_msg->header, "mono8", all_num_img).toImageMsg()); + } + + detector_->drawResults(img); + // Draw camera center + cv::circle(img, cam_center_, 5, cv::Scalar(255, 0, 0), 2); + // Draw latency + std::stringstream latency_ss; + latency_ss << "Latency: " << std::fixed << std::setprecision(2) << latency << "ms"; + auto latency_s = latency_ss.str(); + cv::putText( + img, latency_s, cv::Point(10, 30), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(0, 255, 0), 2); + result_img_pub_.publish(cv_bridge::CvImage(img_msg->header, "rgb8", img).toImageMsg()); + } + + return armors; +} + +void ArmorDetectorNode::createDebugPublishers() +{ + lights_data_pub_ = + this->create_publisher("/detector/debug_lights", 10); + armors_data_pub_ = + this->create_publisher("/detector/debug_armors", 10); + + binary_img_pub_ = image_transport::create_publisher(this, "/detector/binary_img"); + number_img_pub_ = image_transport::create_publisher(this, "/detector/number_img"); + result_img_pub_ = image_transport::create_publisher(this, "/detector/result_img"); +} + +void ArmorDetectorNode::destroyDebugPublishers() +{ + lights_data_pub_.reset(); + armors_data_pub_.reset(); + + binary_img_pub_.shutdown(); + number_img_pub_.shutdown(); + result_img_pub_.shutdown(); +} + +void ArmorDetectorNode::publishMarkers() +{ + using Marker = visualization_msgs::msg::Marker; + armor_marker_.action = armors_msg_.armors.empty() ? Marker::DELETE : Marker::ADD; + marker_array_.markers.emplace_back(armor_marker_); + marker_pub_->publish(marker_array_); +} + +} // namespace rm_auto_aim + +#include "rclcpp_components/register_node_macro.hpp" + +// Register the component with class_loader. +// This acts as a sort of entry point, allowing the component to be discoverable when its library +// is being loaded into a running process. +RCLCPP_COMPONENTS_REGISTER_NODE(rm_auto_aim::ArmorDetectorNode) diff --git a/src/rm_auto_aim/armor_detector/src/number_classifier.cpp b/src/rm_auto_aim/armor_detector/src/number_classifier.cpp new file mode 100644 index 00000000..dacce606 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/src/number_classifier.cpp @@ -0,0 +1,147 @@ +// Copyright 2022 Chen Jun +// Licensed under the MIT License. + +// OpenCV +#include +#include +#include +#include +#include +#include +#include +#include + +// STL +#include +#include +#include +#include +#include +#include + +#include "armor_detector/armor.hpp" +#include "armor_detector/number_classifier.hpp" + +namespace rm_auto_aim +{ +NumberClassifier::NumberClassifier( + const std::string & model_path, const std::string & label_path, const double thre, + const std::vector & ignore_classes) +: threshold(thre), ignore_classes_(ignore_classes) +{ + net_ = cv::dnn::readNetFromONNX(model_path); + + std::ifstream label_file(label_path); + std::string line; + while (std::getline(label_file, line)) { + class_names_.push_back(line); + } +} + +void NumberClassifier::extractNumbers(const cv::Mat & src, std::vector & armors) +{ + // Light length in image + const int light_length = 12; + // Image size after warp + const int warp_height = 28; + const int small_armor_width = 32; + const int large_armor_width = 54; + // Number ROI size + const cv::Size roi_size(20, 28); + + for (auto & armor : armors) { + // Warp perspective transform + cv::Point2f lights_vertices[4] = { + armor.left_light.bottom, armor.left_light.top, armor.right_light.top, + armor.right_light.bottom}; + + const int top_light_y = (warp_height - light_length) / 2 - 1; + const int bottom_light_y = top_light_y + light_length; + const int warp_width = armor.type == ArmorType::SMALL ? small_armor_width : large_armor_width; + cv::Point2f target_vertices[4] = { + cv::Point(0, bottom_light_y), + cv::Point(0, top_light_y), + cv::Point(warp_width - 1, top_light_y), + cv::Point(warp_width - 1, bottom_light_y), + }; + cv::Mat number_image; + auto rotation_matrix = cv::getPerspectiveTransform(lights_vertices, target_vertices); + cv::warpPerspective(src, number_image, rotation_matrix, cv::Size(warp_width, warp_height)); + + // Get ROI + number_image = + number_image(cv::Rect(cv::Point((warp_width - roi_size.width) / 2, 0), roi_size)); + + // Binarize + cv::cvtColor(number_image, number_image, cv::COLOR_RGB2GRAY); + cv::threshold(number_image, number_image, 0, 255, cv::THRESH_BINARY | cv::THRESH_OTSU); + + armor.number_img = number_image; + } +} + +void NumberClassifier::classify(std::vector & armors) +{ + for (auto & armor : armors) { + cv::Mat image = armor.number_img.clone(); + + // Normalize + image = image / 255.0; + + // Create blob from image + cv::Mat blob; + cv::dnn::blobFromImage(image, blob); + + // Set the input blob for the neural network + net_.setInput(blob); + // Forward pass the image blob through the model + cv::Mat outputs = net_.forward(); + + // Do softmax + float max_prob = *std::max_element(outputs.begin(), outputs.end()); + cv::Mat softmax_prob; + cv::exp(outputs - max_prob, softmax_prob); + float sum = static_cast(cv::sum(softmax_prob)[0]); + softmax_prob /= sum; + + double confidence; + cv::Point class_id_point; + minMaxLoc(softmax_prob.reshape(1, 1), nullptr, &confidence, nullptr, &class_id_point); + int label_id = class_id_point.x; + + armor.confidence = confidence; + armor.number = class_names_[label_id]; + + std::stringstream result_ss; + result_ss << armor.number << ": " << std::fixed << std::setprecision(1) + << armor.confidence * 100.0 << "%"; + armor.classfication_result = result_ss.str(); + } + + armors.erase( + std::remove_if( + armors.begin(), armors.end(), + [this](const Armor & armor) { + if (armor.confidence < threshold) { + return true; + } + + for (const auto & ignore_class : ignore_classes_) { + if (armor.number == ignore_class) { + return true; + } + } + + bool mismatch_armor_type = false; + if (armor.type == ArmorType::LARGE) { + mismatch_armor_type = + armor.number == "outpost" || armor.number == "2" || armor.number == "guard"; + } else if (armor.type == ArmorType::SMALL) { + mismatch_armor_type = armor.number == "1" || armor.number == "base"; + } + return mismatch_armor_type; + }), + armors.end()); +} + +} // namespace rm_auto_aim diff --git a/src/rm_auto_aim/armor_detector/src/pnp_solver.cpp b/src/rm_auto_aim/armor_detector/src/pnp_solver.cpp new file mode 100644 index 00000000..d4b4f723 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/src/pnp_solver.cpp @@ -0,0 +1,58 @@ +// Copyright 2022 Chen Jun + +#include "armor_detector/pnp_solver.hpp" + +#include +#include + +namespace rm_auto_aim +{ +PnPSolver::PnPSolver( + const std::array & camera_matrix, const std::vector & dist_coeffs) +: camera_matrix_(cv::Mat(3, 3, CV_64F, const_cast(camera_matrix.data())).clone()), + dist_coeffs_(cv::Mat(1, 5, CV_64F, const_cast(dist_coeffs.data())).clone()) +{ + // Unit: m + constexpr double small_half_y = SMALL_ARMOR_WIDTH / 2.0 / 1000.0; + constexpr double small_half_z = SMALL_ARMOR_HEIGHT / 2.0 / 1000.0; + constexpr double large_half_y = LARGE_ARMOR_WIDTH / 2.0 / 1000.0; + constexpr double large_half_z = LARGE_ARMOR_HEIGHT / 2.0 / 1000.0; + + // Start from bottom left in clockwise order + // Model coordinate: x forward, y left, z up + small_armor_points_.emplace_back(cv::Point3f(0, small_half_y, -small_half_z)); + small_armor_points_.emplace_back(cv::Point3f(0, small_half_y, small_half_z)); + small_armor_points_.emplace_back(cv::Point3f(0, -small_half_y, small_half_z)); + small_armor_points_.emplace_back(cv::Point3f(0, -small_half_y, -small_half_z)); + + large_armor_points_.emplace_back(cv::Point3f(0, large_half_y, -large_half_z)); + large_armor_points_.emplace_back(cv::Point3f(0, large_half_y, large_half_z)); + large_armor_points_.emplace_back(cv::Point3f(0, -large_half_y, large_half_z)); + large_armor_points_.emplace_back(cv::Point3f(0, -large_half_y, -large_half_z)); +} + +bool PnPSolver::solvePnP(const Armor & armor, cv::Mat & rvec, cv::Mat & tvec) +{ + std::vector image_armor_points; + + // Fill in image points + image_armor_points.emplace_back(armor.left_light.bottom); + image_armor_points.emplace_back(armor.left_light.top); + image_armor_points.emplace_back(armor.right_light.top); + image_armor_points.emplace_back(armor.right_light.bottom); + + // Solve pnp + auto object_points = armor.type == ArmorType::SMALL ? small_armor_points_ : large_armor_points_; + return cv::solvePnP( + object_points, image_armor_points, camera_matrix_, dist_coeffs_, rvec, tvec, false, + cv::SOLVEPNP_IPPE); +} + +float PnPSolver::calculateDistanceToCenter(const cv::Point2f & image_point) +{ + float cx = camera_matrix_.at(0, 2); + float cy = camera_matrix_.at(1, 2); + return cv::norm(image_point - cv::Point2f(cx, cy)); +} + +} // namespace rm_auto_aim diff --git a/src/rm_auto_aim/armor_detector/test/test_node_startup.cpp b/src/rm_auto_aim/armor_detector/test/test_node_startup.cpp new file mode 100644 index 00000000..d584cef7 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/test/test_node_startup.cpp @@ -0,0 +1,28 @@ +// Copyright 2022 Chen Jun + +#include + +#include +#include +#include + +// STD +#include + +#include "armor_detector/detector_node.hpp" + +TEST(ArmorDetectorNodeTest, NodeStartupTest) +{ + rclcpp::NodeOptions options; + auto node = std::make_shared(options); + node.reset(); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + auto result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return result; +} diff --git a/src/rm_auto_aim/armor_detector/test/test_number_cls.cpp b/src/rm_auto_aim/armor_detector/test/test_number_cls.cpp new file mode 100644 index 00000000..2f216df8 --- /dev/null +++ b/src/rm_auto_aim/armor_detector/test/test_number_cls.cpp @@ -0,0 +1,53 @@ +// Copyright 2022 Chen Jun + +#include + +#include +#include + +// STL +#include +#include +#include +#include +#include + +#include "armor_detector/number_classifier.hpp" + +using hrc = std::chrono::high_resolution_clock; + +TEST(test_nc, benchmark) +{ + auto pkg_path = ament_index_cpp::get_package_share_directory("armor_detector"); + auto model_path = pkg_path + "/model/mlp.onnx"; + auto label_path = pkg_path + "/model/label.txt"; + rm_auto_aim::NumberClassifier nc(model_path, label_path, 0.5); + + auto dummy_armors = std::vector(1); + auto test_mat = cv::Mat(20, 28, CV_8UC1); + dummy_armors[0].number_img = test_mat; + + int loop_num = 200; + int warm_up = 30; + + double time_min = DBL_MAX; + double time_max = -DBL_MAX; + double time_avg = 0; + + for (int i = 0; i < warm_up + loop_num; i++) { + auto start = hrc::now(); + nc.classify(dummy_armors); + auto end = hrc::now(); + double time = std::chrono::duration(end - start).count(); + if (i >= warm_up) { + time_min = std::min(time_min, time); + time_max = std::max(time_max, time); + time_avg += time; + } + } + time_avg /= loop_num; + + std::cout << "time_min: " << time_min << "ms" << std::endl; + std::cout << "time_max: " << time_max << "ms" << std::endl; + std::cout << "time_avg: " << time_avg << "ms" << std::endl; +} diff --git a/src/rm_auto_aim/armor_tracker/CMakeLists.txt b/src/rm_auto_aim/armor_tracker/CMakeLists.txt new file mode 100644 index 00000000..e87210dc --- /dev/null +++ b/src/rm_auto_aim/armor_tracker/CMakeLists.txt @@ -0,0 +1,58 @@ +cmake_minimum_required(VERSION 3.10) +project(armor_tracker) + +## Use C++14 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +## By adding -Wall and -Werror, the compiler does not ignore warnings anymore, +## enforcing cleaner code. +add_definitions(-Wall -Werror) + +## Export compile commands for clangd +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +####################### +## Find dependencies ## +####################### + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +########### +## Build ## +########### + +ament_auto_add_library(${PROJECT_NAME} SHARED + DIRECTORY src +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN rm_auto_aim::ArmorTrackerNode + EXECUTABLE ${PROJECT_NAME}_node +) + +############# +## Testing ## +############# + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + list(APPEND AMENT_LINT_AUTO_EXCLUDE + ament_cmake_copyright + ament_cmake_uncrustify + ament_cmake_cpplint + ) + ament_lint_auto_find_test_dependencies() + + # find_package(ament_cmake_gtest) + # set(TEST_NAME test_kalman_filter) + # ament_add_gtest(${TEST_NAME} test/${TEST_NAME}.cpp) + # target_link_libraries(${TEST_NAME} ${PROJECT_NAME}) +endif() + +############# +## Install ## +############# + +ament_auto_package() \ No newline at end of file diff --git a/src/rm_auto_aim/armor_tracker/README.md b/src/rm_auto_aim/armor_tracker/README.md new file mode 100644 index 00000000..bed30672 --- /dev/null +++ b/src/rm_auto_aim/armor_tracker/README.md @@ -0,0 +1,84 @@ +# armor_tracker + +- [ArmorTrackerNode](#armortrackernode) + - [Tracker](#tracker) + - [KalmanFilter](#kalmanfilter) + +## ArmorTrackerNode +装甲板处理节点 + +订阅识别节点发布的装甲板三维位置及机器人的坐标转换信息，将装甲板三维位置变换到指定惯性系（一般是以云台中心为原点，IMU 上电时的 Yaw 朝向为 X 轴的惯性系）下，然后将装甲板目标送入跟踪器中，输出跟踪机器人在指定惯性系下的状态 + +订阅： +- 已识别到的装甲板 `/detector/armors` +- 机器人的坐标转换信息 `/tf` `/tf_static` + +发布： +- 最终锁定的目标 `/tracker/target` + +参数： +- 跟踪器参数 tracker + - 两帧间目标可匹配的最大距离 max_match_distance + - `DETECTING` 状态进入 `TRACKING` 状态的阈值 tracking_threshold + - `TRACKING` 状态进入 `LOST` 状态的阈值 lost_threshold + +## ExtendedKalmanFilter + +$$ x_c = x_a + r * cos (\theta) $$ +$$ y_c = y_a + r * sin (\theta) $$ + +$$ x = [x_c, y_c,z, yaw, v_{xc}, v_{yc},v_z, v_{yaw}, r]^T $$ + +参考 OpenCV 中的卡尔曼滤波器使用 Eigen 进行了实现 + +[卡尔曼滤波器](https://zh.wikipedia.org/wiki/%E5%8D%A1%E5%B0%94%E6%9B%BC%E6%BB%A4%E6%B3%A2) + +![](docs/Kalman_filter_model.png) + +考虑到自瞄任务中对于目标只有观测没有控制，所以输入－控制模型 $B$ 和控制器向量 $u$ 可忽略。 + +预测及更新的公式如下： + +预测： + +$$ x_{k|k-1} = F * x_{k-1|k-1} $$ + +$$ P_{k|k-1} = F * P_{k-1|k-1}* F^T + Q $$ + +更新: + +$$ K = P_{k|k-1} * H^T * (H * P_{k|k-1} * H^T + R)^{-1} $$ + +$$ x_{k|k} = x_{k|k-1} + K * (z_k - H * x_{k|k-1}) $$ + +$$ P_{k|k} = (I - K * H) * P_{k|k-1} $$ + +## Tracker + +参考 [SORT(Simple online and realtime tracking)](https://ieeexplore.ieee.org/abstract/document/7533003/) 中对于目标匹配的方法，使用卡尔曼滤波器对单目标在三维空间中进行跟踪 + +在此跟踪器中，卡尔曼滤波器观测量为目标在指定惯性系中的位置（xyz），状态量为目标位置及速度（xyz+vx vy vz） + +在对目标的运动模型建模为在指定惯性系中的匀速线性运动，即状态转移为 $x_{pre} = x_{post} + v_{post} * dt$ + +目标关联的判断依据为三维位置的 L2 欧式距离 + +跟踪器共有四个状态： +- `DETECTING` ：短暂识别到目标，需要更多帧识别信息才能进入跟踪状态 +- `TRACKING` ：跟踪器正常跟踪目标中 +- `TEMP_LOST` ：跟踪器短暂丢失目标，通过卡尔曼滤波器预测目标 +- `LOST` ：跟踪器完全丢失目标 + +工作流程： + +- init： + + 跟踪器默认选择离相机光心最近的目标作为跟踪对象，选择目标后初始化卡尔曼滤波器，初始状态设为当前目标位置，速度设为 0 + +- update: + + 首先由卡尔曼滤波器得到目标在当前帧的预测位置，然后遍历当前帧中的目标位置与预测位置进行匹配，若当前帧不存在目标或所有目标位置与预测位置的偏差都过大则认为目标丢失，重置卡尔曼滤波器。 + + 最后选取位置相差最小的目标作为最佳匹配项，更新卡尔曼滤波器，将更新后的状态作为跟踪器的结果输出 + + diff --git a/src/rm_auto_aim/armor_tracker/docs/Kalman_filter_model.png b/src/rm_auto_aim/armor_tracker/docs/Kalman_filter_model.png new file mode 100644 index 0000000000000000000000000000000000000000..f603ff2f8d00bb33df91ce9ab14f29b3bf5927f8 GIT binary patch literal 21247 zcmV)zK#{+RP)00CPF000002KOUv00004XF*Lt006O% z3;baP00002VoOIv0RM-N%)bBt010qNS#tmY07w7;07w8v$!k6U08np9L_t(|+U=bO zoD)?Oz-KqvBv&{NI5@g=MFeSra8!{lf;2%uilC?dwB2rWYQIVz~9RyK& z5oyw-92^}EuBYton{PJll55$^b&~f}_OjW1dHeo5^X9b~z&uQh{+zXi zV!eKUk`4|DaLudY%t$%UuqQ>|kGA*#bR)KskYZ^5 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Copyright 2022 Chen Jun + +#ifndef ARMOR_PROCESSOR__KALMAN_FILTER_HPP_ +#define ARMOR_PROCESSOR__KALMAN_FILTER_HPP_ + +#include +#include + +namespace rm_auto_aim +{ + +class ExtendedKalmanFilter +{ +public: + ExtendedKalmanFilter() = default; + + using VecVecFunc = std::function; + using VecMatFunc = std::function; + using VoidMatFunc = std::function; + + explicit ExtendedKalmanFilter( + const VecVecFunc & f, const VecVecFunc & h, const VecMatFunc & j_f, const VecMatFunc & j_h, + const VoidMatFunc & u_q, const VecMatFunc & u_r, const Eigen::MatrixXd & P0); + + // Set the initial state + void setState(const Eigen::VectorXd & x0); + + // Compute a predicted state + Eigen::MatrixXd predict(); + + // Update the estimated state based on measurement + Eigen::MatrixXd update(const Eigen::VectorXd & z); + +private: + // Process nonlinear vector function + VecVecFunc f; + // Observation nonlinear vector function + VecVecFunc h; + // Jacobian of f() + VecMatFunc jacobian_f; + Eigen::MatrixXd F; + // Jacobian of h() + VecMatFunc jacobian_h; + Eigen::MatrixXd H; + // Process noise covariance matrix + VoidMatFunc update_Q; + Eigen::MatrixXd Q; + // Measurement noise covariance matrix + VecMatFunc update_R; + Eigen::MatrixXd R; + + // Priori error estimate covariance matrix + Eigen::MatrixXd P_pri; + // Posteriori error estimate covariance matrix + Eigen::MatrixXd P_post; + + // Kalman gain + Eigen::MatrixXd K; + + // System dimensions + int n; + + // N-size identity + Eigen::MatrixXd I; + + // Priori state + Eigen::VectorXd x_pri; + // Posteriori state + Eigen::VectorXd x_post; +}; + +} // namespace rm_auto_aim + +#endif // ARMOR_PROCESSOR__KALMAN_FILTER_HPP_ diff --git a/src/rm_auto_aim/armor_tracker/include/armor_tracker/tracker.hpp b/src/rm_auto_aim/armor_tracker/include/armor_tracker/tracker.hpp new file mode 100644 index 00000000..b094ce2f --- /dev/null +++ b/src/rm_auto_aim/armor_tracker/include/armor_tracker/tracker.hpp @@ -0,0 +1,87 @@ +// Copyright 2022 Chen Jun + +#ifndef ARMOR_PROCESSOR__TRACKER_HPP_ +#define ARMOR_PROCESSOR__TRACKER_HPP_ + +// Eigen +#include + +// ROS +#include +#include +#include + +// STD +#include +#include + +#include "armor_tracker/extended_kalman_filter.hpp" +#include "auto_aim_interfaces/msg/armors.hpp" +#include "auto_aim_interfaces/msg/target.hpp" + +namespace rm_auto_aim +{ + +enum class ArmorsNum { NORMAL_4 = 4, BALANCE_2 = 2, OUTPOST_3 = 3 }; + +class Tracker +{ +public: + Tracker(double max_match_distance, double max_match_yaw_diff); + + using Armors = auto_aim_interfaces::msg::Armors; + using Armor = auto_aim_interfaces::msg::Armor; + + void init(const Armors::SharedPtr & armors_msg); + + void update(const Armors::SharedPtr & armors_msg); + + ExtendedKalmanFilter ekf; + + int tracking_thres; + int lost_thres; + + enum State { + LOST, + DETECTING, + TRACKING, + TEMP_LOST, + } tracker_state; + + std::string tracked_id; + Armor tracked_armor; + ArmorsNum tracked_armors_num; + + double info_position_diff; + double info_yaw_diff; + + Eigen::VectorXd measurement; + + Eigen::VectorXd target_state; + + // To store another pair of armors message + double dz, another_r; + +private: + void initEKF(const Armor & a); + + void updateArmorsNum(const Armor & a); + + void handleArmorJump(const Armor & a); + + double orientationToYaw(const geometry_msgs::msg::Quaternion & q); + + Eigen::Vector3d getArmorPositionFromState(const Eigen::VectorXd & x); + + double max_match_distance_; + double max_match_yaw_diff_; + + int detect_count_; + int lost_count_; + + double last_yaw_; +}; + +} // namespace rm_auto_aim + +#endif // ARMOR_PROCESSOR__TRACKER_HPP_ diff --git a/src/rm_auto_aim/armor_tracker/include/armor_tracker/tracker_node.hpp b/src/rm_auto_aim/armor_tracker/include/armor_tracker/tracker_node.hpp new file mode 100644 index 00000000..3bc5a8dd --- /dev/null +++ b/src/rm_auto_aim/armor_tracker/include/armor_tracker/tracker_node.hpp @@ -0,0 +1,76 @@ +// Copyright 2022 Chen Jun + +#ifndef ARMOR_PROCESSOR__PROCESSOR_NODE_HPP_ +#define ARMOR_PROCESSOR__PROCESSOR_NODE_HPP_ + +// ROS +#include +#include +#include +#include +#include + +#include +#include +#include + +// STD +#include +#include +#include + +#include "armor_tracker/tracker.hpp" +#include "auto_aim_interfaces/msg/armors.hpp" +#include "auto_aim_interfaces/msg/target.hpp" +#include "auto_aim_interfaces/msg/tracker_info.hpp" + +namespace rm_auto_aim +{ +using tf2_filter = tf2_ros::MessageFilter; +class ArmorTrackerNode : public rclcpp::Node +{ +public: + explicit ArmorTrackerNode(const rclcpp::NodeOptions & options); + +private: + void armorsCallback(const auto_aim_interfaces::msg::Armors::SharedPtr armors_ptr); + + void publishMarkers(const auto_aim_interfaces::msg::Target & target_msg); + + // Maximum allowable armor distance in the XOY plane + double max_armor_distance_; + + // The time when the last message was received + rclcpp::Time last_time_; + double dt_; + + // Armor tracker + double s2qxyz_, s2qyaw_, s2qr_; + double r_xyz_factor, r_yaw; + double lost_time_thres_; + std::unique_ptr tracker_; + + // Subscriber with tf2 message_filter + std::string target_frame_; + std::shared_ptr tf2_buffer_; + std::shared_ptr tf2_listener_; + message_filters::Subscriber armors_sub_; + std::shared_ptr tf2_filter_; + + // Tracker info publisher + rclcpp::Publisher::SharedPtr info_pub_; + + // Publisher + rclcpp::Publisher::SharedPtr target_pub_; + + // Visualization marker publisher + visualization_msgs::msg::Marker position_marker_; + visualization_msgs::msg::Marker linear_v_marker_; + visualization_msgs::msg::Marker angular_v_marker_; + visualization_msgs::msg::Marker armor_marker_; + rclcpp::Publisher::SharedPtr marker_pub_; +}; + +} // namespace rm_auto_aim + +#endif // ARMOR_PROCESSOR__PROCESSOR_NODE_HPP_ diff --git a/src/rm_auto_aim/armor_tracker/package.xml b/src/rm_auto_aim/armor_tracker/package.xml new file mode 100644 index 00000000..a39bd03b --- /dev/null +++ b/src/rm_auto_aim/armor_tracker/package.xml @@ -0,0 +1,34 @@ + + + + armor_tracker + 0.1.0 + A template for ROS packages. + Chen Jun + BSD + https://github.com/chenjunnn/rm_auto_aim + https://github.com/chenjunnn/rm_auto_aim/issues + Chen Jun + + + ament_cmake + + + rclcpp + rclcpp_components + eigen + angles + geometry_msgs + visualization_msgs + message_filters + tf2_geometry_msgs + auto_aim_interfaces + + ament_lint_auto + ament_lint_common + ament_cmake_clang_format + + + ament_cmake + + diff --git a/src/rm_auto_aim/armor_tracker/src/extended_kalman_filter.cpp b/src/rm_auto_aim/armor_tracker/src/extended_kalman_filter.cpp new file mode 100644 index 00000000..fe1a56cb --- /dev/null +++ b/src/rm_auto_aim/armor_tracker/src/extended_kalman_filter.cpp @@ -0,0 +1,51 @@ +// Copyright 2022 Chen Jun + +#include "armor_tracker/extended_kalman_filter.hpp" + +namespace rm_auto_aim +{ +ExtendedKalmanFilter::ExtendedKalmanFilter( + const VecVecFunc & f, const VecVecFunc & h, const VecMatFunc & j_f, const VecMatFunc & j_h, + const VoidMatFunc & u_q, const VecMatFunc & u_r, const Eigen::MatrixXd & P0) +: f(f), + h(h), + jacobian_f(j_f), + jacobian_h(j_h), + update_Q(u_q), + update_R(u_r), + P_post(P0), + n(P0.rows()), + I(Eigen::MatrixXd::Identity(n, n)), + x_pri(n), + x_post(n) +{ +} + +void ExtendedKalmanFilter::setState(const Eigen::VectorXd & x0) { x_post = x0; } + +Eigen::MatrixXd ExtendedKalmanFilter::predict() +{ + F = jacobian_f(x_post), Q = update_Q(); + + x_pri = f(x_post); + P_pri = F * P_post * F.transpose() + Q; + + // handle the case when there will be no measurement before the next predict + x_post = x_pri; + P_post = P_pri; + + return x_pri; +} + +Eigen::MatrixXd ExtendedKalmanFilter::update(const Eigen::VectorXd & z) +{ + H = jacobian_h(x_pri), R = update_R(z); + + K = P_pri * H.transpose() * (H * P_pri * H.transpose() + R).inverse(); + x_post = x_pri + K * (z - h(x_pri)); + P_post = (I - K * H) * P_pri; + + return x_post; +} + +} // namespace rm_auto_aim diff --git a/src/rm_auto_aim/armor_tracker/src/tracker.cpp b/src/rm_auto_aim/armor_tracker/src/tracker.cpp new file mode 100644 index 00000000..23046402 --- /dev/null +++ b/src/rm_auto_aim/armor_tracker/src/tracker.cpp @@ -0,0 +1,239 @@ +// Copyright 2022 Chen Jun + +#include "armor_tracker/tracker.hpp" + +#include +#include +#include +#include + +#include +#include + +// STD +#include +#include +#include + +namespace rm_auto_aim +{ +Tracker::Tracker(double max_match_distance, double max_match_yaw_diff) +: tracker_state(LOST), + tracked_id(std::string("")), + measurement(Eigen::VectorXd::Zero(4)), + target_state(Eigen::VectorXd::Zero(9)), + max_match_distance_(max_match_distance), + max_match_yaw_diff_(max_match_yaw_diff) +{ +} + +void Tracker::init(const Armors::SharedPtr & armors_msg) +{ + if (armors_msg->armors.empty()) { + return; + } + + // Simply choose the armor that is closest to image center + double min_distance = DBL_MAX; + tracked_armor = armors_msg->armors[0]; + for (const auto & armor : armors_msg->armors) { + if (armor.distance_to_image_center < min_distance) { + min_distance = armor.distance_to_image_center; + tracked_armor = armor; + } + } + + initEKF(tracked_armor); + RCLCPP_DEBUG(rclcpp::get_logger("armor_tracker"), "Init EKF!"); + + tracked_id = tracked_armor.number; + tracker_state = DETECTING; + + updateArmorsNum(tracked_armor); +} + +void Tracker::update(const Armors::SharedPtr & armors_msg) +{ + // KF predict + Eigen::VectorXd ekf_prediction = ekf.predict(); + RCLCPP_DEBUG(rclcpp::get_logger("armor_tracker"), "EKF predict"); + + bool matched = false; + // Use KF prediction as default target state if no matched armor is found + target_state = ekf_prediction; + + if (!armors_msg->armors.empty()) { + // Find the closest armor with the same id + Armor same_id_armor; + int same_id_armors_count = 0; + auto predicted_position = getArmorPositionFromState(ekf_prediction); + double min_position_diff = DBL_MAX; + double yaw_diff = DBL_MAX; + for (const auto & armor : armors_msg->armors) { + // Only consider armors with the same id + if (armor.number == tracked_id) { + same_id_armor = armor; + same_id_armors_count++; + // Calculate the difference between the predicted position and the current armor position + auto p = armor.pose.position; + Eigen::Vector3d position_vec(p.x, p.y, p.z); + double position_diff = (predicted_position - position_vec).norm(); + if (position_diff < min_position_diff) { + // Find the closest armor + min_position_diff = position_diff; + yaw_diff = abs(orientationToYaw(armor.pose.orientation) - ekf_prediction(6)); + tracked_armor = armor; + } + } + } + + // Store tracker info + info_position_diff = min_position_diff; + info_yaw_diff = yaw_diff; + + // Check if the distance and yaw difference of closest armor are within the threshold + if (min_position_diff < max_match_distance_ && yaw_diff < max_match_yaw_diff_) { + // Matched armor found + matched = true; + auto p = tracked_armor.pose.position; + // Update EKF + double measured_yaw = orientationToYaw(tracked_armor.pose.orientation); + measurement = Eigen::Vector4d(p.x, p.y, p.z, measured_yaw); + target_state = ekf.update(measurement); + RCLCPP_DEBUG(rclcpp::get_logger("armor_tracker"), "EKF update"); + } else if (same_id_armors_count == 1 && yaw_diff > max_match_yaw_diff_) { + // Matched armor not found, but there is only one armor with the same id + // and yaw has jumped, take this case as the target is spinning and armor jumped + handleArmorJump(same_id_armor); + } else { + // No matched armor found + RCLCPP_WARN(rclcpp::get_logger("armor_tracker"), "No matched armor found!"); + } + } + + // Prevent radius from spreading + if (target_state(8) < 0.12) { + target_state(8) = 0.12; + ekf.setState(target_state); + } else if (target_state(8) > 0.4) { + target_state(8) = 0.4; + ekf.setState(target_state); + } + + // Tracking state machine + if (tracker_state == DETECTING) { + if (matched) { + detect_count_++; + if (detect_count_ > tracking_thres) { + detect_count_ = 0; + tracker_state = TRACKING; + } + } else { + detect_count_ = 0; + tracker_state = LOST; + } + } else if (tracker_state == TRACKING) { + if (!matched) { + tracker_state = TEMP_LOST; + lost_count_++; + } + } else if (tracker_state == TEMP_LOST) { + if (!matched) { + lost_count_++; + if (lost_count_ > lost_thres) { + lost_count_ = 0; + tracker_state = LOST; + } + } else { + tracker_state = TRACKING; + lost_count_ = 0; + } + } +} + +void Tracker::initEKF(const Armor & a) +{ + double xa = a.pose.position.x; + double ya = a.pose.position.y; + double za = a.pose.position.z; + last_yaw_ = 0; + double yaw = orientationToYaw(a.pose.orientation); + + // Set initial position at 0.2m behind the target + target_state = Eigen::VectorXd::Zero(9); + double r = 0.26; + double xc = xa + r * cos(yaw); + double yc = ya + r * sin(yaw); + dz = 0, another_r = r; + target_state << xc, 0, yc, 0, za, 0, yaw, 0, r; + + ekf.setState(target_state); +} + +void Tracker::updateArmorsNum(const Armor & armor) +{ + if (armor.type == "large" && (tracked_id == "3" || tracked_id == "4" || tracked_id == "5")) { + tracked_armors_num = ArmorsNum::BALANCE_2; + } else if (tracked_id == "outpost") { + tracked_armors_num = ArmorsNum::OUTPOST_3; + } else { + tracked_armors_num = ArmorsNum::NORMAL_4; + } +} + +void Tracker::handleArmorJump(const Armor & current_armor) +{ + double yaw = orientationToYaw(current_armor.pose.orientation); + target_state(6) = yaw; + updateArmorsNum(current_armor); + // Only 4 armors has 2 radius and height + if (tracked_armors_num == ArmorsNum::NORMAL_4) { + dz = target_state(4) - current_armor.pose.position.z; + target_state(4) = current_armor.pose.position.z; + std::swap(target_state(8), another_r); + } + RCLCPP_WARN(rclcpp::get_logger("armor_tracker"), "Armor jump!"); + + // If position difference is larger than max_match_distance_, + // take this case as the ekf diverged, reset the state + auto p = current_armor.pose.position; + Eigen::Vector3d current_p(p.x, p.y, p.z); + Eigen::Vector3d infer_p = getArmorPositionFromState(target_state); + if ((current_p - infer_p).norm() > max_match_distance_) { + double r = target_state(8); + target_state(0) = p.x + r * cos(yaw); // xc + target_state(1) = 0; // vxc + target_state(2) = p.y + r * sin(yaw); // yc + target_state(3) = 0; // vyc + target_state(4) = p.z; // za + target_state(5) = 0; // vza + RCLCPP_ERROR(rclcpp::get_logger("armor_tracker"), "Reset State!"); + } + + ekf.setState(target_state); +} + +double Tracker::orientationToYaw(const geometry_msgs::msg::Quaternion & q) +{ + // Get armor yaw + tf2::Quaternion tf_q; + tf2::fromMsg(q, tf_q); + double roll, pitch, yaw; + tf2::Matrix3x3(tf_q).getRPY(roll, pitch, yaw); + // Make yaw change continuous (-pi~pi to -inf~inf) + yaw = last_yaw_ + angles::shortest_angular_distance(last_yaw_, yaw); + last_yaw_ = yaw; + return yaw; +} + +Eigen::Vector3d Tracker::getArmorPositionFromState(const Eigen::VectorXd & x) +{ + // Calculate predicted position of the current armor + double xc = x(0), yc = x(2), za = x(4); + double yaw = x(6), r = x(8); + double xa = xc - r * cos(yaw); + double ya = yc - r * sin(yaw); + return Eigen::Vector3d(xa, ya, za); +} + +} // namespace rm_auto_aim diff --git a/src/rm_auto_aim/armor_tracker/src/tracker_node.cpp b/src/rm_auto_aim/armor_tracker/src/tracker_node.cpp new file mode 100644 index 00000000..2552ef7a --- /dev/null +++ b/src/rm_auto_aim/armor_tracker/src/tracker_node.cpp @@ -0,0 +1,336 @@ +// Copyright 2022 Chen Jun +#include "armor_tracker/tracker_node.hpp" + +// STD +#include +#include + +namespace rm_auto_aim +{ +ArmorTrackerNode::ArmorTrackerNode(const rclcpp::NodeOptions & options) +: Node("armor_tracker", options) +{ + RCLCPP_INFO(this->get_logger(), "Starting TrackerNode!"); + + // Maximum allowable armor distance in the XOY plane + max_armor_distance_ = this->declare_parameter("max_armor_distance", 10.0); + + // Tracker + double max_match_distance = this->declare_parameter("tracker.max_match_distance", 0.15); + double max_match_yaw_diff = this->declare_parameter("tracker.max_match_yaw_diff", 1.0); + tracker_ = std::make_unique(max_match_distance, max_match_yaw_diff); + tracker_->tracking_thres = this->declare_parameter("tracker.tracking_thres", 5); + lost_time_thres_ = this->declare_parameter("tracker.lost_time_thres", 0.3); + + // EKF + // xa = x_armor, xc = x_robot_center + // state: xc, v_xc, yc, v_yc, za, v_za, yaw, v_yaw, r + // measurement: xa, ya, za, yaw + // f - Process function + auto f = [this](const Eigen::VectorXd & x) { + Eigen::VectorXd x_new = x; + x_new(0) += x(1) * dt_; + x_new(2) += x(3) * dt_; + x_new(4) += x(5) * dt_; + x_new(6) += x(7) * dt_; + return x_new; + }; + // J_f - Jacobian of process function + auto j_f = [this](const Eigen::VectorXd &) { + Eigen::MatrixXd f(9, 9); + // clang-format off + f << 1, dt_, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, dt_, 0, 0, 0, 0, 0, + 0, 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, dt_, 0, 0, 0, + 0, 0, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, dt_, 0, + 0, 0, 0, 0, 0, 0, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1; + // clang-format on + return f; + }; + // h - Observation function + auto h = [](const Eigen::VectorXd & x) { + Eigen::VectorXd z(4); + double xc = x(0), yc = x(2), yaw = x(6), r = x(8); + z(0) = xc - r * cos(yaw); // xa + z(1) = yc - r * sin(yaw); // ya + z(2) = x(4); // za + z(3) = x(6); // yaw + return z; + }; + // J_h - Jacobian of observation function + auto j_h = [](const Eigen::VectorXd & x) { + Eigen::MatrixXd h(4, 9); + double yaw = x(6), r = x(8); + // clang-format off + // xc v_xc yc v_yc za v_za yaw v_yaw r + h << 1, 0, 0, 0, 0, 0, r*sin(yaw), 0, -cos(yaw), + 0, 0, 1, 0, 0, 0, -r*cos(yaw),0, -sin(yaw), + 0, 0, 0, 0, 1, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, 0; + // clang-format on + return h; + }; + // update_Q - process noise covariance matrix + s2qxyz_ = declare_parameter("ekf.sigma2_q_xyz", 20.0); + s2qyaw_ = declare_parameter("ekf.sigma2_q_yaw", 100.0); + s2qr_ = declare_parameter("ekf.sigma2_q_r", 800.0); + auto u_q = [this]() { + Eigen::MatrixXd q(9, 9); + double t = dt_, x = s2qxyz_, y = s2qyaw_, r = s2qr_; + double q_x_x = pow(t, 4) / 4 * x, q_x_vx = pow(t, 3) / 2 * x, q_vx_vx = pow(t, 2) * x; + double q_y_y = pow(t, 4) / 4 * y, q_y_vy = pow(t, 3) / 2 * x, q_vy_vy = pow(t, 2) * y; + double q_r = pow(t, 4) / 4 * r; + // clang-format off + // xc v_xc yc v_yc za v_za yaw v_yaw r + q << q_x_x, q_x_vx, 0, 0, 0, 0, 0, 0, 0, + q_x_vx, q_vx_vx,0, 0, 0, 0, 0, 0, 0, + 0, 0, q_x_x, q_x_vx, 0, 0, 0, 0, 0, + 0, 0, q_x_vx, q_vx_vx,0, 0, 0, 0, 0, + 0, 0, 0, 0, q_x_x, q_x_vx, 0, 0, 0, + 0, 0, 0, 0, q_x_vx, q_vx_vx,0, 0, 0, + 0, 0, 0, 0, 0, 0, q_y_y, q_y_vy, 0, + 0, 0, 0, 0, 0, 0, q_y_vy, q_vy_vy,0, + 0, 0, 0, 0, 0, 0, 0, 0, q_r; + // clang-format on + return q; + }; + // update_R - measurement noise covariance matrix + r_xyz_factor = declare_parameter("ekf.r_xyz_factor", 0.05); + r_yaw = declare_parameter("ekf.r_yaw", 0.02); + auto u_r = [this](const Eigen::VectorXd & z) { + Eigen::DiagonalMatrix r; + double x = r_xyz_factor; + r.diagonal() << abs(x * z[0]), abs(x * z[1]), abs(x * z[2]), r_yaw; + return r; + }; + // P - error estimate covariance matrix + Eigen::DiagonalMatrix p0; + p0.setIdentity(); + tracker_->ekf = ExtendedKalmanFilter{f, h, j_f, j_h, u_q, u_r, p0}; + + // Subscriber with tf2 message_filter + // tf2 relevant + tf2_buffer_ = std::make_shared(this->get_clock()); + // Create the timer interface before call to waitForTransform, + // to avoid a tf2_ros::CreateTimerInterfaceException exception + auto timer_interface = std::make_shared( + this->get_node_base_interface(), this->get_node_timers_interface()); + tf2_buffer_->setCreateTimerInterface(timer_interface); + tf2_listener_ = std::make_shared(*tf2_buffer_); + // subscriber and filter + armors_sub_.subscribe(this, "/detector/armors", rmw_qos_profile_sensor_data); + target_frame_ = this->declare_parameter("target_frame", "odom"); + tf2_filter_ = std::make_shared( + armors_sub_, *tf2_buffer_, target_frame_, 10, this->get_node_logging_interface(), + this->get_node_clock_interface(), std::chrono::duration(1)); + // Register a callback with tf2_ros::MessageFilter to be called when transforms are available + tf2_filter_->registerCallback(&ArmorTrackerNode::armorsCallback, this); + + // Measurement publisher (for debug usage) + info_pub_ = this->create_publisher("/tracker/info", 10); + + // Publisher + target_pub_ = this->create_publisher( + "/tracker/target", rclcpp::SensorDataQoS()); + + // Visualization Marker Publisher + // See http://wiki.ros.org/rviz/DisplayTypes/Marker + position_marker_.ns = "position"; + position_marker_.type = visualization_msgs::msg::Marker::SPHERE; + position_marker_.scale.x = position_marker_.scale.y = position_marker_.scale.z = 0.1; + position_marker_.color.a = 1.0; + position_marker_.color.g = 1.0; + linear_v_marker_.type = visualization_msgs::msg::Marker::ARROW; + linear_v_marker_.ns = "linear_v"; + linear_v_marker_.scale.x = 0.03; + linear_v_marker_.scale.y = 0.05; + linear_v_marker_.color.a = 1.0; + linear_v_marker_.color.r = 1.0; + linear_v_marker_.color.g = 1.0; + angular_v_marker_.type = visualization_msgs::msg::Marker::ARROW; + angular_v_marker_.ns = "angular_v"; + angular_v_marker_.scale.x = 0.03; + angular_v_marker_.scale.y = 0.05; + angular_v_marker_.color.a = 1.0; + angular_v_marker_.color.b = 1.0; + angular_v_marker_.color.g = 1.0; + armor_marker_.ns = "armors"; + armor_marker_.type = visualization_msgs::msg::Marker::CUBE; + armor_marker_.scale.x = 0.03; + armor_marker_.scale.z = 0.125; + armor_marker_.color.a = 1.0; + armor_marker_.color.r = 1.0; + marker_pub_ = this->create_publisher("/tracker/marker", 10); +} + +void ArmorTrackerNode::armorsCallback(const auto_aim_interfaces::msg::Armors::SharedPtr armors_msg) +{ + // Tranform armor position from image frame to world coordinate + for (auto & armor : armors_msg->armors) { + geometry_msgs::msg::PoseStamped ps; + ps.header = armors_msg->header; + ps.pose = armor.pose; + try { + armor.pose = tf2_buffer_->transform(ps, target_frame_).pose; + } catch (const tf2::ExtrapolationException & ex) { + RCLCPP_ERROR(get_logger(), "Error while transforming %s", ex.what()); + return; + } + } + + // Filter abnormal armors + armors_msg->armors.erase( + std::remove_if( + armors_msg->armors.begin(), armors_msg->armors.end(), + [this](const auto_aim_interfaces::msg::Armor & armor) { + return abs(armor.pose.position.z) > 1.2 || + Eigen::Vector2d(armor.pose.position.x, armor.pose.position.y).norm() > + max_armor_distance_; + }), + armors_msg->armors.end()); + + // Init message + auto_aim_interfaces::msg::TrackerInfo info_msg; + auto_aim_interfaces::msg::Target target_msg; + rclcpp::Time time = armors_msg->header.stamp; + target_msg.header.stamp = time; + target_msg.header.frame_id = target_frame_; + + // Update tracker + if (tracker_->tracker_state == Tracker::LOST) { + tracker_->init(armors_msg); + target_msg.tracking = false; + } else { + dt_ = (time - last_time_).seconds(); + tracker_->lost_thres = static_cast(lost_time_thres_ / dt_); + tracker_->update(armors_msg); + + // Publish Info + info_msg.position_diff = tracker_->info_position_diff; + info_msg.yaw_diff = tracker_->info_yaw_diff; + info_msg.position.x = tracker_->measurement(0); + info_msg.position.y = tracker_->measurement(1); + info_msg.position.z = tracker_->measurement(2); + info_msg.yaw = tracker_->measurement(3); + info_pub_->publish(info_msg); + + if (tracker_->tracker_state == Tracker::DETECTING) { + target_msg.tracking = false; + } else if ( + tracker_->tracker_state == Tracker::TRACKING || + tracker_->tracker_state == Tracker::TEMP_LOST) { + target_msg.tracking = true; + // Fill target message + const auto & state = tracker_->target_state; + target_msg.id = tracker_->tracked_id; + target_msg.armors_num = static_cast(tracker_->tracked_armors_num); + target_msg.position.x = state(0); + target_msg.velocity.x = state(1); + target_msg.position.y = state(2); + target_msg.velocity.y = state(3); + target_msg.position.z = state(4); + target_msg.velocity.z = state(5); + target_msg.yaw = state(6); + target_msg.v_yaw = state(7); + target_msg.radius_1 = state(8); + target_msg.radius_2 = tracker_->another_r; + target_msg.dz = tracker_->dz; + } + } + + last_time_ = time; + + target_pub_->publish(target_msg); + + publishMarkers(target_msg); +} + +void ArmorTrackerNode::publishMarkers(const auto_aim_interfaces::msg::Target & target_msg) +{ + position_marker_.header = target_msg.header; + linear_v_marker_.header = target_msg.header; + angular_v_marker_.header = target_msg.header; + armor_marker_.header = target_msg.header; + + visualization_msgs::msg::MarkerArray marker_array; + if (target_msg.tracking) { + double yaw = target_msg.yaw, r1 = target_msg.radius_1, r2 = target_msg.radius_2; + double xc = target_msg.position.x, yc = target_msg.position.y, za = target_msg.position.z; + double vx = target_msg.velocity.x, vy = target_msg.velocity.y, vz = target_msg.velocity.z; + double dz = target_msg.dz; + + position_marker_.action = visualization_msgs::msg::Marker::ADD; + position_marker_.pose.position.x = xc; + position_marker_.pose.position.y = yc; + position_marker_.pose.position.z = za + dz / 2; + + linear_v_marker_.action = visualization_msgs::msg::Marker::ADD; + linear_v_marker_.points.clear(); + linear_v_marker_.points.emplace_back(position_marker_.pose.position); + geometry_msgs::msg::Point arrow_end = position_marker_.pose.position; + arrow_end.x += vx; + arrow_end.y += vy; + arrow_end.z += vz; + linear_v_marker_.points.emplace_back(arrow_end); + + angular_v_marker_.action = visualization_msgs::msg::Marker::ADD; + angular_v_marker_.points.clear(); + angular_v_marker_.points.emplace_back(position_marker_.pose.position); + arrow_end = position_marker_.pose.position; + arrow_end.z += target_msg.v_yaw / M_PI; + angular_v_marker_.points.emplace_back(arrow_end); + + armor_marker_.action = visualization_msgs::msg::Marker::ADD; + armor_marker_.scale.y = tracker_->tracked_armor.type == "small" ? 0.135 : 0.23; + bool is_current_pair = true; + size_t a_n = target_msg.armors_num; + geometry_msgs::msg::Point p_a; + double r = 0; + for (size_t i = 0; i < a_n; i++) { + double tmp_yaw = yaw + i * (2 * M_PI / a_n); + // Only 4 armors has 2 radius and height + if (a_n == 4) { + r = is_current_pair ? r1 : r2; + p_a.z = za + (is_current_pair ? 0 : dz); + is_current_pair = !is_current_pair; + } else { + r = r1; + p_a.z = za; + } + p_a.x = xc - r * cos(tmp_yaw); + p_a.y = yc - r * sin(tmp_yaw); + + armor_marker_.id = i; + armor_marker_.pose.position = p_a; + tf2::Quaternion q; + q.setRPY(0, target_msg.id == "outpost" ? -0.26 : 0.26, tmp_yaw); + armor_marker_.pose.orientation = tf2::toMsg(q); + marker_array.markers.emplace_back(armor_marker_); + } + } else { + position_marker_.action = visualization_msgs::msg::Marker::DELETE; + linear_v_marker_.action = visualization_msgs::msg::Marker::DELETE; + angular_v_marker_.action = visualization_msgs::msg::Marker::DELETE; + + armor_marker_.action = visualization_msgs::msg::Marker::DELETE; + marker_array.markers.emplace_back(armor_marker_); + } + + marker_array.markers.emplace_back(position_marker_); + marker_array.markers.emplace_back(linear_v_marker_); + marker_array.markers.emplace_back(angular_v_marker_); + marker_pub_->publish(marker_array); +} + +} // namespace rm_auto_aim + +#include "rclcpp_components/register_node_macro.hpp" + +// Register the component with class_loader. +// This acts as a sort of entry point, allowing the component to be discoverable when its library +// is being loaded into a running process. +RCLCPP_COMPONENTS_REGISTER_NODE(rm_auto_aim::ArmorTrackerNode) diff --git a/src/rm_auto_aim/auto_aim_interfaces/CMakeLists.txt b/src/rm_auto_aim/auto_aim_interfaces/CMakeLists.txt new file mode 100644 index 00000000..0545379e --- /dev/null +++ b/src/rm_auto_aim/auto_aim_interfaces/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.8) +project(auto_aim_interfaces) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(geometry_msgs REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/Armor.msg" + "msg/Armors.msg" + "msg/Target.msg" + + "msg/DebugLight.msg" + "msg/DebugLights.msg" + "msg/DebugArmor.msg" + "msg/DebugArmors.msg" + "msg/TrackerInfo.msg" + + DEPENDENCIES + std_msgs + geometry_msgs +) + + +ament_package() diff --git a/src/rm_auto_aim/auto_aim_interfaces/msg/Armor.msg b/src/rm_auto_aim/auto_aim_interfaces/msg/Armor.msg new file mode 100644 index 00000000..723f5237 --- /dev/null +++ b/src/rm_auto_aim/auto_aim_interfaces/msg/Armor.msg @@ -0,0 +1,4 @@ +string number +string type +float32 distance_to_image_center +geometry_msgs/Pose pose \ No newline at end of file diff --git a/src/rm_auto_aim/auto_aim_interfaces/msg/Armors.msg b/src/rm_auto_aim/auto_aim_interfaces/msg/Armors.msg new file mode 100644 index 00000000..0a70d30b --- /dev/null +++ b/src/rm_auto_aim/auto_aim_interfaces/msg/Armors.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +Armor[] armors \ No newline at end of file diff --git a/src/rm_auto_aim/auto_aim_interfaces/msg/DebugArmor.msg b/src/rm_auto_aim/auto_aim_interfaces/msg/DebugArmor.msg new file mode 100644 index 00000000..cf96eeca --- /dev/null +++ b/src/rm_auto_aim/auto_aim_interfaces/msg/DebugArmor.msg @@ -0,0 +1,5 @@ +int32 center_x +string type +float32 light_ratio +float32 center_distance +float32 angle diff --git a/src/rm_auto_aim/auto_aim_interfaces/msg/DebugArmors.msg b/src/rm_auto_aim/auto_aim_interfaces/msg/DebugArmors.msg new file mode 100644 index 00000000..e12e300f --- /dev/null +++ b/src/rm_auto_aim/auto_aim_interfaces/msg/DebugArmors.msg @@ -0,0 +1 @@ +DebugArmor[] data \ No newline at end of file diff --git a/src/rm_auto_aim/auto_aim_interfaces/msg/DebugLight.msg b/src/rm_auto_aim/auto_aim_interfaces/msg/DebugLight.msg new file mode 100644 index 00000000..c876dbc8 --- /dev/null +++ b/src/rm_auto_aim/auto_aim_interfaces/msg/DebugLight.msg @@ -0,0 +1,4 @@ +int32 center_x +bool is_light +float32 ratio +float32 angle \ No newline at end of file diff --git a/src/rm_auto_aim/auto_aim_interfaces/msg/DebugLights.msg b/src/rm_auto_aim/auto_aim_interfaces/msg/DebugLights.msg new file mode 100644 index 00000000..14e31ce8 --- /dev/null +++ b/src/rm_auto_aim/auto_aim_interfaces/msg/DebugLights.msg @@ -0,0 +1 @@ +DebugLight[] data \ No newline at end of file diff --git a/src/rm_auto_aim/auto_aim_interfaces/msg/Target.msg b/src/rm_auto_aim/auto_aim_interfaces/msg/Target.msg new file mode 100644 index 00000000..fc9926bd --- /dev/null +++ b/src/rm_auto_aim/auto_aim_interfaces/msg/Target.msg @@ -0,0 +1,11 @@ +std_msgs/Header header +bool tracking +string id +int32 armors_num +geometry_msgs/Point position +geometry_msgs/Vector3 velocity +float64 yaw +float64 v_yaw +float64 radius_1 +float64 radius_2 +float64 dz diff --git a/src/rm_auto_aim/auto_aim_interfaces/msg/TrackerInfo.msg b/src/rm_auto_aim/auto_aim_interfaces/msg/TrackerInfo.msg new file mode 100644 index 00000000..5d6bc350 --- /dev/null +++ b/src/rm_auto_aim/auto_aim_interfaces/msg/TrackerInfo.msg @@ -0,0 +1,6 @@ +# Difference between the current measurement and prediction +float64 position_diff +float64 yaw_diff +# Unfiltered position and yaw +geometry_msgs/Point position +float64 yaw diff --git a/src/rm_auto_aim/auto_aim_interfaces/package.xml b/src/rm_auto_aim/auto_aim_interfaces/package.xml new file mode 100644 index 00000000..11a6ed3a --- /dev/null +++ b/src/rm_auto_aim/auto_aim_interfaces/package.xml @@ -0,0 +1,21 @@ + + + + auto_aim_interfaces + 0.0.0 + TODO: Package description + chenjun + TODO: License declaration + + ament_cmake + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + + geometry_msgs + + + ament_cmake + + diff --git a/src/rm_auto_aim/docs/rm_vision.svg b/src/rm_auto_aim/docs/rm_vision.svg new file mode 100644 index 00000000..a9d40c67 --- /dev/null +++ b/src/rm_auto_aim/docs/rm_vision.svg @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/src/rm_auto_aim/rm_auto_aim/CMakeLists.txt b/src/rm_auto_aim/rm_auto_aim/CMakeLists.txt new file mode 100644 index 00000000..1ec501e9 --- /dev/null +++ b/src/rm_auto_aim/rm_auto_aim/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 3.8) +project(rm_auto_aim) + +find_package(ament_cmake_auto REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/src/rm_auto_aim/rm_auto_aim/package.xml b/src/rm_auto_aim/rm_auto_aim/package.xml new file mode 100644 index 00000000..0a6b3d05 --- /dev/null +++ b/src/rm_auto_aim/rm_auto_aim/package.xml @@ -0,0 +1,22 @@ + + + + rm_auto_aim + 0.0.0 + TODO: Package description + chenjun + TODO: License declaration + + ament_cmake + + auto_aim_interfaces + armor_detector + armor_tracker + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/rm_gimbal_description b/src/rm_gimbal_description deleted file mode 160000 index 444da86d..00000000 --- a/src/rm_gimbal_description +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 444da86d28d2506deaf840441b38f8963cd87c10 diff --git a/src/rm_gimbal_description/.gitignore b/src/rm_gimbal_description/.gitignore new file mode 100644 index 00000000..35d74bb7 --- /dev/null +++ b/src/rm_gimbal_description/.gitignore @@ -0,0 +1,51 @@ +devel/ +logs/ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py +build_isolated/ +devel_isolated/ + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE diff --git a/src/rm_gimbal_description/CMakeLists.txt b/src/rm_gimbal_description/CMakeLists.txt new file mode 100644 index 00000000..335305a3 --- /dev/null +++ b/src/rm_gimbal_description/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.8) +project(rm_gimbal_description) + +# find dependencies +find_package(ament_cmake REQUIRED) + +# Install files +install(DIRECTORY + urdf + DESTINATION share/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/rm_gimbal_description/LICENSE b/src/rm_gimbal_description/LICENSE new file mode 100644 index 00000000..261eeb9e --- /dev/null +++ b/src/rm_gimbal_description/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/src/rm_gimbal_description/README.md b/src/rm_gimbal_description/README.md new file mode 100644 index 00000000..31c85bfc --- /dev/null +++ b/src/rm_gimbal_description/README.md @@ -0,0 +1,26 @@ +# rm_gimbal_description +RoboMaster 视觉自瞄系统所需的 URDF + +rm_vision + +该项目为 [rm_vision](https://github.com/chenjunnn/rm_vision) 的子模块 + +## 坐标系定义 + +单位和方向请参考 https://www.ros.org/reps/rep-0103.html + +odom: 以云台中心为原点的惯性系 + +yaw_joint: 表述云台的 yaw 轴与惯性系的旋转关系 + +pitch_joint: 表述云台的 pitch 轴与惯性系的旋转关系 + +camera_joint: 表述相机到惯性系的变换关系 + +camera_optical_joint: 表述以 z 轴为前方的相机坐标系转换为 x 轴为前方的相机坐标系的旋转关系 + +## 使用方法 + +修改 [urdf/rm_gimbal.urdf.xacro](urdf/rm_gimbal.urdf.xacro) 中的 `gimbal_camera_transfrom` + +xyz 与 rpy 对应机器人云台上相机到云台中心的平移与旋转关系，可以由机械图纸测量得到，或在机器人上直接测量 diff --git a/src/rm_gimbal_description/docs/rm_vision.svg b/src/rm_gimbal_description/docs/rm_vision.svg new file mode 100644 index 00000000..a9d40c67 --- /dev/null +++ b/src/rm_gimbal_description/docs/rm_vision.svg @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/src/rm_gimbal_description/package.xml b/src/rm_gimbal_description/package.xml new file mode 100644 index 00000000..863b9a50 --- /dev/null +++ b/src/rm_gimbal_description/package.xml @@ -0,0 +1,21 @@ + + + + rm_gimbal_description + 0.0.0 + TODO: Package description + chenjun + TODO: License declaration + + ament_cmake + + launch_ros + xacro + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/rm_gimbal_description/urdf/rm_gimbal.urdf.xacro b/src/rm_gimbal_description/urdf/rm_gimbal.urdf.xacro new file mode 100644 index 00000000..aa6e85b3 --- /dev/null +++ b/src/rm_gimbal_description/urdf/rm_gimbal.urdf.xacro @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/rm_vision b/src/rm_vision deleted file mode 160000 index 60ec93a2..00000000 --- a/src/rm_vision +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 60ec93a206d9705f60f8f8ffb5cffe41b5708ee3 diff --git a/src/rm_vision/.github/workflows/ci.yml b/src/rm_vision/.github/workflows/ci.yml new file mode 100644 index 00000000..cc0c4e12 --- /dev/null +++ b/src/rm_vision/.github/workflows/ci.yml @@ -0,0 +1,33 @@ +name: rm_vision CI + +on: + push: + branches: [ main ] + +jobs: + docker-build-and-push: + if: github.event_name == 'push' + runs-on: ubuntu-latest + permissions: + contents: read + + steps: + - name: Checkout repository + uses: actions/checkout@v3 + + - name: Login to Docker Hub + uses: docker/login-action@v2 + with: + username: chenjunnn + password: ${{ secrets.DOCKERHUB_TOKEN }} + + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v2 + + - name: Build and push + uses: docker/build-push-action@v4 + with: + context: . + file: ./Dockerfile + push: true + tags: chenjunnn/rm_vision:lastest diff --git a/src/rm_vision/Dockerfile b/src/rm_vision/Dockerfile new file mode 100644 index 00000000..ca584955 --- /dev/null +++ b/src/rm_vision/Dockerfile @@ -0,0 +1,41 @@ +FROM ros:humble-ros-base + +# create workspace +RUN mkdir -p /ros_ws/src +WORKDIR /ros_ws/ + +# clone projects +RUN cd src && git clone https://github.com/chenjunnn/rm_auto_aim --depth=1 && \ + git clone https://github.com/chenjunnn/ros2_mindvision_camera --depth=1 && \ + git clone https://github.com/chenjunnn/ros2_hik_camera --depth=1 && \ + git clone https://github.com/chenjunnn/rm_gimbal_description --depth=1 && \ + git clone https://github.com/chenjunnn/rm_serial_driver --depth=1 && \ + git clone https://github.com/chenjunnn/rm_vision --depth=1 + +# install dependencies and some tools +RUN apt-get update && rosdep install --from-paths src --ignore-src -r -y && \ + apt-get install ros-humble-foxglove-bridge wget htop vim -y && \ + rm -rf /var/lib/apt/lists/* + +# setup zsh +RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/v1.1.2/zsh-in-docker.sh)" -- \ + -t jispwoso -p git \ + -p https://github.com/zsh-users/zsh-autosuggestions \ + -p https://github.com/zsh-users/zsh-syntax-highlighting && \ + chsh -s /bin/zsh && \ + rm -rf /var/lib/apt/lists/* + +# build +RUN . /opt/ros/humble/setup.sh && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release + +# setup .zshrc +RUN echo 'export TERM=xterm-256color\n\ +source /ros_ws/install/setup.zsh\n\ +eval "$(register-python-argcomplete3 ros2)"\n\ +eval "$(register-python-argcomplete3 colcon)"\n'\ +>> /root/.zshrc + +# source entrypoint setup +RUN sed --in-place --expression \ + '$isource "/ros_ws/install/setup.bash"' \ + /ros_entrypoint.sh diff --git a/src/rm_vision/LICENSE b/src/rm_vision/LICENSE new file mode 100644 index 00000000..d1e647e9 --- /dev/null +++ b/src/rm_vision/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2022 ChenJun + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/src/rm_vision/README.md b/src/rm_vision/README.md new file mode 100644 index 00000000..e5e91f99 --- /dev/null +++ b/src/rm_vision/README.md @@ -0,0 +1,65 @@ +# rm_vision + +rm_vision + +## Overview + +rm_vision 项目旨在为 RoboMaster 队伍提供一个规范、易用、鲁棒、高性能的视觉框架方案，为 RM 开源生态的建设添砖加瓦 + +如果本开源项目对于贵战队的视觉技术发展起到了实质性的帮助作用，请在机器人上贴上以下标签以助力该项目的推广，十分感激！ + +[rm_vision_inside](docs/rm_vision_inside.svg) + +QQ 交流群：797203945 + +[![License: MIT](https://img.shields.io/badge/License-MIT-blue.svg)](https://opensource.org/licenses/MIT) + +[![Build Status](https://github.com/chenjunnn/rm_vision/actions/workflows/ci.yml/badge.svg)](https://github.com/chenjunnn/rm_vision/actions/workflows/ci.yml) + +## 包含项目 + +装甲板自动瞄准算法模块 https://github.com/chenjunnn/rm_auto_aim + +MindVision 相机模块 https://github.com/chenjunnn/ros2_mindvision_camera + +HikVision 相机模块 https://github.com/chenjunnn/ros2_hik_camera + +机器人云台描述文件 https://github.com/chenjunnn/rm_gimbal_description + +串口通讯模块 https://github.com/chenjunnn/rm_serial_driver + +视觉算法仿真器 https://github.com/chenjunnn/rm_vision_simulator + +## 通过 Docker 部署 + +拉取镜像 + +``` +docker pull chenjunnn/rm_vision:lastest +``` + +构建开发容器 + +``` +docker run -it --name rv_devel \ +--privileged --network host \ +-v /dev:/dev -v $HOME/.ros:/root/.ros -v ws:/ros_ws \ +chenjunnn/rm_vision:lastest \ +ros2 launch foxglove_bridge foxglove_bridge_launch.xml +``` + +构建运行容器 + +``` +docker run -it --name rv_runtime \ +--privileged --network host --restart always \ +-v /dev:/dev -v $HOME/.ros:/root/.ros -v ws:/ros_ws \ +chenjunnn/rm_vision:lastest \ +ros2 launch rm_vision_bringup vision_bringup.launch.py +``` + +TBD + +## 源码编译 + +TBD diff --git a/src/rm_vision/docs/rm_vision.svg b/src/rm_vision/docs/rm_vision.svg new file mode 100644 index 00000000..a9d40c67 --- /dev/null +++ b/src/rm_vision/docs/rm_vision.svg @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/src/rm_vision/docs/rm_vision_inside.svg b/src/rm_vision/docs/rm_vision_inside.svg new file mode 100644 index 00000000..9f8c69bf --- /dev/null +++ b/src/rm_vision/docs/rm_vision_inside.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/src/rm_vision/rm_vision_bringup/CMakeLists.txt b/src/rm_vision/rm_vision_bringup/CMakeLists.txt new file mode 100644 index 00000000..8ff6598e --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.8) +project(rm_vision_bringup) + +find_package(ament_cmake_auto REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/src/rm_vision/rm_vision_bringup/config/camera_info.yaml b/src/rm_vision/rm_vision_bringup/config/camera_info.yaml new file mode 100644 index 00000000..fd1cd4f9 --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/config/camera_info.yaml @@ -0,0 +1,26 @@ +image_width: 1280 +image_height: 1024 +camera_name: narrow_stereo +camera_matrix: + rows: 3 + cols: 3 + data: [1560.46759, 0. , 627.94252, + 0. , 1563.0218 , 519.00352, + 0. , 0. , 1. ] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.059454, 0.136857, -0.000134, 0.001950, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] +projection_matrix: + rows: 3 + cols: 4 + data: [1550.59436, 0. , 629.28898, 0. , + 0. , 1554.92236, 518.36577, 0. , + 0. , 0. , 1. , 0. ] \ No newline at end of file diff --git a/src/rm_vision/rm_vision_bringup/config/launch_params.yaml b/src/rm_vision/rm_vision_bringup/config/launch_params.yaml new file mode 100644 index 00000000..175cba36 --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/config/launch_params.yaml @@ -0,0 +1,9 @@ +camera: mv # hik + +odom2camera: + xyz: "\"0.0 0.0 0.0025\"" # ""\"0.135 0.078 0.08\"" "\"0.107 -0.05 0.052\"" + rpy: "\"0.0 0.0 0.0\"" # "\"0.0 0.157 0.0\"" + +detector_log_level: INFO +tracker_log_level: INFO +serial_log_level: INFO diff --git a/src/rm_vision/rm_vision_bringup/config/node_params.yaml b/src/rm_vision/rm_vision_bringup/config/node_params.yaml new file mode 100644 index 00000000..5d9c0651 --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/config/node_params.yaml @@ -0,0 +1,48 @@ +/camera_node: + ros__parameters: + camera_info_url: package://rm_vision_bringup/config/camera_info.yaml + exposure_time: 4500 + gain: 6.0 + flip_image: true + +/serial_driver: + ros__parameters: + timestamp_offset: 0.003 + device_name: /dev/ttyACM0 + baud_rate: 115200 + flow_control: none + parity: none + stop_bits: "1" + +/armor_detector: + ros__parameters: + debug: true + + detect_color: 0 + binary_thres: 80 + + light.min_ratio: 0.1 + armor.min_light_ratio: 0.75 + + classifier_threshold: 0.8 + ignore_classes: ["negative"] + +/armor_tracker: + ros__parameters: + target_frame: odom + max_armor_distance: 10.0 + + ekf: + sigma2_q_xyz: 0.01 #0.01 + sigma2_q_yaw: 5.0 #1.0 + sigma2_q_r: 80.0 + + r_xyz_factor: 4e-4 + r_yaw: 5e-3 + + tracker: + max_match_distance: 0.25 + max_match_yaw_diff: 0.85 + + tracking_thres: 5 + lost_time_thres: 1.0 diff --git a/src/rm_vision/rm_vision_bringup/launch/common.py b/src/rm_vision/rm_vision_bringup/launch/common.py new file mode 100644 index 00000000..c731a60e --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/launch/common.py @@ -0,0 +1,32 @@ +import os +import yaml + +from ament_index_python.packages import get_package_share_directory +from launch.substitutions import Command +from launch_ros.actions import Node + +launch_params = yaml.safe_load(open(os.path.join( + get_package_share_directory('rm_vision_bringup'), 'config', 'launch_params.yaml'))) + +robot_description = Command(['xacro ', os.path.join( + get_package_share_directory('rm_gimbal_description'), 'urdf', 'rm_gimbal.urdf.xacro'), + ' xyz:=', launch_params['odom2camera']['xyz'], ' rpy:=', launch_params['odom2camera']['rpy']]) + +robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + parameters=[{'robot_description': robot_description, + 'publish_frequency': 1000.0}] +) + +node_params = os.path.join( + get_package_share_directory('rm_vision_bringup'), 'config', 'node_params.yaml') + +tracker_node = Node( + package='armor_tracker', + executable='armor_tracker_node', + output='both', + emulate_tty=True, + parameters=[node_params], + ros_arguments=['--log-level', 'armor_tracker:='+launch_params['tracker_log_level']], +) diff --git a/src/rm_vision/rm_vision_bringup/launch/no_hardware.launch.py b/src/rm_vision/rm_vision_bringup/launch/no_hardware.launch.py new file mode 100644 index 00000000..c5506938 --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/launch/no_hardware.launch.py @@ -0,0 +1,27 @@ +import os +import sys +from ament_index_python.packages import get_package_share_directory +sys.path.append(os.path.join(get_package_share_directory('rm_vision_bringup'), 'launch')) + + +def generate_launch_description(): + + from common import launch_params, robot_state_publisher, node_params, tracker_node + from launch_ros.actions import Node + from launch import LaunchDescription + + detector_node = Node( + package='armor_detector', + executable='armor_detector_node', + emulate_tty=True, + output='both', + parameters=[node_params], + arguments=['--ros-args', '--log-level', + 'armor_detector:='+launch_params['detector_log_level']], + ) + + return LaunchDescription([ + robot_state_publisher, + detector_node, + tracker_node, + ]) diff --git a/src/rm_vision/rm_vision_bringup/launch/vision_bringup.launch.py b/src/rm_vision/rm_vision_bringup/launch/vision_bringup.launch.py new file mode 100644 index 00000000..c2a8ab3e --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/launch/vision_bringup.launch.py @@ -0,0 +1,82 @@ +import os +import sys +from ament_index_python.packages import get_package_share_directory +sys.path.append(os.path.join(get_package_share_directory('rm_vision_bringup'), 'launch')) + + +def generate_launch_description(): + + from common import node_params, launch_params, robot_state_publisher, tracker_node + from launch_ros.descriptions import ComposableNode + from launch_ros.actions import ComposableNodeContainer, Node + from launch.actions import TimerAction, Shutdown + from launch import LaunchDescription + + def get_camera_node(package, plugin): + return ComposableNode( + package=package, + plugin=plugin, + name='camera_node', + parameters=[node_params], + extra_arguments=[{'use_intra_process_comms': True}] + ) + + def get_camera_detector_container(camera_node): + return ComposableNodeContainer( + name='camera_detector_container', + namespace='', + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=[ + camera_node, + ComposableNode( + package='armor_detector', + plugin='rm_auto_aim::ArmorDetectorNode', + name='armor_detector', + parameters=[node_params], + extra_arguments=[{'use_intra_process_comms': True}] + ) + ], + output='screen', + emulate_tty=True, + ros_arguments=['--ros-args', '--log-level', + 'armor_detector:='+launch_params['detector_log_level']], + on_exit=Shutdown(), + ) + + hik_camera_node = get_camera_node('hik_camera', 'hik_camera::HikCameraNode') + mv_camera_node = get_camera_node('mindvision_camera', 'mindvision_camera::MVCameraNode') + + if (launch_params['camera'] == 'hik'): + cam_detector = get_camera_detector_container(hik_camera_node) + elif (launch_params['camera'] == 'mv'): + cam_detector = get_camera_detector_container(mv_camera_node) + + serial_driver_node = Node( + package='rm_serial_driver', + executable='rm_serial_driver_node', + name='serial_driver', + output='both', + emulate_tty=True, + parameters=[node_params], + on_exit=Shutdown(), + ros_arguments=['--ros-args', '--log-level', + 'serial_driver:='+launch_params['serial_log_level']], + ) + + delay_serial_node = TimerAction( + period=1.5, + actions=[serial_driver_node], + ) + + delay_tracker_node = TimerAction( + period=2.0, + actions=[tracker_node], + ) + + return LaunchDescription([ + robot_state_publisher, + cam_detector, + delay_serial_node, + delay_tracker_node, + ]) diff --git a/src/rm_vision/rm_vision_bringup/package.xml b/src/rm_vision/rm_vision_bringup/package.xml new file mode 100644 index 00000000..0a7710a7 --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/package.xml @@ -0,0 +1,18 @@ + + + + rm_vision_bringup + 0.0.0 + TODO: Package description + chenjun + TODO: License declaration + + ament_cmake + + rm_auto_aim + rm_serial_driver + + + ament_cmake + + diff --git a/src/ros2_hik_camera b/src/ros2_hik_camera deleted file mode 160000 index ebe1f1a9..00000000 --- a/src/ros2_hik_camera +++ /dev/null @@ -1 +0,0 @@ -Subproject commit ebe1f1a934efc0b1fcb75758c0a34fdb56dcd0f3 diff --git a/src/ros2_hik_camera/.clang-format b/src/ros2_hik_camera/.clang-format new file mode 100644 index 00000000..2f8d64b6 --- /dev/null +++ b/src/ros2_hik_camera/.clang-format @@ -0,0 +1,18 @@ +--- +Language: Cpp +BasedOnStyle: Google + +AccessModifierOffset: -2 +AlignAfterOpenBracket: AlwaysBreak +BraceWrapping: + AfterClass: true + AfterFunction: true + AfterNamespace: true + AfterStruct: true +BreakBeforeBraces: Custom +ColumnLimit: 100 +ConstructorInitializerIndentWidth: 0 +ContinuationIndentWidth: 2 +DerivePointerAlignment: false +PointerAlignment: Middle +ReflowComments: false \ No newline at end of file diff --git a/src/ros2_hik_camera/.clang-tidy b/src/ros2_hik_camera/.clang-tidy new file mode 100644 index 00000000..bf3d848f --- /dev/null +++ b/src/ros2_hik_camera/.clang-tidy @@ -0,0 +1,55 @@ +--- +Checks: '-*, + performance-*, + -performance-unnecessary-value-param, + llvm-namespace-comment, + modernize-redundant-void-arg, + modernize-use-nullptr, + modernize-use-default, + modernize-use-override, + modernize-loop-convert, + modernize-make-shared, + modernize-make-unique, + misc-unused-parameters, + readability-named-parameter, + readability-redundant-smartptr-get, + readability-redundant-string-cstr, + readability-simplify-boolean-expr, + readability-container-size-empty, + readability-identifier-naming, + ' +HeaderFilterRegex: '' +AnalyzeTemporaryDtors: false +CheckOptions: + - key: llvm-namespace-comment.ShortNamespaceLines + value: '10' + - key: llvm-namespace-comment.SpacesBeforeComments + value: '2' + - key: misc-unused-parameters.StrictMode + value: '1' + - key: readability-braces-around-statements.ShortStatementLines + value: '2' + # type names + - key: readability-identifier-naming.ClassCase + value: CamelCase + - key: readability-identifier-naming.EnumCase + value: CamelCase + - key: readability-identifier-naming.UnionCase + value: CamelCase + # method names + - key: readability-identifier-naming.MethodCase + value: camelBack + # variable names + - key: readability-identifier-naming.VariableCase + value: lower_case + - key: readability-identifier-naming.ClassMemberSuffix + value: '_' + # const static or global variables are UPPER_CASE + - key: readability-identifier-naming.EnumConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.StaticConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.ClassConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.GlobalVariableCase + value: UPPER_CASE \ No newline at end of file diff --git a/src/ros2_hik_camera/CMakeLists.txt b/src/ros2_hik_camera/CMakeLists.txt new file mode 100644 index 00000000..a142fdbb --- /dev/null +++ b/src/ros2_hik_camera/CMakeLists.txt @@ -0,0 +1,67 @@ +cmake_minimum_required(VERSION 3.8) +project(hik_camera) + +## Use C++14 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +## By adding -Wall and -Werror, the compiler does not ignore warnings anymore, +## enforcing cleaner code. +add_definitions(-Wall -Werror) + +## Export compile commands for clangd +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/hik_camera_node.cpp +) + +target_include_directories(${PROJECT_NAME} PUBLIC hikSDK/include) + +if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64") + target_link_directories(${PROJECT_NAME} PUBLIC hikSDK/lib/amd64) + install( + DIRECTORY hikSDK/lib/amd64/ + DESTINATION lib + ) +elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64") + target_link_directories(${PROJECT_NAME} PUBLIC hikSDK/lib/arm64) + install( + DIRECTORY hikSDK/lib/arm64/ + DESTINATION lib + ) +else() + message(FATAL_ERROR "Unsupport host system architecture: ${CMAKE_HOST_SYSTEM_PROCESSOR}!") +endif() + +target_link_libraries(${PROJECT_NAME} + FormatConversion + MediaProcess + MvCameraControl + MVRender + MvUsb3vTL +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN hik_camera::HikCameraNode + EXECUTABLE ${PROJECT_NAME}_node +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + list(APPEND AMENT_LINT_AUTO_EXCLUDE + ament_cmake_copyright + ament_cmake_cpplint + ament_cmake_uncrustify + ) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + config + launch +) diff --git a/src/ros2_hik_camera/README.md b/src/ros2_hik_camera/README.md new file mode 100644 index 00000000..b9133957 --- /dev/null +++ b/src/ros2_hik_camera/README.md @@ -0,0 +1,14 @@ +# ros2_hik_camera + +A ROS2 packge for Hikvision USB3.0 industrial camera + +## Usage + +``` +ros2 launch hik_camera hik_camera.launch.py +``` + +## Params + +- exposure_time +- gain diff --git a/src/ros2_hik_camera/config/camera_info.yaml b/src/ros2_hik_camera/config/camera_info.yaml new file mode 100644 index 00000000..0810cf90 --- /dev/null +++ b/src/ros2_hik_camera/config/camera_info.yaml @@ -0,0 +1,26 @@ +image_width: 1280 +image_height: 1024 +camera_name: narrow_stereo +camera_matrix: + rows: 3 + cols: 3 + data: [1241.71015, 0. , 623.06833, + 0. , 1243.71255, 481.6889 , + 0. , 0. , 1. ] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.067569, 0.064478, -0.000970, -0.001436, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] +projection_matrix: + rows: 3 + cols: 4 + data: [1223.57971, 0. , 620.78488, 0. , + 0. , 1230.05701, 480.10211, 0. , + 0. , 0. , 1. , 0. ] diff --git a/src/ros2_hik_camera/config/camera_params.yaml b/src/ros2_hik_camera/config/camera_params.yaml new file mode 100644 index 00000000..6434b94c --- /dev/null +++ b/src/ros2_hik_camera/config/camera_params.yaml @@ -0,0 +1,6 @@ +/hik_camera: + ros__parameters: + camera_name: narrow_stereo + + exposure_time: 4500 + gain: 6.0 diff --git a/src/ros2_hik_camera/hikSDK/include/CameraParams.h b/src/ros2_hik_camera/hikSDK/include/CameraParams.h new file mode 100644 index 00000000..e4b14280 --- /dev/null +++ b/src/ros2_hik_camera/hikSDK/include/CameraParams.h @@ -0,0 +1,1081 @@ + +#ifndef _MV_CAMERA_PARAMS_H_ +#define _MV_CAMERA_PARAMS_H_ + +#include "PixelType.h" + +#ifndef __cplusplus +typedef char bool; +#define true 1 +#define false 0 +#endif + +/// \~chinese +/// 设备类型定义 +/// \~english +/// Device Type Definition +#define MV_UNKNOW_DEVICE 0x00000000 ///< \~chinese 未知设备类型，保留意义 \~english Unknown Device Type, Reserved +#define MV_GIGE_DEVICE 0x00000001 ///< \~chinese GigE设备 \~english GigE Device +#define MV_1394_DEVICE 0x00000002 ///< \~chinese 1394-a/b 设备 \~english 1394-a/b Device +#define MV_USB_DEVICE 0x00000004 ///< \~chinese USB 设备 \~english USB Device +#define MV_CAMERALINK_DEVICE 0x00000008 ///< \~chinese CamLink设备 \~english CamLink Device + +/// \~chinese GigE设备信息 \~english GigE device info +typedef struct _MV_GIGE_DEVICE_INFO_ +{ + unsigned int nIpCfgOption; + unsigned int nIpCfgCurrent; ///< \~chinese \~english IP configuration:bit31-static bit30-dhcp bit29-lla + unsigned int nCurrentIp; + unsigned int nCurrentSubNetMask; ///< \~chinese \~english curtent subnet mask + unsigned int nDefultGateWay; ///< \~chinese \~english current gateway + unsigned char chManufacturerName[32]; + unsigned char chModelName[32]; + unsigned char chDeviceVersion[32]; + unsigned char chManufacturerSpecificInfo[48]; + unsigned char chSerialNumber[16]; + unsigned char chUserDefinedName[16]; + unsigned int nNetExport; ///< \~chinese 网口IP地址 \~english NetWork IP Address + + unsigned int nReserved[4]; +}MV_GIGE_DEVICE_INFO; + +#define INFO_MAX_BUFFER_SIZE 64 + +/// \~chinese USB设备信息 \~english USB device info +typedef struct _MV_USB3_DEVICE_INFO_ +{ + unsigned char CrtlInEndPoint; ///< \~chinese 控制输入端点 \~english Control input endpoint + unsigned char CrtlOutEndPoint; ///< \~chinese 控制输出端点 \~english Control output endpoint + unsigned char StreamEndPoint; ///< \~chinese 流端点 \~english Flow endpoint + unsigned char EventEndPoint; ///< \~chinese 事件端点 \~english Event endpoint + unsigned short idVendor; ///< \~chinese 供应商ID号 \~english Vendor ID Number + unsigned short idProduct; ///< \~chinese 产品ID号 \~english Device ID Number + unsigned int nDeviceNumber; ///< \~chinese 设备序列号 \~english Device Serial Number + unsigned char chDeviceGUID[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 设备GUID号 \~english Device GUID Number + unsigned char chVendorName[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 供应商名字 \~english Vendor Name + unsigned char chModelName[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 型号名字 \~english Model Name + unsigned char chFamilyName[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 家族名字 \~english Family Name + unsigned char chDeviceVersion[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 设备版本号 \~english Device Version + unsigned char chManufacturerName[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 制造商名字 \~english Manufacturer Name + unsigned char chSerialNumber[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 序列号 \~english Serial Number + unsigned char chUserDefinedName[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 用户自定义名字 \~english User Defined Name + unsigned int nbcdUSB; ///< \~chinese 支持的USB协议 \~english Support USB Protocol + + unsigned int nReserved[3]; ///< \~chinese 保留字节 \~english Reserved bytes +}MV_USB3_DEVICE_INFO; + +/// \~chinese +/// \brief CamLink设备信息 +/// \~english +/// \brief CamLink device info +typedef struct _MV_CamL_DEV_INFO_ +{ + unsigned char chPortID[INFO_MAX_BUFFER_SIZE]; + unsigned char chModelName[INFO_MAX_BUFFER_SIZE]; + unsigned char chFamilyName[INFO_MAX_BUFFER_SIZE]; + unsigned char chDeviceVersion[INFO_MAX_BUFFER_SIZE]; + unsigned char chManufacturerName[INFO_MAX_BUFFER_SIZE]; + unsigned char chSerialNumber[INFO_MAX_BUFFER_SIZE]; + + unsigned int nReserved[38]; +}MV_CamL_DEV_INFO; + +/// \~chinese +/// \brief 设备信息 +/// \~english +/// \brief Device info +typedef struct _MV_CC_DEVICE_INFO_ +{ + unsigned short nMajorVer; + unsigned short nMinorVer; + unsigned int nMacAddrHigh; ///< \~chinese MAC 地址\~english MAC Address + unsigned int nMacAddrLow; + + unsigned int nTLayerType; ///< \~chinese 设备传输层协议类型，e.g. MV_GIGE_DEVICE\~english Device Transport Layer Protocol Type, e.g. MV_GIGE_DEVICE + + unsigned int nReserved[4]; + + union + { + MV_GIGE_DEVICE_INFO stGigEInfo; + MV_USB3_DEVICE_INFO stUsb3VInfo; + MV_CamL_DEV_INFO stCamLInfo; + // more ... + }SpecialInfo; + +}MV_CC_DEVICE_INFO; + +/// \~chinese 网络传输的相关信息\~english Network transmission information +typedef struct _MV_NETTRANS_INFO_ +{ + int64_t nReviceDataSize; ///< \~chinese 已接收数据大小 [统计StartGrabbing和StopGrabbing之间的数据量]\~english Received Data Size [Calculate the Data Size between StartGrabbing and StopGrabbing] + int nThrowFrameCount; ///< \~chinese 丢帧数量\~english Throw frame number + unsigned int nNetRecvFrameCount; + int64_t nRequestResendPacketCount; ///< \~chinese 请求重发包数 + int64_t nResendPacketCount; ///< \~chinese 重发包数 + +}MV_NETTRANS_INFO; + +#define MV_MAX_TLS_NUM 8 ///< \~chinese 最多支持的传输层实例个数\~english The maximum number of supported transport layer instances +#define MV_MAX_DEVICE_NUM 256 ///< \~chinese 最大支持的设备个数\~english The maximum number of supported devices + +/// \~chinese +/// \brief 设备信息列表 +/// \~english +/// \brief Device Information List +typedef struct _MV_CC_DEVICE_INFO_LIST_ +{ + unsigned int nDeviceNum; ///< \~chinese 在线设备数量\~english Online Device Number + MV_CC_DEVICE_INFO* pDeviceInfo[MV_MAX_DEVICE_NUM]; ///< \~chinese 支持最多256个设备\~english Support up to 256 devices + +}MV_CC_DEVICE_INFO_LIST; + + +/// \~chinese Chunk内容 \~english The content of ChunkData +typedef struct _MV_CHUNK_DATA_CONTENT_ +{ + unsigned char* pChunkData; + unsigned int nChunkID; + unsigned int nChunkLen; + + unsigned int nReserved[8]; // 保留 + +}MV_CHUNK_DATA_CONTENT; + +/// \~chinese 输出帧的信息\~english Output Frame Information +typedef struct _MV_FRAME_OUT_INFO_ +{ + unsigned short nWidth; ///< \~chinese 图像宽 \~english Image Width + unsigned short nHeight; ///< \~chinese 图像高 \~english Image Height + enum MvGvspPixelType enPixelType; ///< \~chinese 像素格式 \~english Pixel Type + + unsigned int nFrameNum; ///< \~chinese 帧号 \~english Frame Number + unsigned int nDevTimeStampHigh; ///< \~chinese 时间戳高32位\~english Timestamp high 32 bits + unsigned int nDevTimeStampLow; ///< \~chinese 时间戳低32位\~english Timestamp low 32 bits + unsigned int nReserved0; ///< \~chinese 保留，8字节对齐\~english Reserved, 8-byte aligned + int64_t nHostTimeStamp; ///< \~chinese 主机生成的时间戳\~english Host-generated timestamp + + unsigned int nFrameLen; + + unsigned int nLostPacket; ///< \~chinese 本帧丢包数\~english Lost Pacekt Number In This Frame + unsigned int nReserved[2]; +}MV_FRAME_OUT_INFO; + +/// \~chinese 输出帧的信息\~english Output Frame Information +typedef struct _MV_FRAME_OUT_INFO_EX_ +{ + unsigned short nWidth; ///< \~chinese 图像宽 \~english Image Width + unsigned short nHeight; ///< \~chinese 图像高 \~english Image Height + enum MvGvspPixelType enPixelType; ///< \~chinese 像素格式 \~english Pixel Type + + unsigned int nFrameNum; ///< \~chinese 帧号 \~english Frame Number + unsigned int nDevTimeStampHigh; ///< \~chinese 时间戳高32位\~english Timestamp high 32 bits + unsigned int nDevTimeStampLow; ///< \~chinese 时间戳低32位\~english Timestamp low 32 bits + unsigned int nReserved0; ///< \~chinese 保留，8字节对齐\~english Reserved, 8-byte aligned + int64_t nHostTimeStamp; ///< \~chinese 主机生成的时间戳\~english Host-generated timestamp + + unsigned int nFrameLen; + + /// \~chinese 设备水印时标\~english Device frame-specific time scale + unsigned int nSecondCount; + unsigned int nCycleCount; + unsigned int nCycleOffset; + + float fGain; + float fExposureTime; + unsigned int nAverageBrightness; ///< \~chinese 平均亮度\~english Average brightness + + /// \~chinese 白平衡相关\~english White balance + unsigned int nRed; + unsigned int nGreen; + unsigned int nBlue; + + unsigned int nFrameCounter; + unsigned int nTriggerIndex; ///< \~chinese 触发计数\~english Trigger Counting + + unsigned int nInput; ///< \~chinese 输入\~english Input + unsigned int nOutput; ///< \~chinese 输出\~english Output + + /// \~chinese ROI区域\~english ROI Region + unsigned short nOffsetX; + unsigned short nOffsetY; + unsigned short nChunkWidth; + unsigned short nChunkHeight; + + unsigned int nLostPacket; ///< \~chinese 本帧丢包数\~english Lost Pacekt Number In This Frame + + unsigned int nUnparsedChunkNum;///< \~chinese 未解析的Chunkdata个数 + union + { + MV_CHUNK_DATA_CONTENT* pUnparsedChunkContent; + int64_t nAligning; + }UnparsedChunkList; + + unsigned int nReserved[36]; // 保留 +}MV_FRAME_OUT_INFO_EX; + +/// \~chinese 图像结构体，输出图像指针地址及图像信息\~english Image Struct, output the pointer of Image and the information of the specific image +typedef struct _MV_FRAME_OUT_ +{ + unsigned char* pBufAddr; ///< \~chinese 图像指针地址\~english pointer of image + MV_FRAME_OUT_INFO_EX stFrameInfo; ///< \~chinese 图像信息\~english information of the specific image + + unsigned int nRes[16]; ///< \~chinese 保留\~english reserved +}MV_FRAME_OUT; + + +typedef struct _MV_DISPLAY_FRAME_INFO_ +{ + void* hWnd; ///< \~chinese 窗口句柄\~english HWND + unsigned char* pData; ///< \~chinese 显示的数据\~english Data Buffer + unsigned int nDataLen; ///< \~chinese 数据长度\~english Data Size + unsigned short nWidth; ///< \~chinese 图像宽\~english Width + unsigned short nHeight; ///< \~chinese 图像高\~english Height + enum MvGvspPixelType enPixelType; ///< \~chinese 像素格式\~english Pixel format + unsigned int nRes[4]; + +}MV_DISPLAY_FRAME_INFO; + +/// \~chinese 保存图片格式\~english Save image type +enum MV_SAVE_IAMGE_TYPE +{ + MV_Image_Undefined = 0, + MV_Image_Bmp = 1, + MV_Image_Jpeg = 2, + MV_Image_Png = 3, + MV_Image_Tif = 4, +}; + +/// \~chinese 图片保存参数\~english Save Image Parameters +typedef struct _MV_SAVE_IMAGE_PARAM_T_ +{ + unsigned char* pData; ///< [IN] \~chinese 输入数据缓存\~english Input Data Buffer + unsigned int nDataLen; ///< [IN] \~chinese 输入数据大小\~english Input Data Size + enum MvGvspPixelType enPixelType; ///< [IN] \~chinese 输入数据的像素格式\~english Input Data Pixel Format + unsigned short nWidth; ///< [IN] \~chinese 图像宽\~english Image Width + unsigned short nHeight; ///< [IN] \~chinese 图像高\~english Image Height + + unsigned char* pImageBuffer; ///< [OUT] \~chinese 输出图片缓存\~english Output Image Buffer + unsigned int nImageLen; ///< [OUT] \~chinese 输出图片大小\~english Output Image Size + unsigned int nBufferSize; ///< [IN] \~chinese 提供的输出缓冲区大小\~english Output buffer size provided + enum MV_SAVE_IAMGE_TYPE enImageType; ///< [IN] \~chinese 输出图片格式\~english Output Image Format + +}MV_SAVE_IMAGE_PARAM; + +/// \~chinese 图片保存参数\~english Save Image Parameters +typedef struct _MV_SAVE_IMAGE_PARAM_T_EX_ +{ + unsigned char* pData; ///< [IN] \~chinese 输入数据缓存\~english Input Data Buffer + unsigned int nDataLen; ///< [IN] \~chinese 输入数据大小\~english Input Data Size + enum MvGvspPixelType enPixelType; ///< [IN] \~chinese 输入数据的像素格式\~english Input Data Pixel Format + unsigned short nWidth; ///< [IN] \~chinese 图像宽\~english Image Width + unsigned short nHeight; ///< [IN] \~chinese 图像高\~english Image Height + + unsigned char* pImageBuffer; ///< [OUT] \~chinese 输出图片缓存\~english Output Image Buffer + unsigned int nImageLen; ///< [OUT] \~chinese 输出图片大小\~english Output Image Size + unsigned int nBufferSize; ///< [IN] \~chinese 提供的输出缓冲区大小\~english Output buffer size provided + enum MV_SAVE_IAMGE_TYPE enImageType; ///< [IN] \~chinese 输出图片格式\~english Output Image Format + unsigned int nJpgQuality; ///< [IN] \~chinese JPG编码质量(50-99]，其它格式无效\~english Encoding quality(50-99]，Other formats are invalid + + ///< [IN] \~chinese Bayer格式转为RGB24的插值方法 0-最近邻 1-双线性 2-Hamilton （如果传入其它值则默认为最近邻） + ///< [IN] \~english Interpolation method of convert Bayer to RGB24 0-nearest neighbour 1-bilinearity 2-Hamilton + unsigned int iMethodValue; + unsigned int nReserved[3]; + +}MV_SAVE_IMAGE_PARAM_EX; + +/// \~chinese 旋转角度 \~english Rotation angle +typedef enum _MV_IMG_ROTATION_ANGLE_ +{ + MV_IMAGE_ROTATE_90 = 1, + MV_IMAGE_ROTATE_180 = 2, + MV_IMAGE_ROTATE_270 = 3, + +}MV_IMG_ROTATION_ANGLE; + +/// \~chinese 图像旋转结构体 \~english Rotate image structure +typedef struct _MV_CC_ROTATE_IMAGE_PARAM_T_ +{ + enum MvGvspPixelType enPixelType; ///< [IN] \~chinese 像素格式 \~english Pixel format + unsigned int nWidth; ///< [IN][OUT] \~chinese 图像宽 \~english Width + unsigned int nHeight; ///< [IN][OUT] \~chinese 图像高 \~english Height + + unsigned char* pSrcData; ///< [IN] \~chinese 输入数据缓存 \~english Input data buffer + unsigned int nSrcDataLen; ///< [IN] \~chinese 输入数据长度 \~english Input data length + + unsigned char* pDstBuf; ///< [OUT] \~chinese 输出数据缓存 \~english Output data buffer + unsigned int nDstBufLen; ///< [OUT] \~chinese 输出数据长度 \~english Output data length + unsigned int nDstBufSize; ///< [IN] \~chinese 提供的输出缓冲区大小 \~english Provided output buffer size + + MV_IMG_ROTATION_ANGLE enRotationAngle; ///< [IN] \~chinese 旋转角度 \~english Rotation angle + + unsigned int nRes[8]; ///< \~chinese 预留 \~english Reserved + +}MV_CC_ROTATE_IMAGE_PARAM; + +/// \~chinese 翻转类型 \~english Flip type +typedef enum _MV_IMG_FLIP_TYPE_ +{ + MV_FLIP_VERTICAL = 1, + MV_FLIP_HORIZONTAL = 2, + +}MV_IMG_FLIP_TYPE; + +/// \~chinese 图像翻转结构体 \~english Flip image structure +typedef struct _MV_CC_FLIP_IMAGE_PARAM_T_ +{ + enum MvGvspPixelType enPixelType; ///< [IN] \~chinese 像素格式 \~english Pixel format + unsigned int nWidth; ///< [IN] \~chinese 图像宽 \~english Width + unsigned int nHeight; ///< [IN] \~chinese 图像高 \~english Height + + unsigned char* pSrcData; ///< [IN] \~chinese 输入数据缓存 \~english Input data buffer + unsigned int nSrcDataLen; ///< [IN] \~chinese 输入数据长度 \~english Input data length + + unsigned char* pDstBuf; ///< [OUT] \~chinese 输出数据缓存 \~english Output data buffer + unsigned int nDstBufLen; ///< [OUT] \~chinese 输出数据长度 \~english Output data length + unsigned int nDstBufSize; ///< [IN] \~chinese 提供的输出缓冲区大小 \~english Provided output buffer size + + MV_IMG_FLIP_TYPE enFlipType; ///< [IN] \~chinese 翻转类型 \~english Flip type + + unsigned int nRes[8]; ///< \~chinese 预留 \~english Reserved + +}MV_CC_FLIP_IMAGE_PARAM; + + +/// \~chinese 图像转换结构体 \~english Pixel convert structure +typedef struct _MV_PIXEL_CONVERT_PARAM_T_ +{ + unsigned short nWidth; ///< [IN] \~chinese 图像宽 \~english Width + unsigned short nHeight; ///< [IN] \~chinese 图像高\~english Height + + enum MvGvspPixelType enSrcPixelType; ///< [IN] \~chinese 源像素格式\~english Source pixel format + unsigned char* pSrcData; ///< [IN] \~chinese 输入数据缓存\~english Input data buffer + unsigned int nSrcDataLen; ///< [IN] \~chinese 输入数据大小\~english Input data size + + enum MvGvspPixelType enDstPixelType; ///< [IN] \~chinese 目标像素格式\~english Destination pixel format + unsigned char* pDstBuffer; ///< [OUT] \~chinese 输出数据缓存\~english Output data buffer + unsigned int nDstLen; ///< [OUT] \~chinese 输出数据大小\~english Output data size + unsigned int nDstBufferSize; ///< [IN] \~chinese 提供的输出缓冲区大小\~english Provided outbut buffer size + + unsigned int nRes[4]; +}MV_CC_PIXEL_CONVERT_PARAM; + +/// \~chinese Gamma类型 \~english Gamma type +typedef enum _MV_CC_GAMMA_TYPE_ +{ + MV_CC_GAMMA_TYPE_NONE = 0, ///< \~chinese 不启用 \~english Disable + MV_CC_GAMMA_TYPE_VALUE = 1, ///< \~chinese Gamma值 \~english Gamma value + MV_CC_GAMMA_TYPE_USER_CURVE = 2, ///< \~chinese Gamma曲线 \~english Gamma curve + ///< \~chinese 长度：256*sizeof(unsigned char) \~english 8bit,length:256*sizeof(unsigned char) + MV_CC_GAMMA_TYPE_LRGB2SRGB = 3, ///< \~chinese linear RGB to sRGB \~english linear RGB to sRGB + MV_CC_GAMMA_TYPE_SRGB2LRGB = 4, ///< \~chinese sRGB to linear RGB(仅色彩插值时支持，色彩校正时无效) \~english sRGB to linear RGB + +}MV_CC_GAMMA_TYPE; + +// Gamma信息 +/// \~chinese Gamma信息结构体 \~english Gamma info structure +typedef struct _MV_CC_GAMMA_PARAM_T_ +{ + MV_CC_GAMMA_TYPE enGammaType; ///< [IN] \~chinese Gamma类型 \~english Gamma type + float fGammaValue; ///< [IN] \~chinese Gamma值[0.1,4.0] \~english Gamma value[0.1,4.0] + unsigned char* pGammaCurveBuf; ///< [IN] \~chinese Gamma曲线缓存 \~english Gamma curve buffer + unsigned int nGammaCurveBufLen; ///< [IN] \~chinese Gamma曲线长度 \~english Gamma curve buffer size + + unsigned int nRes[8]; ///< \~chinese 预留 \~english Reserved + +}MV_CC_GAMMA_PARAM; + +/// \~chinese 水印信息 \~english Frame-specific information +typedef struct _MV_CC_FRAME_SPEC_INFO_ +{ + /// \~chinese 设备水印时标 \~english Device frame-specific time scale + unsigned int nSecondCount; ///< [OUT] \~chinese 秒数 \~english The Seconds + unsigned int nCycleCount; ///< [OUT] \~chinese 周期数 \~english The Count of Cycle + unsigned int nCycleOffset; ///< [OUT] \~chinese 周期偏移量 \~english The Offset of Cycle + + float fGain; ///< [OUT] \~chinese 增益 \~english Gain + float fExposureTime; ///< [OUT] \~chinese 曝光时间 \~english Exposure Time + unsigned int nAverageBrightness; ///< [OUT] \~chinese 平均亮度 \~english Average brightness + + /// \~chinese 白平衡相关 \~english White balance + unsigned int nRed; ///< [OUT] \~chinese 红色 \~english Red + unsigned int nGreen; ///< [OUT] \~chinese 绿色 \~english Green + unsigned int nBlue; ///< [OUT] \~chinese 蓝色 \~english Blue + + unsigned int nFrameCounter; ///< [OUT] \~chinese 总帧数 \~english Frame Counter + unsigned int nTriggerIndex; ///< [OUT] \~chinese 触发计数 \~english Trigger Counting + + unsigned int nInput; ///< [OUT] \~chinese 输入 \~english Input + unsigned int nOutput; ///< [OUT] \~chinese 输出 \~english Output + + /// \~chinese ROI区域 \~english ROI Region + unsigned short nOffsetX; ///< [OUT] \~chinese 水平偏移量 \~english OffsetX + unsigned short nOffsetY; ///< [OUT] \~chinese 垂直偏移量 \~english OffsetY + unsigned short nFrameWidth; ///< [OUT] \~chinese 水印宽 \~english The Width of Chunk + unsigned short nFrameHeight; ///< [OUT] \~chinese 水印高 \~english The Height of Chunk + + unsigned int nReserved[16]; ///< \~chinese 预留 \~english Reserved + +}MV_CC_FRAME_SPEC_INFO; + +/// \~chinese 无损解码参数 \~english High Bandwidth decode structure +typedef struct _MV_CC_HB_DECODE_PARAM_T_ +{ + unsigned char* pSrcBuf; ///< [IN] \~chinese 输入数据缓存 \~english Input data buffer + unsigned int nSrcLen; ///< [IN] \~chinese 输入数据大小 \~english Input data size + + unsigned int nWidth; ///< [OUT] \~chinese 图像宽 \~english Width + unsigned int nHeight; ///< [OUT] \~chinese 图像高 \~english Height + unsigned char* pDstBuf; ///< [OUT] \~chinese 输出数据缓存 \~english Output data buffer + unsigned int nDstBufSize; ///< [IN] \~chinese 提供的输出缓冲区大小 \~english Provided output buffer size + unsigned int nDstBufLen; ///< [OUT] \~chinese 输出数据大小 \~english Output data size + enum MvGvspPixelType enDstPixelType; ///< [OUT] \~chinese 输出的像素格式 \~english Output pixel format + + MV_CC_FRAME_SPEC_INFO stFrameSpecInfo; ///< [OUT] \~chinese 水印信息 \~english Frame Spec Info + + unsigned int nRes[8]; ///< \~chinese 预留 \~english Reserved + +}MV_CC_HB_DECODE_PARAM; + +/// \~chinese 录像格式定义\~english Record Format Type +typedef enum _MV_RECORD_FORMAT_TYPE_ +{ + MV_FormatType_Undefined = 0, + MV_FormatType_AVI = 1, + +}MV_RECORD_FORMAT_TYPE; + +/// \~chinese 录像参数\~english Record Parameters +typedef struct _MV_CC_RECORD_PARAM_T_ +{ + enum MvGvspPixelType enPixelType; ///< [IN] \~chinese 输入数据的像素格式 + + unsigned short nWidth; ///< [IN] \~chinese 图像宽(指定目标参数时需为2的倍数) + unsigned short nHeight; ///< [IN] \~chinese 图像高(指定目标参数时需为2的倍数) + + float fFrameRate; ///< [IN] \~chinese 帧率fps(1/16-120) + unsigned int nBitRate; ///< [IN] \~chinese 码率kbps(128kbps-16Mbps) + + MV_RECORD_FORMAT_TYPE enRecordFmtType; ///< [IN] \~chinese 录像格式 + + char* strFilePath; ///< [IN] \~chinese 录像文件存放路径(如果路径中存在中文，需转成utf-8) + + unsigned int nRes[8]; + +}MV_CC_RECORD_PARAM; + +/// \~chinese 录像数据\~english Record Data +typedef struct _MV_CC_INPUT_FRAME_INFO_T_ +{ + unsigned char* pData; ///< [IN] \~chinese 图像数据指针 + unsigned int nDataLen; ///< [IN] \~chinese 图像大小 + + unsigned int nRes[8]; + +}MV_CC_INPUT_FRAME_INFO; + +/// \~chinese 采集模式\~english Acquisition mode +typedef enum _MV_CAM_ACQUISITION_MODE_ +{ + MV_ACQ_MODE_SINGLE = 0, ///< \~chinese 单帧模式\~english Single Mode + MV_ACQ_MODE_MUTLI = 1, ///< \~chinese 多帧模式\~english Multi Mode + MV_ACQ_MODE_CONTINUOUS = 2, ///< \~chinese 持续采集模式\~english Continuous Mode + +}MV_CAM_ACQUISITION_MODE; + +/// \~chinese 增益模式\~english Gain Mode +typedef enum _MV_CAM_GAIN_MODE_ +{ + MV_GAIN_MODE_OFF = 0, ///< \~chinese 关闭\~english Single Mode + MV_GAIN_MODE_ONCE = 1, ///< \~chinese 一次\~english Multi Mode + MV_GAIN_MODE_CONTINUOUS = 2, ///< \~chinese 连续\~english Continuous Mode + +}MV_CAM_GAIN_MODE; + +/// \~chinese 曝光模式\~english Exposure Mode +typedef enum _MV_CAM_EXPOSURE_MODE_ +{ + MV_EXPOSURE_MODE_TIMED = 0, ///< Timed + MV_EXPOSURE_MODE_TRIGGER_WIDTH = 1, ///< TriggerWidth +}MV_CAM_EXPOSURE_MODE; + +/// \~chinese 自动曝光模式 \~english Auto Exposure Mode +typedef enum _MV_CAM_EXPOSURE_AUTO_MODE_ +{ + MV_EXPOSURE_AUTO_MODE_OFF = 0, ///< \~chinese 关闭\~english Off + MV_EXPOSURE_AUTO_MODE_ONCE = 1, ///< \~chinese 一次\~english Once + MV_EXPOSURE_AUTO_MODE_CONTINUOUS = 2, ///< \~chinese 连续\~english Continuous + +}MV_CAM_EXPOSURE_AUTO_MODE; + +/// \~chinese 触发模式 \~english Trigger Mode +typedef enum _MV_CAM_TRIGGER_MODE_ +{ + MV_TRIGGER_MODE_OFF = 0, ///< \~chinese 关闭\~english Off + MV_TRIGGER_MODE_ON = 1, ///< \~chinese 打开\~english ON + +}MV_CAM_TRIGGER_MODE; + +typedef enum _MV_CAM_GAMMA_SELECTOR_ +{ + MV_GAMMA_SELECTOR_USER = 1, + MV_GAMMA_SELECTOR_SRGB = 2, + +}MV_CAM_GAMMA_SELECTOR; + +typedef enum _MV_CAM_BALANCEWHITE_AUTO_ +{ + MV_BALANCEWHITE_AUTO_OFF = 0, + MV_BALANCEWHITE_AUTO_ONCE = 2, + MV_BALANCEWHITE_AUTO_CONTINUOUS = 1, ///< \~chinese 连续\~english Continuous + +}MV_CAM_BALANCEWHITE_AUTO; + +typedef enum _MV_CAM_TRIGGER_SOURCE_ +{ + MV_TRIGGER_SOURCE_LINE0 = 0, + MV_TRIGGER_SOURCE_LINE1 = 1, + MV_TRIGGER_SOURCE_LINE2 = 2, + MV_TRIGGER_SOURCE_LINE3 = 3, + MV_TRIGGER_SOURCE_COUNTER0 = 4, + + MV_TRIGGER_SOURCE_SOFTWARE = 7, + MV_TRIGGER_SOURCE_FrequencyConverter= 8, + +}MV_CAM_TRIGGER_SOURCE; + +typedef enum _MV_GIGE_TRANSMISSION_TYPE_ +{ + MV_GIGE_TRANSTYPE_UNICAST = 0x0, ///< \~chinese 表示单播(默认)\~english Unicast mode + MV_GIGE_TRANSTYPE_MULTICAST = 0x1, ///< \~chinese 表示组播\~english Multicast mode + MV_GIGE_TRANSTYPE_LIMITEDBROADCAST = 0x2, ///< \~chinese 表示局域网内广播，暂不支持\~english Limited broadcast mode,not support + MV_GIGE_TRANSTYPE_SUBNETBROADCAST = 0x3, ///< \~chinese 表示子网内广播，暂不支持\~english Subnet broadcast mode,not support + MV_GIGE_TRANSTYPE_CAMERADEFINED = 0x4, ///< \~chinese 表示从相机获取，暂不支持\~english Transtype from camera,not support + MV_GIGE_TRANSTYPE_UNICAST_DEFINED_PORT = 0x5, ///< \~chinese 表示用户自定义应用端接收图像数据Port号\~english User Defined Receive Data Port + MV_GIGE_TRANSTYPE_UNICAST_WITHOUT_RECV = 0x00010000, ///< \~chinese 表示设置了单播，但本实例不接收图像数据\~english Unicast without receive data + MV_GIGE_TRANSTYPE_MULTICAST_WITHOUT_RECV = 0x00010001, ///< \~chinese 表示组播模式，但本实例不接收图像数据\~english Multicast without receive data +}MV_GIGE_TRANSMISSION_TYPE; +// GigEVision IP Configuration +#define MV_IP_CFG_STATIC 0x05000000 +#define MV_IP_CFG_DHCP 0x06000000 +#define MV_IP_CFG_LLA 0x04000000 + +// GigEVision Net Transfer Mode +#define MV_NET_TRANS_DRIVER 0x00000001 +#define MV_NET_TRANS_SOCKET 0x00000002 + +// CameraLink Baud Rates (CLUINT32) +#define MV_CAML_BAUDRATE_9600 0x00000001 +#define MV_CAML_BAUDRATE_19200 0x00000002 +#define MV_CAML_BAUDRATE_38400 0x00000004 +#define MV_CAML_BAUDRATE_57600 0x00000008 +#define MV_CAML_BAUDRATE_115200 0x00000010 +#define MV_CAML_BAUDRATE_230400 0x00000020 +#define MV_CAML_BAUDRATE_460800 0x00000040 +#define MV_CAML_BAUDRATE_921600 0x00000080 +#define MV_CAML_BAUDRATE_AUTOMAX 0x40000000 + +/// \~chinese 信息类型\~english Information Type +#define MV_MATCH_TYPE_NET_DETECT 0x00000001 ///< \~chinese 网络流量和丢包信息\~english Network traffic and packet loss information +#define MV_MATCH_TYPE_USB_DETECT 0x00000002 ///< \~chinese host接收到来自U3V设备的字节总数\~english The total number of bytes host received from U3V device + +/// \~chinese 某个节点对应的子节点个数最大值\~english The maximum number of child nodes corresponding to a node +#define MV_MAX_XML_NODE_NUM_C 128 + +/// \~chinese 节点名称字符串最大长度\~english The maximum length of node name string +#define MV_MAX_XML_NODE_STRLEN_C 64 + +/// \~chinese 节点String值最大长度\~english The maximum length of Node String +#define MV_MAX_XML_STRVALUE_STRLEN_C 64 + +/// \~chinese 节点描述字段最大长度\~english The maximum length of the node description field +#define MV_MAX_XML_DISC_STRLEN_C 512 + +/// \~chinese 最多的单元数\~englishThe maximum number of units +#define MV_MAX_XML_ENTRY_NUM 10 + +/// \~chinese 父节点个数上限\~english The maximum number of parent nodes +#define MV_MAX_XML_PARENTS_NUM 8 + +/// \~chinese 每个已经实现单元的名称长度\~english The length of the name of each unit that has been implemented +#define MV_MAX_XML_SYMBOLIC_STRLEN_C 64 + +#define MV_MAX_XML_SYMBOLIC_NUM 64 + + +/// \~chinese 全匹配的一种信息结构体\~english A fully matched information structure +typedef struct _MV_ALL_MATCH_INFO_ +{ + unsigned int nType; ///< \~chinese 需要输出的信息类型，e.g. MV_MATCH_TYPE_NET_DETECT\~english Information type need to output ,e.g. MV_MATCH_TYPE_NET_DETECT + void* pInfo; ///< \~chinese 输出的信息缓存，由调用者分配\~english Output information cache, which is allocated by the caller + unsigned int nInfoSize; ///< \~chinese 信息缓存的大小\~english Information cache size + +}MV_ALL_MATCH_INFO; + + + +/// \~chinese 网络流量和丢包信息反馈结构体，对应类型为 MV_MATCH_TYPE_NET_DETECT +/// \~en:Network traffic and packet loss feedback structure, the corresponding type is MV_MATCH_TYPE_NET_DETECT +typedef struct _MV_MATCH_INFO_NET_DETECT_ +{ + int64_t nReviceDataSize; ///< \~chinese 已接收数据大小 [统计StartGrabbing和StopGrabbing之间的数据量]\~english Received data size + int64_t nLostPacketCount; ///< \~chinese 丢失的包数量\~english Number of packets lost + unsigned int nLostFrameCount; ///< \~chinese 丢帧数量\~english Number of frames lost + unsigned int nNetRecvFrameCount; ///< \~chinese 保留\~english Reserved + int64_t nRequestResendPacketCount; ///< \~chinese 请求重发包数 + int64_t nResendPacketCount; ///< \~chinese 重发包数 +}MV_MATCH_INFO_NET_DETECT; + +/// \~chinese host收到从u3v设备端的总字节数，对应类型为 MV_MATCH_TYPE_USB_DETECT\~english The total number of bytes host received from the u3v device side, the corresponding type is MV_MATCH_TYPE_USB_DETECT +typedef struct _MV_MATCH_INFO_USB_DETECT_ +{ + int64_t nReviceDataSize; ///< \~chinese 已接收数据大小 [统计OpenDevicce和CloseDevice之间的数据量]\~english Received data size + unsigned int nRevicedFrameCount; ///< \~chinese 已收到的帧数\~english Number of frames received + unsigned int nErrorFrameCount; ///< \~chinese 错误帧数\~english Number of error frames + unsigned int nReserved[2]; ///< \~chinese 保留\~english Reserved +}MV_MATCH_INFO_USB_DETECT; + +typedef struct _MV_IMAGE_BASIC_INFO_ +{ + // width + unsigned short nWidthValue; + unsigned short nWidthMin; + unsigned int nWidthMax; + unsigned int nWidthInc; + + // height + unsigned int nHeightValue; + unsigned int nHeightMin; + unsigned int nHeightMax; + unsigned int nHeightInc; + + // framerate + float fFrameRateValue; + float fFrameRateMin; + float fFrameRateMax; + + /// \~chinese 像素格式\~english pixel format + unsigned int enPixelType; ///< \~chinese 当前的像素格式\~english Current pixel format + unsigned int nSupportedPixelFmtNum; ///< \~chinese 支持的像素格式种类\~english Support pixel format + unsigned int enPixelList[MV_MAX_XML_SYMBOLIC_NUM]; + unsigned int nReserved[8]; + +}MV_IMAGE_BASIC_INFO; + +/// \~chinese 异常消息类型\~english Exception message type +#define MV_EXCEPTION_DEV_DISCONNECT 0x00008001 ///< \~chinese 设备断开连接\~english The device is disconnected +#define MV_EXCEPTION_VERSION_CHECK 0x00008002 ///< \~chinese SDK与驱动版本不匹配\~english SDK does not match the driver version +/// \~chinese 设备的访问模式\~english Device Access Mode +/// \~chinese 独占权限，其他APP只允许读CCP寄存器\~english Exclusive authority, other APP is only allowed to read the CCP register +#define MV_ACCESS_Exclusive 1 +/// \~chinese 可以从5模式下抢占权限，然后以独占权限打开\~english You can seize the authority from the 5 mode, and then open with exclusive authority +#define MV_ACCESS_ExclusiveWithSwitch 2 +/// \~chinese 控制权限，其他APP允许读所有寄存器\~english Control authority, allows other APP reading all registers +#define MV_ACCESS_Control 3 +/// \~chinese 可以从5的模式下抢占权限，然后以控制权限打开\~english You can seize the authority from the 5 mode, and then open with control authority +#define MV_ACCESS_ControlWithSwitch 4 +/// \~chinese 以可被抢占的控制权限打开\~english Open with seized control authority +#define MV_ACCESS_ControlSwitchEnable 5 +/// \~chinese 可以从5的模式下抢占权限，然后以可被抢占的控制权限打开\~english You can seize the authority from the 5 mode, and then open with seized control authority +#define MV_ACCESS_ControlSwitchEnableWithKey 6 +/// \~chinese 读模式打开设备，适用于控制权限下\~english Open with read mode and is available under control authority +#define MV_ACCESS_Monitor 7 + + +/************************************************************************/ +/* 封装了GenICam的C接口相关参数定义 */ +/* Package of GenICam C interface-related parameters definition */ +/************************************************************************/ + +/// \~chinese 每个节点对应的接口类型\~english Interface type corresponds to each node +enum MV_XML_InterfaceType +{ + IFT_IValue, //!> IValue interface + IFT_IBase, //!> IBase interface + IFT_IInteger, //!> IInteger interface + IFT_IBoolean, //!> IBoolean interface + IFT_ICommand, //!> ICommand interface + IFT_IFloat, //!> IFloat interface + IFT_IString, //!> IString interface + IFT_IRegister, //!> IRegister interface + IFT_ICategory, //!> ICategory interface + IFT_IEnumeration, //!> IEnumeration interface + IFT_IEnumEntry, //!> IEnumEntry interface + IFT_IPort, //!> IPort interface +}; + +/// \~chinese 节点的访问模式\~english Node Access Mode +enum MV_XML_AccessMode +{ + AM_NI, //!< Not implemented + AM_NA, //!< Not available + AM_WO, //!< Write Only + AM_RO, //!< Read Only + AM_RW, //!< Read and Write + AM_Undefined, //!< Object is not yet initialized + AM_CycleDetect, //!< used internally for AccessMode cycle detection +}; + +/// \~chinese 节点的可见性权限\~english Node Visible Permission +enum MV_XML_Visibility +{ + V_Beginner = 0, //!< Always visible + V_Expert = 1, //!< Visible for experts or Gurus + V_Guru = 2, //!< Visible for Gurus + V_Invisible = 3, //!< Not Visible + V_Undefined = 99 //!< Object is not yet initialized +}; + +/// \~chinese Event事件回调信息\~english Event callback infomation +#define MAX_EVENT_NAME_SIZE 128 // 相机Event事件名称最大长度\~english Max length of event name + +typedef struct _MV_EVENT_OUT_INFO_ +{ + char EventName[MAX_EVENT_NAME_SIZE]; ///< \~chinese Event名称\~english Event name + + unsigned short nEventID; ///< \~chinese Event号\~english Event ID + unsigned short nStreamChannel; ///< \~chinese 流通道序号\~english Circulation number + + unsigned int nBlockIdHigh; ///< \~chinese 帧号高位\~english BlockId high + unsigned int nBlockIdLow; ///< \~chinese 帧号低位\~english BlockId low + + unsigned int nTimestampHigh; ///< \~chinese 时间戳高位\~english Timestramp high + unsigned int nTimestampLow; ///< \~chinese 时间戳低位\~english Timestramp low + + void* pEventData; ///< \~chinese Event数据\~english Event data + unsigned int nEventDataSize; ///< \~chinese Event数据长度\~english Event data len + + unsigned int nReserved[16]; ///< \~chinese 预留\~english Reserved +}MV_EVENT_OUT_INFO; + +/// \~chinese 文件存取\~english File Access +typedef struct _MV_CC_FILE_ACCESS_T +{ + const char* pUserFileName; ///< \~chinese 用户文件名\~english User file name + const char* pDevFileName; ///< \~chinese 设备文件名\~english Device file name + + unsigned int nReserved[32]; ///< \~chinese 预留\~english Reserved +}MV_CC_FILE_ACCESS; + +/// \~chinese 文件存取进度\~english File Access Progress +typedef struct _MV_CC_FILE_ACCESS_PROGRESS_T +{ + int64_t nCompleted; ///< \~chinese 已完成的长度\~english Completed Length + int64_t nTotal; ///< \~chinese 总长度\~english Total Length + + unsigned int nReserved[8]; ///< \~chinese 预留\~english Reserved +}MV_CC_FILE_ACCESS_PROGRESS; + + + +/// \~chinese 传输模式，可以为单播模式、组播模式等\~english Transmission type +typedef struct _MV_TRANSMISSION_TYPE_T +{ + MV_GIGE_TRANSMISSION_TYPE enTransmissionType; ///< \~chinese 传输模式\~english Transmission type + unsigned int nDestIp; ///< \~chinese 目标IP，组播模式下有意义\~english Destination IP + unsigned short nDestPort; ///< \~chinese 目标Port，组播模式下有意义\~english Destination port + + unsigned int nReserved[32]; ///< \~chinese 预留\~english Reserved +}MV_TRANSMISSION_TYPE; + +/// \~chinese 动作命令信息\~english Action Command +typedef struct _MV_ACTION_CMD_INFO_T +{ + unsigned int nDeviceKey; ///< \~chinese 设备密钥 + unsigned int nGroupKey; ///< \~chinese 组键 + unsigned int nGroupMask; ///< \~chinese 组掩码 + + unsigned int bActionTimeEnable; ///< \~chinese 只有设置成1时Action Time才有效，非1时无效 + int64_t nActionTime; ///< \~chinese 预定的时间，和主频有关 + + const char* pBroadcastAddress; ///< \~chinese 广播包地址 + unsigned int nTimeOut; ///< \~chinese 等待ACK的超时时间，如果为0表示不需要ACK + + unsigned int bSpecialNetEnable; ///< [IN] \~chinese 只有设置成1时指定的网卡IP才有效，非1时无效 \~english Special IP Enable + unsigned int nSpecialNetIP; ///< [IN] \~chinese 指定的网卡IP \~english Special Net IP address + + unsigned int nReserved[14]; ///< \~chinese 预留\~english Reserved + +}MV_ACTION_CMD_INFO; + +/// \~chinese 动作命令返回信息\~english Action Command Result +typedef struct _MV_ACTION_CMD_RESULT_T +{ + unsigned char strDeviceAddress[12 + 3 + 1]; ///< IP address of the device + + //status code returned by the device + int nStatus;//1.0x0000:success. + //2.0x8001:Command is not supported by the device. + //3.0x8013:The device is not synchronized to a master clock to be used as time reference. + //4.0x8015:A device queue or packet data has overflowed. + //5.0x8016:The requested scheduled action command was requested at a time that is already past. + + unsigned int nReserved[4]; ///< \~chinese 预留\~english Reserved + +}MV_ACTION_CMD_RESULT; + +/// \~chinese 动作命令返回信息列表\~english Action Command Result List +typedef struct _MV_ACTION_CMD_RESULT_LIST_T +{ + unsigned int nNumResults; ///< \~chinese 返回值个数 + MV_ACTION_CMD_RESULT* pResults; + +}MV_ACTION_CMD_RESULT_LIST; + +// ch:单个节点基本属性 | en:Single Node Basic Attributes +typedef struct _MV_XML_NODE_FEATURE_ +{ + enum MV_XML_InterfaceType enType; ///< \~chinese 节点类型\~english Node Type + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Is visibility + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 节点描述，目前暂不支持\~english Node Description, NOT SUPPORT NOW + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 显示名称\~english Display Name + char strName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 节点名\~english Node Name + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 提示\~english Notice + + unsigned int nReserved[4]; +}MV_XML_NODE_FEATURE; + +/// \~chinese 节点列表\~english Node List +typedef struct _MV_XML_NODES_LIST_ +{ + unsigned int nNodeNum; ///< \~chinese 节点个数\~english Node Number + MV_XML_NODE_FEATURE stNodes[MV_MAX_XML_NODE_NUM_C]; +}MV_XML_NODES_LIST; + + + +typedef struct _MV_XML_FEATURE_Value_ +{ + enum MV_XML_InterfaceType enType; ///< \~chinese节点类型\~english Node Type + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese节点描述 目前暂不支持\~english Node Description, NOT SUPPORT NOW + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 显示名称\~english Display Name + char strName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 节点名\~english Node Name + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 提示\~english Notice + unsigned int nReserved[4]; +}MV_XML_FEATURE_Value; + +typedef struct _MV_XML_FEATURE_Base_ +{ + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode +}MV_XML_FEATURE_Base; + +typedef struct _MV_XML_FEATURE_Integer_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + int64_t nValue; ///< \~chinese 当前值\~english Current Value + int64_t nMinValue; ///< \~chinese 最小值\~english Min Value + int64_t nMaxValue; ///< \~chinese 最大值\~english Max Value + int64_t nIncrement; ///< \~chinese 增量\~english Increment + + unsigned int nReserved[4]; + +}MV_XML_FEATURE_Integer; + +typedef struct _MV_XML_FEATURE_Boolean_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + bool bValue; ///< \~chinese 当前值\~english Current Value + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Boolean; + +typedef struct _MV_XML_FEATURE_Command_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Command; + +typedef struct _MV_XML_FEATURE_Float_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + double dfValue; ///< \~chinese 当前值\~english Current Value + double dfMinValue; ///< \~chinese 最小值\~english Min Value + double dfMaxValue; ///< \~chinese 最大值\~english Max Value + double dfIncrement; ///< \~chinese 增量\~english Increment + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Float; + +typedef struct _MV_XML_FEATURE_String_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + char strValue[MV_MAX_XML_STRVALUE_STRLEN_C]; ///< \~chinese 当前值\~english Current Value + + unsigned int nReserved[4]; +}MV_XML_FEATURE_String; + +typedef struct _MV_XML_FEATURE_Register_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + int64_t nAddrValue; ///< \~chinese 当前值\~english Current Value + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Register; + +typedef struct _MV_XML_FEATURE_Category_ +{ + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 节点描述 目前暂不支持\~english Node Description, NOT SUPPORT NOW + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 显示名称\~english Display Name + char strName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 节点名\~english Node Name + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 提示\~english Notice + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Category; + +typedef struct _MV_XML_FEATURE_EnumEntry_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + int bIsImplemented; + int nParentsNum; + MV_XML_NODE_FEATURE stParentsList[MV_MAX_XML_PARENTS_NUM]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + int64_t nValue; ///< \~chinese 当前值\~english Current Value + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + int nReserved[8]; + +}MV_XML_FEATURE_EnumEntry; + + +typedef struct _MV_XML_FEATURE_Enumeration_ +{ + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 节点描述 目前暂不支持\~english Node Description, NOT SUPPORT NOW + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 显示名称\~english Display Name + char strName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 节点名\~english Node Name + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 提示\~english Notice + + int nSymbolicNum; ///< \~chinese Symbolic数\~english Symbolic Number + char strCurrentSymbolic[MV_MAX_XML_SYMBOLIC_STRLEN_C]; ///< \~chinese 当前Symbolic索引\~english Current Symbolic Index + char strSymbolic[MV_MAX_XML_SYMBOLIC_NUM][MV_MAX_XML_SYMBOLIC_STRLEN_C]; + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + int64_t nValue; ///< \~chinese 当前值\~english Current Value + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Enumeration; + + +typedef struct _MV_XML_FEATURE_Port_ +{ + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 节点描述 目前暂不支持\~english Node Description, NOT SUPPORT NOW + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 显示名称\~english Display Name + char strName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 节点名\~english Node Name + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 提示\~english Notice + + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Port; + +typedef struct _MV_XML_CAMERA_FEATURE_ +{ + enum MV_XML_InterfaceType enType; + union + { + MV_XML_FEATURE_Integer stIntegerFeature; + MV_XML_FEATURE_Float stFloatFeature; + MV_XML_FEATURE_Enumeration stEnumerationFeature; + MV_XML_FEATURE_String stStringFeature; + }SpecialFeature; + +}MV_XML_CAMERA_FEATURE; + +typedef struct _MVCC_ENUMVALUE_T +{ + unsigned int nCurValue; ///< \~chinese 当前值\~english Current Value + unsigned int nSupportedNum; ///< \~chinese 数据的有效数据个数\~english Number of valid data + unsigned int nSupportValue[MV_MAX_XML_SYMBOLIC_NUM]; + + unsigned int nReserved[4]; +}MVCC_ENUMVALUE; + +typedef struct _MVCC_INTVALUE_T +{ + unsigned int nCurValue; ///< \~chinese 当前值\~english Current Value + unsigned int nMax; + unsigned int nMin; + unsigned int nInc; + + unsigned int nReserved[4]; +}MVCC_INTVALUE; + +typedef struct _MVCC_INTVALUE_EX_T +{ + int64_t nCurValue; ///< \~chinese 当前值\~english Current Value + int64_t nMax; + int64_t nMin; + int64_t nInc; + + unsigned int nReserved[16]; +}MVCC_INTVALUE_EX; + +typedef struct _MVCC_FLOATVALUE_T +{ + float fCurValue; ///< \~chinese 当前值\~english Current Value + float fMax; + float fMin; + + unsigned int nReserved[4]; +}MVCC_FLOATVALUE; + +typedef struct _MVCC_STRINGVALUE_T +{ + char chCurValue[256]; ///< \~chinese 当前值\~english Current Value + + int64_t nMaxLength; + unsigned int nReserved[2]; +}MVCC_STRINGVALUE; + +#endif /* _MV_CAMERA_PARAMS_H_ */ diff --git a/src/ros2_hik_camera/hikSDK/include/MvCameraControl.h b/src/ros2_hik_camera/hikSDK/include/MvCameraControl.h new file mode 100644 index 00000000..2bd89d6a --- /dev/null +++ b/src/ros2_hik_camera/hikSDK/include/MvCameraControl.h @@ -0,0 +1,3398 @@ + +#ifndef _MV_CAMERA_CTRL_H_ +#define _MV_CAMERA_CTRL_H_ + +#include "MvErrorDefine.h" +#include "CameraParams.h" + +/** +* @brief 动态库导入导出定义 +* @brief Import and export definition of the dynamic library +*/ +#ifndef MV_CAMCTRL_API + + #if (defined (_WIN32) || defined(WIN64)) + #if defined(MV_CAMCTRL_EXPORTS) + #define MV_CAMCTRL_API __declspec(dllexport) + #else + #define MV_CAMCTRL_API __declspec(dllimport) + #endif + #else + #ifndef __stdcall + #define __stdcall + #endif + + #if defined(MV_CAMCTRL_EXPORTS) + #define MV_CAMCTRL_API __attribute__((visibility("default"))) + #else + #define MV_CAMCTRL_API + #endif + #endif + +#endif + +#ifndef IN + #define IN +#endif + +#ifndef OUT + #define OUT +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/************************************************************************/ +/* 相机的基本指令和操作 */ +/* Camera basic instructions and operations */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取SDK版本号 + * @return 始终返回4字节版本号 + | 主 | 次 | 修正 | 测试 | + | :---: | :---: | :---: | :---: | + | 8bits | 8bits | 8bits | 8bits | + * @remarks 比如返回值为0x01000001，即SDK版本号为V1.0.0.1。 + + * @~english + * @brief Get SDK Version + * @return Always return 4 Bytes of version number + | Main | Sub | Rev | Test | + | :---: | :---: | :---: | :---: | + | 8bits | 8bits | 8bits | 8bits | + * @remarks For example, if the return value is 0x01000001, the SDK version is V1.0.0.1. + ************************************************************************/ +MV_CAMCTRL_API unsigned int __stdcall MV_CC_GetSDKVersion(); + +/********************************************************************//** + * @~chinese + * @brief 获取支持的传输层 + * @return 支持的传输层编号 + + * @~english + * @brief Get supported Transport Layer + * @return Supported Transport Layer number + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_EnumerateTls(); + +/********************************************************************//** + * @~chinese + * @brief 枚举设备 + * @param nTLayerType [IN] 枚举传输层 + * @param pstDevList [OUT] 设备列表 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 设备列表的内存是在SDK内部分配的，多线程调用该接口时会进行设备列表内存的释放和申请.\n + 建议尽量避免多线程枚举操作。 + + * @~english + * @brief Enumerate Device + * @param nTLayerType [IN] Enumerate TLs + * @param pstDevList [OUT] Device List + * @return Success, return #MV_OK. Failure, return error code + * @remarks @remarks The memory of the device list is allocated within the SDK. When the interface is invoked by multiple threads, the memory of the device list will be released and applied.\n + It is recommended to avoid multithreaded enumeration operations as much as possible. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_EnumDevices(IN unsigned int nTLayerType, IN OUT MV_CC_DEVICE_INFO_LIST* pstDevList); + +/********************************************************************//** + * @~chinese + * @brief 根据厂商名字枚举设备 + * @param nTLayerType [IN] 枚举传输层 + * @param pstDevList [OUT] 设备列表 + * @param pManufacturerName [IN] 厂商名字 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Enumerate device according to manufacture name + * @param nTLayerType [IN] Transmission layer of enumeration + * @param pstDevList [OUT] Device list + * @param pManufacturerName [IN] Manufacture Name + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_EnumDevicesEx(IN unsigned int nTLayerType, IN OUT MV_CC_DEVICE_INFO_LIST* pstDevList, IN const char* pManufacturerName); + +/********************************************************************//** + * @~chinese + * @brief 设备是否可达 + * @param pstDevInfo [IN] 设备信息结构体 + * @param nAccessMode [IN] 访问权限 + * @return 可达，返回true；不可达，返回false + * @remarks 读取设备CCP寄存器的值，判断当前状态是否具有某种访问权限。 \n + 如果设备不支持 #MV_ACCESS_ExclusiveWithSwitch、 #MV_ACCESS_ControlWithSwitch、 #MV_ACCESS_ControlSwitchEnableWithKey这三种模式，接口返回false。目前设备不支持这3种抢占模式，国际上主流的厂商的相机也都暂不支持这3种模式。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Is the device accessible + * @param pstDevInfo [IN] Device Information Structure + * @param nAccessMode [IN] Access Right + * @return Access, return true. Not access, return false + @remarks Read device CCP register value and determine current access permission.\n + Return false if the device does not support the modes #MV_ACCESS_ExclusiveWithSwitch, #MV_ACCESS_ControlWithSwitch, #MV_ACCESS_ControlSwitchEnableWithKey. Currently the device does not support the 3 preemption modes, neither do the devices from other mainstream manufacturers. \n + This API is not supported by CameraLink device. + ************************************************************************/ +MV_CAMCTRL_API bool __stdcall MV_CC_IsDeviceAccessible(IN MV_CC_DEVICE_INFO* pstDevInfo, IN unsigned int nAccessMode); + +/********************************************************************//** + * @~chinese + * @brief 设置SDK日志路径（如果日志服务MvLogServer已启用，则该接口无效，默认日志服务为开启状态） + * @param pSDKLogPath [IN] SDK日志路径 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 设置路径之后，可以指定路径存放日志。\n + v2.4.1版本新增日志服务，开启服务之后该接口无效。 + + * @~english + * @brief Set SDK log path + * @param pSDKLogPath [IN] SDK log path + * @return Access, return true. Not access, return false + * @remarks For version V2.4.1, added log service, this API is invalid when the service is enabled.And The logging service is enabled by default\n + This API is used to set the log file storing path. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetSDKLogPath(IN const char * pSDKLogPath); + +/********************************************************************//** + * @~chinese + * @brief 创建设备句柄 + * @param handle [OUT] 设备句柄 + * @param pstDevInfo [IN] 设备信息结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 根据输入的设备信息，创建库内部必须的资源和初始化内部模块。通过该接口创建句柄，调用SDK接口，会默认生成SDK日志文件，保存在当前可执行程序路径下的MvSdkLog文件夹，如果不需要生成日志文件，可以通过MV_CC_CreateHandleWithoutLog创建句柄。 + + * @~english + * @brief Create Device Handle + * @param handle [OUT] Device handle + * @param pstDevInfo [IN] Device Information Structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks Create required resources within library and initialize internal module according to input device information. Create handle and call SDK interface through this interface, and SDK log file will be created by default. Creating handle through #MV_CC_CreateHandleWithoutLog will not generate log files. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_CreateHandle(OUT void ** handle, IN const MV_CC_DEVICE_INFO* pstDevInfo); + +/********************************************************************//** + * @~chinese + * @brief 创建设备句柄，不生成日志 + * @param handle [OUT] 设备句柄 + * @param pstDevInfo [IN] 设备信息结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 根据输入的设备信息，创建库内部必须的资源和初始化内部模块。通过该接口创建句柄，调用SDK接口，不会默认生成SDK日志文件，如果需要生成日志文件可以通过MV_CC_CreateHandle创建句柄，日志文件自动生成，保存在当前可执行程序路径下的MvSdkLog文件夹。 + + * @~english + * @brief Create Device Handle without log + * @param handle [OUT] Device handle + * @param pstDevInfo [IN] Device Information Structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks Create required resources within library and initialize internal module according to input device information. Create handle and call SDK interface through this interface, and SDK log file will not be created. To create logs, create handle through MV_CC_CreateHandle, and log files will be automatically generated. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_CreateHandleWithoutLog(OUT void ** handle, IN const MV_CC_DEVICE_INFO* pstDevInfo); + +/********************************************************************//** + * @~chinese + * @brief 销毁设备句柄 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Destroy Device Handle + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_DestroyHandle(IN void * handle); + +/********************************************************************//** + * @~chinese + * @brief 打开设备 + * @param handle [IN] 设备句柄 + * @param nAccessMode [IN] 访问权限 + * @param nSwitchoverKey [IN] 切换访问权限时的密钥 + * @return 成功，返回#MV_OK ；错误，返回错误码 + * @remarks 根据设置的设备参数，找到对应的设备，连接设备。\n + 调用接口时可不传入nAccessMode和nSwitchoverKey，此时默认设备访问模式为独占权限。目前设备暂不支持#MV_ACCESS_ExclusiveWithSwitch、 #MV_ACCESS_ControlWithSwitch、MV_ACCESS_ControlSwitchEnable、MV_ACCESS_ControlSwitchEnableWithKey这四种抢占模式。\n + 对于U3V设备，nAccessMode、nSwitchoverKey这两个参数无效。 + + * @~english + * @brief Open Device + * @param handle [IN] Device handle + * @param nAccessMode [IN] Access Right + * @param nSwitchoverKey [IN] Switch key of access right + * @return Success, return #MV_OK. Failure, return error code + * @remarks Find specific device and connect according to set device parameters. \n + When calling the interface, the input of nAccessMode and nSwitchoverKey is optional, and the device access mode is exclusive. Currently the device does not support the following preemption modes: MV_ACCESS_ExclusiveWithSwitch, MV_ACCESS_ControlWithSwitch, MV_ACCESS_ControlSwitchEnableWithKey.\n + For USB3Vision device, nAccessMode, nSwitchoverKey are invalid. + ************************************************************************/ +#ifndef __cplusplus +MV_CAMCTRL_API int __stdcall MV_CC_OpenDevice(IN void* handle, IN unsigned int nAccessMode, IN unsigned short nSwitchoverKey); +#else +MV_CAMCTRL_API int __stdcall MV_CC_OpenDevice(IN void* handle, IN unsigned int nAccessMode = MV_ACCESS_Exclusive, IN unsigned short nSwitchoverKey = 0); +#endif + +/********************************************************************//** + * @~chinese + * @brief 关闭相机 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK ；错误，返回错误码 + * @remarks 通过MV_CC_OpenDevice连接设备后，可以通过该接口断开设备连接，释放资源 + + * @~english + * @brief Close Device + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + * @remarks After connecting to device through MV_CC_OpenDevice, use this interface to disconnect and release resources. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_CloseDevice(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 判断相机是否处于连接状态 + * @param handle [IN] 设备句柄 + * @return 设备处于连接状态，返回true；没连接或失去连接，返回false + + * @~english + * @brief Is The Device Connected + * @param handle [IN] Device handle + * @return Connected, return true. Not Connected or DIsconnected, return false + ***********************************************************************/ +MV_CAMCTRL_API bool __stdcall MV_CC_IsDeviceConnected(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 注册图像数据回调 + * @param handle [IN] 设备句柄 + * @param cbOutput [IN] 回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 通过该接口可以设置图像数据回调函数，在MV_CC_CreateHandle之后即可调用。 \n + 图像数据采集有两种方式，两种方式不能复用： + - 方式一：调用MV_CC_RegisterImageCallBackEx设置图像数据回调函数，然后调用MV_CC_StartGrabbing开始采集，采集的图像数据在设置的回调函数中返回。 + - 方式二：调用MV_CC_StartGrabbing开始采集，然后在应用层循环调用MV_CC_GetOneFrameTimeout获取指定像素格式的帧数据，获取帧数据时上层应用程序需要根据帧率控制好调用该接口的频率。 + 该接口仅在windows版本和Linux版本下支持。\n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Register the image callback function + * @param handle [IN] Device handle + * @param cbOutput [IN] Callback function pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks After MV_CC_CreateHandle, call this interface to set image data callback function.\n + There are two available image data acquisition modes, and cannot be used together: + - Mode 1: Call MV_CC_RegisterImageCallBack to set image data callback function, and then call MV_CC_StartGrabbing to start acquiring. The acquired image data will return in the set callback function. + - Mode 2: Call MV_CC_StartGrabbing to start acquiring, and then call MV_CC_GetOneFrameTimeout repeatedly in application layer to get frame data of specified pixel format. When getting frame data, the frequency of calling this interface should be controlled by upper layer application according to frame rate. + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterImageCallBackEx(void* handle, + void(__stdcall* cbOutput)(unsigned char * pData, MV_FRAME_OUT_INFO_EX* pFrameInfo, void* pUser), + void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 注册图像数据回调，RGB + * @param handle [IN] 设备句柄 + * @param cbOutput [IN] 回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 通过该接口可以设置图像数据回调函数，在MV_CC_CreateHandle之后即可调用。 \n + 图像数据采集有两种方式，两种方式不能复用： + - 方式一：调用MV_CC_RegisterImageCallBackForRGB设置RGB24格式图像数据回调函数，然后调用MV_CC_StartGrabbing开始采集，采集的图像数据在设置的回调函数中返回。 + - 方式二：调用MV_CC_StartGrabbing开始采集，然后在应用层循环调用MV_CC_GetImageForRGB获取RGB24格式的帧数据，获取帧数据时上层应用程序需要根据帧率控制好调用该接口的频率。\n\n + 该接口仅在windows版本和Linux版本下支持。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief register image data callback, RGB + * @param handle [IN] Device handle + * @param cbOutput [IN] Callback function pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to set image data callback function, you should call this API MV_CC_CreateHandle. \n + There are two image acquisition modes, the two modes cannot be reused: + - Mode 1: Call #MV_CC_RegisterImageCallBackForRGB to set RGB24 format image data callback function, + and then call #MV_CC_StartGrabbing to start acquisition, + the collected image data will be returned in the configured callback function. + - Mode 2: Call MV_CC_StartGrabbing to start acquisition, and the call MV_CC_GetImageForRGB + repeatedly in application layer to get frame data with RGB24 format. + When getting frame data, the upper application program should control the frequency + of calling this API according to frame rate. \n\n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterImageCallBackForRGB(void* handle, + void(__stdcall* cbOutput)(unsigned char * pData, MV_FRAME_OUT_INFO_EX* pFrameInfo, void* pUser), + void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 注册图像数据回调，BGR + * @param handle [IN] 设备句柄 + * @param cbOutput [IN] 回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功，返回 #MV_OK ；错误，返回错误码 + * @remarks 通过该接口可以设置图像数据回调函数，在MV_CC_CreateHandle之后即可调用。\n + 图像数据采集有两种方式，两种方式不能复用：\n + - 方式一：调用 #MV_CC_RegisterImageCallBackForBGR 设置 #BGR24 图像数据回调函数，然后调用 #MV_CC_StartGrabbing 开始采集，采集的图像数据在设置的回调函数中返回。 + - 方式二：调用 #MV_CC_StartGrabbing 开始采集，然后在应用层循环调用 #MV_CC_GetImageForBGR 获取 #BGR24 格式的帧数据，获取帧数据时上层应用程序需要根据帧率控制好调用该接口的频率。 \n\n + 该接口仅在windows版本和Linux版本下支持。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief register image data callback, BGR + * @param handle [IN] Device handle + * @param cbOutput [IN] Callback function pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to set image data callback function, you should call this API MV_CC_CreateHandle. \n + There are two image acquisition modes, the two modes cannot be reused: \n + - Mode 1: Call MV_CC_RegisterImageCallBackForBGR to set RGB24 format image data callback function, and then call MV_CC_StartGrabbing to start acquisition, the collected image data will be returned in the configured callback function.\n + - Mode 2: Call MV_CC_StartGrabbing to start acquisition, and the call MV_CC_GetImageForBGR repeatedly in application layer to get frame data with BGR24 format. When getting frame data, the upper application program should control the frequency of calling this API according to frame rate.\n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterImageCallBackForBGR(void* handle, + void(__stdcall* cbOutput)(unsigned char * pData, MV_FRAME_OUT_INFO_EX* pFrameInfo, void* pUser), + void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 开始取流 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 该接口不支持CameraLink设备。 + + * @~english + * @brief Start Grabbing + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_StartGrabbing(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 停止取流 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 该接口不支持CameraLink设备。 + + * @~english + * @brief Stop Grabbing + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_StopGrabbing(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 获取一帧RGB数据，此函数为查询式获取，每次调用查询内部 + 缓存有无数据，有数据则获取数据，无数据返回错误码 + * @param handle [IN] 设备句柄 + * @param pData [OUT] 图像数据接收指针 + * @param nDataSize [IN] 接收缓存大小 + * @param pFrameInfo [OUT] 图像信息结构体 + * @param nMsec [IN] 等待超时时间 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 每次调用该接口，将查询内部缓存是否有数据，如果有数据则转换成RGB24格式返回，如果没有数据则返回错误码。因为图像转换成RGB24格式有耗时，所以当数据帧率过高时该接口可能会导致丢帧。\n + 调用该接口获取图像数据帧之前需要先调用MV_CC_StartGrabbing启动图像采集。该接口为主动式获取帧数据，上层应用程序需要根据帧率，控制好调用该接口的频率。 \n + 该接口不支持CameraLink设备。 \n + 该接口仅在windows版本和Linux版本下支持。 + + * @~english + * @brief Get one frame of RGB data, this function is using query to get data + query whether the internal cache has data, get data if there has, return error code if no data + * @param handle [IN] Device handle + * @param pData [OUT] Image data receiving buffer + * @param nDataSize [IN] Buffer size + * @param pFrameInfo [OUT] Image information structure + * @param nMsec [IN] Waiting timeout + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to set image data callback function, you should call this API MV_CC_CreateHandle. \n + There are two image acquisition modes, the two modes cannot be reused: \n + - Mode 1: Call MV_CC_RegisterImageCallBackForBGR to set RGB24 format image data callback function, and then call MV_CC_StartGrabbing to start acquisition, the collected image data will be returned in the configured callback function.\n + - Mode 2: Call MV_CC_StartGrabbing to start acquisition, and the call MV_CC_GetImageForBGR repeatedly in application layer to get frame data with BGR24 format. When getting frame data, the upper application program should control the frequency of calling this API according to frame rate. \n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetImageForRGB(IN void* handle, IN OUT unsigned char * pData , IN unsigned int nDataSize, IN OUT MV_FRAME_OUT_INFO_EX* pFrameInfo, int nMsec); + +/********************************************************************//** + * @~chinese + * @brief 获取一帧BGR数据，此函数为查询式获取，每次调用查询内部 + 缓存有无数据，有数据则获取数据，无数据返回错误码 + * @param handle [IN] 设备句柄 + * @param pData [OUT] 图像数据接收指针 + * @param nDataSize [IN] 接收缓存大小 + * @param pFrameInfo [OUT] 图像信息结构体 + * @param nMsec [IN] 等待超时时间 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 每次调用该接口，将查询内部缓存是否有数据，如果有数据则转换成BGR24格式返回，如果没有数据则返回错误码。因为图像转换成BGR24格式有耗时，所以当数据帧率过高时该接口可能会导致丢帧。 \n + 调用该接口获取图像数据帧之前需要先调用MV_CC_StartGrabbing启动图像采集。该接口为主动式获取帧数据，上层应用程序需要根据帧率，控制好调用该接口的频率。\n + 该接口不支持CameraLink设备。\n + 该接口仅在windows版本和Linux版本下支持。 + + + * @~english + * @brief Get one frame of BGR data, this function is using query to get data + query whether the internal cache has data, get data if there has, return error code if no data + * @param handle [IN] Device handle + * @param pData [OUT] Image data receiving buffer + * @param nDataSize [IN] Buffer size + * @param pFrameInfo [OUT] Image information structure + * @param nMsec [IN] Waiting timeout + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to set image data callback function, you should call this API MV_CC_CreateHandle. \n + There are two image acquisition modes, the two modes cannot be reused: \n + - Mode 1: Call MV_CC_RegisterImageCallBackForBGR to set RGB24 format image data callback function, and then call MV_CC_StartGrabbing to start acquisition, the collected image data will be returned in the configured callback function.\n + - Mode 2: Call MV_CC_StartGrabbing to start acquisition, and the call MV_CC_GetImageForBGR repeatedly in application layer to get frame data with BGR24 format. When getting frame data, the upper application program should control the frequency of calling this API according to frame rate. \n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetImageForBGR(IN void* handle, IN OUT unsigned char * pData , IN unsigned int nDataSize, IN OUT MV_FRAME_OUT_INFO_EX* pFrameInfo, int nMsec); + +/********************************************************************//** + * @~chinese + * @brief 使用内部缓存获取一帧图片（与MV_CC_Display不能同时使用） + * @param handle [IN] 设备句柄 + * @param pFrame [OUT] 图像数据和图像信息 + * @param nMsec [IN] 等待超时时间，输入INFINITE时表示无限等待，直到收到一帧数据或者停止取流 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 调用该接口获取图像数据帧之前需要先调用MV_CC_StartGrabbing启动图像采集。该接口为主动式获取帧数据，上层应用程序需要根据帧率，控制好调用该接口的频率。该接口支持设置超时时间，SDK内部等待直到有数据时返回，可以增加取流平稳性，适合用于对平稳性要求较高的场合。 \n + 该接口与MV_CC_FreeImageBuffer配套使用，当处理完取到的数据后，需要用MV_CC_FreeImageBuffer接口将pFrame内的数据指针权限进行释放。 \n + 该接口与MV_CC_GetOneFrameTimeout相比，有着更高的效率。且其取流缓存的分配是由sdk内部自动分配的，而MV_CC_GetOneFrameTimeout接口是需要客户自行分配。\n + 该接口在调用MV_CC_Display后无法取流。 \n + 该接口对于U3V、GIGE设备均可支持。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Get a frame of an image using an internal cache + * @param handle [IN] Device handle + * @param pFrame [OUT] Image data and image information + * @param nMsec [IN] Waiting timeout + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to get image data frame, you should call MV_CC_StartGrabbing to start image acquisition. This API can get frame data actively, the upper layer program should control the frequency of calling this API according to the frame rate. This API supports setting timeout, and SDK will wait to return until data appears. This function will increase the streaming stability, which can be used in the situation with high stability requirement. \n + This API and MV_CC_FreeImageBuffer should be called in pairs, after processing the acquired data, you should call MV_CC_FreeImageBuffer to release the data pointer permission of pFrame. \n + This interface is more efficient than MV_CC_GetOneFrameTimeout. The allocation of the stream cache is automatically allocated within the SDK.The MV_CC_GetOneFrameTimeout interface needs to be allocated by customers themselves. \n + This API cannot be called to stream after calling MV_CC_Display. \n + This API is not supported by CameraLink device. \n + This API is supported by both USB3 vision camera and GigE camera. \n + **********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetImageBuffer(IN void* handle, OUT MV_FRAME_OUT* pFrame, IN unsigned int nMsec); + +/********************************************************************//** + * @~chinese + * @brief 释放图像缓存(此接口用于释放不再使用的图像缓存，与MV_CC_GetImageBuffer配套使用) + * @param handle [IN] 设备句柄 + * @param pFrame [IN] 图像数据和图像数据 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 该接口与MV_CC_GetImageBuffer配套使用，使用MV_CC_GetImageBuffer接口取到的图像数据pFrame，需要用 #MV_CC_FreeImageBuffer 接口进行权限释放。 \n + 该接口对于取流效率高于GetOneFrameTimeout接口，且GetImageBuffer在不进行Free的情况下，最大支持输出的节点数与 #MV_CC_SetImageNodeNum 接口所设置的节点数相等，默认节点数是1。\n + 该接口对于U3V、GIGE设备均可支持。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Free image buffer(this interface can free image buffer, used with MV_CC_GetImageBuffer) + * @param handle [IN] Device handle + * @param pFrame [IN] Image data and image information + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API and MV_CC_GetImageBuffer should be called in pairs, before calling MV_CC_GetImageBuffer to get image data pFrame, you should call #MV_CC_FreeImageBuffer to release the permission. \n + Compared with API MV_CC_GetOneFrameTimeout, this API has higher efficiency of image acquisition. The max. number of nodes can be outputted is same as the "nNum" of API #MV_CC_SetImageNodeNum, default value is 1. \n + This API is not supported by CameraLink device. \n + This API is supported by both USB3 vision camera and GigE camera. + **********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FreeImageBuffer(IN void* handle, IN MV_FRAME_OUT* pFrame); + +/********************************************************************//** + * @~chinese + * @brief 采用超时机制获取一帧图片，SDK内部等待直到有数据时返回 + * @param handle [IN] 设备句柄 + * @param pData [OUT] 图像数据接收指针 + * @param nDataSize [IN] 接收缓存大小 + * @param pFrameInfo [OUT] 图像信息结构体 + * @param nMsec [IN] 等待超时时间 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 调用该接口获取图像数据帧之前需要先调用MV_CC_StartGrabbing启动图像采集。该接口为主动式获取帧数据，上层应用程序需要根据帧率，控制好调用该接口的频率。该接口支持设置超时时间，SDK内部等待直到有数据时返回，可以增加取流平稳性，适合用于对平稳性要求较高的场合。\n + 该接口对于U3V、GIGE设备均可支持。\n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Timeout mechanism is used to get image, and the SDK waits inside until the data is returned + * @param handle [IN] Device handle + * @param pData [OUT] Image data receiving buffer + * @param nDataSize [IN] Buffer size + * @param pFrameInfo [OUT] Image information structure + * @param nMsec [IN] Waiting timeout + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to get image data frame, call MV_CC_StartGrabbing to start image acquisition. This API can get frame data actively, the upper layer program should control the frequency of calling this API according to the frame rate. This API supports setting timeout, SDK will wait to return until data appears. This function will increase the streaming stability, which can be used in the situation with high stability requirement. \n + Both the USB3Vision and GIGE camera can support this API. \n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetOneFrameTimeout(IN void* handle, IN OUT unsigned char * pData , IN unsigned int nDataSize, IN OUT MV_FRAME_OUT_INFO_EX* pFrameInfo, unsigned int nMsec); + +/********************************************************************//** + * @~chinese + * @brief 清除取流数据缓存 + * @param handle [IN] 设备句柄 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口允许用户在不停止取流的时候，就能清除缓存中不需要的图像。\n + 该接口在连续模式切触发模式后，可以清除历史数据。 + + * @~english + * @brief if Image buffers has retrieved the data，Clear them + * @param handle [IN] Device handle + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface allows user to clear the unnecessary images from the buffer memory without stopping acquisition. \n + This interface allows user to clear previous data after switching from continuous mode to trigger mode. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_ClearImageBuffer(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 显示图像，注册显示窗口，内部自动显示（与MV_CC_GetImageBuffer不能同时使用） + * @param handle [IN] 句柄 + * @param hWnd [IN] 显示窗口句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Display one frame image, register display window, automatic display internally + * @param handle [IN] Handle + * @param hWnd [IN] Display Window Handle + * @return Success, return #MV_OK. Failure, return error code + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_Display(IN void* handle, void* hWnd); + +/********************************************************************//** + * @~chinese + * @brief 显示一帧图像 + * @param handle [IN] 设备句柄 + * @param pDisplayInfo [IN] 图像信息 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 该接口对于U3V、GIGE设备均可支持。\n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Display one frame image + * @param handle [IN] Device handle + * @param pDisplayInfo [IN] Frame Info + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is valid for USB3Vision camera and GIGE camera. \n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_DisplayOneFrame(IN void* handle, IN MV_DISPLAY_FRAME_INFO* pDisplayInfo); + +/********************************************************************//** + * @~chinese + * @brief 设置SDK内部图像缓存节点个数，大于等于1，在抓图前调用 + * @param handle [IN] 设备句柄 + * @param nNum [IN] 缓存节点个数，范围[1,30]，默认为1 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 调用该接口可以设置SDK内部图像缓存节点个数，在调用MV_CC_StartGrabbing开始抓图前调用。\n + 增加图像缓存节点个数会增加SDK使用的内存，但是可以有效避免某些性能差的ARM板出现的跳帧现象。\n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Set the number of the internal image cache nodes in SDK, Greater than or equal to 1, to be called before the capture + * @param handle [IN] Device handle + * @param nNum [IN] Image Node Number, range[1,30], default 1 + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this interface to set the number of SDK internal image buffer nodes. + The interface should be called before calling MV_CC_StartGrabbing for capturing. \n + Increasing the number of image cache nodes will increase the memory used by the SDK, + but it can effectively avoid frame skipping on some ARM boards with poor performance. \n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetImageNodeNum(IN void* handle, unsigned int nNum); + +/********************************************************************//** + * @~chinese + * @brief 获取设备信息，取流之前调用 + * @param handle [IN] 设备句柄 + * @param pstDevInfo [IN][OUT] 返回给调用者有关相机设备信息结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 支持用户在打开设备后获取设备信息。\n + 若该设备是GigE相机，则调用该接口存在阻塞风险，因此不建议在取流过程中调用该接口。 + + * @~english + * @brief Get device information + * @param handle [IN] Device handle + * @param pstDevInfo [IN][OUT] Structure pointer of device information + * @return Success, return #MV_OK. Failure, return error code + * @remarks The API support users to access device information after opening the device. \n + If the device is a GigE camera, there is a blocking risk in calling the interface, so it is not recommended to call the interface during the fetching process. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetDeviceInfo(IN void * handle, IN OUT MV_CC_DEVICE_INFO* pstDevInfo); + +/********************************************************************//** + * @~chinese + * @brief 获取各种类型的信息 + * @param handle [IN] 设备句柄 + * @param pstInfo [IN][OUT] 返回给调用者有关相机各种类型的信息结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 接口里面输入需要获取的信息类型（指定MV_ALL_MATCH_INFO结构体中的nType类型），获取对应的信息（在MV_ALL_MATCH_INFO结构体中pInfo里返回）。 \n + 该接口的调用前置条件取决于所获取的信息类型，获取GigE设备的MV_MATCH_TYPE_NET_DETECT信息需在开启抓图之后调用，获取U3V设备的MV_MATCH_TYPE_USB_DETECT信息需在打开设备之后调用。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Get various type of information + * @param handle [IN] Device handle + * @param pstInfo [IN][OUT] Structure pointer of various type of information + * @return Success, return #MV_OK. Failure, return error code + * @remarks Input required information type (specify nType in structure MV_ALL_MATCH_INFO) in the interface and get corresponding information (return in pInfo of structure MV_ALL_MATCH_INFO). \n + The calling precondition of this interface is determined by obtained information type. Call after enabling capture to get MV_MATCH_TYPE_NET_DETECT information of GigE device, and call after starting device to get MV_MATCH_TYPE_USB_DETECT information of USB3Vision device. \n + This API is not supported by CameraLink device. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAllMatchInfo(IN void* handle, IN OUT MV_ALL_MATCH_INFO* pstInfo); + +/************************************************************************/ +/* 设置和获取相机参数的万能接口 */ +/* General interface for getting and setting camera parameters */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取Integer属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取宽度信息则为"Width" + * @param pIntValue [IN][OUT] 返回给调用者有关相机属性结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取int类型的指定节点的值。strKey取值可以参考XML节点参数类型列表， + * 表格里面数据类型为“IInteger”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get Integer value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "Width" to get width + * @param pIntValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks You can call this API to get the value of camera node with integer type after connecting the device. + * For strKey value, refer to MvCameraNode. All the node values of "IInteger" in the list + * can be obtained via this API. strKey corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetIntValue(IN void* handle,IN const char* strKey,OUT MVCC_INTVALUE *pIntValue); + +/********************************************************************//** + * @~chinese + * @brief 获取Integer属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取宽度信息则为"Width" + * @param pIntValue [IN][OUT] 返回给调用者有关相机属性结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取int类型的指定节点的值。strKey取值可以参考XML节点参数类型列表， + * 表格里面数据类型为“IInteger”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get Integer value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "Width" to get width + * @param pIntValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks You can call this API to get the value of camera node with integer type after connecting the device. + * For strKey value, refer to MvCameraNode. All the node values of "IInteger" in the list + * can be obtained via this API. strKey corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetIntValueEx(IN void* handle,IN const char* strKey,OUT MVCC_INTVALUE_EX *pIntValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Integer型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取宽度信息则为"Width" + * @param nValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置int类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IInteger”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set Integer value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "Width" to set width + * @param nValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks You can call this API to set the value of camera node with integer type after connecting the device. For strKey value, refer to MvCameraNode. All the node values of "IInteger" in the list can be obtained via this API. strKey corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetIntValue(IN void* handle,IN const char* strKey,IN unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Integer型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取宽度信息则为"Width" + * @param nValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置int类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IInteger”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set Integer value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "Width" to set width + * @param nValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks You can call this API to set the value of camera node with integer type after connecting the device. For strKey value, refer to MvCameraNode. All the node values of "IInteger" in the list can be obtained via this API. strKey corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetIntValueEx(IN void* handle,IN const char* strKey,IN int64_t nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取Enum属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取像素格式信息则为"PixelFormat" + * @param pEnumValue [IN][OUT] 返回给调用者有关相机属性结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取Enum类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IEnumeration”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get Enum value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "PixelFormat" to get pixel format + * @param pEnumValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to get specified Enum nodes. For value of strKey, see MvCameraNode, The node values of IEnumeration can be obtained through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetEnumValue(IN void* handle,IN const char* strKey,OUT MVCC_ENUMVALUE *pEnumValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Enum型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取像素格式信息则为"PixelFormat" + * @param nValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置Enum类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IEnumeration”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set Enum value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "PixelFormat" to set pixel format + * @param nValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set specified Enum nodes. For value of strKey, see MvCameraNode, The node values of IEnumeration can be obtained through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetEnumValue(IN void* handle,IN const char* strKey,IN unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Enum型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取像素格式信息则为"PixelFormat" + * @param sValue [IN] 想要设置的相机的属性字符串 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置Enum类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IEnumeration”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set Enum value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "PixelFormat" to set pixel format + * @param sValue [IN] Feature String to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this API after connecting the device. All the values of nodes with IEnumeration type can be set via this API. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetEnumValueByString(IN void* handle,IN const char* strKey,IN const char* sValue); + +/********************************************************************//** + * @~chinese + * @brief 获取Float属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param pFloatValue [IN][OUT] 返回给调用者有关相机属性结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取float类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IFloat”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get Float value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param pFloatValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to get specified float node. For detailed strKey value see: MvCameraNode. The node values of IFloat can be obtained through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetFloatValue(IN void* handle,IN const char* strKey,OUT MVCC_FLOATVALUE *pFloatValue); + +/********************************************************************//** + * @~chinese + * @brief 设置float型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param fValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置float类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IFloat”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set float value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param fValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set specified float node. For detailed strKey value see: MvCameraNode. The node values of IFloat can be set through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetFloatValue(IN void* handle,IN const char* strKey,IN float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取Boolean属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param pBoolValue [IN][OUT] 返回给调用者有关相机属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取bool类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IBoolean”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get Boolean value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param pBoolValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to get specified bool nodes. For value of strKey, see MvCameraNode. The node values of IBoolean can be obtained through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBoolValue(IN void* handle,IN const char* strKey,OUT bool *pBoolValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Boolean型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param bValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置bool类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IBoolean”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set Boolean value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param bValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set specified bool nodes. For value of strKey, see MvCameraNode. The node values of IBoolean can be set through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBoolValue(IN void* handle,IN const char* strKey,IN bool bValue); + +/********************************************************************//** + * @~chinese + * @brief 获取String属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param pStringValue [IN][OUT] 返回给调用者有关相机属性结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取string类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IString”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get String value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param pStringValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to get specified string nodes. For value of strKey, see MvCameraNode. The node values of IString can be obtained through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetStringValue(IN void* handle,IN const char* strKey,OUT MVCC_STRINGVALUE *pStringValue); + +/********************************************************************//** + * @~chinese + * @brief 设置String型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param sValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置string类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IString”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set String value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param sValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set specified string nodes. For value of strKey, see MvCameraNode. The node values of IString can be set through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetStringValue(IN void* handle,IN const char* strKey,IN const char * sValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Command型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置指定的Command类型节点。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“ICommand”的节点都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Send Command + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set specified Command nodes. For value of strKey, see MvCameraNode. The node values of ICommand can be set through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetCommandValue(IN void* handle,IN const char* strKey); + +/********************************************************************//** + * @~chinese + * @brief 清除GenICam节点缓存 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Invalidate GenICam Nodes + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_InvalidateNodes(IN void* handle); + + +/************************************************************************/ +/* 设备升级 和 寄存器读写 和异常、事件回调 */ +/* Device upgrade, register read and write and exception callback */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 设备本地升级 + * @param handle [IN] 设备句柄 + * @param pFilePathName [IN] 文件名 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 通过该接口可以将升级固件文件发送给设备进行升级。该接口需要等待升级固件文件成功传给设备端之后再返回，响应时间可能较长。 + + * @~english + * @brief Device Local Upgrade + * @param handle [IN] Device handle + * @param pFilePathName [IN] File name + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_LocalUpgrade(IN void* handle, const void *pFilePathName); + +/********************************************************************//** + * @~chinese + * @brief 获取升级进度 + * @param handle [IN] 设备句柄 + * @param pnProcess [OUT] 进度接收地址 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 获取升级进度百分值。 + + * @~english + * @brief Get Upgrade Progress + * @param handle [IN] Device handle + * @param pnProcess [OUT] Progress receiving address + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this API to send the upgrade firmware to the device for upgrade. This API will wait for return until the upgrade firmware is sent to the device, this response may take a long time. \n + For CameraLink device, it keeps sending upgrade firmware continuously. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetUpgradeProcess(IN void* handle, unsigned int* pnProcess); + +/********************************************************************//** + * @~chinese + * @brief 读内存 + * @param handle [IN] 设备句柄 + * @param pBuffer [IN][OUT] 作为返回值使用，保存读到的内存值（内存值是按照大端模式存储的） + * @param nAddress [IN] 待读取的内存地址，该地址可以从设备的Camera.xml文件中获取，形如xxx_RegAddr的xml节点值 + * @param nLength [IN] 待读取的内存长度 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 访问设备，读取某段寄存器的数据。 + + * @~english + * @brief Read Memory + * @param handle [IN] Device Handle + * @param pBuffer [IN][OUT] Used as a return value, save the read-in memory value ( Memory value is stored in accordance with the big end model) + * @param nAddress [IN] Memory address to be read, which can be obtained from the Camera.xml file of the device, the form xml node value of xxx_RegAddr + * @param nLength [IN] Length of the memory to be read + * @return Success, return #MV_OK. Failure, return error code + * @remarks Access device, read the data from certain register. +*************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_ReadMemory(IN void* handle , void *pBuffer, int64_t nAddress, int64_t nLength); + +/********************************************************************//** + * @~chinese + * @brief 写内存 + * @param handle [IN] 设备句柄 + * @param pBuffer [IN] 待写入的内存值（注意内存值要按照大端模式存储） + * @param nAddress [IN] 待写入的内存地址，该地址可以从设备的Camera.xml文件中获取，形如xxx_RegAddr的xml节点值 + * @param nLength [IN] 待写入的内存长度 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 访问设备，把一段数据写入某段寄存器。 + + * @~english + * @brief Write Memory + * @param handle [IN] Device Handle + * @param pBuffer [IN] Memory value to be written ( Note the memory value to be stored in accordance with the big end model) + * @param nAddress [IN] Memory address to be written, which can be obtained from the Camera.xml file of the device, the form xml node value of xxx_RegAddr + * @param nLength [IN] Length of the memory to be written + * @return Success, return #MV_OK. Failure, return error code + * @remarks Access device, write a piece of data into a certain segment of register. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_WriteMemory(IN void* handle , const void *pBuffer, int64_t nAddress, int64_t nLength); + +/********************************************************************//** + * @~chinese + * @brief 注册异常消息回调，在打开设备之后调用 + * @param handle [IN] 设备句柄 + * @param cbException [IN] 异常回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 该接口需要在MV_CC_OpenDevice打开设备之后调用。设备异常断开连接后可以在回调里面获取到异常消息，GigE设备掉线之后需要先调用MV_CC_CloseDevice接口关闭设备，再调用MV_CC_OpenDevice接口重新打开设备。 + + * @~english + * @brief Register Exception Message CallBack, call after open device + * @param handle [IN] Device handle + * @param cbException [IN] Exception Message CallBack Function Pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this interface after the device is opened by MV_CC_OpenDevice. When device is exceptionally disconnected, the exception message can be obtained from callback function. For Disconnected GigE device, first call MV_CC_CloseDevice to shut device, and then call MV_CC_OpenDevice to reopen the device. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterExceptionCallBack(IN void* handle, + void(__stdcall* cbException)(unsigned int nMsgType, void* pUser), void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 注册全部事件回调，在打开设备之后调用 + * @param handle [IN] 设备句柄 + * @param cbEvent [IN] 事件回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 通过该接口设置事件回调，可以在回调函数里面获取采集、曝光等事件信息。 \n + 该接口不支持CameraLink设备。\n + 该接口仅在windows版本和Linux版本下支持。 + + * @~english + * @brief Register event callback, which is called after the device is opened + * @param handle [IN] Device handle + * @param cbEvent [IN] Event CallBack Function Pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this API to set the event callback function to get the event information, e.g., acquisition, exposure, and so on. \n + This API is not supported by CameraLink device. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterAllEventCallBack(void* handle, void(__stdcall* cbEvent)(MV_EVENT_OUT_INFO * pEventInfo, void* pUser), void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 注册单个事件回调，在打开设备之后调用 + * @param handle [IN] 设备句柄 + * @param pEventName [IN] 事件名称 + * @param cbEvent [IN] 事件回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 通过该接口设置事件回调，可以在回调函数里面获取采集、曝光等事件信息。\n + 该接口不支持CameraLink设备，仅支持"设备掉线"这一种事件。 + + * @~english + * @brief Register single event callback, which is called after the device is opened + * @param handle [IN] Device handle + * @param pEventName [IN] Event name + * @param cbEvent [IN] Event CallBack Function Pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this API to set the event callback function to get the event information, e.g., acquisition, exposure, and so on. \n + This API is not supported by CameraLink device . +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterEventCallBackEx(void* handle, const char* pEventName, + void(__stdcall* cbEvent)(MV_EVENT_OUT_INFO * pEventInfo, void* pUser), void* pUser); + + +/************************************************************************/ +/* GigEVision 设备独有的接口 */ +/* GigEVision device specific interface */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 强制IP + * @param handle [IN] 设备句柄 + * @param nIP [IN] 设置的IP + * @param nSubNetMask [IN] 子网掩码 + * @param nDefaultGateWay [IN] 默认网关 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 强制设置相机网络参数（包括IP、子网掩码、默认网关），强制设置之后将需要重新创建设备句柄，仅GigEVision相机支持。\n + 如果设备为DHCP的状态，调用该接口强制设置相机网络参数之后设备将会重启。 + + * @~english + * @brief Force IP + * @param handle [IN] Device handle + * @param nIP [IN] IP to set + * @param nSubNetMask [IN] Subnet mask + * @param nDefaultGateWay [IN] Default gateway + * @return Success, return #MV_OK. Failure, return error code + * @remarks Force setting camera network parameter (including IP address, subnet mask, default gateway). After forced setting, device handle should be created again. This function is only supported by GigEVision camera.\n + If device is in DHCP status, after calling this API to force setting camera network parameter, the device will restart. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_ForceIpEx(IN void* handle, unsigned int nIP, unsigned int nSubNetMask, unsigned int nDefaultGateWay); + +/********************************************************************//** + * @~chinese + * @brief 配置IP方式 + * @param handle [IN] 设备句柄 + * @param nType [IN] IP类型，见MV_IP_CFG_x + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 发送命令设置相机的IP方式，如DHCP、LLA等，仅GigEVision相机支持。 + + * @~english + * @brief IP configuration method + * @param handle [IN] Device handle + * @param nType [IN] IP type, refer to MV_IP_CFG_x + * @return Success, return #MV_OK. Failure, return error code + * @remarks Send command to set camera IP mode, such as DHCP and LLA, only supported by GigEVision. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetIpConfig(IN void* handle, unsigned int nType); + +/********************************************************************//** + * @~chinese + * @brief 设置仅使用某种模式,type: MV_NET_TRANS_x，不设置时，默认优先使用driver + * @param handle [IN] 设备句柄 + * @param nType [IN] 网络传输模式，见MV_NET_TRANS_x + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 通过该接口可以设置SDK内部优先使用的网络模式，默认优先使用驱动模式，仅GigEVision相机支持。 + + * @~english + * @brief Set to use only one mode,type: MV_NET_TRANS_x. When do not set, priority is to use driver by default + * @param handle [IN] Device handle + * @param nType [IN] Net transmission mode, refer to MV_NET_TRANS_x + * @return Success, return #MV_OK. Failure, return error code + * @remarksSet SDK internal priority network mode through this interface, drive mode by default, only supported by GigEVision camera. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetNetTransMode(IN void* handle, unsigned int nType); + +/********************************************************************//** + * @~chinese + * @brief 获取网络传输信息 + * @param handle [IN] 设备句柄 + * @param pstInfo [OUT] 信息结构体 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 通过该接口可以获取网络传输相关信息，包括已接收数据大小、丢帧数量等，在MV_CC_StartGrabbing开启采集之后调用。仅GigEVision相机支持。 + + * @~english + * @brief Get net transmission information + * @param handle [IN] Device handle + * @param pstInfo [OUT] Information Structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks Get network transmission information through this API, including received data size, number of lost frames. Call this API after starting image acquiring through MV_CC_StartGrabbing. This API is supported only by GigEVision Camera. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetNetTransInfo(IN void* handle, MV_NETTRANS_INFO* pstInfo); + +/********************************************************************//** + * @~chinese + * @brief 设置GVSP取流超时时间 + * @param handle [IN] 设备句柄 + * @param nMillisec [IN] 超时时间，默认300ms，范围：>10ms + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 连接设备之后，取流动作发生前，调用该接口可以设置GVSP取流超时时间。GVSP取流超时设置过短可能造成图像异常，设置过长可能造成取流时间变长。 + + * @~english + * @brief Set GVSP streaming timeout + * @param handle [IN] Device handle + * @param nMillisec [IN] Timeout, default 300ms, range: >10ms + * @return Success, return MV_OK. Failure, return error code + * @remarks After the device is connected, and just before start streaming, + * call this interface to set GVSP streaming timeout value. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGvspTimeout(void* handle, unsigned int nMillisec); + +/********************************************************************//** + * @~chinese + * @brief 获取GVSP取流超时时间 + * @param handle [IN] 设备句柄 + * @param pnMillisec [IN] 超时时间指针，以毫秒位单位 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口用于获取当前的GVSP取流超时时间 + + * @~english + * @brief Get GVSP streaming timeout + * @param handle [IN] Device handle + * @param pnMillisec [IN] Timeout, ms as unit + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to get the current GVSP streaming timeout. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGvspTimeout(IN void* handle, unsigned int* pnMillisec); + +/********************************************************************//** + * @~chinese + * @brief 设置GVCP命令超时时间 + * @param handle [IN] 设备句柄 + * @param nMillisec [IN] 超时时间，默认500ms，范围：0-10000ms + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 连接设备之后调用该接口可以设置GVCP命令超时时间。 + + * @~english + * @brief Set GVCP cammand timeout + * @param handle [IN] Device handle + * @param nMillisec [IN] Timeout, default 500ms, range: 0-10000ms + * @return Success, return MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set GVCP command timeout time. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGvcpTimeout(void* handle, unsigned int nMillisec); + +/********************************************************************//** + * @~chinese + * @brief 获取GVCP命令超时时间 + * @param handle [IN] 设备句柄 + * @param pnMillisec [OUT] 超时时间指针，以毫秒位单位 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口用于获取当前的GVCP超时时间。 + + * @~english + * @brief Get GVCP cammand timeout + * @param handle [IN] Device handle + * @param pnMillisec [OUT] Timeout, ms as unit + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to get the current GVCP timeout. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGvcpTimeout(IN void* handle, unsigned int* pnMillisec); + +/********************************************************************//** + * @~chinese + * @brief 设置重传GVCP命令次数 + * @param handle [IN] 设备句柄 + * @param nRetryGvcpTimes [IN] 重传次数，范围：0-100 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口用于在GVCP包传输异常时，增加重传的次数，在一定程度上可以避免设备掉线，范围为0-100。 + + * @~english + * @brief Set the number of retry GVCP cammand + * @param handle [IN] Device handle + * @param nRetryGvcpTimes [IN] The number of retries，rang：0-100 + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to increase The Times of retransmission when GVCP packet transmission is abnormal,and to some extent, it can avoid dropping the camera, with a range of 0-100. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetRetryGvcpTimes(IN void* handle, unsigned int nRetryGvcpTimes); + +/********************************************************************//** + * @~chinese + * @brief 获取重传GVCP命令次数 + * @param handle [IN] 设备句柄 + * @param pnRetryGvcpTimes [OUT] 重传次数指针 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口用于获取当前的GVCP重传次数，默认3次。 + + * @~english + * @brief Get the number of retry GVCP cammand + * @param handle [IN] Device handle + * @param pnRetryGvcpTimes [OUT] The number of retries + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to get the current number of GVCP retransmissions, which defaults to 3. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetRetryGvcpTimes(IN void* handle, unsigned int* pnRetryGvcpTimes); + +/********************************************************************//** + * @~chinese + * @brief 获取最佳的packet size，该接口目前只支持GigE设备 + * @param handle [IN] 设备句柄 + * @return 最佳packetsize + * @remarks 获取最佳的packet size，对应GigEVision设备是SCPS，对应U3V设备是每次从驱动读取的包大小，该大小即网络上传输一个包的大小。该接口需要在MV_CC_OpenDevice之后、MV_CC_StartGrabbing之前调用。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Get the optimal Packet Size, Only support GigE Camera + * @param handle [IN] Device handle + * @return Optimal packetsize + * @remarks To get optimized packet size, for GigEVision device is SCPS, for USB3Vision device is the size of packet read from drive each time, and it is the size of a packet transported on the network. The interface should be called after MV_CC_OpenDevice and before MV_CC_StartGrabbing. \n + This API is not supported by CameraLink device. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetOptimalPacketSize(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 设置是否打开重发包支持，及重发包设置 + * @param handle [IN] 设备句柄 + * @param bEnable [IN] 是否支持重发包 + * @param nMaxResendPercent [IN] 最大重发比 + * @param nResendTimeout [IN] 重发超时时间 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 连接设备之后调用该接口可以设置重发包属性，仅GigEVision相机支持。 \n + 该接口仅在windows版本和Linux版本下支持。 + + * @~english + * @brief Set whethe to enable resend, and set resend + * @param handle [IN] Device handle + * @param bEnable [IN] enable resend + * @param nMaxResendPercent [IN] Max resend persent + * @param nResendTimeout [IN] Resend timeout + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set resend packet properties, only supported by GigEVision camera. + ************************************************************************/ +#ifndef __cplusplus +MV_CAMCTRL_API int __stdcall MV_GIGE_SetResend(void* handle, unsigned int bEnable, unsigned int nMaxResendPercent, unsigned int nResendTimeout); +#else +MV_CAMCTRL_API int __stdcall MV_GIGE_SetResend(void* handle, unsigned int bEnable, unsigned int nMaxResendPercent = 10, unsigned int nResendTimeout = 50); +#endif + + +/********************************************************************//** + * @~chinese + * @brief 设置重传命令最大尝试次数 + * @param handle [IN] 设备句柄 + * @param nRetryTimes [IN] 重传命令最大尝试次数，默认20 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口必须在MV_CC_StartGrabbing之前调用，否则返回错误码MV_E_CALLORDER。 + + * @~english + * @brief set the max resend retry times + * @param handle [IN] Device handle + * @param nRetryTimes [IN] the max times to retry resending lost packets，default 20 + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface must be called before MV_CC_StartGrabbing. Otherwise return MV_E_CALLORDER. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetResendMaxRetryTimes(void* handle, unsigned int nRetryTimes); + +/********************************************************************//** + * @~chinese + * @brief 获取重传命令最大尝试次数 + * @param handle [IN] 设备句柄 + * @param pnRetryTimes [IN] 重传命令最大尝试次数 + * @return 成功，返回MV_OK；错误，返回错误码 + + * @~english + * @brief get the max resend retry times + * @param handle [IN] Device handle + * @param pnRetryTimes [OUT] the max times to retry resending lost packets + * @return Success, return MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetResendMaxRetryTimes(void* handle, unsigned int* pnRetryTimes); + +/********************************************************************//** + * @~chinese + * @brief 设置同一重传包多次请求之间的时间间隔 + * @param handle [IN] 设备句柄 + * @param nMillisec [IN] 同一重传包多次请求之间的时间间隔，默认10ms + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口必须在MV_CC_StartGrabbing之前调用，否则返回错误码MV_E_CALLORDER。 + + * @~english + * @brief set time interval between same resend requests + * @param handle [IN] Device handle + * @param nMillisec [OUT] the time interval between same resend requests, default 10ms + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface must be called before MV_CC_StartGrabbing. Otherwise return MV_E_CALLORDER. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetResendTimeInterval(void* handle, unsigned int nMillisec); + +/********************************************************************//** + * @~chinese + * @brief 获取同一重传包多次请求之间的时间间隔 + * @param handle [IN] 设备句柄 + * @param pnMillisec [IN] 同一重传包多次请求之间的时间间隔 + * @return 成功，返回MV_OK；错误，返回错误码 + + * @~english + * @brief get time interval between same resend requests + * @param handle [IN] Device handle + * @param pnMillisec [OUT] the time interval between same resend requests + * @return Success, return MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetResendTimeInterval(void* handle, unsigned int* pnMillisec); + + +/********************************************************************//** + * @~chinese + * @brief 设置传输模式，可以为单播模式、组播模式等 + * @param handle [IN] 设备句柄 + * @param pstTransmissionType [IN] 传输模式结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 通过该接口可以设置传输模式为单播、组播等模式，仅GigEVision相机支持。 + + * @~english + * @brief Set transmission type,Unicast or Multicast + * @param handle [IN] Device handle + * @param pstTransmissionType [IN] Struct of transmission type + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this API to set the transmission mode as single cast mode and multicast mode. And this API is only valid for GigEVision camera. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetTransmissionType(void* handle, MV_TRANSMISSION_TYPE * pstTransmissionType); + +/********************************************************************//** + * @~chinese + * @brief 发出动作命令 + * @param pstActionCmdInfo [IN] 动作命令信息 + * @param pstActionCmdResults [OUT] 动作命令返回信息列表 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 仅GigEVision相机支持。 + + * @~english + * @brief Issue Action Command + * @param pstActionCmdInfo [IN] Action Command + * @param pstActionCmdResults [OUT] Action Command Result List + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is supported only by GigEVision camera. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_IssueActionCommand(IN MV_ACTION_CMD_INFO* pstActionCmdInfo, OUT MV_ACTION_CMD_RESULT_LIST* pstActionCmdResults); + +/************************************************************************/ +/* XML解析树的生成 */ +/* XML parse tree generation */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取相机属性树XML + * @param handle [IN] 设备句柄 + * @param pData [OUT] XML数据接收缓存 + * @param nDataSize [IN] 接收缓存大小 + * @param pnDataLen [OUT] 实际数据大小 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 当pData为NULL或nDataSize比实际的xml文件小时，不拷贝数据，由pnDataLen返回xml文件大小；\n + 当pData为有效缓存地址，且缓存足够大时，拷贝完整数据保存在该缓存里面，并由pnDataLen返回xml文件实际大小。 + + * @~english + * @brief Get camera feature tree XML + * @param handle [IN] Device handle + * @param pData [OUT] XML data receiving buffer + * @param nDataSize [IN] Buffer size + * @param pnDataLen [OUT] Actual data length + * @return Success, return #MV_OK. Failure, return error code + * @remarks * @remarks When pData is NULL or nDataSize than the actual XML file hours, do not copy the data, returned by pnDataLen XML file size.\n + When pData is a valid cache address and the cache is large enough, copy the full data into the cache, and pnDataLen returns the actual size of the XML file. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_GetGenICamXML(IN void* handle, IN OUT unsigned char* pData, IN unsigned int nDataSize, OUT unsigned int* pnDataLen); + +/************************************************************************/ +/* 附加接口 */ +/* Additional interface */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 保存图片，支持Bmp和Jpeg.编码质量在50-99之前 + * @param handle [IN] 设备句柄 + * @param pSaveParam [IN][OUT] 保存图片参数结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 通过将接口可以将从设备采集到的原始图像数据转换成JPEG或者BMP等格式并存放在指定内存中，然后用户可以将转换之后的数据直接保存成图片文件。该接口调用无接口顺序要求，有图像源数据就可以进行转换，可以先调用MV_CC_GetOneFrameTimeout或者MV_CC_RegisterImageCallBackEx设置回调函数，获取一帧图像数据，然后再通过该接口转换格式。 \n + MV_CC_SaveImageEx2比MV_CC_SaveImageEx增加参数handle，为了保证与其他接口的统一。\n + 该接口仅在windows版本和Linux版本下支持。 + + * @~english + * @brief Save image, support Bmp and Jpeg. Encoding quality(50-99] + * @param handle [IN] Device handle + * @param pSaveParam [IN][OUT] Save image parameters structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks Once there is image data, you can call this API to convert the data. \n + You can also call MV_CC_GetOneFrameTimeout or MV_CC_RegisterImageCallBackEx or MV_CC_GetImageBuffer to get one image frame and set the callback function, and then call this API to convert the format. \n + Comparing with the API MV_CC_SaveImageEx, this API added the parameter handle to ensure the unity with other API. + + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SaveImageEx2(IN void* handle, MV_SAVE_IMAGE_PARAM_EX* pSaveParam); + + +/********************************************************************//** + * @~chinese + * @brief 图像旋转 + * @param handle [IN] 设备句柄 + * @param pstRotateParam [IN][OUT] 图像旋转参数结构体 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口只支持MONO8/RGB24/BGR24格式数据的90/180/270度旋转。 + + * @~english + * @brief Rotate Image + * @param handle [IN] Device handle + * @param pstRotateParam [IN][OUT] Rotate image parameter structure + * @return Success, return MV_OK. Failure, return error code + * @remarks This API only support 90/180/270 rotation of data in the MONO8/RGB24/BGR24 format. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RotateImage(IN void* handle, IN OUT MV_CC_ROTATE_IMAGE_PARAM* pstRotateParam); + +/********************************************************************//** + * @~chinese + * @brief 图像翻转 + * @param handle [IN] 设备句柄 + * @param pstFlipParam [IN][OUT] 图像翻转参数结构体 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口只支持MONO8/RGB24/BGR24格式数据的垂直和水平翻转。 + + * @~english + * @brief Flip Image + * @param handle [IN] Device handle + * @param pstFlipParam [IN][OUT] Flip image parameter structure + * @return Success, return MV_OK. Failure, return error code + * @remarks This API only support vertical and horizontal reverse of data in the MONO8/RGB24/BGR24 format. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FlipImage(IN void* handle, IN OUT MV_CC_FLIP_IMAGE_PARAM* pstFlipParam); + +/********************************************************************//** + * @~chinese + * @brief 像素格式转换 + * @param handle [IN] 设备句柄 + * @param pstCvtParam [IN][OUT] 像素格式转换参数结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 通过将接口可以将从设备采集到的原始图像数据转换成用户所需的像素格式并存放在指定内存中。该接口调用无接口顺序要求，有图像源数据就可以进行转换，可以先调用MV_CC_GetOneFrameTimeout或者MV_CC_RegisterImageCallBack设置回调函数，获取一帧图像数据，然后再通过该接口转换格式。如果相机当前采集图像是JPEG压缩的格式，则不支持调用该接口进行显示。 \n + 该接口仅在windows版本和Linux版本下支持。 + + * @~english + * @brief Pixel format conversion + * @param handle [IN] Device handle + * @param pstCvtParam [IN][OUT] Convert Pixel Type parameter structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is used to transform the collected original data to pixel format and save to specified memory. There is no order requirement to call this API, the transformation will execute when there is image data. First call MV_CC_GetOneFrameTimeout or MV_CC_RegisterImageCallBackEx to set callback function, and get a frame of image data, then call this API to transform the format. \n + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_ConvertPixelType(IN void* handle, IN OUT MV_CC_PIXEL_CONVERT_PARAM* pstCvtParam); + +/********************************************************************//** + * @~chinese + * @brief 插值算法类型设置 + * @param handle [IN] 设备句柄 + * @param BayerCvtQuality [IN] Bayer的插值方法 0-最近邻 1-双线性 2-Hamilton + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 设置内部图像转换接口的贝尔插值质量参数，MV_CC_ConvertPixelType、MV_CC_SaveImageEx2接口内部使用的插值算法是该接口所设定的。 + + * @~english + * @brief Interpolation algorithm type setting + * @param handle [IN] Device handle + * @param BayerCvtQuality [IN] Bayer interpolation method 0-nearest neighbour 1-bilinearity 2-Hamilton + * @return Success, return #MV_OK. Failure, return error code + * @remarks Set the bell interpolation quality parameters of the internal image conversion interface, and the interpolation algorithm used in the MV CC ConvertPixelType and MV CC SaveImageEx2 interfaces is set by this interface. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBayerCvtQuality(IN void* handle, IN unsigned int BayerCvtQuality); + +/********************************************************************//** + * @~chinese + * @brief 设置Bayer格式的Gamma信息 + * @param handle [IN] 设备句柄 + * @param pstGammaParam [IN] Gamma信息 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 设置该信息后，在调用MV_CC_ConvertPixelType、MV_CC_SaveImageEx2接口将Bayer8/10/12/16格式转成RGB24/48， RGBA32/64，BGR24/48，BGRA32/64时起效。 + + * @~english + * @brief Set Gamma param + * @param handle [IN] Device handle + * @param pstGammaParam [IN] Gamma param + * @return Success, return MV_OK. Failure, return error code + * @remarks After setting the param, it work in the calling MV_CC_ConvertPixelType\MV_CC_SaveImageEx2 API convert Bayer8/10/12/16 to RGB24/48， RGBA32/64，BGR24/48，BGRA32/64. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBayerGammaParam(IN void* handle, IN MV_CC_GAMMA_PARAM* pstGammaParam); + + +/********************************************************************//** + * @~chinese + * @brief 无损解码 + * @param handle [IN] 设备句柄 + * @param pstDecodeParam [IN][OUT] 无损解码参数结构体 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 将从相机中取到的无损压缩码流解码成裸数据，同时支持解析当前相机实时图像的水印信息（如果输入的无损码流不是当前相机或者不是实时取流的，则水印解析可能异常） + + * @~english + * @brief High Bandwidth Decode + * @param handle [IN] Device handle + * @param pstDecodeParam [IN][OUT] High Bandwidth Decode parameter structure + * @return Success, return MV_OK. Failure, return error code + * @remarks Decode the lossless compressed data from the camera into raw data + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_HB_Decode(IN void* handle, IN OUT MV_CC_HB_DECODE_PARAM* pstDecodeParam); + +/********************************************************************//** + * @~chinese + * @brief 保存相机属性 + * @param handle [IN] 设备句柄 + * @param pFileName [IN] 属性文件名 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Save camera feature + * @param handle [IN] Device handle + * @param pFileName [IN] File name + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FeatureSave(IN void* handle, IN const char* pFileName); + +/********************************************************************//** + * @~chinese + * @brief 导入相机属性 + * @param handle [IN] 设备句柄 + * @param pFileName [IN] 属性文件名 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Load camera feature + * @param handle [IN] Device handle + * @param pFileName [IN] File name + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FeatureLoad(IN void* handle, IN const char* pFileName); + +/********************************************************************//** + * @~chinese + * @brief 从相机读取文件 + * @param handle [IN] 设备句柄 + * @param pstFileAccess [IN] 文件存取结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Read the file from the camera + * @param handle [IN] Device handle + * @param pstFileAccess [IN] File access structure + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FileAccessRead(IN void* handle, IN MV_CC_FILE_ACCESS * pstFileAccess); + +/********************************************************************//** + * @~chinese + * @brief 将文件写入相机 + * @param handle [IN] 设备句柄 + * @param pstFileAccess [IN] 文件存取结构体 + * @return 成功，返回#MV_OK ；错误，返回错误码 + + * @~english + * @brief Write the file to camera + * @param handle [IN] Device handle + * @param pstFileAccess [IN] File access structure + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FileAccessWrite(IN void* handle, IN MV_CC_FILE_ACCESS * pstFileAccess); + +/********************************************************************//** + * @~chinese + * @brief 获取文件存取的进度 + * @param handle [IN] 设备句柄 + * @param pstFileAccessProgress [IN] 进度内容 + * @return 成功，返回#MV_OK ；错误，返回错误码 （当前文件存取的状态） + + * @~english + * @brief Get File Access Progress + * @param handle [IN] Device handle + * @param pstFileAccessProgress [IN] File access Progress + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetFileAccessProgress(IN void* handle, OUT MV_CC_FILE_ACCESS_PROGRESS * pstFileAccessProgress); + +/********************************************************************//** + * @~chinese + * @brief 开始录像 + * @param handle [IN] 设备句柄 + * @param pstRecordParam [IN] 录像参数结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Start Record + * @param handle [IN] Device handle + * @param pstRecordParam [IN] Record param structure + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_StartRecord(IN void* handle, IN MV_CC_RECORD_PARAM* pstRecordParam); + +/********************************************************************//** + * @~chinese + * @brief 输入录像数据 + * @param handle [IN] 设备句柄 + * @param pstInputFrameInfo [IN] 录像数据结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Input RAW data to Record + * @param handle [IN] Device handle + * @param pstInputFrameInfo [IN] Record data structure + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_InputOneFrame(IN void* handle, IN MV_CC_INPUT_FRAME_INFO * pstInputFrameInfo); + +/********************************************************************//** + * @~chinese + * @brief 停止录像 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Stop Record + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_StopRecord(IN void* handle); + + + +/************************************************************************/ +/* 不建议使用的接口 */ +/* Interfaces not recommended */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取图像基本信息 + * @param handle [IN] 相机句柄 + * @param pstInfo [IN][OUT] 返回给调用者有关相机图像基本信息结构体指针 + * @return 成功,返回 #MV_OK ,失败,返回错误码 + * @remarks 参考 CameraParams.h 中的 #MV_IMAGE_BASIC_INFO 定义 + + * @~english + * @brief Get basic information of image + * @param handle [IN] Handle + * @param pstInfo [IN][OUT] Structure pointer of image basic information + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to the definition of #MV_IMAGE_BASIC_INFO in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetImageInfo(IN void* handle, IN OUT MV_IMAGE_BASIC_INFO* pstInfo); + +/********************************************************************//** + * @~chinese + * @brief 获取GenICam代理 + * @param handle [IN] 句柄地址 + * @return GenICam代理类指针 ，正常返回值非NULL；异常返回NULL + + * @~english + * @brief Get GenICam proxy + * @param handle [IN] Handle address + * @return GenICam proxy pointer, normal, return non-NULL; exception, return NULL + ************************************************************************/ +MV_CAMCTRL_API void* __stdcall MV_CC_GetTlProxy(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 获取根节点 + * @param handle [IN] 句柄 + * @param pstNode [OUT] 根节点信息结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Get root node + * @param handle [IN] Handle + * @param pstNode [OUT] Root node information structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_GetRootNode(IN void* handle, IN OUT MV_XML_NODE_FEATURE* pstNode); + +/********************************************************************//** + * @~chinese + * @brief 从xml中获取指定节点的所有子节点，根节点为Root + * @param handle [IN] 句柄 + * @param pstNode [IN] 根节点信息结构体 + * @param pstNodesList [OUT] 节点列表结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Get all children node of specific node from xml, root node is Root + * @param handle [IN] Handle + * @param pstNode [IN] Root node information structure + * @param pstNodesList [OUT] Node information structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_GetChildren(IN void* handle, IN MV_XML_NODE_FEATURE* pstNode, IN OUT MV_XML_NODES_LIST* pstNodesList); + +/********************************************************************//** + * @~chinese + * @brief 获得当前节点的属性 + * @param handle [IN] 句柄 + * @param pstNode [IN] 根节点信息结构体 + * @param pstFeature [OUT] 当前节点属性结构体， + pstFeature 具体结构体内容参考 MV_XML_FEATURE_x + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Get current node feature + * @param handle [IN] Handle + * @param pstNode [IN] Root node information structure + * @param pstFeature [OUT] Current node feature structure + Details of pstFeature refer to MV_XML_FEATURE_x + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_GetNodeFeature(IN void* handle, IN MV_XML_NODE_FEATURE* pstNode, IN OUT void* pstFeature); + +/********************************************************************//** + * @~chinese + * @brief 更新节点 + * @param handle [IN] 句柄 + * @param enType [IN] 节点类型 + * @param pstFeature [OUT] 当前节点属性结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Update node + * @param handle [IN] Handle + * @param enType [IN] Node type + * @param pstFeature [OUT] Current node feature structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_UpdateNodeFeature(IN void* handle, IN enum MV_XML_InterfaceType enType, IN void* pstFeature); + +// 有节点需要更新时的回调函数 +// 当调用MV_XML_UpdateNodeFeature接口更新节点属性时，注册的回调函数cbUpdate会在pstNodesList中返回与之相关联的节点 +/********************************************************************//** + * @~chinese + * @fn MV_XML_RegisterUpdateCallBack + * @brief 注册更新回调 + * @param handle [IN] 句柄 + * @param cbUpdate [IN] 回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Register update callback + * @param handle [IN] Handle + * @param cbUpdate [IN] Callback function pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_RegisterUpdateCallBack(IN void* handle, + IN void(__stdcall* cbUpdate)(enum MV_XML_InterfaceType enType, void* pstFeature, MV_XML_NODES_LIST* pstNodesList, void* pUser), + IN void* pUser); + + +/************************************************************************/ +/* 弃用的接口 */ +/* Abandoned interface */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取一帧图像，此函数为查询式获取，每次调用查询内部缓存有 + 无数据，有数据则范围数据，无数据返回错误码 + （该接口已弃用，建议改用 MV_CC_GetOneFrameTimeOut接口） + * @param handle [IN] 句柄 + * @param pData [OUT] 图像数据接收指针 + * @param nDataSize [IN] 接收缓存大小 + * @param pFrameInfo [OUT] 图像信息结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Get one frame data, this function is using query to get data, + query whether the internal cache has data, return data if there has, return error code if no data + (This interface is abandoned, it is recommended to use the MV_CC_GetOneFrameTimeOut) + * @param handle [IN] Handle + * @param pData [OUT] Recevied image data pointer + * @param nDataSize [IN] Recevied buffer size + * @param pFrameInfo [OUT] Image information structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetOneFrame(IN void* handle, IN OUT unsigned char * pData , IN unsigned int nDataSize, IN OUT MV_FRAME_OUT_INFO* pFrameInfo); + +/********************************************************************//** + * @~chinese + * @brief 获取一帧trunck数据，此函数为查询式获取，每次调用查询内部 + 缓存有无数据，有数据则范围数据，无数据返回错误码 + （该接口已弃用，建议改用 MV_CC_GetOneFrameTimeOut接口） + * @param handle [IN] 句柄 + * @param pData [OUT] 图像数据接收指针 + * @param nDataSize [IN] 接收缓存大小 + * @param pFrameInfo [OUT] 图像信息结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Get one frame of trunck data, this function is using query to get data, + query whether the internal cache has data, return data if there has, return error code if no data + (This interface is abandoned, it is recommended to use the MV_CC_GetOneFrameTimeOut) + * @param handle [IN] Handle + * @param pData [OUT] Recevied image data pointer + * @param nDataSize [IN] Recevied buffer size + * @param pFrameInfo [OUT] Image information structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetOneFrameEx(IN void* handle, IN OUT unsigned char * pData , IN unsigned int nDataSize, IN OUT MV_FRAME_OUT_INFO_EX* pFrameInfo); + +/********************************************************************//** + * @~chinese + * @brief 注册图像数据回调（该接口已弃用，建议改用 MV_CC_RegisterImageCallBackEx接口） + * @param handle [IN] 句柄 + * @param cbOutput [IN] 回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Register image data callback (This interface is abandoned, it is recommended to use the MV_CC_RegisterImageCallBackEx) + * @param handle [IN] Handle + * @param cbOutput [IN] Callback function pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterImageCallBack(void* handle, + void(__stdcall* cbOutput)(unsigned char * pData, MV_FRAME_OUT_INFO* pFrameInfo, void* pUser), + void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 保存图片（该接口已弃用，建议改用 MV_CC_SaveImageEx2接口） + * @param pSaveParam [IN][OUT] 保存图片参数结构体 + - pData; // [IN] 输入数据缓存 + - nDataLen; // [IN] 输入数据大小 + - enPixelType; // [IN] 输入数据的像素格式 + - nWidth; // [IN] 图像宽 + - nHeight; // [IN] 图像高 + - pImageBuffer; // [OUT] 输出图片缓存 + - nImageLen; // [OUT] 输出图片大小 + - nBufferSize; // [IN] 提供的输出缓冲区大小 + - enImageType; // [IN] 输出图片格式 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Save image (This interface is abandoned, it is recommended to use the MV_CC_SaveImageEx2) + * @param pSaveParam [IN][OUT] Save image parameters structure + - pData; // [IN] Input data buffer + - nDataLen; // [IN] Input data size + - enPixelType; // [IN] Input data pixel format + - nWidth; // [IN] Width + - nHeight; // [IN] Height + - pImageBuffer; // [OUT] Output image buffer + - nImageLen; // [OUT] Output image size + - nBufferSize; // [IN] Provided output buffer size + - enImageType; // [IN] Output image type + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SaveImage(IN OUT MV_SAVE_IMAGE_PARAM* pSaveParam); + +/********************************************************************//** + * @~chinese + * @brief 保存图片，支持Bmp和Jpeg.编码质量在50-99之前 （该接口已弃用，建议改用 MV_CC_SaveImageEx2接口） + * @param pSaveParam [IN][OUT] 保存图片参数结构体 + pData; // [IN] 输入数据缓存 + nDataLen; // [IN] 输入数据大小 + enPixelType; // [IN] 输入数据的像素格式 + nWidth; // [IN] 图像宽 + nHeight; // [IN] 图像高 + pImageBuffer; // [OUT] 输出图片缓存 + nImageLen; // [OUT] 输出图片大小 + nBufferSize; // [IN] 提供的输出缓冲区大小 + enImageType; // [IN] 输出图片格式 + nJpgQuality; // [IN] 编码质量, (50-99] + nReserved[4]; + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Save image, support Bmp and Jpeg. Encoding quality, (50-99] + * @param pSaveParam [IN][OUT] Save image parameters structure + pData; // [IN] Input data buffer + nDataLen; // [IN] Input data size + enPixelType; // [IN] Pixel format of input data + nWidth; // [IN] Image width + nHeight; // [IN] Image height + pImageBuffer; // [OUT] Output image buffer + nImageLen; // [OUT] Output image size + nBufferSize; // [IN] Output buffer size provided + enImageType; // [IN] Output image format + nJpgQuality; // [IN] Encoding quality, (50-99] + nReserved[4]; + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SaveImageEx(IN OUT MV_SAVE_IMAGE_PARAM_EX* pSaveParam); + +/********************************************************************//** + * @~chinese + * @brief 强制IP（该接口已弃用，建议改用 MV_GIGE_ForceIpEx接口） + * @param handle [IN] 设备句柄 + * @param nIP [IN] 设置的IP + * @return 见返回错误码 + * @remarks + + * @~english + * @brief Force IP (This interface is abandoned, it is recommended to use the MV_GIGE_ForceIpEx) + * @param handle [IN] Handle + * @param nIP [IN] IP to set + * @return Refer to error code + * @remarks +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_ForceIp(IN void* handle, unsigned int nIP); + +/********************************************************************//** + * @~chinese + * @brief 注册事件回调（该接口已弃用，建议改用 MV_CC_RegisterEventCallBackEx接口） + * @param handle [IN] 设备句柄 + * @param cbEvent [IN] 事件回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 见返回错误码 + * @remarks + + * @~english + * @brief Register event callback (this interface has been deprecated and is recommended to be converted to the MV_CC_RegisterEventCallBackEx interface) + * @param handle [IN] Handle + * @param cbEvent [IN] event callback pointer + * @param pUser [IN] User defined value + * @return Refer to error code + * @remarks +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterEventCallBack(void* handle, + void(__stdcall* cbEvent)(unsigned int nExternalEventId, void* pUser), + void* pUser); + + +/************************************************************************/ +/* 相机参数获取和设置，此模块的所有接口，将逐步废弃，建议用万能接口代替 */ +/* Get and set camara parameters, all interfaces of this module will be replaced by general interface*/ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取图像宽度 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机宽度的信息结构体指针 + * 返回的pstValue结构体的意义 + * - unsigned int nCurValue; // 代表相机当前的宽度值 + * - unsigned int nMax; // 表示相机允许的最大可设置的宽度值 + * - unsigned int nMin; // 表示相机允许的最小可设置的宽度值 + * - unsigned int nInc; // 表示相机设置的宽度增量必须是nInc的倍数，否则无效 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 其他整型结构体参数的接口可参照此接口 + + * @~english + * @brief Get image width + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Returns the information structure pointer about the camera's width for the caller + * The meaning of returns pstValue structure + * - unsigned int nCurValue; // Represents the current width value of the camera + * - unsigned int nMax; // Indicates the maximum settable width value allowed by the camera + * - unsigned int nMin; // Indicates the minimum settable width value allowed by the camera + * - unsigned int nInc; // Indicates that the width increment set by the camera must be a multiple of nInc, otherwise it is invalid + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Other Integer structure parameters interface can refer to this interface + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetWidth(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置图像宽度 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的相机宽度的值,注意此宽度值必须是MV_CC_GetWidth接口返回的pstValue中的nInc的倍数才能设置成功 + * @return 成功,返回#MV_OK,并且相机宽度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set image width + * @param handle [IN] Camera Handle + * @param nValue [IN] To set the value of the camera width, note that the width value must be a multiple of nInc in the pstValue returned by the MV_CC_GetWidth interface + * @return Success, return #MV_OK, and the camera width will change to the corresponding value. Failure, return error code + * @remarks +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetWidth(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取图像高度 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机高度的信息结构体指针 + * @return 成功,返回#MV_OK,并将高度信息返回到结构体中，失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get image height + * @param handle [IN] Camera handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera height to user + * @return Success, return #MV_OK, and return height information to the structure. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetHeight(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置图像高度 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的相机宽度的值,注意此宽度值必须是MV_CC_GetWidth接口返回的pstValue中的nInc的倍数才能设置成功 + * @return 成功,返回#MV_OK,并且相机高度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set image height + * @param handle [IN] Camera Handle + * @param nValue [IN] Camera height value to set, note that this value must be times of nInc of pstValue returned by MV_CC_GetWidth + * @return Success, return #MV_OK, and the camera height will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetHeight(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取图像X偏移 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机X偏移的信息结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get image X offset + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera X offset to user + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAOIoffsetX(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置图像AOI偏移 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的相机AOI的值 + * @return 成功,返回#MV_OK,并且相机AOI偏移将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set image X offset + * @param handle [IN] Camera Handle + * @param nValue [IN] Camera X offset value to set + * @return Success, return #MV_OK, and the camera X offset will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAOIoffsetX(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取图像Y偏移 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机Y偏移的信息结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get image Y offset + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera Y offset to user + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAOIoffsetY(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置图像AOI偏移 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的相机AOI的值 + * @return 成功,返回#MV_OK,并且相机AOI偏移将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set image Y offset + * @param handle [IN] Camera Handle + * @param nValue [IN] Camera Y offset value to set + * @return Success, return #MV_OK, and the camera Y offset will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAOIoffsetY(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取曝光下限 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机曝光值下限结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get exposure lower limit + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera exposure lower to user + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAutoExposureTimeLower(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置曝光值下限 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的曝光值下限 + * @return 成功,返回#MV_OK,并且相机曝光下限将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set exposure lower limit + * @param handle [IN] Camera Handle + * @param nValue [IN] Exposure lower to set + * @return Success, return #MV_OK, and the camera exposure time lower limit value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAutoExposureTimeLower(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取曝光上限 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机曝光值上限结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get exposure upper limit + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera exposure upper to user + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAutoExposureTimeUpper(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置曝光值上限 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的曝光值上限 + * @return 成功,返回#MV_OK,并且相机曝光上限将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set exposure upper limit + * @param handle [IN] Camera Handle + * @param nValue [IN] Exposure upper to set + * @return Success, return #MV_OK, and the camera exposure time upper limit value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAutoExposureTimeUpper(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取亮度值 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机亮度结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get brightness + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera brightness to user + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBrightness(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置亮度值 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的亮度值 + * @return 成功,返回#MV_OK,并且相机亮度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set brightness + * @param handle [IN] Camera Handle + * @param nValue [IN] Brightness upper to set + * @return Success, return #MV_OK, and the camera brightness value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBrightness(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取帧率 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机帧率的信息结构体指针 + * 返回的pstValue结构体的意义 + * - float fCurValue; // 表示相机当前的帧率 + * - float fMax; // 表示相机允许设置的最大帧率 + * - float fMin; // 表示相机允许设置的最小帧率 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 其他浮点型结构体参数的接口可参照此接口 + + * @~english + * @brief Get Frame Rate + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera frame rate to user + * The meaning of returns pstValue structure + * - float fCurValue; // Indicates the current frame rate of the camera + * - float fMax; // Indicates the maximum frame rate allowed by the camera + * - float fMin; // Indicates the minimum frame rate allowed by the camera + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Other interface of Float structure parameters can refer to this interface + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetFrameRate(IN void* handle, IN OUT MVCC_FLOATVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置帧率 + * @param handle [IN] 相机句柄 + * @param fValue [IN] 想要设置的相机帧率 + * @return 成功,返回#MV_OK,并且相机帧率将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set frame rate + * @param handle [IN] Camera Handle + * @param fValue [IN] Camera frame rate to set + * @return Success, return #MV_OK, and camera frame rate will be changed to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetFrameRate(IN void* handle, IN const float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取增益 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机增益的信息结构体指针 + * 返回的pstValue结构体的意义 + * - float fCurValue; // 表示相机当前的帧率 + * - float fMax; // 表示相机允许设置的最大帧率 + * - float fMin; // 表示相机允许设置的最小帧率 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 其他浮点型结构体参数的接口可参照此接口 + + * @~english + * @brief Get Gain + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to gain to user + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * - float fCurValue; // Camera current gain + * - float fMax; // The maximum gain camera allowed + * - float fMin; // The minimum gain camera allowed + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Other interface of Float structure parameters can refer to this interface + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetGain(IN void* handle, IN OUT MVCC_FLOATVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置帧率 + * @param handle [IN] 相机句柄 + * @param fValue [IN] 想要设置的相机帧率 + * @return 成功,返回#MV_OK,并且相机帧率将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set Gain + * @param handle [IN] Camera Handle + * @param fValue [IN] Gain value to set + * @return Success, return #MV_OK, and the camera gain value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetGain(IN void* handle, IN const float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取曝光时间 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机曝光时间的信息结构体指针 + * 返回的pstValue结构体的意义 + * - float fCurValue; // 表示相机当前的帧率 + * - float fMax; // 表示相机允许设置的最大帧率 + * - float fMin; // 表示相机允许设置的最小帧率 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 其他浮点型结构体参数的接口可参照此接口 + + * @~english + * @brief Get exposure time + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to exposure time to user + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * - float fCurValue; // Camera current exposure time + * - float fMax; // The maximum exposure time camera allowed + * - float fMin; // The minimum exposure time camera allowed + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Other interface of Float structure parameters can refer to this interface + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetExposureTime(IN void* handle, IN OUT MVCC_FLOATVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置曝光时间 + * @param handle [IN] 相机句柄 + * @param fValue [IN] 想要设置的相机帧率 + * @return 成功,返回#MV_OK,并且相机帧率将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set exposure time + * @param handle [IN] Camera Handle + * @param fValue [IN] Exposure time to set + * @return Success, return #MV_OK, and the camera exposure time value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetExposureTime(IN void* handle, IN const float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取像素格式 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关像素格式的信息结构体指针 \n + * 返回的pstValue结构体的意义 + * - unsigned int nCurValue; // 相机当前的像素格式，是枚举类型,比如说PixelType_Gvsp_Mono8, 这里获得的是其整型值,具体数值参照PixelType.h的MvGvspPixelType枚举类型 + * - unsigned int nSupportedNum; // 相机支持的像素格式的个数 + * - unsigned int nSupportValue[MV_MAX_XML_SYMBOLIC_NUM]; // 相机所有支持的像素格式对应的整型值列表，后面要设置像素格式时，参数必须是这个数组中的一种，否则无效 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 其他枚举类型参数接口可参照此接口，有关相应参数的枚举类型对应的整型值请查找PixelType.h 和 CameraParams.h中相应的定义 + + * @~english + * @brief Get Pixel Format + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Returns the information structure pointer about pixel format for the caller \n + * The meaning of returns pstValue structure + * - unsigned int nCurValue; // The current pixel format of the camera, is the enumeration type, such as #PixelType_Gvsp_Mono8, here is the integer value, the specific value please refer to MvGvspPixelType enumeration type in PixelType.h + * - unsigned int nSupportedNum; // Number of pixel formats supported by the camera + * - unsigned int nSupportValue[MV_MAX_XML_SYMBOLIC_NUM]; // The integer values list correspond to all supported pixel formats of the camera, followed by when set the pixel format, the parameter must be one of this list, otherwise invalid + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Other interface of Enumeration structure parameters can refer to this interface, look for the corresponding definition in PixelType.h and CameraParams.h for the integer values of the enum type parameter + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetPixelFormat(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置像素格式 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的像素格式对应的整型值，调用此接口时可以直接填写枚举值，如#MV_CC_SetPixelFormat(m_handle, #PixelType_Gvsp_RGB8_Packed); + * @return 成功,返回#MV_OK,并且相机像素格式将会更改为相应值，失败,返回错误码 + * @remarks 要设置的枚举类型必须是Get接口返回的nSupportValue[MV_MAX_XML_SYMBOLIC_NUM]中的一种，否则会失败 + + * @~english + * @brief Set Pixel Format + * @param handle [IN] Camera Handle + * @param nValue [IN] The corresponding integer value for pixel format to be set, when calling this interface can be directly filled in enumeration values, such as MV_CC_SetPixelFormat(m_handle, PixelType_Gvsp_RGB8_Packed); + * @return Success, return #MV_OK, and the camera pixel format will change to the corresponding value. Failure, return error code + * @remarks Other interface of Enumeration structure parameters can refer to this interface, the enumeration type to be set must be one of the nSupportValue [#MV_MAX_XML_SYMBOLIC_NUM] returned by the Get interface, otherwise it will fail + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetPixelFormat(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取采集模式 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关采集模式的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口#MV_CC_GetPixelFormat，参考 CameraParams.h 中的#MV_CAM_ACQUISITION_MODE 定义 + + * @~english + * @brief Get acquisition mode + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of acquisition mode + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to #MV_CC_GetPixelFormat and definition of #MV_CAM_ACQUISITION_MODE in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAcquisitionMode(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置像素格式 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的采集模式对应的整型值 + * @return 成功,返回#MV_OK,并且相机采集模式将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set acquisition mode + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to acquisition mode + * @return Success, return #MV_OK, and the camera acquisition mode will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAcquisitionMode(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取增益模式 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关增益模式的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口#MV_CC_GetPixelFormat，参考 CameraParams.h 中的 MV_CAM_GAIN_MODE 定义 + + * @~english + * @brief Get gain mode + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of gain mode + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to #MV_CC_GetPixelFormat and definition of #MV_CAM_GAIN_MODE in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetGainMode(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置增益模式 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的增益模式对应的整型值 + * @return 成功,返回#MV_OK,并且相机增益模式将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set gain mode + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to gain mode + * @return Success, return #MV_OK, and the camera gain mode will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetGainMode(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取自动曝光模式 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关自动曝光模式的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口#MV_CC_GetPixelFormat，参考 CameraParams.h 中的#MV_CAM_EXPOSURE_AUTO_MODE 定义 + + * @~english + * @brief Get auto exposure mode + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of auto exposure mode + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to #MV_CC_GetPixelFormat and definition of #MV_CAM_EXPOSURE_AUTO_MODE in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetExposureAutoMode(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置自动曝光模式 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的自动曝光模式对应的整型值 + * @return 成功,返回#MV_OK,并且相机自动曝光模式将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set auto exposure mode + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to auto exposure mode + * @return Success, return #MV_OK, and the camera auto exposure mode will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetExposureAutoMode(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取触发模式 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关触发模式的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口#MV_CC_GetPixelFormat，参考 CameraParams.h 中的#MV_CAM_TRIGGER_MODE 定义 + + * @~english + * @brief Get trigger mode + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of trigger mode + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to #MV_CC_GetPixelFormat and definition of #MV_CAM_TRIGGER_MODE in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetTriggerMode(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置触发模式 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的触发模式对应的整型值 + * @return 成功,返回#MV_OK,并且相机触发模式将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set trigger mode + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to trigger mode + * @return Success, return #MV_OK, and the camera trigger mode will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetTriggerMode(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取触发延时 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机触发延时的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口MV_CC_GetFrameRate + + * @~english + * @brief Get tigger delay + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of trigger delay + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to MV_CC_GetFrameRate + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetTriggerDelay(IN void* handle, IN OUT MVCC_FLOATVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置触发延时 + * @param handle [IN] 相机句柄 + * @param fValue [IN] 想要设置的相机触发延时 + * @return 成功,返回#MV_OK,并且相机触发延时将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set tigger delay + * @param handle [IN] Handle + * @param fValue [IN] Trigger delay to set + * @return Success, return #MV_OK, and the camera trigger delay will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetTriggerDelay(IN void* handle, IN const float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取触发源 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关触发源的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口MV_CC_GetPixelFormat，参考 CameraParams.h 中的 MV_CAM_TRIGGER_SOURCE 定义 + + * @~english + * @brief Get trigger source + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of trigger source + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to MV_CC_GetPixelFormat and definition of MV_CAM_TRIGGER_SOURCE in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetTriggerSource(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置触发源 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的触发源对应的整型值 + * @return 成功,返回#MV_OK,并且相机触发源将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set trigger source + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to trigger source + * @return Success, return #MV_OK, and the camera trigger source will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetTriggerSource(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 软触发一次（接口仅在已选择的触发源为软件触发时有效） + * @param handle [IN] 相机句柄 + * @return 成功,返回#MV_OK, 失败,返回错误码 + * @remarks + + * @~english + * @brief Execute software trigger once (this interface only valid when the trigger source is set to software) + * @param handle [IN] Handle + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_TriggerSoftwareExecute(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 获取Gamma类型 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关Gamma类型的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口MV_CC_GetPixelFormat，参考 CameraParams.h 中的 MV_CAM_GAMMA_SELECTOR 定义 + + * @~english + * @brief Get Gamma mode + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of gamma mode + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to MV_CC_GetPixelFormat and definition of MV_CAM_GAMMA_SELECTOR in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetGammaSelector(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Gamma类型 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的Gamma类型对应的整型值 + * @return 成功,返回#MV_OK,并且相机Gamma类型将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set Gamma mode + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to gamma mode + * @return Success, return #MV_OK, and the camera gamma mode will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetGammaSelector(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取Gamma值 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机Gamma值的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口MV_CC_GetExposureTime + + * @~english + * @brief Get Gamma value + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of gamma value + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to MV_CC_GetFrameRate + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetGamma(IN void* handle, IN OUT MVCC_FLOATVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Gamma值 + * @param handle [IN] 相机句柄 + * @param fValue [IN] 想要设置的相机Gamma值 + * @return 成功,返回#MV_OK,并且相机Gamma值将会更改为相应值，失败,返回错误码 + + * @~english + * @brief Set Gamma value + * @param handle [IN] Handle + * @param fValue [IN] Gamma value to set + * @return Success, return #MV_OK, and the camera gamma value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetGamma(IN void* handle, IN const float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取锐度 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机锐度结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get sharpness + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of sharpness + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetSharpness(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置锐度 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的锐度 + * @return 成功,返回#MV_OK,并且相机锐度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set sharpness + * @param handle [IN] Handle + * @param nValue [IN] Sharpness to set + * @return Success, return #MV_OK, and the camera sharpness will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetSharpness(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取灰度 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机灰度结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get Hue + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of Hue + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetHue(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置灰度 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的灰度 + * @return 成功,返回#MV_OK,并且相机灰度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set Hue + * @param handle [IN] Handle + * @param nValue [IN] Hue to set + * @return Success, return #MV_OK, and the camera Hue will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetHue(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取饱和度 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机饱和度结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get Saturation + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of Saturation + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetSaturation(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置饱和度 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的饱和度 + * @return 成功,返回#MV_OK,并且相机饱和度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set Saturation + * @param handle [IN] Handle + * @param nValue [IN] Saturation to set + * @return Success, return #MV_OK, and the camera Saturation will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetSaturation(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取自动白平衡 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关自动白平衡的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口MV_CC_GetPixelFormat，参考 CameraParams.h 中的 MV_CAM_BALANCEWHITE_AUTO 定义 + + + * @~english + * @brief Get Auto white balance + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of auto white balance + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to MV_CC_GetPixelFormat and definition of MV_CAM_BALANCEWHITE_AUTO in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBalanceWhiteAuto(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置自动白平衡 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的自动白平衡对应的整型值 + * @return 成功,返回#MV_OK,并且相机自动白平衡将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set Auto white balance + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to auto white balance + * @return Success, return #MV_OK, and the camera auto white balance will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBalanceWhiteAuto(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取白平衡 红 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机白平衡 红结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get white balance red + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of white balance red + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBalanceRatioRed(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置白平衡 红 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的白平衡 红 + * @return 成功,返回#MV_OK,并且相机白平衡 红将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set white balance red + * @param handle [IN] Handle + * @param nValue [IN] White balance red to set + * @return Success, return #MV_OK, and the camera white balance red will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBalanceRatioRed(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取白平衡 绿 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机白平衡 绿结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get white balance green + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of white balance green + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBalanceRatioGreen(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置白平衡 绿 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的白平衡 绿 + * @return 成功,返回#MV_OK,并且相机白平衡 绿将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set white balance green + * @param handle [IN] Handle + * @param nValue [IN] White balance green to set + * @return Success, return #MV_OK, and the camera white balance green will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBalanceRatioGreen(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取白平衡 蓝 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机白平衡 蓝结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get white balance blue + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of white balance blue + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBalanceRatioBlue(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置白平衡 蓝 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的白平衡 蓝 + * @return 成功,返回#MV_OK,并且相机白平衡 蓝将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set white balance blue + * @param handle [IN] Handle + * @param nValue [IN] White balance blue to set + * @return Success, return #MV_OK, and the camera white balance blue will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBalanceRatioBlue(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取水印信息内包含的信息类型 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机水印信息内包含的信息类型结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get information type included by frame stamp + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of information type included by frame stamp + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetFrameSpecInfoAbility(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置水印信息内包含的信息类型 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的水印信息内包含的信息类型 + * @return 成功,返回#MV_OK,并且相机水印信息内包含的信息类型会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set information type included by frame stamp + * @param handle [IN] Handle + * @param nValue [IN] Information type included by frame stamp to set + * @return Success, return #MV_OK, and the camera information type included by frame stamp will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetFrameSpecInfoAbility(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取设备自定义名字 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机名字结构体指针 + * @return 成功,返回#MV_OK,并且获取到相机的自定义名字，失败,返回错误码 + * @remarks + + * @~english + * @brief Get device user defined name + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of device name + * @return Success, return #MV_OK, and get the camera user defined name. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetDeviceUserID(IN void* handle, IN OUT MVCC_STRINGVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置设备自定义名字 + * @param handle [IN] 相机句柄 + * @param chValue [IN] 设备名字 + * @return 成功,返回#MV_OK,并且设置设备自定义名字，失败,返回错误码 + * @remarks + + * @~english + * @brief Set device user defined name + * @param handle [IN] Handle + * @param chValue [IN] Device name + * @return Success, return #MV_OK, and set the camera user defined name. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetDeviceUserID(IN void* handle, IN const char* chValue); + +/********************************************************************//** + * @~chinese + * @brief 获取一次触发的帧数 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机一次触发的帧数结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get frame number trigger by once + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of frame number trigger by once + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBurstFrameCount(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置一次触发的帧数 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的一次触发的帧数 + * @return 成功,返回#MV_OK,并且相机一次触发的帧数会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set frame number trigger by once + * @param handle [IN] Handle + * @param nValue [IN] Frame number trigger by once to set + * @return Success, return #MV_OK, and the camera frame number trigger by once will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBurstFrameCount(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取行频 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机行频结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get line rate + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of line rate + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAcquisitionLineRate(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置行频 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的行频 + * @return 成功,返回#MV_OK,并且相机行频会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set line rate + * @param handle [IN] Handle + * @param nValue [IN] Line rate to set + * @return Success, return #MV_OK, and the camera line rate will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAcquisitionLineRate(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取心跳信息 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机心跳信息结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get heartbeat information + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of heartbeat information + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetHeartBeatTimeout(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置心跳信息 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的心跳信息 + * @return 成功,返回#MV_OK,并且相机心跳信息会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set heartbeat information + * @param handle [IN] Handle + * @param nValue [IN] Heartbeat information to set + * @return Success, return #MV_OK, and the camera heartbeat information will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetHeartBeatTimeout(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取网络包大小 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机网络包大小结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get network packet size + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of network packet size + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGevSCPSPacketSize(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置网络包大小 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的网络包大小 + * @return 成功,返回#MV_OK,并且相机网络包大小会更改为相应值，失败,返回错误码 + + * @~english + * @brief Set network packet size + * @param handle [IN] Handle + * @param nValue [IN] Packet size to set + * @return Success, return #MV_OK, and change packet size to setting value. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGevSCPSPacketSize(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取网络包发送间隔 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机网络包发送间隔结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get network packet sending delay + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of network packet sending delay + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGevSCPD(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置网络包发送间隔 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的网络包发送间隔 + * @return 成功,返回#MV_OK,并且相机网络包发送间隔会更改为相应值，失败,返回错误码 + + * @~english + * @brief Set network packet sending delay + * @param handle [IN] Handle + * @param nValue [IN] Packet delay to set + * @return Success, return #MV_OK, and change packet delay to setting value. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGevSCPD(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取接收端IP地址，0xa9fe0102 表示 169.254.1.2 + * @param handle [IN] 相机句柄 + * @param pnIP [IN][OUT] 返回给调用者接收端IP地址 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks + + * @~english + * @brief Get receiver IP address, 0xa9fe0102 indicates 169.254.1.2 + * @param handle [IN] Handle + * @param pnIP [IN][OUT] Receiver IP address + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGevSCDA(IN void* handle, unsigned int* pnIP); + +/********************************************************************//** + * @~chinese + * @brief 设置接收端IP地址 + * @param handle [IN] 相机句柄 + * unsigned int nIP [IN] 想要设置的接收端IP地址 + * @return 成功,返回#MV_OK,并且相机接收端IP地址会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set receiver IP address + * @param handle [IN] Handel + * unsigned int nIP [IN] Receiver IP address to set + * @return Success, return #MV_OK, and change receiver IP address to setting value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGevSCDA(IN void* handle, unsigned int nIP); + +/********************************************************************//** + * @~chinese + * @brief 获取发送端的端口号 + * @param handle [IN] 相机句柄 + * @param pnPort [IN][OUT] 返回给调用者发送端的端口号 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks + + * @~english + * @brief Get transmitter port number + * @param handle [IN] Handle + * @param pnPort [IN][OUT] Transmitter port number + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGevSCSP(IN void* handle, unsigned int* pnPort); + +/********************************************************************//** + * @~chinese + * @brief 设置发送端的端口号 + * @param handle [IN] 相机句柄 + * @param nPort [IN] 想要设置的发送端的端口号 + * @return 成功,返回#MV_OK,并且相机发送端的端口号会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set transmitter port number + * @param handle [IN] Handle + * @param nPort [IN] Transmitter port number to set + * @return Success, return #MV_OK, and change transmitter port number to setting value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGevSCSP(IN void* handle, unsigned int nPort); + + +/************************************************************************/ +/* CameraLink 设备独有的接口,Linux 平台不支持 */ +/* APIs only support CameraLink device, not supported on Linux */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 设置设备波特率 + * @param handle [IN] 设备句柄 + * @param nBaudrate [IN] 设置的波特率值，数值参考CameraParams.h中宏定义，如#define MV_CAML_BAUDRATE_9600 0x00000001 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 该接口接口支持在设备未连接时调用。 + + * @~english + * @brief Set device bauderate using one of the CL_BAUDRATE_XXXX value + * @param handle [IN] Device handle + * @param nBaudrate [IN] baud rate to set. Refer to the CameraParams.h for parameter definitions, for example, #define MV_CAML_BAUDRATE_9600 0x00000001 + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is supported only by CameraLink device.\n + This API supports calls when devices are not connected. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CAML_SetDeviceBauderate(IN void* handle, unsigned int nBaudrate); + +/********************************************************************//** + * @~chinese + * @brief 获取设备波特率 + * @param handle [IN] 设备句柄 + * @param pnCurrentBaudrate [OUT] 波特率信息指针，数值参考CameraParams.h中宏定义，如#define MV_CAML_BAUDRATE_9600 0x00000001 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 该接口接口支持在设备未连接时调用。 + + * @~english + * @brief Returns the current device bauderate, using one of the CL_BAUDRATE_XXXX value + * @param handle [IN] Device handle + * @param pnCurrentBaudrate [OUT] Return pointer of baud rate to user. Refer to the CameraParams.h for parameter definitions, for example, #define MV_CAML_BAUDRATE_9600 0x00000001 + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is supported only by CameraLink device.\n + This API supports calls when devices are not connected. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CAML_GetDeviceBauderate(IN void* handle, unsigned int* pnCurrentBaudrate); + +/********************************************************************//** + * @~chinese + * @brief 获取设备与主机间连接支持的波特率 + * @param handle [IN] 设备句柄 + * @param pnBaudrateAblity [OUT] 支持的波特率信息的指针。所支持波特率的或运算结果，单个数值参考CameraParams.h中宏定义，如#define MV_CAML_BAUDRATE_9600 0x00000001 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 该接口接口支持在设备未连接时调用。 + + * @~english + * @brief Returns supported bauderates of the combined device and host interface + * @param handle [IN] Device handle + * @param pnBaudrateAblity [OUT] Return pointer of the supported bauderates to user. 'OR' operation results of the supported bauderates. Refer to the CameraParams.h for single value definitions, for example, #define MV_CAML_BAUDRATE_9600 0x00000001 + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is supported only by CameraLink device.\n + This API supports calls when devices are not connected. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CAML_GetSupportBauderates(IN void* handle, unsigned int* pnBaudrateAblity); + +/********************************************************************//** + * @~chinese + * @brief 设置串口操作等待时长 + * @param handle [IN] 设备句柄 + * @param nMillisec [IN] 串口操作的等待时长, ms + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks + + * @~english + * @brief Sets the timeout for operations on the serial port + * @param handle [IN] Device handle + * @param nMillisec [IN] Timeout in [ms] for operations on the serial port. + * @return Success, return #MV_OK. Failure, return error code + * @return Success, return MV_OK. Failure, return error code +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CAML_SetGenCPTimeOut(IN void* handle, unsigned int nMillisec); + +/************************************************************************/ +/* U3V 设备独有的接口 */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 设置U3V的传输包大小 + * @param handle [IN] 设备句柄 + * @param nTransferSize [IN] 传输的包大小, Byte，默认为1M，rang：>=0x10000 + * @return 成功,返回MV_OK,失败,返回错误码 + * @remarks 增加传输包大小可以适当降低取流时的CPU占用率。但不同的PC和不同USB扩展卡存在不同的兼容性，如果该参数设置过大可能会出现取不到图像的风险。 + + * @~english + * @brief Set transfer size of U3V device + * @param handle [IN] Device handle + * @param nTransferSize [IN] Transfer size，Byte，default：1M，rang：>=0x10000 + * @return Success, return MV_OK. Failure, return error code + * @remarks Increasing the transmission packet size can reduce the CPU utilization at the time of fetching. However, different PCS and different USB extension CARDS have different compatibility, and if this parameter is set too large, there may be the risk of not getting the image. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_USB_SetTransferSize(IN void* handle, unsigned int nTransferSize); + +/********************************************************************//** + * @~chinese + * @brief 获取U3V的传输包大小 + * @param handle [IN] 设备句柄 + * @param pnTransferSize [OUT] 传输的包大小指针, Byte + * @return 成功,返回MV_OK,失败,返回错误码 + * @remarks 该接口用于获取当前的U3V传输包大小，默认1M。 + + * @~english + * @brief Get transfer size of U3V device + * @param handle [IN] Device handle + * @param pnTransferSize [OUT] Transfer size，Byte + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to get the current U3V transfer packet size, default 1M. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_USB_GetTransferSize(IN void* handle, unsigned int* pnTransferSize); + +/********************************************************************//** + * @~chinese + * @brief 设置U3V的传输通道个数 + * @param handle [IN] 设备句柄 + * @param nTransferWays [IN] 传输通道个数，范围：1-10 + * @return 成功,返回MV_OK,失败,返回错误码 + * @remarks 用户可以根据PC的性能、设备出图帧率、图像大小和内存使用率等因素对该参数进行调节。但不同的PC和不同的USB扩展卡存在不同的兼容性。 + + * @~english + * @brief Set transfer ways of U3V device + * @param handle [IN] Device handle + * @param nTransferWays [IN] Transfer ways，rang：1-10 + * @return Success, return MV_OK. Failure, return error code + * @remarks Users can adjust this parameter according to PC performance, camera image frame rate, image size, memory utilization and other factors. But different PCS and different USB expansion CARDS have different compatibility. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_USB_SetTransferWays(IN void* handle, unsigned int nTransferWays); + +/********************************************************************//** + * @~chinese + * @brief 获取U3V的传输通道个数 + * @param handle [IN] 设备句柄 + * @param pnTransferWays [OUT] 传输通道个数指针 + * @return 成功,返回MV_OK,失败,返回错误码 + * @remarks 该接口用于获取当前的U3V异步取流节点个数，2000W设备的MONO8默认为3个，YUV为默认2个，RGB为默认1个，其它情况默认8个节点。 + + * @~english + * @brief Get transfer ways of U3V device + * @param handle [IN] Device handle + * @param pnTransferWays [OUT] Transfer ways + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to get the current number of U3V asynchronous feed nodes. For 2000W camera, MONO8 defaults to 3, YUV defaults to 2, RGB defaults to 1, and other cases default to 8 nodes. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_USB_GetTransferWays(IN void* handle, unsigned int* pnTransferWays); + +#ifdef __cplusplus +} +#endif + +#endif //_MV_CAMERA_CTRL_H_ diff --git a/src/ros2_hik_camera/hikSDK/include/MvErrorDefine.h b/src/ros2_hik_camera/hikSDK/include/MvErrorDefine.h new file mode 100644 index 00000000..a71cd795 --- /dev/null +++ b/src/ros2_hik_camera/hikSDK/include/MvErrorDefine.h @@ -0,0 +1,104 @@ + +#ifndef _MV_ERROR_DEFINE_H_ +#define _MV_ERROR_DEFINE_H_ + +/********************************************************************/ +/// \~chinese +/// \name 正确码定义 +/// @{ +/// \~english +/// \name Definition of correct code +/// @{ +#define MV_OK 0x00000000 ///< \~chinese 成功，无错误 \~english Successed, no error +/// @} + +/********************************************************************/ +/// \~chinese +/// \name 通用错误码定义:范围0x80000000-0x800000FF +/// @{ +/// \~english +/// \name Definition of General error code +/// @{ +#define MV_E_HANDLE 0x80000000 ///< \~chinese 错误或无效的句柄 \~english Error or invalid handle +#define MV_E_SUPPORT 0x80000001 ///< \~chinese 不支持的功能 \~english Not supported function +#define MV_E_BUFOVER 0x80000002 ///< \~chinese 缓存已满 \~english Buffer overflow +#define MV_E_CALLORDER 0x80000003 ///< \~chinese 函数调用顺序错误 \~english Function calling order error +#define MV_E_PARAMETER 0x80000004 ///< \~chinese 错误的参数 \~english Incorrect parameter +#define MV_E_RESOURCE 0x80000006 ///< \~chinese 资源申请失败 \~english Applying resource failed +#define MV_E_NODATA 0x80000007 ///< \~chinese 无数据 \~english No data +#define MV_E_PRECONDITION 0x80000008 ///< \~chinese 前置条件有误，或运行环境已发生变化 \~english Precondition error, or running environment changed +#define MV_E_VERSION 0x80000009 ///< \~chinese 版本不匹配 \~english Version mismatches +#define MV_E_NOENOUGH_BUF 0x8000000A ///< \~chinese 传入的内存空间不足 \~english Insufficient memory +#define MV_E_ABNORMAL_IMAGE 0x8000000B ///< \~chinese 异常图像，可能是丢包导致图像不完整 \~english Abnormal image, maybe incomplete image because of lost packet +#define MV_E_LOAD_LIBRARY 0x8000000C ///< \~chinese 动态导入DLL失败 \~english Load library failed +#define MV_E_NOOUTBUF 0x8000000D ///< \~chinese 没有可输出的缓存 \~english No Avaliable Buffer +#define MV_E_UNKNOW 0x800000FF ///< \~chinese 未知的错误 \~english Unknown error +/// @} + +/********************************************************************/ +/// \~chinese +/// \name GenICam系列错误:范围0x80000100-0x800001FF +/// @{ +/// \~english +/// \name GenICam Series Error Codes: Range from 0x80000100 to 0x800001FF +/// @{ +#define MV_E_GC_GENERIC 0x80000100 ///< \~chinese 通用错误 \~english General error +#define MV_E_GC_ARGUMENT 0x80000101 ///< \~chinese 参数非法 \~english Illegal parameters +#define MV_E_GC_RANGE 0x80000102 ///< \~chinese 值超出范围 \~english The value is out of range +#define MV_E_GC_PROPERTY 0x80000103 ///< \~chinese 属性 \~english Property +#define MV_E_GC_RUNTIME 0x80000104 ///< \~chinese 运行环境有问题 \~english Running environment error +#define MV_E_GC_LOGICAL 0x80000105 ///< \~chinese 逻辑错误 \~english Logical error +#define MV_E_GC_ACCESS 0x80000106 ///< \~chinese 节点访问条件有误 \~english Node accessing condition error +#define MV_E_GC_TIMEOUT 0x80000107 ///< \~chinese 超时 \~english Timeout +#define MV_E_GC_DYNAMICCAST 0x80000108 ///< \~chinese 转换异常 \~english Transformation exception +#define MV_E_GC_UNKNOW 0x800001FF ///< \~chinese GenICam未知错误 \~english GenICam unknown error +/// @} + +/********************************************************************/ +/// \~chinese +/// \name GigE_STATUS对应的错误码:范围0x80000200-0x800002FF +/// @{ +/// \~english +/// \name GigE_STATUS Error Codes: Range from 0x80000200 to 0x800002FF +/// @{ +#define MV_E_NOT_IMPLEMENTED 0x80000200 ///< \~chinese 命令不被设备支持 \~english The command is not supported by device +#define MV_E_INVALID_ADDRESS 0x80000201 ///< \~chinese 访问的目标地址不存在 \~english The target address being accessed does not exist +#define MV_E_WRITE_PROTECT 0x80000202 ///< \~chinese 目标地址不可写 \~english The target address is not writable +#define MV_E_ACCESS_DENIED 0x80000203 ///< \~chinese 设备无访问权限 \~english No permission +#define MV_E_BUSY 0x80000204 ///< \~chinese 设备忙，或网络断开 \~english Device is busy, or network disconnected +#define MV_E_PACKET 0x80000205 ///< \~chinese 网络包数据错误 \~english Network data packet error +#define MV_E_NETER 0x80000206 ///< \~chinese 网络相关错误 \~english Network error +#define MV_E_IP_CONFLICT 0x80000221 ///< \~chinese 设备IP冲突 \~english Device IP conflict +/// @} + +/********************************************************************/ +/// \~chinese +/// \name USB_STATUS对应的错误码:范围0x80000300-0x800003FF +/// @{ +/// \~english +/// \name USB_STATUS Error Codes: Range from 0x80000300 to 0x800003FF +/// @{ +#define MV_E_USB_READ 0x80000300 ///< \~chinese 读usb出错 \~english Reading USB error +#define MV_E_USB_WRITE 0x80000301 ///< \~chinese 写usb出错 \~english Writing USB error +#define MV_E_USB_DEVICE 0x80000302 ///< \~chinese 设备异常 \~english Device exception +#define MV_E_USB_GENICAM 0x80000303 ///< \~chinese GenICam相关错误 \~english GenICam error +#define MV_E_USB_BANDWIDTH 0x80000304 ///< \~chinese 带宽不足 该错误码新增 \~english Insufficient bandwidth, this error code is newly added +#define MV_E_USB_DRIVER 0x80000305 ///< \~chinese 驱动不匹配或者未装驱动 \~english Driver mismatch or unmounted drive +#define MV_E_USB_UNKNOW 0x800003FF ///< \~chinese USB未知的错误 \~english USB unknown error +/// @} + +/********************************************************************/ +/// \~chinese +/// \name 升级时对应的错误码:范围0x80000400-0x800004FF +/// @{ +/// \~english +/// \name Upgrade Error Codes: Range from 0x80000400 to 0x800004FF +/// @{ +#define MV_E_UPG_FILE_MISMATCH 0x80000400 ///< \~chinese 升级固件不匹配 \~english Firmware mismatches +#define MV_E_UPG_LANGUSGE_MISMATCH 0x80000401 ///< \~chinese 升级固件语言不匹配 \~english Firmware language mismatches +#define MV_E_UPG_CONFLICT 0x80000402 ///< \~chinese 升级冲突（设备已经在升级了再次请求升级即返回此错误） \~english Upgrading conflicted (repeated upgrading requests during device upgrade) +#define MV_E_UPG_INNER_ERR 0x80000403 ///< \~chinese 升级时相机内部出现错误 \~english Camera internal error during upgrade +#define MV_E_UPG_UNKNOW 0x800004FF ///< \~chinese 升级时未知错误 \~english Unknown error during upgrade +/// @} + +#endif //_MV_ERROR_DEFINE_H_ diff --git a/src/ros2_hik_camera/hikSDK/include/MvISPErrorDefine.h b/src/ros2_hik_camera/hikSDK/include/MvISPErrorDefine.h new file mode 100644 index 00000000..8f4d0969 --- /dev/null +++ b/src/ros2_hik_camera/hikSDK/include/MvISPErrorDefine.h @@ -0,0 +1,93 @@ + +#ifndef _MV_ISP_ERROR_DEFINE_H_ +#define _MV_ISP_ERROR_DEFINE_H_ + +/************************************************************************ +* ISP㷨Ĵ +************************************************************************/ +// ͨ +#define MV_ALG_OK 0x00000000 //ȷ +#define MV_ALG_ERR 0x10000000 //ȷʹ + +// +#define MV_ALG_E_ABILITY_ARG 0x10000001 //дЧ + +// ڴ +#define MV_ALG_E_MEM_NULL 0x10000002 //ڴַΪ +#define MV_ALG_E_MEM_ALIGN 0x10000003 //ڴ벻Ҫ +#define MV_ALG_E_MEM_LACK 0x10000004 //ڴռС +#define MV_ALG_E_MEM_SIZE_ALIGN 0x10000005 //ڴռСҪ +#define MV_ALG_E_MEM_ADDR_ALIGN 0x10000006 //ڴַҪ + +// ͼ +#define MV_ALG_E_IMG_FORMAT 0x10000007 //ͼʽȷ߲֧ +#define MV_ALG_E_IMG_SIZE 0x10000008 //ͼ߲ȷ߳Χ +#define MV_ALG_E_IMG_STEP 0x10000009 //ͼstepƥ +#define MV_ALG_E_IMG_DATA_NULL 0x1000000A //ͼݴ洢ַΪ + +// +#define MV_ALG_E_CFG_TYPE 0x1000000B //û߻ȡͲȷ +#define MV_ALG_E_CFG_SIZE 0x1000000C //û߻ȡ롢ṹСȷ +#define MV_ALG_E_PRC_TYPE 0x1000000D //Ͳȷ +#define MV_ALG_E_PRC_SIZE 0x1000000E //ʱ롢Сȷ +#define MV_ALG_E_FUNC_TYPE 0x1000000F //ӴͲȷ +#define MV_ALG_E_FUNC_SIZE 0x10000010 //Ӵʱ롢Сȷ + +// в +#define MV_ALG_E_PARAM_INDEX 0x10000011 //indexȷ +#define MV_ALG_E_PARAM_VALUE 0x10000012 //valueȷ߳Χ +#define MV_ALG_E_PARAM_NUM 0x10000013 //param_numȷ + +// ӿڵü +#define MV_ALG_E_NULL_PTR 0x10000014 //ָΪ +#define MV_ALG_E_OVER_MAX_MEM 0x10000015 //޶ڴ +#define MV_ALG_E_CALL_BACK 0x10000016 //ص + +// 㷨ؼ +#define MV_ALG_E_ENCRYPT 0x10000017 //ܴ +#define MV_ALG_E_EXPIRE 0x10000018 //㷨ʹ޴ + +// ڲģ鷵صĻ +#define MV_ALG_E_BAD_ARG 0x10000019 //Χȷ +#define MV_ALG_E_DATA_SIZE 0x1000001A //ݴСȷ +#define MV_ALG_E_STEP 0x1000001B //stepȷ + +// cpuָִ֧ +#define MV_ALG_E_CPUID 0x1000001C //cpu֧Żеָ + +#define MV_ALG_WARNING 0x1000001D // + +#define MV_ALG_E_TIME_OUT 0x1000001E //㷨ⳬʱ +#define MV_ALG_E_LIB_VERSION 0x1000001F //㷨汾ų +#define MV_ALG_E_MODEL_VERSION 0x10000020 //ģͰ汾ų +#define MV_ALG_E_GPU_MEM_ALLOC 0x10000021 //GPUڴ +#define MV_ALG_E_FILE_NON_EXIST 0x10000022 //ļ +#define MV_ALG_E_NONE_STRING 0x10000023 //ַΪ +#define MV_ALG_E_IMAGE_CODEC 0x10000024 //ͼ +#define MV_ALG_E_FILE_OPEN 0x10000025 //ļ +#define MV_ALG_E_FILE_READ 0x10000026 //ļȡ +#define MV_ALG_E_FILE_WRITE 0x10000027 //ļд +#define MV_ALG_E_FILE_READ_SIZE 0x10000028 //ļȡС +#define MV_ALG_E_FILE_TYPE 0x10000029 //ļʹ +#define MV_ALG_E_MODEL_TYPE 0x1000002A //ģʹ +#define MV_ALG_E_MALLOC_MEM 0x1000002B //ڴ +#define MV_ALG_E_BIND_CORE_FAILED 0x1000002C //̰߳ʧ + +// д +#define MV_ALG_E_DENOISE_NE_IMG_FORMAT 0x10402001 //ͼʽ +#define MV_ALG_E_DENOISE_NE_FEATURE_TYPE 0x10402002 //ʹ +#define MV_ALG_E_DENOISE_NE_PROFILE_NUM 0x10402003 //Ը +#define MV_ALG_E_DENOISE_NE_GAIN_NUM 0x10402004 // +#define MV_ALG_E_DENOISE_NE_GAIN_VAL 0x10402005 //ֵ +#define MV_ALG_E_DENOISE_NE_BIN_NUM 0x10402006 // +#define MV_ALG_E_DENOISE_NE_INIT_GAIN 0x10402007 //Ƴʼô +#define MV_ALG_E_DENOISE_NE_NOT_INIT 0x10402008 //δʼ +#define MV_ALG_E_DENOISE_COLOR_MODE 0x10402009 //ɫռģʽ +#define MV_ALG_E_DENOISE_ROI_NUM 0x1040200a //ͼROI +#define MV_ALG_E_DENOISE_ROI_ORI_PT 0x1040200b //ͼROIԭ +#define MV_ALG_E_DENOISE_ROI_SIZE 0x1040200c //ͼROIС +#define MV_ALG_E_DENOISE_GAIN_NOT_EXIST 0x1040200d //治(Ѵ) +#define MV_ALG_E_DENOISE_GAIN_BEYOND_RANGE 0x1040200e //治ڷΧ +#define MV_ALG_E_DENOISE_NP_BUF_SIZE 0x1040200f //ڴС + +#endif //_MV_ISP_ERROR_DEFINE_H_ diff --git a/src/ros2_hik_camera/hikSDK/include/PixelType.h b/src/ros2_hik_camera/hikSDK/include/PixelType.h new file mode 100644 index 00000000..d83f9de8 --- /dev/null +++ b/src/ros2_hik_camera/hikSDK/include/PixelType.h @@ -0,0 +1,202 @@ + +#ifndef _MV_PIXEL_TYPE_H_ +#define _MV_PIXEL_TYPE_H_ + +//#include "Base/GCTypes.h" + + +/************************************************************************/ +/* GigE Vision (2.0.03) PIXEL FORMATS */ +/************************************************************************/ + +// Indicate if pixel is monochrome or RGB +#define MV_GVSP_PIX_MONO 0x01000000 +#define MV_GVSP_PIX_RGB 0x02000000 // deprecated in version 1.1 +#define MV_GVSP_PIX_COLOR 0x02000000 +#define MV_GVSP_PIX_CUSTOM 0x80000000 +#define MV_GVSP_PIX_COLOR_MASK 0xFF000000 + +// Indicate effective number of bits occupied by the pixel (including padding). +// This can be used to compute amount of memory required to store an image. +#define MV_PIXEL_BIT_COUNT(n) ((n) << 16) + +#define MV_GVSP_PIX_EFFECTIVE_PIXEL_SIZE_MASK 0x00FF0000 +#define MV_GVSP_PIX_EFFECTIVE_PIXEL_SIZE_SHIFT 16 + +// Pixel ID: lower 16-bit of the pixel formats +#define MV_GVSP_PIX_ID_MASK 0x0000FFFF +#define MV_GVSP_PIX_COUNT 0x46 // next Pixel ID available + + +enum MvGvspPixelType +{ + // Undefined pixel type +#ifdef WIN32 + PixelType_Gvsp_Undefined = 0xFFFFFFFF, +#else + PixelType_Gvsp_Undefined = -1, +#endif + // Mono buffer format defines + PixelType_Gvsp_Mono1p = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(1) | 0x0037), + PixelType_Gvsp_Mono2p = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(2) | 0x0038), + PixelType_Gvsp_Mono4p = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(4) | 0x0039), + PixelType_Gvsp_Mono8 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0001), + PixelType_Gvsp_Mono8_Signed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0002), + PixelType_Gvsp_Mono10 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0003), + PixelType_Gvsp_Mono10_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0004), + PixelType_Gvsp_Mono12 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0005), + PixelType_Gvsp_Mono12_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0006), + PixelType_Gvsp_Mono14 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0025), + PixelType_Gvsp_Mono16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0007), + + // Bayer buffer format defines + PixelType_Gvsp_BayerGR8 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0008), + PixelType_Gvsp_BayerRG8 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0009), + PixelType_Gvsp_BayerGB8 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x000A), + PixelType_Gvsp_BayerBG8 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x000B), + PixelType_Gvsp_BayerGR10 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000C), + PixelType_Gvsp_BayerRG10 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000D), + PixelType_Gvsp_BayerGB10 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000E), + PixelType_Gvsp_BayerBG10 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000F), + PixelType_Gvsp_BayerGR12 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0010), + PixelType_Gvsp_BayerRG12 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0011), + PixelType_Gvsp_BayerGB12 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0012), + PixelType_Gvsp_BayerBG12 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0013), + PixelType_Gvsp_BayerGR10_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0026), + PixelType_Gvsp_BayerRG10_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0027), + PixelType_Gvsp_BayerGB10_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0028), + PixelType_Gvsp_BayerBG10_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0029), + PixelType_Gvsp_BayerGR12_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002A), + PixelType_Gvsp_BayerRG12_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002B), + PixelType_Gvsp_BayerGB12_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002C), + PixelType_Gvsp_BayerBG12_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002D), + PixelType_Gvsp_BayerGR16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x002E), + PixelType_Gvsp_BayerRG16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x002F), + PixelType_Gvsp_BayerGB16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0030), + PixelType_Gvsp_BayerBG16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0031), + + // RGB Packed buffer format defines + PixelType_Gvsp_RGB8_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0014), + PixelType_Gvsp_BGR8_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0015), + PixelType_Gvsp_RGBA8_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x0016), + PixelType_Gvsp_BGRA8_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x0017), + PixelType_Gvsp_RGB10_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0018), + PixelType_Gvsp_BGR10_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0019), + PixelType_Gvsp_RGB12_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x001A), + PixelType_Gvsp_BGR12_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x001B), + PixelType_Gvsp_RGB16_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0033), + PixelType_Gvsp_BGR16_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x004B), + PixelType_Gvsp_RGBA16_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x0064), + PixelType_Gvsp_BGRA16_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x0051), + PixelType_Gvsp_RGB10V1_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x001C), + PixelType_Gvsp_RGB10V2_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x001D), + PixelType_Gvsp_RGB12V1_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(36) | 0X0034), + PixelType_Gvsp_RGB565_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0035), + PixelType_Gvsp_BGR565_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0X0036), + + // YUV Packed buffer format defines + PixelType_Gvsp_YUV411_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(12) | 0x001E), + PixelType_Gvsp_YUV422_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x001F), + PixelType_Gvsp_YUV422_YUYV_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0032), + PixelType_Gvsp_YUV444_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0020), + PixelType_Gvsp_YCBCR8_CBYCR = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x003A), + PixelType_Gvsp_YCBCR422_8 = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x003B), + PixelType_Gvsp_YCBCR422_8_CBYCRY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0043), + PixelType_Gvsp_YCBCR411_8_CBYYCRYY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(12) | 0x003C), + PixelType_Gvsp_YCBCR601_8_CBYCR = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x003D), + PixelType_Gvsp_YCBCR601_422_8 = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x003E), + PixelType_Gvsp_YCBCR601_422_8_CBYCRY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0044), + PixelType_Gvsp_YCBCR601_411_8_CBYYCRYY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(12) | 0x003F), + PixelType_Gvsp_YCBCR709_8_CBYCR = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0040), + PixelType_Gvsp_YCBCR709_422_8 = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0041), + PixelType_Gvsp_YCBCR709_422_8_CBYCRY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0045), + PixelType_Gvsp_YCBCR709_411_8_CBYYCRYY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(12) | 0x0042), + + // RGB Planar buffer format defines + PixelType_Gvsp_RGB8_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0021), + PixelType_Gvsp_RGB10_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0022), + PixelType_Gvsp_RGB12_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0023), + PixelType_Gvsp_RGB16_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0024), + + // 自定义的图片格式 + PixelType_Gvsp_Jpeg = (MV_GVSP_PIX_CUSTOM | MV_PIXEL_BIT_COUNT(24) | 0x0001), + + PixelType_Gvsp_Coord3D_ABC32f = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(96) | 0x00C0),//0x026000C0 + PixelType_Gvsp_Coord3D_ABC32f_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(96) | 0x00C1),//0x026000C1 + + // 该值被废弃，请参考PixelType_Gvsp_Coord3D_AC32f_64; the value is discarded + PixelType_Gvsp_Coord3D_AC32f = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(40) | 0x00C2), + // 该值被废弃; the value is discarded (已放入Chunkdata) + PixelType_Gvsp_COORD3D_DEPTH_PLUS_MASK = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(28) | 0x0001), + + PixelType_Gvsp_Coord3D_ABC32 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(96) | 0x3001),//0x82603001 + PixelType_Gvsp_Coord3D_AB32f = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x3002),//0x82403002 + PixelType_Gvsp_Coord3D_AB32 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x3003),//0x82403003 + PixelType_Gvsp_Coord3D_AC32f_64 = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x00C2),//0x024000C2 + PixelType_Gvsp_Coord3D_AC32f_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x00C3),//0x024000C3 + PixelType_Gvsp_Coord3D_AC32 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x3004),//0x82403004 + PixelType_Gvsp_Coord3D_A32f = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(32) | 0x00BD),//0x012000BD + PixelType_Gvsp_Coord3D_A32 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(32) | 0x3005),//0x81203005 + PixelType_Gvsp_Coord3D_C32f = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(32) | 0x00BF),//0x012000BF + PixelType_Gvsp_Coord3D_C32 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(32) | 0x3006),//0x81203006 + + PixelType_Gvsp_Coord3D_ABC16 = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x00B9),//0x023000B9 + PixelType_Gvsp_Coord3D_C16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x00B8),//0x011000B8 + + //无损压缩像素格式定义 + PixelType_Gvsp_HB_Mono8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0001), + PixelType_Gvsp_HB_Mono10 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0003), + PixelType_Gvsp_HB_Mono10_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0004), + PixelType_Gvsp_HB_Mono12 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0005), + PixelType_Gvsp_HB_Mono12_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0006), + PixelType_Gvsp_HB_Mono16 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0007), + PixelType_Gvsp_HB_BayerGR8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0008), + PixelType_Gvsp_HB_BayerRG8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0009), + PixelType_Gvsp_HB_BayerGB8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x000A), + PixelType_Gvsp_HB_BayerBG8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x000B), + PixelType_Gvsp_HB_BayerRBGG8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0046), + PixelType_Gvsp_HB_BayerGR10 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000C), + PixelType_Gvsp_HB_BayerRG10 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000D), + PixelType_Gvsp_HB_BayerGB10 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000E), + PixelType_Gvsp_HB_BayerBG10 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000F), + PixelType_Gvsp_HB_BayerGR12 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0010), + PixelType_Gvsp_HB_BayerRG12 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0011), + PixelType_Gvsp_HB_BayerGB12 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0012), + PixelType_Gvsp_HB_BayerBG12 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0013), + PixelType_Gvsp_HB_BayerGR10_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0026), + PixelType_Gvsp_HB_BayerRG10_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0027), + PixelType_Gvsp_HB_BayerGB10_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0028), + PixelType_Gvsp_HB_BayerBG10_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0029), + PixelType_Gvsp_HB_BayerGR12_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002A), + PixelType_Gvsp_HB_BayerRG12_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002B), + PixelType_Gvsp_HB_BayerGB12_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002C), + PixelType_Gvsp_HB_BayerBG12_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002D), + PixelType_Gvsp_HB_YUV422_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x001F), + PixelType_Gvsp_HB_YUV422_YUYV_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0032), + PixelType_Gvsp_HB_RGB8_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0014), + PixelType_Gvsp_HB_BGR8_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0015), + PixelType_Gvsp_HB_RGBA8_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x0016), + PixelType_Gvsp_HB_BGRA8_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x0017), + PixelType_Gvsp_HB_RGB16_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0033), + PixelType_Gvsp_HB_BGR16_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x004B), + PixelType_Gvsp_HB_RGBA16_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x0064), + PixelType_Gvsp_HB_BGRA16_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x0051), + +}; + +//enum MvUsbPixelType +//{ +// +//}; + +//跨平台定义 +//Cross Platform Definition +#ifdef WIN32 +typedef __int64 int64_t; +typedef unsigned __int64 uint64_t; +#else +#include +#endif + + +#endif /* _MV_PIXEL_TYPE_H_ */ diff --git a/src/ros2_hik_camera/launch/hik_camera.launch.py b/src/ros2_hik_camera/launch/hik_camera.launch.py new file mode 100644 index 00000000..1d25f294 --- /dev/null +++ b/src/ros2_hik_camera/launch/hik_camera.launch.py @@ -0,0 +1,34 @@ +import os + +from ament_index_python.packages import get_package_share_directory, get_package_prefix +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + params_file = os.path.join( + get_package_share_directory('hik_camera'), 'config', 'camera_params.yaml') + + camera_info_url = 'package://hik_camera/config/camera_info.yaml' + + return LaunchDescription([ + DeclareLaunchArgument(name='params_file', + default_value=params_file), + DeclareLaunchArgument(name='camera_info_url', + default_value=camera_info_url), + DeclareLaunchArgument(name='use_sensor_data_qos', + default_value='false'), + + Node( + package='hik_camera', + executable='hik_camera_node', + output='screen', + emulate_tty=True, + parameters=[LaunchConfiguration('params_file'), { + 'camera_info_url': LaunchConfiguration('camera_info_url'), + 'use_sensor_data_qos': LaunchConfiguration('use_sensor_data_qos'), + }], + ) + ]) diff --git a/src/ros2_hik_camera/package.xml b/src/ros2_hik_camera/package.xml new file mode 100644 index 00000000..22a19567 --- /dev/null +++ b/src/ros2_hik_camera/package.xml @@ -0,0 +1,28 @@ + + + + hik_camera + 0.0.0 + TODO: Package description + nolem + TODO: License declaration + + + ament_cmake + + + rclcpp + rclcpp_components + sensor_msgs + image_transport + image_transport_plugins + camera_info_manager + + camera_calibration + + ament_lint_auto + ament_lint_common + + ament_cmake + + diff --git a/src/ros2_hik_camera/src/hik_camera_node.cpp b/src/ros2_hik_camera/src/hik_camera_node.cpp new file mode 100644 index 00000000..0435ca58 --- /dev/null +++ b/src/ros2_hik_camera/src/hik_camera_node.cpp @@ -0,0 +1,204 @@ +#include "MvCameraControl.h" +// ROS +#include +#include +#include +#include +#include +#include +#include + +namespace hik_camera +{ +class HikCameraNode : public rclcpp::Node +{ +public: + explicit HikCameraNode(const rclcpp::NodeOptions & options) : Node("hik_camera", options) + { + RCLCPP_INFO(this->get_logger(), "Starting HikCameraNode!"); + + MV_CC_DEVICE_INFO_LIST device_list; + // enum device + nRet = MV_CC_EnumDevices(MV_USB_DEVICE, &device_list); + RCLCPP_INFO(this->get_logger(), "Found camera count = %d", device_list.nDeviceNum); + + while (device_list.nDeviceNum == 0 && rclcpp::ok()) { + RCLCPP_ERROR(this->get_logger(), "No camera found!"); + RCLCPP_INFO(this->get_logger(), "Enum state: [%x]", nRet); + std::this_thread::sleep_for(std::chrono::seconds(1)); + nRet = MV_CC_EnumDevices(MV_USB_DEVICE, &device_list); + } + + MV_CC_CreateHandle(&camera_handle_, device_list.pDeviceInfo[0]); + + MV_CC_OpenDevice(camera_handle_); + + // Get camera infomation + MV_CC_GetImageInfo(camera_handle_, &img_info_); + image_msg_.data.reserve(img_info_.nHeightMax * img_info_.nWidthMax * 3); + + // Init convert param + convert_param_.nWidth = img_info_.nWidthValue; + convert_param_.nHeight = img_info_.nHeightValue; + convert_param_.enDstPixelType = PixelType_Gvsp_RGB8_Packed; + + bool use_sensor_data_qos = this->declare_parameter("use_sensor_data_qos", true); + auto qos = use_sensor_data_qos ? rmw_qos_profile_sensor_data : rmw_qos_profile_default; + camera_pub_ = image_transport::create_camera_publisher(this, "image_raw", qos); + + declareParameters(); + + MV_CC_StartGrabbing(camera_handle_); + + // Load camera info + camera_name_ = this->declare_parameter("camera_name", "narrow_stereo"); + camera_info_manager_ = + std::make_unique(this, camera_name_); + auto camera_info_url = + this->declare_parameter("camera_info_url", "package://hik_camera/config/camera_info.yaml"); + if (camera_info_manager_->validateURL(camera_info_url)) { + camera_info_manager_->loadCameraInfo(camera_info_url); + camera_info_msg_ = camera_info_manager_->getCameraInfo(); + } else { + RCLCPP_WARN(this->get_logger(), "Invalid camera info URL: %s", camera_info_url.c_str()); + } + + params_callback_handle_ = this->add_on_set_parameters_callback( + std::bind(&HikCameraNode::parametersCallback, this, std::placeholders::_1)); + + capture_thread_ = std::thread{[this]() -> void { + MV_FRAME_OUT out_frame; + + RCLCPP_INFO(this->get_logger(), "Publishing image!"); + + image_msg_.header.frame_id = "camera_optical_frame"; + image_msg_.encoding = "rgb8"; + + while (rclcpp::ok()) { + nRet = MV_CC_GetImageBuffer(camera_handle_, &out_frame, 1000); + if (MV_OK == nRet) { + convert_param_.pDstBuffer = image_msg_.data.data(); + convert_param_.nDstBufferSize = image_msg_.data.size(); + convert_param_.pSrcData = out_frame.pBufAddr; + convert_param_.nSrcDataLen = out_frame.stFrameInfo.nFrameLen; + convert_param_.enSrcPixelType = out_frame.stFrameInfo.enPixelType; + + MV_CC_ConvertPixelType(camera_handle_, &convert_param_); + MV_CC_SetBayerCvtQuality(camera_handle_, 2); + + image_msg_.header.stamp = this->now(); + image_msg_.height = out_frame.stFrameInfo.nHeight; + image_msg_.width = out_frame.stFrameInfo.nWidth; + image_msg_.step = out_frame.stFrameInfo.nWidth * 3; + image_msg_.data.resize(image_msg_.width * image_msg_.height * 3); + + camera_info_msg_.header = image_msg_.header; + camera_pub_.publish(image_msg_, camera_info_msg_); + + MV_CC_FreeImageBuffer(camera_handle_, &out_frame); + fail_conut_ = 0; + } else { + RCLCPP_WARN(this->get_logger(), "Get buffer failed! nRet: [%x]", nRet); + MV_CC_StopGrabbing(camera_handle_); + MV_CC_StartGrabbing(camera_handle_); + fail_conut_++; + } + + if (fail_conut_ > 5) { + RCLCPP_FATAL(this->get_logger(), "Camera failed!"); + rclcpp::shutdown(); + } + } + }}; + } + + ~HikCameraNode() override + { + if (capture_thread_.joinable()) { + capture_thread_.join(); + } + if (camera_handle_) { + MV_CC_StopGrabbing(camera_handle_); + MV_CC_CloseDevice(camera_handle_); + MV_CC_DestroyHandle(&camera_handle_); + } + RCLCPP_INFO(this->get_logger(), "HikCameraNode destroyed!"); + } + +private: + void declareParameters() + { + rcl_interfaces::msg::ParameterDescriptor param_desc; + MVCC_FLOATVALUE f_value; + param_desc.integer_range.resize(1); + param_desc.integer_range[0].step = 1; + // Exposure time + param_desc.description = "Exposure time in microseconds"; + MV_CC_GetFloatValue(camera_handle_, "ExposureTime", &f_value); + param_desc.integer_range[0].from_value = f_value.fMin; + param_desc.integer_range[0].to_value = f_value.fMax; + double exposure_time = this->declare_parameter("exposure_time", 5000, param_desc); + MV_CC_SetFloatValue(camera_handle_, "ExposureTime", exposure_time); + RCLCPP_INFO(this->get_logger(), "Exposure time: %f", exposure_time); + + // Gain + param_desc.description = "Gain"; + MV_CC_GetFloatValue(camera_handle_, "Gain", &f_value); + param_desc.integer_range[0].from_value = f_value.fMin; + param_desc.integer_range[0].to_value = f_value.fMax; + double gain = this->declare_parameter("gain", f_value.fCurValue, param_desc); + MV_CC_SetFloatValue(camera_handle_, "Gain", gain); + RCLCPP_INFO(this->get_logger(), "Gain: %f", gain); + + } + + rcl_interfaces::msg::SetParametersResult parametersCallback( + const std::vector & parameters) + { + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + for (const auto & param : parameters) { + if (param.get_name() == "exposure_time") { + int status = MV_CC_SetFloatValue(camera_handle_, "ExposureTime", param.as_int()); + if (MV_OK != status) { + result.successful = false; + result.reason = "Failed to set exposure time, status = " + std::to_string(status); + } + } else if (param.get_name() == "gain") { + int status = MV_CC_SetFloatValue(camera_handle_, "Gain", param.as_double()); + if (MV_OK != status) { + result.successful = false; + result.reason = "Failed to set gain, status = " + std::to_string(status); + } + } else { + result.successful = false; + result.reason = "Unknown parameter: " + param.get_name(); + } + } + return result; + } + + sensor_msgs::msg::Image image_msg_; + + image_transport::CameraPublisher camera_pub_; + + int nRet = MV_OK; + void * camera_handle_; + MV_IMAGE_BASIC_INFO img_info_; + + MV_CC_PIXEL_CONVERT_PARAM convert_param_; + + std::string camera_name_; + std::unique_ptr camera_info_manager_; + sensor_msgs::msg::CameraInfo camera_info_msg_; + + int fail_conut_ = 0; + std::thread capture_thread_; + + OnSetParametersCallbackHandle::SharedPtr params_callback_handle_; +}; +} // namespace hik_camera + +#include "rclcpp_components/register_node_macro.hpp" + +RCLCPP_COMPONENTS_REGISTER_NODE(hik_camera::HikCameraNode) diff --git a/src/ros2_mindvision_camera b/src/ros2_mindvision_camera deleted file mode 160000 index 7c0aab2e..00000000 --- a/src/ros2_mindvision_camera +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 7c0aab2e72662ea66b9c41dac91a6d82cb04a127 diff --git a/src/ros2_mindvision_camera/.clang-format b/src/ros2_mindvision_camera/.clang-format new file mode 100644 index 00000000..2f8d64b6 --- /dev/null +++ b/src/ros2_mindvision_camera/.clang-format @@ -0,0 +1,18 @@ +--- +Language: Cpp +BasedOnStyle: Google + +AccessModifierOffset: -2 +AlignAfterOpenBracket: AlwaysBreak +BraceWrapping: + AfterClass: true + AfterFunction: true + AfterNamespace: true + AfterStruct: true +BreakBeforeBraces: Custom +ColumnLimit: 100 +ConstructorInitializerIndentWidth: 0 +ContinuationIndentWidth: 2 +DerivePointerAlignment: false +PointerAlignment: Middle +ReflowComments: false \ No newline at end of file diff --git a/src/ros2_mindvision_camera/.clang-tidy b/src/ros2_mindvision_camera/.clang-tidy new file mode 100644 index 00000000..bf3d848f --- /dev/null +++ b/src/ros2_mindvision_camera/.clang-tidy @@ -0,0 +1,55 @@ +--- +Checks: '-*, + performance-*, + -performance-unnecessary-value-param, + llvm-namespace-comment, + modernize-redundant-void-arg, + modernize-use-nullptr, + modernize-use-default, + modernize-use-override, + modernize-loop-convert, + modernize-make-shared, + modernize-make-unique, + misc-unused-parameters, + readability-named-parameter, + readability-redundant-smartptr-get, + readability-redundant-string-cstr, + readability-simplify-boolean-expr, + readability-container-size-empty, + readability-identifier-naming, + ' +HeaderFilterRegex: '' +AnalyzeTemporaryDtors: false +CheckOptions: + - key: llvm-namespace-comment.ShortNamespaceLines + value: '10' + - key: llvm-namespace-comment.SpacesBeforeComments + value: '2' + - key: misc-unused-parameters.StrictMode + value: '1' + - key: readability-braces-around-statements.ShortStatementLines + value: '2' + # type names + - key: readability-identifier-naming.ClassCase + value: CamelCase + - key: readability-identifier-naming.EnumCase + value: CamelCase + - key: readability-identifier-naming.UnionCase + value: CamelCase + # method names + - key: readability-identifier-naming.MethodCase + value: camelBack + # variable names + - key: readability-identifier-naming.VariableCase + value: lower_case + - key: readability-identifier-naming.ClassMemberSuffix + value: '_' + # const static or global variables are UPPER_CASE + - key: readability-identifier-naming.EnumConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.StaticConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.ClassConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.GlobalVariableCase + value: UPPER_CASE \ No newline at end of file diff --git a/src/ros2_mindvision_camera/.github/workflows/ros_ci.yml b/src/ros2_mindvision_camera/.github/workflows/ros_ci.yml new file mode 100644 index 00000000..a21ff1a6 --- /dev/null +++ b/src/ros2_mindvision_camera/.github/workflows/ros_ci.yml @@ -0,0 +1,20 @@ +name: Build and Test (humble) +on: + push: + branches: [ main ] + pull_request: + branches: [ main ] +jobs: + build-and-test: + runs-on: ubuntu-22.04 + steps: + - name: Setup ROS 2 + uses: ros-tooling/setup-ros@v0.4 + with: + required-ros-distributions: humble + - name: Build ros2_mindvision_camera + uses: ros-tooling/action-ros-ci@v0.2 + with: + package-name: mindvision_camera + target-ros2-distro: humble + skip-tests: true diff --git a/src/ros2_mindvision_camera/.gitignore b/src/ros2_mindvision_camera/.gitignore new file mode 100644 index 00000000..e8aa9eb4 --- /dev/null +++ b/src/ros2_mindvision_camera/.gitignore @@ -0,0 +1,170 @@ + +# Created by https://www.gitignore.io/api/c++,linux,macos,clion +# Edit at https://www.gitignore.io/?templates=c++,linux,macos,clion + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +# *.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### CLion ### +# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and WebStorm +# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839 + +# User-specific stuff +.idea/**/workspace.xml +.idea/**/tasks.xml +.idea/**/usage.statistics.xml +.idea/**/dictionaries +.idea/**/shelf + +# Generated files +.idea/**/contentModel.xml + +# Sensitive or high-churn files +.idea/**/dataSources/ +.idea/**/dataSources.ids +.idea/**/dataSources.local.xml +.idea/**/sqlDataSources.xml +.idea/**/dynamic.xml +.idea/**/uiDesigner.xml +.idea/**/dbnavigator.xml + +# Gradle +.idea/**/gradle.xml +.idea/**/libraries + +# Gradle and Maven with auto-import +# When using Gradle or Maven with auto-import, you should exclude module files, +# since they will be recreated, and may cause churn. Uncomment if using +# auto-import. +# .idea/modules.xml +# .idea/*.iml +# .idea/modules +# *.iml +# *.ipr + +# CMake +cmake-build-*/ + +# Mongo Explorer plugin +.idea/**/mongoSettings.xml + +# File-based project format +*.iws + +# IntelliJ +out/ + +# mpeltonen/sbt-idea plugin +.idea_modules/ + +# JIRA plugin +atlassian-ide-plugin.xml + +# Cursive Clojure plugin +.idea/replstate.xml + +# Crashlytics plugin (for Android Studio and IntelliJ) +com_crashlytics_export_strings.xml +crashlytics.properties +crashlytics-build.properties +fabric.properties + +# Editor-based Rest Client +.idea/httpRequests + +# Android studio 3.1+ serialized cache file +.idea/caches/build_file_checksums.ser + +### CLion Patch ### +# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721 + +# *.iml +# modules.xml +# .idea/misc.xml +# *.ipr + +# Sonarlint plugin +.idea/**/sonarlint/ + +# SonarQube Plugin +.idea/**/sonarIssues.xml + +# Markdown Navigator plugin +.idea/**/markdown-navigator.xml +.idea/**/markdown-navigator/ + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +# End of https://www.gitignore.io/api/c++,linux,macos,clion diff --git a/src/ros2_mindvision_camera/CMakeLists.txt b/src/ros2_mindvision_camera/CMakeLists.txt new file mode 100644 index 00000000..a23a2553 --- /dev/null +++ b/src/ros2_mindvision_camera/CMakeLists.txt @@ -0,0 +1,75 @@ +cmake_minimum_required(VERSION 3.10) +project(mindvision_camera) + +## Use C++14 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +## By adding -Wall and -Werror, the compiler does not ignore warnings anymore, +## enforcing cleaner code. +add_definitions(-Wall -Werror) + +## Export compile commands for clangd +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +####################### +## Find dependencies ## +####################### + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +########### +## Build ## +########### + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/mv_camera_node.cpp +) +target_include_directories(${PROJECT_NAME} PUBLIC mvsdk/include) + +if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64") + target_link_directories(${PROJECT_NAME} PUBLIC mvsdk/lib/amd64) +elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64") + target_link_directories(${PROJECT_NAME} PUBLIC mvsdk/lib/arm64) +else() + message(FATAL_ERROR "Unsupport host system architecture: ${CMAKE_HOST_SYSTEM_PROCESSOR}!") +endif() + +target_link_libraries(${PROJECT_NAME} MVSDK) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN mindvision_camera::MVCameraNode + EXECUTABLE ${PROJECT_NAME}_node +) + +############# +## Testing ## +############# + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + list(APPEND AMENT_LINT_AUTO_EXCLUDE + ament_cmake_copyright + ament_cmake_cpplint + ament_cmake_uncrustify + ) + ament_lint_auto_find_test_dependencies() + + set(_linter_excludes + mvsdk/include/CameraApi.h + mvsdk/include/CameraDefine.h + mvsdk/include/CameraStatus.h + ) + ament_cpplint(EXCLUDE ${_linter_excludes}) +endif() + +# ############ +# # Install ## +# ############ + +ament_auto_package( + INSTALL_TO_SHARE + config + launch +) diff --git a/src/ros2_mindvision_camera/LICENSE b/src/ros2_mindvision_camera/LICENSE new file mode 100644 index 00000000..d1e647e9 --- /dev/null +++ b/src/ros2_mindvision_camera/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2022 ChenJun + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/src/ros2_mindvision_camera/README.md b/src/ros2_mindvision_camera/README.md new file mode 100644 index 00000000..1c29c46f --- /dev/null +++ b/src/ros2_mindvision_camera/README.md @@ -0,0 +1,50 @@ +# ros2_mindvision_camera + +ROS2 MindVision 相机包，提供了 MindVision 相机的 ROS API。 + +Only tested under Ubuntu 22.04 with ROS2 Humble + +![Build Status](https://github.com/chenjunnn/ros2_mindvision_camera/actions/workflows/ros_ci.yml/badge.svg) + +## 使用说明 + +### Build from source + +#### Dependencies + +- [Robot Operating System 2 (ROS2)](https://docs.ros.org/en/humble/) (middleware for robotics), + +#### Building + +To build from source, clone the latest version from this repository into your colcon workspace and compile the package using + + mkdir -p ros_ws/src + cd ros_ws/src + git clone https://github.com/chenjunnn/ros2_mindvision_camera.git + cd .. + rosdep install --from-paths src --ignore-src -r -y + colcon build --symlink-install --packages-up-to mindvision_camera + +### 标定 + +标定教程可参考 https://navigation.ros.org/tutorials/docs/camera_calibration.html + +参数意义请参考 http://wiki.ros.org/camera_calibration + +标定后的相机参数会被存放在 `/tmp/calibrationdata.tar.gz` + +### 启动相机节点 + + ros2 launch mindvision_camera mv_launch.py + +支持的参数： + +1. params_file： 相机参数文件的路径 +2. camera_info_url： 相机内参文件的路径 +3. use_sensor_data_qos： 相机 Publisher 是否使用 SensorDataQoS (default: `false`) + +### 通过 rqt 动态调节相机参数 + +打开 rqt，在 Plugins 中添加 `Configuration -> Dynamic Reconfigure` 及 `Visualization -> Image View` + +![](docs/rqt.png) diff --git a/src/ros2_mindvision_camera/config/camera_info.yaml b/src/ros2_mindvision_camera/config/camera_info.yaml new file mode 100644 index 00000000..b14b5784 --- /dev/null +++ b/src/ros2_mindvision_camera/config/camera_info.yaml @@ -0,0 +1,26 @@ +image_width: 1280 +image_height: 1024 +camera_name: narrow_stereo +camera_matrix: + rows: 3 + cols: 3 + data: [1560.46759, 0. , 627.94252, + 0. , 1563.0218 , 519.00352, + 0. , 0. , 1. ] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.059454, 0.136857, -0.000134, 0.001950, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] +projection_matrix: + rows: 3 + cols: 4 + data: [1550.59436, 0. , 629.28898, 0. , + 0. , 1554.92236, 518.36577, 0. , + 0. , 0. , 1. , 0. ] diff --git a/src/ros2_mindvision_camera/config/camera_params.yaml b/src/ros2_mindvision_camera/config/camera_params.yaml new file mode 100644 index 00000000..2ff5a149 --- /dev/null +++ b/src/ros2_mindvision_camera/config/camera_params.yaml @@ -0,0 +1,7 @@ +/mv_camera: + ros__parameters: + camera_name: mv_camera + + exposure_time: 3500 + gain: 6.0 + flip_image: true diff 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zBC$vq9YkD(k_Yv;Y2RBjO{E@2$*P{%Z_Svy)z(?qYzhh&!FQWrIy2aUsgzA_COD3= z>LVJIe0`tI&HjUV)~-$ScpHN!b-USR3ka|^E0 zE7IHJ3Lde1K0%wmq!(d!XUwsfRV5|sHHWFn`XlhIgO02m_}WpodwHLm3>&7aw+}j^ zoa8qP@#G7k(e8;~uM)rTuzx;qICSCbdpHvT*CJrVbM{Ku^Xa$Ozlu-ZN7;Mg$A1H5 CUXo`3 literal 0 HcmV?d00001 diff --git a/src/ros2_mindvision_camera/launch/mv_launch.py b/src/ros2_mindvision_camera/launch/mv_launch.py new file mode 100644 index 00000000..67c876db --- /dev/null +++ b/src/ros2_mindvision_camera/launch/mv_launch.py @@ -0,0 +1,33 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + params_file = os.path.join( + get_package_share_directory('mindvision_camera'), 'config', 'camera_params.yaml') + + camera_info_url = 'package://mindvision_camera/config/camera_info.yaml' + + return LaunchDescription([ + DeclareLaunchArgument(name='params_file', + default_value=params_file), + DeclareLaunchArgument(name='camera_info_url', + default_value=camera_info_url), + DeclareLaunchArgument(name='use_sensor_data_qos', + default_value='false'), + Node( + package='mindvision_camera', + executable='mindvision_camera_node', + output='screen', + emulate_tty=True, + parameters=[LaunchConfiguration('params_file'), { + 'camera_info_url': LaunchConfiguration('camera_info_url'), + 'use_sensor_data_qos': LaunchConfiguration('use_sensor_data_qos'), + }], + ) + ]) diff --git a/src/ros2_mindvision_camera/mvsdk/include/CameraApi.h b/src/ros2_mindvision_camera/mvsdk/include/CameraApi.h new file mode 100644 index 00000000..78b7d428 --- /dev/null +++ b/src/ros2_mindvision_camera/mvsdk/include/CameraApi.h @@ -0,0 +1,5007 @@ +#ifndef _MVCAMAPI_H_ +#define _MVCAMAPI_H_ + +#define MVSDK_API + +#ifdef __cplusplus + extern "C" { + #endif + + +#include "CameraDefine.h" +#include "CameraStatus.h" + + + +/******************************************************/ +// 函数名 : CameraSdkInit +// 功能描述 : 相机SDK初始化，在调用任何SDK其他接口前，必须 +// 先调用该接口进行初始化。该函数在整个进程运行 +// 期间只需要调用一次。 +// 参数 : iLanguageSel 用于选择SDK内部提示信息和界面的语种, +// 0:表示英文,1:表示中文。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSdkInit(int iLanguageSel); + +/******************************************************/ +// 函数名 : CameraSetDataDirectory +// 功能描述 : 设置相机数据文件的存储目录（.config .mvdat等） +// 需要在CameraInit打开相机前设置好 +// 默认目录为当前目录 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetDataDirectory(char const* dirname); + +/******************************************************/ +// 函数名 : CameraUSBDeviceInit +// 功能描述 : (已废弃，无需调用) +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraUSBDeviceInit(); + +/******************************************************/ +// 函数名 : CameraUSBDeviceUninit +// 功能描述 : (已废弃，无需调用) +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraUSBDeviceUninit(); + + +/******************************************************/ +// 函数名 : CameraEnumerateDevice +// 功能描述 : 枚举设备，并建立设备列表。在调用CameraInit +// 之前，必须调用该函数来获得设备的信息。 +// 参数 : pCameraList 设备列表数组指针。 +// piNums 设备的个数指针，调用时传入pCameraList +// 数组的元素个数，函数返回时，保存实际找到的设备个数。 +// 注意，piNums指向的值必须初始化，且不超过pCameraList数组元素个数， +// 否则有可能造成内存溢出。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraEnumerateDevice( + tSdkCameraDevInfo* pCameraList, + INT* piNums +); + +/******************************************************/ +// 函数名 : CameraIdleStateDevice +// 功能描述 : 当前系统有未使用的相机信息。 +// 参数 : pCameraList 设备列表数组指针。 +// piNums 设备的个数指针，调用时传入pCameraList +// 数组的元素个数，函数返回时，保存实际找到的设备个数。 +// 注意，piNums指向的值必须初始化，且不超过pCameraList数组元素个数， +// 否则有可能造成内存溢出。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraIdleStateDevice( + tSdkCameraDevInfo* pCameraList, + INT* piNums +); + + +/******************************************************/ +// 函数名 : CameraEnumerateDeviceEx +// 功能描述 : 枚举设备，并建立设备列表。在调用CameraInitEx +// 之前，必须调用该函数枚举设备。 +// 参数 : +// 返回值 : 返回设备个数，0表示无。 +/******************************************************/ +MVSDK_API INT CameraEnumerateDeviceEx( +); + + +/******************************************************/ +// 函数名 : CameraIsOpened +// 功能描述 : 检测设备是否已经被其他应用程序打开。在调用CameraInit +// 之前，可以使用该函数进行检测，如果已经被打开，调用 +// CameraInit会返回设备已经被打开的错误码。 +// 参数 : pCameraList 设备的枚举信息结构体指针，由CameraEnumerateDevice获得。 +// pOpened 设备的状态指针，返回设备是否被打开的状态，TRUE为打开，FALSE为空闲。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraIsOpened( + tSdkCameraDevInfo* pCameraList, + BOOL* pOpened +); + + +/******************************************************/ +// 函数名 : CameraInit +// 功能描述 : 相机初始化。初始化成功后，才能调用任何其他 +// 相机相关的操作接口。 +// 参数 : pCameraInfo 该相机的设备描述信息，由CameraEnumerateDevice +// 函数获得。 +// iParamLoadMode 相机初始化时使用的参数加载方式。-1表示使用上次退出时的参数加载方式。 +// emTeam 初始化时使用的参数组。-1表示加载上次退出时的参数组。 +// pCameraHandle 相机的句柄指针，初始化成功后，该指针 +// 返回该相机的有效句柄，在调用其他相机 +// 相关的操作接口时，都需要传入该句柄，主要 +// 用于多相机之间的区分。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraInit( + tSdkCameraDevInfo* pCameraInfo, + int emParamLoadMode, + int emTeam, + CameraHandle* pCameraHandle +); + +/******************************************************/ +// 函数名 : CameraInitEx +// 功能描述 : 相机初始化。初始化成功后，才能调用任何其他 +// 相机相关的操作接口。 +// 参数 : iDeviceIndex 相机的索引号，CameraEnumerateDeviceEx返回相机个数。 +// iParamLoadMode 相机初始化时使用的参数加载方式。-1表示使用上次退出时的参数加载方式。 +// emTeam 初始化时使用的参数组。-1表示加载上次退出时的参数组。 +// pCameraHandle 相机的句柄指针，初始化成功后，该指针 +// 返回该相机的有效句柄，在调用其他相机 +// 相关的操作接口时，都需要传入该句柄，主要 +// 用于多相机之间的区分。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraInitEx( + int iDeviceIndex, + int iParamLoadMode, + int emTeam, + CameraHandle* pCameraHandle +); + +/// @ingroup API_OPEN +/// \~chinese +/// \brief 相机初始化。初始化成功后，才能调用其他相机相关的操作接口。 +/// \param [in] CameraName 相机昵称。@link #tSdkCameraDevInfo.acFriendlyName @endlink +/// \param [out] pCameraHandle 相机的句柄指针，初始化成功后，该指针返回该相机的有效句柄。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief The camera is initialized. After successful initialization, other camera-related operation interfaces can be called. +/// \param [in] CameraName Camera friendly name.@link #tSdkCameraDevInfo.acFriendlyName @endlink +/// \param [out] pCameraHandle The handle pointer of the camera, after successful initialization, returns the camera's effective handle. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraInitEx2( + char* CameraName, + CameraHandle *pCameraHandle +); + +/******************************************************/ +// 函数名 : CameraSetCallbackFunction +// 功能描述 : 设置图像捕获的回调函数。当捕获到新的图像数据帧时， +// pCallBack所指向的回调函数就会被调用。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pCallBack 回调函数指针。 +// pContext 回调函数的附加参数，在回调函数被调用时 +// 该附加参数会被传入，可以为NULL。多用于 +// 多个相机时携带附加信息。 +// pCallbackOld 用于保存当前的回调函数。可以为NULL。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetCallbackFunction( + CameraHandle hCamera, + CAMERA_SNAP_PROC pCallBack, + PVOID pContext, + CAMERA_SNAP_PROC* pCallbackOld +); + +/******************************************************/ +// 函数名 : CameraUnInit +// 功能描述 : 相机反初始化。释放资源。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraUnInit( + CameraHandle hCamera +); + +/******************************************************/ +// 函数名 : CameraGetInformation +// 功能描述 : 获得相机的描述信息 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbuffer 指向相机描述信息指针的指针。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetInformation( + CameraHandle hCamera, + char** pbuffer +); + +/******************************************************/ +// 函数名 : CameraImageProcess +// 功能描述 : 将获得的相机原始输出图像数据进行处理，叠加饱和度、 +// 颜色增益和校正、降噪等处理效果，最后得到RGB888 +// 格式的图像数据。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbyIn 输入图像数据的缓冲区地址，不能为NULL。 +// pbyOut 处理后图像输出的缓冲区地址，不能为NULL。 +// pFrInfo 输入图像的帧头信息，处理完成后，帧头信息 +// 中的图像格式uiMediaType会随之改变。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraImageProcess( + CameraHandle hCamera, + BYTE* pbyIn, + BYTE* pbyOut, + tSdkFrameHead* pFrInfo +); + +/******************************************************/ +// 函数名 : CameraImageProcessEx +// 功能描述 : 将获得的相机原始输出图像数据进行处理，叠加饱和度 +// 颜色增益和校正、降噪等处理效果，最后得到RGB888 +// 格式的图像数据。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbyIn 输入图像数据的缓冲区地址，不能为NULL。 +// pbyOut 处理后图像输出的缓冲区地址，不能为NULL。 +// pFrInfo 输入图像的帧头信息，处理完成后，帧头信息 +// uOutFormat 处理完后图像的输出格式 +// uReserved 预留参数，必须设置为0 +// 中的图像格式uiMediaType会随之改变。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraImageProcessEx( + CameraHandle hCamera, + BYTE *pbyIn, + BYTE *pbyOut, + tSdkFrameHead *pFrInfo, + UINT uOutFormat, + UINT uReserved +); + +/******************************************************/ +// 函数名 : CameraDisplayInit +// 功能描述 : 初始化SDK内部的显示模块。在调用CameraDisplayRGB24 +// 前必须先调用该函数初始化。如果您在二次开发中， +// 使用自己的方式进行图像显示(不调用CameraDisplayRGB24)， +// 则不需要调用本函数。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// hWndDisplay 显示窗口的句柄，一般为窗口的m_hWnd成员。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraDisplayInit( + CameraHandle hCamera, + HWND hWndDisplay +); + +/******************************************************/ +// 函数名 : CameraDisplayRGB24 +// 功能描述 : 显示图像。必须调用过CameraDisplayInit进行 +// 初始化才能调用本函数。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbyRGB24 图像的数据缓冲区，RGB888格式。 +// pFrInfo 图像的帧头信息。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraDisplayRGB24( + CameraHandle hCamera, + BYTE* pbyRGB24, + tSdkFrameHead* pFrInfo +); + +/******************************************************/ +// 函数名 : CameraSetDisplayMode +// 功能描述 : 设置显示的模式。必须调用过CameraDisplayInit +// 进行初始化才能调用本函数。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iMode 显示模式，DISPLAYMODE_SCALE或者 +// DISPLAYMODE_REAL,具体参见CameraDefine.h +// 中emSdkDisplayMode的定义。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetDisplayMode( + CameraHandle hCamera, + INT iMode +); + +/******************************************************/ +// 函数名 : CameraSetDisplayOffset +// 功能描述 : 设置显示的起始偏移值。仅当显示模式为DISPLAYMODE_REAL +// 时有效。例如显示控件的大小为320X240，而图像的 +// 的尺寸为640X480，那么当iOffsetX = 160,iOffsetY = 120时 +// 显示的区域就是图像的居中320X240的位置。必须调用过 +// CameraDisplayInit进行初始化才能调用本函数。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iOffsetX 偏移的X坐标。 +// iOffsetY 偏移的Y坐标。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetDisplayOffset( + CameraHandle hCamera, + int iOffsetX, + int iOffsetY +); + +/******************************************************/ +// 函数名 : CameraSetDisplaySize +// 功能描述 : 设置显示控件的尺寸。必须调用过 +// CameraDisplayInit进行初始化才能调用本函数。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iWidth 宽度 +// iHeight 高度 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetDisplaySize( + CameraHandle hCamera, + INT iWidth, + INT iHeight +); + +/******************************************************/ +// 函数名 : CameraGetImageBuffer +// 功能描述 : 获得一帧图像数据。为了提高效率，SDK在图像抓取时采用了零拷贝机制， +// CameraGetImageBuffer实际获得是内核中的一个缓冲区地址， +// 该函数成功调用后，必须调用CameraReleaseImageBuffer释放由 +// CameraGetImageBuffer得到的缓冲区,以便让内核继续使用 +// 该缓冲区。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pFrameInfo 图像的帧头信息指针。 +// pbyBuffer 指向图像的数据的缓冲区指针。由于 +// 采用了零拷贝机制来提高效率，因此 +// 这里使用了一个指向指针的指针。 +// UINT wTimes 抓取图像的超时时间。单位毫秒。在 +// wTimes时间内还未获得图像，则该函数 +// 会返回超时信息。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetImageBuffer( + CameraHandle hCamera, + tSdkFrameHead* pFrameInfo, + BYTE** pbyBuffer, + UINT wTimes +); + +/******************************************************/ +// 函数名 : CameraGetImageBufferEx +// 功能描述 : 获得一帧图像数据。该接口获得的图像是经过处理后的RGB格式。该函数调用后， +// 不需要调用 CameraReleaseImageBuffer 释放，也不要调用free之类的函数释放 +// 来释放该函数返回的图像数据缓冲区。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piWidth 整形指针，返回图像的宽度 +// piHeight 整形指针，返回图像的高度 +// UINT wTimes 抓取图像的超时时间。单位毫秒。在 +// wTimes时间内还未获得图像，则该函数 +// 会返回超时信息。 +// 返回值 : 成功时，返回RGB数据缓冲区的首地址; +// 否则返回0。 +/******************************************************/ +MVSDK_API unsigned char* CameraGetImageBufferEx( + CameraHandle hCamera, + INT* piWidth, + INT* piHeight, + UINT wTimes +); + + +/******************************************************/ +// 函数名 : CameraSnapToBuffer +// 功能描述 : 抓拍一张图像到缓冲区中。相机会进入抓拍模式，并且 +// 自动切换到抓拍模式的分辨率进行图像捕获。然后将 +// 捕获到的数据保存到缓冲区中。 +// 该函数成功调用后，必须调用CameraReleaseImageBuffer +// 释放由CameraSnapToBuffer得到的缓冲区。具体请参考 +// CameraGetImageBuffer函数的功能描述部分。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pFrameInfo 指针，返回图像的帧头信息。 +// pbyBuffer 指向指针的指针，用来返回图像缓冲区的地址。 +// uWaitTimeMs 超时时间，单位毫秒。在该时间内，如果仍然没有 +// 成功捕获的数据，则返回超时信息。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSnapToBuffer( + CameraHandle hCamera, + tSdkFrameHead* pFrameInfo, + BYTE** pbyBuffer, + UINT uWaitTimeMs +); + +/******************************************************/ +// 函数名 : CameraReleaseImageBuffer +// 功能描述 : 释放由CameraGetImageBuffer获得的缓冲区。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbyBuffer 由CameraGetImageBuffer获得的缓冲区地址。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraReleaseImageBuffer( + CameraHandle hCamera, + BYTE* pbyBuffer +); + +/******************************************************/ +// 函数名 : CameraPlay +// 功能描述 : 让SDK进入工作模式，开始接收来自相机发送的图像 +// 数据。如果当前相机是触发模式，则需要接收到 +// 触发帧以后才会更新图像。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraPlay( + CameraHandle hCamera +); + +/******************************************************/ +// 函数名 : CameraPause +// 功能描述 : 让SDK进入暂停模式，不接收来自相机的图像数据， +// 同时也会发送命令让相机暂停输出，释放传输带宽。 +// 暂停模式下，可以对相机的参数进行配置，并立即生效。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraPause( + CameraHandle hCamera +); + +/******************************************************/ +// 函数名 : CameraStop +// 功能描述 : 让SDK进入停止状态，一般是反初始化时调用该函数， +// 该函数被调用，不能再对相机的参数进行配置。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraStop( + CameraHandle hCamera +); + +/******************************************************/ +// 函数名 : CameraInitRecord +// 功能描述 : 初始化一次录像。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iFormat 录像的格式，当前只支持不压缩和MSCV两种方式。 +// 0:不压缩；1:MSCV方式压缩。 +// pcSavePath 录像文件保存的路径。 +// b2GLimit 如果为TRUE,则文件大于2G时自动分割。 +// dwQuality 录像的质量因子，越大，则质量越好。范围1到100. +// iFrameRate 录像的帧率。建议设定的比实际采集帧率大， +// 这样就不会漏帧。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraInitRecord( + CameraHandle hCamera, + int iFormat, + char* pcSavePath, + BOOL b2GLimit, + DWORD dwQuality, + int iFrameRate +); + +/******************************************************/ +// 函数名 : CameraStopRecord +// 功能描述 : 结束本次录像。当CameraInitRecord后，可以通过该函数 +// 来结束一次录像，并完成文件保存操作。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraStopRecord( + CameraHandle hCamera +); + +/******************************************************/ +// 函数名 : CameraPushFrame +// 功能描述 : 将一帧数据存入录像流中。必须调用CameraInitRecord +// 才能调用该函数。CameraStopRecord调用后，不能再调用 +// 该函数。由于我们的帧头信息中携带了图像采集的时间戳 +// 信息，因此录像可以精准的时间同步，而不受帧率不稳定 +// 的影响。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbyImageBuffer 图像的数据缓冲区，必须是RGB格式。 +// pFrInfo 图像的帧头信息。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraPushFrame( + CameraHandle hCamera, + BYTE* pbyImageBuffer, + tSdkFrameHead* pFrInfo +); + +/******************************************************/ +// 函数名 : CameraSaveImage +// 功能描述 : 将图像缓冲区的数据保存成图片文件。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// lpszFileName 图片保存文件完整路径。 +// pbyImageBuffer 图像的数据缓冲区。 +// pFrInfo 图像的帧头信息。 +// byFileType 图像保存的格式。取值范围参见CameraDefine.h +// 中emSdkFileType的类型定义。目前支持 +// BMP、JPG、PNG、RAW四种格式。其中RAW表示 +// 相机输出的原始数据，保存RAW格式文件要求 +// pbyImageBuffer和pFrInfo是由CameraGetImageBuffer +// 获得的数据，而且未经CameraImageProcess转换 +// 成BMP格式；反之，如果要保存成BMP、JPG或者 +// PNG格式，则pbyImageBuffer和pFrInfo是由 +// CameraImageProcess处理后的RGB格式数据。 +// 具体用法可以参考Advanced的例程。 +// byQuality 图像保存的质量因子，仅当保存为JPG格式 +// 时该参数有效，范围1到100。其余格式 +// 可以写成0。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSaveImage( + CameraHandle hCamera, + char* lpszFileName, + BYTE* pbyImageBuffer, + tSdkFrameHead* pFrInfo, + BYTE byFileType, + BYTE byQuality +); + +/******************************************************/ +// 函数名 : CameraGetImageResolution +// 功能描述 : 获得当前预览的分辨率。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// psCurVideoSize 结构体指针，用于返回当前的分辨率。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetImageResolution( + CameraHandle hCamera, + tSdkImageResolution* psCurVideoSize +); + +/******************************************************/ +// 函数名 : CameraSetImageResolution +// 功能描述 : 设置预览的分辨率。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pImageResolution 结构体指针，用于返回当前的分辨率。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetImageResolution( + CameraHandle hCamera, + tSdkImageResolution* pImageResolution +); + +/// @ingroup API_ROI +/// \~chinese +/// \brief 获得当前预览的分辨率。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iIndex 索引号，[0,N]表示预设的分辨率(N 为预设分辨率的最大个数，一般不超过20),OXFF 表示自定义分辨率(ROI) +/// \param [in] Mode 0: 普通模式 1：Sum 2：Average 3：Skip 4：Resample +/// \param [in] ModeSize 普通模式下忽略，第1位表示2X2 第二位表示3X3 ... +/// \param [in] x 水平偏移 +/// \param [in] y 垂直偏移 +/// \param [in] width 宽 +/// \param [in] height 高 +/// \param [in] ZoomWidth 最终输出时缩放宽度，0表示不缩放 +/// \param [in] ZoomHeight 最终输出时缩放高度，0表示不缩放 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the current preview resolution. +/// \param [in] hCamera Camera handle. +/// \param [in] iIndex Index number, [0,N] indicates the default resolution (N is the maximum number of preset resolutions, generally no more than 20), OXFF indicates custom resolution (ROI) +/// \param [in] Mode 0: Normal Mode 1:Sum 2:Average 3:Skip 4:Resample +/// \param [in] ModeSize ignored in normal mode, the first bit represents 2X2 the second bit represents 3X3 ... +/// \param [in] x horizontal offset +/// \param [in] y vertical offset +/// \param [in] width width +/// \param [in] height high +/// \param [in] ZoomWidth Scale width when final output, 0 means not zoom +/// \param [in] ZoomHeight Scales the height of the final output, 0 means no scaling +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetImageResolutionEx( + CameraHandle hCamera, + int iIndex, + int Mode, + UINT ModeSize, + int x, + int y, + int width, + int height, + int ZoomWidth, + int ZoomHeight + ); + +/******************************************************/ +// 函数名 : CameraGetMediaType +// 功能描述 : 获得相机当前输出原始数据的格式索引号。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piMediaType 指针，用于返回当前格式类型的索引号。 +// 由CameraGetCapability获得相机的属性， +// 在tSdkCameraCapbility结构体中的pMediaTypeDesc +// 成员中，以数组的形式保存了相机支持的格式， +// piMediaType所指向的索引号，就是该数组的索引号。 +// pMediaTypeDesc[*piMediaType].iMediaType则表示当前格式的 +// 编码。该编码请参见CameraDefine.h中[图像格式定义]部分。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetMediaType( + CameraHandle hCamera, + INT* piMediaType +); + +/******************************************************/ +// 函数名 : CameraSetMediaType +// 功能描述 : 设置相机的输出原始数据格式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iMediaType 由CameraGetCapability获得相机的属性， +// 在tSdkCameraCapbility结构体中的pMediaTypeDesc +// 成员中，以数组的形式保存了相机支持的格式， +// iMediaType就是该数组的索引号。 +// pMediaTypeDesc[iMediaType].iMediaType则表示当前格式的 +// 编码。该编码请参见CameraDefine.h中[图像格式定义]部分。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetMediaType( + CameraHandle hCamera, + INT iMediaType +); + +/******************************************************/ +// 函数名 : CameraSetAeState +// 功能描述 : 设置相机曝光的模式。自动或者手动。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// bAeState TRUE，使能自动曝光；FALSE，停止自动曝光。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetAeState( + CameraHandle hCamera, + BOOL bAeState +); + +/******************************************************/ +// 函数名 : CameraGetAeState +// 功能描述 : 获得相机当前的曝光模式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pAeState 指针，用于返回自动曝光的使能状态。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetAeState( + CameraHandle hCamera, + BOOL* pAeState +); + +/******************************************************/ +// 函数名 : CameraSetSharpness +// 功能描述 : 设置图像的处理的锐化参数。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iSharpness 锐化参数。范围由CameraGetCapability +// 获得，一般是[0,100]，0表示关闭锐化处理。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetSharpness( + CameraHandle hCamera, + int iSharpness +); + +/******************************************************/ +// 函数名 : CameraGetSharpness +// 功能描述 : 获取当前锐化设定值。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piSharpness 指针，返回当前设定的锐化的设定值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetSharpness( + CameraHandle hCamera, + int* piSharpness +); + +/******************************************************/ +// 函数名 : CameraSetLutMode +// 功能描述 : 设置相机的查表变换模式LUT模式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// emLutMode LUTMODE_PARAM_GEN 表示由伽马和对比度参数动态生成LUT表。 +// LUTMODE_PRESET 表示使用预设的LUT表。 +// LUTMODE_USER_DEF 表示使用用户自定的LUT表。 +// LUTMODE_PARAM_GEN的定义参考CameraDefine.h中emSdkLutMode类型。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetLutMode( + CameraHandle hCamera, + int emLutMode +); + +/******************************************************/ +// 函数名 : CameraGetLutMode +// 功能描述 : 获得相机的查表变换模式LUT模式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pemLutMode 指针，返回当前LUT模式。意义与CameraSetLutMode +// 中emLutMode参数相同。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetLutMode( + CameraHandle hCamera, + int* pemLutMode +); + +/******************************************************/ +// 函数名 : CameraSelectLutPreset +// 功能描述 : 选择预设LUT模式下的LUT表。必须先使用CameraSetLutMode +// 将LUT模式设置为预设模式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iSel 表的索引号。表的个数由CameraGetCapability +// 获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSelectLutPreset( + CameraHandle hCamera, + int iSel +); + +/******************************************************/ +// 函数名 : CameraGetLutPresetSel +// 功能描述 : 获得预设LUT模式下的LUT表索引号。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piSel 指针，返回表的索引号。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetLutPresetSel( + CameraHandle hCamera, + int* piSel +); + +/******************************************************/ +// 函数名 : CameraSetCustomLut +// 功能描述 : 设置自定义的LUT表。必须先使用CameraSetLutMode +// 将LUT模式设置为自定义模式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iChannel 指定要设定的LUT颜色通道，当为LUT_CHANNEL_ALL时， +// 三个通道的LUT将被同时替换。 +// 参考CameraDefine.h中emSdkLutChannel定义。 +// pLut 指针，指向LUT表的地址。LUT表为无符号短整形数组，数组大小为 +// 4096，分别代码颜色通道从0到4096(12bit颜色精度)对应的映射值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetCustomLut( + CameraHandle hCamera, + int iChannel, + USHORT* pLut +); + +/******************************************************/ +// 函数名 : CameraGetCustomLut +// 功能描述 : 获得当前使用的自定义LUT表。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iChannel 指定要获得的LUT颜色通道。当为LUT_CHANNEL_ALL时， +// 返回红色通道的LUT表。 +// 参考CameraDefine.h中emSdkLutChannel定义。 +// pLut 指针，指向LUT表的地址。LUT表为无符号短整形数组，数组大小为 +// 4096，分别代码颜色通道从0到4096(12bit颜色精度)对应的映射值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetCustomLut( + CameraHandle hCamera, + int iChannel, + USHORT* pLut +); + +/******************************************************/ +// 函数名 : CameraGetCurrentLut +// 功能描述 : 获得相机当前的LUT表，在任何LUT模式下都可以调用, +// 用来直观的观察LUT曲线的变化。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iChannel 指定要获得的LUT颜色通道。当为LUT_CHANNEL_ALL时， +// 返回红色通道的LUT表。 +// 参考CameraDefine.h中emSdkLutChannel定义。 +// pLut 指针，指向LUT表的地址。LUT表为无符号短整形数组，数组大小为 +// 4096，分别代码颜色通道从0到4096(12bit颜色精度)对应的映射值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetCurrentLut( + CameraHandle hCamera, + int iChannel, + USHORT* pLut +); + +/******************************************************/ +// 函数名 : CameraSetWbMode +// 功能描述 : 设置相机白平衡模式。分为手动和自动两种方式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// bAuto TRUE，则表示使能自动模式。 +// FALSE，则表示使用手动模式，通过调用 +// CameraSetOnceWB来进行一次白平衡。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetWbMode( + CameraHandle hCamera, + BOOL bAuto +); + +/******************************************************/ +// 函数名 : CameraGetWbMode +// 功能描述 : 获得当前的白平衡模式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbAuto 指针，返回TRUE表示自动模式，FALSE +// 为手动模式。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetWbMode( + CameraHandle hCamera, + BOOL* pbAuto +); + +/******************************************************/ +// 函数名 : CameraSetPresetClrTemp +// 功能描述 : 选择指定预设色温模式 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iSel 预设色温的模式索引号，从0开始 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetPresetClrTemp( + CameraHandle hCamera, + int iSel +); + +/******************************************************/ +// 函数名 : CameraGetPresetClrTemp +// 功能描述 : 获得当前选择的预设色温模式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piSel 指针，返回选择的预设色温索引号 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetPresetClrTemp( + CameraHandle hCamera, + int* piSel +); + +/******************************************************/ +// 函数名 : CameraSetUserClrTempGain +// 功能描述 : 设置自定义色温模式下的数字增益 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iRgain 红色增益，范围0到400，表示0到4倍 +// iGgain 绿色增益，范围0到400，表示0到4倍 +// iBgain 蓝色增益，范围0到400，表示0到4倍 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetUserClrTempGain( + CameraHandle hCamera, + int iRgain, + int iGgain, + int iBgain +); + + +/******************************************************/ +// 函数名 : CameraGetUserClrTempGain +// 功能描述 : 获得自定义色温模式下的数字增益 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piRgain 指针，返回红色增益，范围0到400，表示0到4倍 +// piGgain 指针，返回绿色增益，范围0到400，表示0到4倍 +// piBgain 指针，返回蓝色增益，范围0到400，表示0到4倍 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetUserClrTempGain( + CameraHandle hCamera, + int* piRgain, + int* piGgain, + int* piBgain +); + +/******************************************************/ +// 函数名 : CameraSetUserClrTempMatrix +// 功能描述 : 设置自定义色温模式下的颜色矩阵 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pMatrix 指向一个float[3][3]数组的首地址 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetUserClrTempMatrix( + CameraHandle hCamera, + float* pMatrix +); + + +/******************************************************/ +// 函数名 : CameraGetUserClrTempMatrix +// 功能描述 : 获得自定义色温模式下的颜色矩阵 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pMatrix 指向一个float[3][3]数组的首地址 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetUserClrTempMatrix( + CameraHandle hCamera, + float* pMatrix +); + +/******************************************************/ +// 函数名 : CameraSetClrTempMode +// 功能描述 : 设置白平衡时使用的色温模式， +// 支持的模式有三种，分别是自动，预设和自定义。 +// 自动模式下，会自动选择合适的色温模式 +// 预设模式下，会使用用户指定的色温模式 +// 自定义模式下，使用用户自定义的色温数字增益和矩阵 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iMode 模式，只能是emSdkClrTmpMode中定义的一种 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetClrTempMode( + CameraHandle hCamera, + int iMode +); + +/******************************************************/ +// 函数名 : CameraGetClrTempMode +// 功能描述 : 获得白平衡时使用的色温模式。参考CameraSetClrTempMode +// 中功能描述部分。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pimode 指针，返回模式选择，参考emSdkClrTmpMode类型定义 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetClrTempMode( + CameraHandle hCamera, + int* pimode +); + + + +/******************************************************/ +// 函数名 : CameraSetOnceWB +// 功能描述 : 在手动白平衡模式下，调用该函数会进行一次白平衡。 +// 生效的时间为接收到下一帧图像数据时。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetOnceWB( + CameraHandle hCamera +); + +/******************************************************/ +// 函数名 : CameraSetOnceBB +// 功能描述 : 执行一次黑平衡操作。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetOnceBB( + CameraHandle hCamera +); + + +/******************************************************/ +// 函数名 : CameraSetAeTarget +// 功能描述 : 设定自动曝光的亮度目标值。设定范围由CameraGetCapability +// 函数获得。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iAeTarget 亮度目标值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetAeTarget( + CameraHandle hCamera, + int iAeTarget +); + +/******************************************************/ +// 函数名 : CameraGetAeTarget +// 功能描述 : 获得自动曝光的亮度目标值。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// *piAeTarget 指针，返回目标值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetAeTarget( + CameraHandle hCamera, + int* piAeTarget +); + + +/******************************************************/ +// 函数名 : CameraSetAeExposureRange +// 功能描述 : 设定自动曝光模式的曝光时间调节范围 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// fMinExposureTime 最小曝光时间（微秒） +// fMaxExposureTime 最大曝光时间（微秒） +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetAeExposureRange( + CameraHandle hCamera, + double fMinExposureTime, + double fMaxExposureTime + ); + +/******************************************************/ +// 函数名 : CameraGetAeExposureRange +// 功能描述 : 获得自动曝光模式的曝光时间调节范围 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// fMinExposureTime 最小曝光时间（微秒） +// fMaxExposureTime 最大曝光时间（微秒） +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetAeExposureRange( + CameraHandle hCamera, + double* fMinExposureTime, + double* fMaxExposureTime + ); + +/******************************************************/ +// 函数名 : CameraSetAeAnalogGainRange +// 功能描述 : 设定自动曝光模式的增益调节范围 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iMinAnalogGain 最小增益 +// iMaxAnalogGain 最大增益 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetAeAnalogGainRange( + CameraHandle hCamera, + int iMinAnalogGain, + int iMaxAnalogGain + ); + +/******************************************************/ +// 函数名 : CameraGetAeAnalogGainRange +// 功能描述 : 获得自动曝光模式的增益调节范围 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iMinAnalogGain 最小增益 +// iMaxAnalogGain 最大增益 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetAeAnalogGainRange( + CameraHandle hCamera, + int* iMinAnalogGain, + int* iMaxAnalogGain + ); + +/// @ingroup API_EXPOSURE +/// \~chinese +/// \brief 设置自动曝光模式的调节阈值 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iThreshold 如果 abs(目标亮度-图像亮度) < iThreshold 则停止自动调节 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the adjustment threshold for auto exposure mode +/// \param [in] hCamera Camera handle. +/// \param [in] iThreshold Stops automatic adjustment if abs (target brightness - image brightness) < iThreshold +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetAeThreshold( + CameraHandle hCamera, + int iThreshold + ); + +/// @ingroup API_EXPOSURE +/// \~chinese +/// \brief 获取自动曝光模式的调节阈值 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] iThreshold 读取到的调节阈值 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get adjustment threshold for auto exposure mode +/// \param [in] hCamera Camera handle. +/// \param [out] iThreshold Read Threshold +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetAeThreshold( + CameraHandle hCamera, + int* iThreshold + ); + +/******************************************************/ +// 函数名 : CameraSetExposureTime +// 功能描述 : 设置曝光时间。单位为微秒。对于CMOS传感器，其曝光 +// 的单位是按照行来计算的，因此，曝光时间并不能在微秒 +// 级别连续可调。而是会按照整行来取舍。在调用 +// 本函数设定曝光时间后，建议再调用CameraGetExposureTime +// 来获得实际设定的值。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// fExposureTime 曝光时间，单位微秒。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetExposureTime( + CameraHandle hCamera, + double fExposureTime +); + +/******************************************************/ +// 函数名 : CameraGetExposureLineTime +// 功能描述 : 获得一行的曝光时间。对于CMOS传感器，其曝光 +// 的单位是按照行来计算的，因此，曝光时间并不能在微秒 +// 级别连续可调。而是会按照整行来取舍。这个函数的 +// 作用就是返回CMOS相机曝光一行对应的时间。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pfLineTime 指针，返回一行的曝光时间，单位为微秒。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetExposureLineTime( + CameraHandle hCamera, + double* pfLineTime +); + +/******************************************************/ +// 函数名 : CameraGetExposureTime +// 功能描述 : 获得相机的曝光时间。请参见CameraSetExposureTime +// 的功能描述。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pfExposureTime 指针，返回当前的曝光时间，单位微秒。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetExposureTime( + CameraHandle hCamera, + double* pfExposureTime +); + +/// @ingroup API_EXPOSURE +/// \~chinese +/// \brief 获得相机的曝光时间范围 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] pfMin 指针，返回曝光时间的最小值，单位微秒。 +/// \param [out] pfMax 指针，返回曝光时间的最大值，单位微秒。 +/// \param [out] pfStep 指针，返回曝光时间的步进值，单位微秒。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get camera exposure time range +/// \param [in] hCamera Camera handle. +/// \param [out] pfMin Returns the minimum exposure time in microseconds. +/// \param [out] pfMax Returns the maximum exposure time in microseconds. +/// \param [out] pfStep Returns the exposure time in microseconds. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetExposureTimeRange( + CameraHandle hCamera, + double* pfMin, + double* pfMax, + double* pfStep + ); + +/// @ingroup API_EXPOSURE +/// \~chinese +/// \brief 设置多重曝光时间。单位为微秒。(此功能仅线阵相机支持) +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index 曝光索引。 +/// \param [in] fExposureTime 曝光时间，单位微秒。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \note 对于CMOS传感器，其曝光的单位是按照行来计算的，因此，曝光时间并不能在微秒级别连续可调。而是会按照整行来取舍。在调用本函数设定曝光时间后，建议再调用@link #CameraGetMultiExposureTime @endlink来获得实际设定的值。 +/// \~english +/// \brief Set the multiple exposure time. The unit is microseconds. (This feature is only supported by line camera) +/// \param [in] hCamera Camera handle. +/// \param [in] index Exposure index. +/// \param [in] fExposureTime Exposure time in microseconds. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +/// \note For CMOS sensors, the unit of exposure is calculated in rows, so the exposure time cannot be continuously adjusted in microseconds. Instead, the entire line will be chosen. After calling this function to set the exposure time, it is recommended to call @link #CameraGetMultiExposureTime @endlink to get the actual set value. +MVSDK_API CameraSdkStatus CameraSetMultiExposureTime( + CameraHandle hCamera, + int index, + double fExposureTime + ); + +/// @ingroup API_EXPOSURE +/// \~chinese +/// \brief 获取多重曝光时间。单位为微秒。(此功能仅线阵相机支持) +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index 曝光索引。 +/// \param [out] fExposureTime 返回曝光时间，单位微秒。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the multiple exposure time. The unit is microseconds. (This feature is only supported by line camera) +/// \param [in] hCamera Camera handle. +/// \param [in] index Exposure index. +/// \param [out] fExposureTime Returns exposure time in microseconds. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetMultiExposureTime( + CameraHandle hCamera, + int index, + double* fExposureTime + ); + +/// @ingroup API_EXPOSURE +/// \~chinese +/// \brief 设置多重曝光使能个数。(此功能仅线阵相机支持) +/// \param [in] hCamera 相机的句柄。 +/// \param [in] count 使能个数。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the number of multiple exposure enable. (This feature is only supported by line camera) +/// \param [in] hCamera Camera handle. +/// \param [in] count The number of exposures enabled. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetMultiExposureCount( + CameraHandle hCamera, + int count + ); + +/// @ingroup API_EXPOSURE +/// \~chinese +/// \brief 获取多重曝光使能个数。(此功能仅线阵相机支持) +/// \param [in] hCamera 相机的句柄。 +/// \param [out] count 使能个数。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the number of multiple exposure enable. (This feature is only supported by line camera) +/// \param [in] hCamera Camera handle. +/// \param [out] count The number of exposures enabled. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetMultiExposureCount( + CameraHandle hCamera, + int* count + ); + +/// @ingroup API_EXPOSURE +/// \~chinese +/// \brief 获取多重曝光的最大曝光个数。(此功能仅线阵相机支持) +/// \param [in] hCamera 相机的句柄。 +/// \param [out] max_count 支持的最大曝光个数。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the maximum number of exposures for multiple exposures. (This feature is only supported by line camera) +/// \param [in] hCamera Camera handle. +/// \param [out] max_count The maximum number of exposures supported. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetMultiExposureMaxCount( + CameraHandle hCamera, + int* max_count + ); + +/******************************************************/ +// 函数名 : CameraSetAnalogGain +// 功能描述 : 设置相机的图像模拟增益值。该值乘以CameraGetCapability获得 +// 的相机属性结构体中sExposeDesc.fAnalogGainStep，就 +// 得到实际的图像信号放大倍数。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iAnalogGain 设定的模拟增益值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetAnalogGain( + CameraHandle hCamera, + INT iAnalogGain +); + +/******************************************************/ +// 函数名 : CameraGetAnalogGain +// 功能描述 : 获得图像信号的模拟增益值。参见CameraSetAnalogGain +// 详细说明。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piAnalogGain 指针，返回当前的模拟增益值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetAnalogGain( + CameraHandle hCamera, + INT* piAnalogGain +); + +/// @ingroup API_EXPOSURE +/// \~chinese +/// \brief 设置相机的模拟增益放大倍数。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] fGain 设定的模拟增益放大倍数。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the image gain magnification of the camera. +/// \param [in] hCamera Camera handle. +/// \param [in] fGain Gain magnification. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetAnalogGainX( + CameraHandle hCamera, + float fGain + ); + +/// @ingroup API_EXPOSURE +/// \~chinese +/// \brief 获得图像信号的模拟增益放大倍数。 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] pfGain 指针，返回当前的模拟增益放大倍数。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \see CameraSetAnalogGainX +/// \~english +/// \brief Obtain the gain magnification of the image signal. +/// \param [in] hCamera Camera handle. +/// \param [out] pfGain pointer, returns the current gain magnification. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +/// \see CameraSetAnalogGainX +MVSDK_API CameraSdkStatus CameraGetAnalogGainX( + CameraHandle hCamera, + float* pfGain + ); + +/// @ingroup API_EXPOSURE +/// \~chinese +/// \brief 获得相机的模拟增益放大倍数取值范围 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] pfMin 指针，返回最小倍数。 +/// \param [out] pfMax 指针，返回最大倍数。 +/// \param [out] pfStep 指针，返回步进值。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the value range of the camera's gain magnification +/// \param [in] hCamera Camera handle. +/// \param [out] pfMin pointer, returns the minimum multiple. +/// \param [out] pfMax pointer, returns the maximum multiple. +/// \param [out] pfStep pointer, returns the step value. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetAnalogGainXRange( + CameraHandle hCamera, + float* pfMin, + float* pfMax, + float* pfStep + ); + +/******************************************************/ +// 函数名 : CameraSetGain +// 功能描述 : 设置图像的数字增益。设定范围由CameraGetCapability +// 获得的相机属性结构体中sRgbGainRange成员表述。 +// 实际的放大倍数是设定值/100。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iRGain 红色通道的增益值。 +// iGGain 绿色通道的增益值。 +// iBGain 蓝色通道的增益值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetGain( + CameraHandle hCamera, + int iRGain, + int iGGain, + int iBGain +); + + +/******************************************************/ +// 函数名 : CameraGetGain +// 功能描述 : 获得图像处理的数字增益。具体请参见CameraSetGain +// 的功能描述部分。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piRGain 指针，返回红色通道的数字增益值。 +// piGGain 指针，返回绿色通道的数字增益值。 +// piBGain 指针，返回蓝色通道的数字增益值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetGain( + CameraHandle hCamera, + int* piRGain, + int* piGGain, + int* piBGain +); + + +/******************************************************/ +// 函数名 : CameraSetGamma +// 功能描述 : 设定LUT动态生成模式下的Gamma值。设定的值会 +// 马上保存在SDK内部，但是只有当相机处于动态 +// 参数生成的LUT模式时，才会生效。请参考CameraSetLutMode +// 的函数说明部分。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iGamma 要设定的Gamma值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetGamma( + CameraHandle hCamera, + int iGamma +); + +/******************************************************/ +// 函数名 : CameraGetGamma +// 功能描述 : 获得LUT动态生成模式下的Gamma值。请参考CameraSetGamma +// 函数的功能描述。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piGamma 指针，返回当前的Gamma值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetGamma( + CameraHandle hCamera, + int* piGamma +); + +/******************************************************/ +// 函数名 : CameraSetContrast +// 功能描述 : 设定LUT动态生成模式下的对比度值。设定的值会 +// 马上保存在SDK内部，但是只有当相机处于动态 +// 参数生成的LUT模式时，才会生效。请参考CameraSetLutMode +// 的函数说明部分。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iContrast 设定的对比度值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetContrast( + CameraHandle hCamera, + int iContrast +); + +/******************************************************/ +// 函数名 : CameraGetContrast +// 功能描述 : 获得LUT动态生成模式下的对比度值。请参考 +// CameraSetContrast函数的功能描述。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piContrast 指针，返回当前的对比度值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetContrast( + CameraHandle hCamera, + int* piContrast +); + +/******************************************************/ +// 函数名 : CameraSetSaturation +// 功能描述 : 设定图像处理的饱和度。对黑白相机无效。 +// 设定范围由CameraGetCapability获得。100表示 +// 表示原始色度，不增强。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iSaturation 设定的饱和度值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetSaturation( + CameraHandle hCamera, + int iSaturation +); + +/******************************************************/ +// 函数名 : CameraGetSaturation +// 功能描述 : 获得图像处理的饱和度。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piSaturation 指针，返回当前图像处理的饱和度值。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetSaturation( + CameraHandle hCamera, + int* piSaturation +); + +/******************************************************/ +// 函数名 : CameraSetMonochrome +// 功能描述 : 设置彩色转为黑白功能的使能。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// bEnable TRUE，表示将彩色图像转为黑白。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetMonochrome( + CameraHandle hCamera, + BOOL bEnable +); + +/******************************************************/ +// 函数名 : CameraGetMonochrome +// 功能描述 : 获得彩色转换黑白功能的使能状况。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbEnable 指针。返回TRUE表示开启了彩色图像 +// 转换为黑白图像的功能。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetMonochrome( + CameraHandle hCamera, + BOOL* pbEnable +); + +/******************************************************/ +// 函数名 : CameraSetInverse +// 功能描述 : 设置彩图像颜色翻转功能的使能。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// bEnable TRUE，表示开启图像颜色翻转功能， +// 可以获得类似胶卷底片的效果。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetInverse( + CameraHandle hCamera, + BOOL bEnable +); + +/******************************************************/ +// 函数名 : CameraGetInverse +// 功能描述 : 获得图像颜色反转功能的使能状态。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbEnable 指针，返回该功能使能状态。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetInverse( + CameraHandle hCamera, + BOOL* pbEnable +); + +/******************************************************/ +// 函数名 : CameraSetAntiFlick +// 功能描述 : 设置自动曝光时抗频闪功能的使能状态。对于手动 +// 曝光模式下无效。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// bEnable TRUE，开启抗频闪功能;FALSE，关闭该功能。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetAntiFlick( + CameraHandle hCamera, + BOOL bEnable +); + +/******************************************************/ +// 函数名 : CameraGetAntiFlick +// 功能描述 : 获得自动曝光时抗频闪功能的使能状态。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbEnable 指针，返回该功能的使能状态。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetAntiFlick( + CameraHandle hCamera, + BOOL* pbEnable +); + +/******************************************************/ +// 函数名 : CameraGetLightFrequency +// 功能描述 : 获得自动曝光时，消频闪的频率选择。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piFrequencySel 指针，返回选择的索引号。0:50HZ 1:60HZ +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetLightFrequency( + CameraHandle hCamera, + int* piFrequencySel +); + +/******************************************************/ +// 函数名 : CameraSetLightFrequency +// 功能描述 : 设置自动曝光时消频闪的频率。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iFrequencySel 0:50HZ , 1:60HZ +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetLightFrequency( + CameraHandle hCamera, + int iFrequencySel +); + +/******************************************************/ +// 函数名 : CameraSetFrameSpeed +// 功能描述 : 设定相机输出图像的帧率。相机可供选择的帧率模式由 +// CameraGetCapability获得的信息结构体中iFrameSpeedDesc +// 表示最大帧率选择模式个数。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iFrameSpeed 选择的帧率模式索引号，范围从0到 +// CameraGetCapability获得的信息结构体中iFrameSpeedDesc - 1 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetFrameSpeed( + CameraHandle hCamera, + int iFrameSpeed +); + +/******************************************************/ +// 函数名 : CameraGetFrameSpeed +// 功能描述 : 获得相机输出图像的帧率选择索引号。具体用法参考 +// CameraSetFrameSpeed函数的功能描述部分。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piFrameSpeed 指针，返回选择的帧率模式索引号。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetFrameSpeed( + CameraHandle hCamera, + int* piFrameSpeed +); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 设定相机的帧频(面阵)或行频(线阵)。（仅部分网口相机支持） +/// \param [in] hCamera 相机的句柄。 +/// \param [in] RateHZ 帧频或行频（<=0表示最大频率）。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the frame frequency (area) or line frequency (line scan). (only supported by some gige camera) +/// \param [in] hCamera Camera handle. +/// \param [in] RateHZ frame rate or line rate (<=0 means maximum frequency). +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetFrameRate( + CameraHandle hCamera, + int RateHZ + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 获取设定的相机帧频(面阵)或行频(线阵) +/// \param [in] hCamera 相机的句柄。 +/// \param [out] RateHZ 帧频或行频（<=0表示最大频率）。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the frame frequency (area) or line frequency (line scan). +/// \param [in] hCamera Camera handle. +/// \param [out] RateHZ frame rate or line rate (<=0 means maximum frequency). +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetFrameRate( + CameraHandle hCamera, + int* RateHZ + ); + +/******************************************************/ +// 函数名 : CameraSetParameterMode +// 功能描述 : 设定参数存取的目标对象。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iMode 参数存取的对象。参考CameraDefine.h +// 中emSdkParameterMode的类型定义。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetParameterMode( + CameraHandle hCamera, + int iMode +); + +/******************************************************/ +// 函数名 : CameraGetParameterMode +// 功能描述 : +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// int* piTarget +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetParameterMode( + CameraHandle hCamera, + int* piTarget +); + +/******************************************************/ +// 函数名 : CameraSetParameterMask +// 功能描述 : 设置参数存取的掩码。参数加载和保存时会根据该 +// 掩码来决定各个模块参数的是否加载或者保存。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// uMask 掩码。参考CameraDefine.h中PROP_SHEET_INDEX +// 类型定义。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetParameterMask( + CameraHandle hCamera, + UINT uMask +); + +/******************************************************/ +// 函数名 : CameraSaveParameter +// 功能描述 : 保存当前相机参数到指定的参数组中。相机提供了A,B,C,D +// A,B,C,D四组空间来进行参数的保存。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iTeam PARAMETER_TEAM_A 保存到A组中, +// PARAMETER_TEAM_B 保存到B组中, +// PARAMETER_TEAM_C 保存到C组中, +// PARAMETER_TEAM_D 保存到D组中 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSaveParameter( + CameraHandle hCamera, + int iTeam +); + + +/******************************************************/ +// 函数名 : CameraSaveParameterToFile +// 功能描述 : 保存当前相机参数到指定的文件中。该文件可以复制到 +// 别的电脑上供其他相机加载，也可以做参数备份用。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// sFileName 参数文件的完整路径。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSaveParameterToFile( + CameraHandle hCamera, + char* sFileName +); + + +/******************************************************/ +// 函数名 : CameraReadParameterFromFile +// 功能描述 : 从PC上指定的参数文件中加载参数。我公司相机参数 +// 保存在PC上为.config后缀的文件，位于安装下的 +// Camera\Configs文件夹中。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// *sFileName 参数文件的完整路径。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraReadParameterFromFile( + CameraHandle hCamera, + char* sFileName +); + +/******************************************************/ +// 函数名 : CameraLoadParameter +// 功能描述 : 加载指定组的参数到相机中。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iTeam PARAMETER_TEAM_A 加载A组参数, +// PARAMETER_TEAM_B 加载B组参数, +// PARAMETER_TEAM_C 加载C组参数, +// PARAMETER_TEAM_D 加载D组参数, +// PARAMETER_TEAM_DEFAULT 加载默认参数。 +// 类型定义参考CameraDefine.h中emSdkParameterTeam类型 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraLoadParameter( + CameraHandle hCamera, + int iTeam +); + +/******************************************************/ +// 函数名 : CameraGetCurrentParameterGroup +// 功能描述 : 获得当前选择的参数组。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piTeam 指针，返回当前选择的参数组。返回值 +// 参考CameraLoadParameter中iTeam参数。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetCurrentParameterGroup( + CameraHandle hCamera, + int* piTeam +); + +/******************************************************/ +// 函数名 : CameraSetTransPackLen +// 功能描述 : 设置相机传输图像数据的分包大小。 +// 目前的SDK版本中，该接口仅对GIGE接口相机有效， +// 用来控制网络传输的分包大小。对于支持巨帧的网卡， +// 我们建议选择8K的分包大小，可以有效的降低传输 +// 所占用的CPU处理时间。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iPackSel 分包长度选择的索引号。分包长度可由 +// 获得相机属性结构体中pPackLenDesc成员表述， +// iPackLenDesc成员则表示最大可选的分包模式个数。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetTransPackLen( + CameraHandle hCamera, + INT iPackSel +); + +/******************************************************/ +// 函数名 : CameraGetTransPackLen +// 功能描述 : 获得相机当前传输分包大小的选择索引号。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piPackSel 指针，返回当前选择的分包大小索引号。 +// 参见CameraSetTransPackLen中iPackSel的 +// 说明。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetTransPackLen( + CameraHandle hCamera, + INT* piPackSel +); + +/******************************************************/ +// 函数名 : CameraIsAeWinVisible +// 功能描述 : 获得自动曝光参考窗口的显示状态。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbIsVisible 指针，返回TRUE，则表示当前窗口会 +// 被叠加在图像内容上。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraIsAeWinVisible( + CameraHandle hCamera, + BOOL* pbIsVisible +); + +/******************************************************/ +// 函数名 : CameraSetAeWinVisible +// 功能描述 : 设置自动曝光参考窗口的显示状态。当设置窗口状态 +// 为显示，调用CameraImageOverlay后，能够将窗口位置 +// 以矩形的方式叠加在图像上。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// bIsVisible TRUE，设置为显示；FALSE，不显示。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetAeWinVisible( + CameraHandle hCamera, + BOOL bIsVisible +); + +/******************************************************/ +// 函数名 : CameraGetAeWindow +// 功能描述 : 获得自动曝光参考窗口的位置。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piHOff 指针，返回窗口位置左上角横坐标值。 +// piVOff 指针，返回窗口位置左上角纵坐标值。 +// piWidth 指针，返回窗口的宽度。 +// piHeight 指针，返回窗口的高度。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetAeWindow( + CameraHandle hCamera, + INT* piHOff, + INT* piVOff, + INT* piWidth, + INT* piHeight +); + +/******************************************************/ +// 函数名 : CameraSetAeWindow +// 功能描述 : 设置自动曝光的参考窗口。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iHOff 窗口左上角的横坐标 +// iVOff 窗口左上角的纵坐标 +// iWidth 窗口的宽度 +// iHeight 窗口的高度 +// 如果iHOff、iVOff、iWidth、iHeight全部为0，则 +// 窗口设置为每个分辨率下的居中1/2大小。可以随着 +// 分辨率的变化而跟随变化；如果iHOff、iVOff、iWidth、iHeight +// 所决定的窗口位置范围超出了当前分辨率范围内， +// 则自动使用居中1/2大小窗口。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetAeWindow( + CameraHandle hCamera, + int iHOff, + int iVOff, + int iWidth, + int iHeight +); + +/******************************************************/ +// 函数名 : CameraSetMirror +// 功能描述 : 设置图像镜像操作。镜像操作分为水平和垂直两个方向。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iDir 表示镜像的方向。0，表示水平方向；1，表示垂直方向。 +// bEnable TRUE，使能镜像;FALSE，禁止镜像 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetMirror( + CameraHandle hCamera, + int iDir, + BOOL bEnable +); + +/******************************************************/ +// 函数名 : CameraGetMirror +// 功能描述 : 获得图像的镜像状态。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iDir 表示要获得的镜像方向。 +// 0，表示水平方向；1，表示垂直方向。 +// pbEnable 指针，返回TRUE，则表示iDir所指的方向 +// 镜像被使能。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetMirror( + CameraHandle hCamera, + int iDir, + BOOL* pbEnable +); + +/// @ingroup API_MIRROR +/// \~chinese +/// \brief 设置硬件镜像。分为水平和垂直两个方向。（仅部分网口、U3相机支持此功能） +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iDir 表示镜像的方向。0，表示水平方向；1，表示垂直方向。 +/// \param [in] bEnable TRUE，使能镜像;FALSE，禁止镜像 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set up the hardware mirror. Divided into two directions, horizontal and vertical. (Only some GigE and U3 cameras support this feature) +/// \param [in] hCamera Camera handle. +/// \param [in] iDir Indicates the direction of the mirror. 0 means horizontal direction; 1 means vertical direction. +/// \param [in] bEnable TRUE to enable mirroring; FALSE to disable mirroring +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetHardwareMirror( + CameraHandle hCamera, + int iDir, + BOOL bEnable + ); + +/// @ingroup API_MIRROR +/// \~chinese +/// \brief 获取设置的硬件镜像状态。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iDir 表示要获得的镜像方向。0，表示水平方向；1，表示垂直方向。 +/// \param [out] pbEnable 指针，返回TRUE，则表示iDir所指的方向镜像被使能。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the hardware mirrored state of the image. +/// \param [in] hCamera Camera handle. +/// \param [in] iDir Indicates the mirroring direction to be obtained. 0 means horizontal direction; 1 means vertical direction. +/// \param [out] pbEnable Returns TRUE, indicating that the direction mirror image of iDir is enabled. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetHardwareMirror( + CameraHandle hCamera, + int iDir, + BOOL* pbEnable + ); + +/// @ingroup API_MIRROR +/// \~chinese +/// \brief 设置图像旋转操作 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iRot 表示旋转的角度（逆时针方向）（0：不旋转 1:90度 2:180度 3:270度） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set image rotation operation +/// \param [in] hCamera Camera handle. +/// \param [in] iRot rotation angle (counterclockwise) (0: no rotation 1:90 degrees 2:180 degrees 3:270 degrees) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetRotate( + CameraHandle hCamera, + int iRot + ); + +/// @ingroup API_MIRROR +/// \~chinese +/// \brief 获得图像的旋转状态。 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] iRot 表示要获得的旋转方向。（逆时针方向）（0：不旋转 1:90度 2:180度 3:270度） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the rotation state of the image. +/// \param [in] hCamera Camera handle. +/// \param [out] iRot Indicates the direction of rotation to get. (Counterclockwise) (0: Do not rotate 1:90 degree 2: 180 degree 3: 270 degree) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetRotate( + CameraHandle hCamera, + int* iRot + ); + +/******************************************************/ +// 函数名 : CameraGetWbWindow +// 功能描述 : 获得白平衡参考窗口的位置。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// PiHOff 指针，返回参考窗口的左上角横坐标 。 +// PiVOff 指针，返回参考窗口的左上角纵坐标 。 +// PiWidth 指针，返回参考窗口的宽度。 +// PiHeight 指针，返回参考窗口的高度。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetWbWindow( + CameraHandle hCamera, + INT* PiHOff, + INT* PiVOff, + INT* PiWidth, + INT* PiHeight +); + +/******************************************************/ +// 函数名 : CameraSetWbWindow +// 功能描述 : 设置白平衡参考窗口的位置。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iHOff 参考窗口的左上角横坐标。 +// iVOff 参考窗口的左上角纵坐标。 +// iWidth 参考窗口的宽度。 +// iHeight 参考窗口的高度。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetWbWindow( + CameraHandle hCamera, + INT iHOff, + INT iVOff, + INT iWidth, + INT iHeight +); + +/******************************************************/ +// 函数名 : CameraIsWbWinVisible +// 功能描述 : 获得白平衡窗口的显示状态。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbShow 指针，返回TRUE，则表示窗口是可见的。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraIsWbWinVisible( + CameraHandle hCamera, + BOOL* pbShow +); + +/******************************************************/ +// 函数名 : CameraSetWbWinVisible +// 功能描述 : 设置白平衡窗口的显示状态。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// bShow TRUE，则表示设置为可见。在调用 +// CameraImageOverlay后，图像内容上将以矩形 +// 的方式叠加白平衡参考窗口的位置。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetWbWinVisible( + CameraHandle hCamera, + BOOL bShow +); + +/******************************************************/ +// 函数名 : CameraImageOverlay +// 功能描述 : 将输入的图像数据上叠加十字线、白平衡参考窗口、 +// 自动曝光参考窗口等图形。只有设置为可见状态的 +// 十字线和参考窗口才能被叠加上。 +// 注意，该函数的输入图像必须是RGB格式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pRgbBuffer 图像数据缓冲区。 +// pFrInfo 图像的帧头信息。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraImageOverlay( + CameraHandle hCamera, + BYTE* pRgbBuffer, + tSdkFrameHead* pFrInfo +); + +/******************************************************/ +// 函数名 : CameraSetCrossLine +// 功能描述 : 设置指定十字线的参数。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iLine 表示要设置第几条十字线的状态。范围为[0,8]，共9条。 +// x 十字线中心位置的横坐标值。 +// y 十字线中心位置的纵坐标值。 +// uColor 十字线的颜色，格式为(R|(G<<8)|(B<<16)) +// bVisible 十字线的显示状态。TRUE，表示显示。 +// 只有设置为显示状态的十字线，在调用 +// CameraImageOverlay后才会被叠加到图像上。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetCrossLine( + CameraHandle hCamera, + int iLine, + INT x, + INT y, + UINT uColor, + BOOL bVisible +); + +/******************************************************/ +// 函数名 : CameraGetCrossLine +// 功能描述 : 获得指定十字线的状态。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iLine 表示要获取的第几条十字线的状态。范围为[0,8]，共9条。 +// px 指针，返回该十字线中心位置的横坐标。 +// py 指针，返回该十字线中心位置的横坐标。 +// pcolor 指针，返回该十字线的颜色，格式为(R|(G<<8)|(B<<16))。 +// pbVisible 指针，返回TRUE，则表示该十字线可见。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetCrossLine( + CameraHandle hCamera, + INT iLine, + INT* px, + INT* py, + UINT* pcolor, + BOOL* pbVisible +); + +/******************************************************/ +// 函数名 : CameraGetCapability +// 功能描述 : 获得相机的特性描述结构体。该结构体中包含了相机 +// 可设置的各种参数的范围信息。决定了相关函数的参数 +// 返回，也可用于动态创建相机的配置界面。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pCameraInfo 指针，返回该相机特性描述的结构体。 +// tSdkCameraCapbility在CameraDefine.h中定义。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetCapability( + CameraHandle hCamera, + tSdkCameraCapbility* pCameraInfo +); + +/******************************************************/ +// 函数名 : CameraGetCapabilityEx +// 功能描述 : 获得相机的特性描述结构体。该结构体中包含了相机 +// 可设置的各种参数的范围信息。决定了相关函数的参数 +// 返回，也可用于动态创建相机的配置界面。 +// 参数 : sDeviceModel 相机的型号，由扫描列表中获取 +// pCameraInfo 指针，返回该相机特性描述的结构体。 +// tSdkCameraCapbility在CameraDefine.h中定义。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetCapabilityEx( + char* sDeviceModel, + tSdkCameraCapbility* pCameraInfo, + PVOID hCameraHandle +); + + +/******************************************************/ +// 函数名 : CameraWriteSN +// 功能描述 : 设置相机的序列号。我公司相机序列号分为3级。 +// 0级的是我公司自定义的相机序列号，出厂时已经 +// 设定好，1级和2级留给二次开发使用。每级序列 +// 号长度都是32个字节。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbySN 序列号的缓冲区。 +// iLevel 要设定的序列号级别，只能是1或者2。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraWriteSN( + CameraHandle hCamera, + BYTE* pbySN, + INT iLevel +); + +/******************************************************/ +// 函数名 : CameraReadSN +// 功能描述 : 读取相机指定级别的序列号。序列号的定义请参考 +// CameraWriteSN函数的功能描述部分。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pbySN 序列号的缓冲区。 +// iLevel 要读取的序列号级别。只能是1和2。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraReadSN( + CameraHandle hCamera, + BYTE* pbySN, + INT iLevel +); +/******************************************************/ +// 函数名 : CameraSetTriggerDelayTime +// 功能描述 : 设置硬件触发模式下的触发延时时间，单位微秒。 +// 当硬触发信号来临后，经过指定的延时，再开始采集 +// 图像。仅部分型号的相机支持该功能。具体请查看 +// 产品说明书。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// uDelayTimeUs 硬触发延时。单位微秒。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetTriggerDelayTime( + CameraHandle hCamera, + UINT uDelayTimeUs +); + +/******************************************************/ +// 函数名 : CameraGetTriggerDelayTime +// 功能描述 : 获得当前设定的硬触发延时时间。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// puDelayTimeUs 指针，返回延时时间，单位微秒。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetTriggerDelayTime( + CameraHandle hCamera, + UINT* puDelayTimeUs +); + +/******************************************************/ +// 函数名 : CameraSetTriggerPeriodTime +// 功能描述 : 一次触发多帧时，设置2帧之间的间隔时间。 +// 仅部分型号的相机支持该功能。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// time 间隔时间（微秒） +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetTriggerPeriodTime( + CameraHandle hCamera, + UINT time +); + +/******************************************************/ +// 函数名 : CameraGetTriggerPeriodTime +// 功能描述 : 获取当前设置的间隔时间。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// time 间隔时间（微秒） +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetTriggerPeriodTime( + CameraHandle hCamera, + UINT* time +); + +/******************************************************/ +// 函数名 : CameraSetTriggerCount +// 功能描述 : 设置触发模式下的触发帧数。对软件触发和硬件触发 +// 模式都有效。默认为1帧，即一次触发信号采集一帧图像。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iCount 一次触发采集的帧数。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetTriggerCount( + CameraHandle hCamera, + INT iCount +); + +/******************************************************/ +// 函数名 : CameraGetTriggerCount +// 功能描述 : 获得一次触发的帧数。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// INT* piCount +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetTriggerCount( + CameraHandle hCamera, + INT* piCount +); + +/******************************************************/ +// 函数名 : CameraSoftTrigger +// 功能描述 : 执行一次软触发。执行后，会触发由CameraSetTriggerCount +// 指定的帧数。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSoftTrigger( + CameraHandle hCamera +); + +/******************************************************/ +// 函数名 : CameraSetTriggerMode +// 功能描述 : 设置相机的触发模式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iModeSel 模式选择索引号。可设定的模式由 +// CameraGetCapability函数获取。请参考 +// CameraDefine.h中tSdkCameraCapbility的定义。 +// 一般情况，0表示连续采集模式；1表示 +// 软件触发模式；2表示硬件触发模式。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetTriggerMode( + CameraHandle hCamera, + int iModeSel +); + +/******************************************************/ +// 函数名 : CameraGetTriggerMode +// 功能描述 : 获得相机的触发模式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piModeSel 指针，返回当前选择的相机触发模式的索引号。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetTriggerMode( + CameraHandle hCamera, + INT* piModeSel +); + +/******************************************************/ +// 函数名 : CameraSetStrobeMode +// 功能描述 : 设置IO引脚端子上的STROBE信号。该信号可以做闪光灯控制，也可以做外部机械快门控制。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iMode 当为STROBE_SYNC_WITH_TRIG_AUTO 和触发信号同步，触发后，相机进行曝光时，自动生成STROBE信号。 +// 此时，有效极性可设置(CameraSetStrobePolarity)。 +// 当为STROBE_SYNC_WITH_TRIG_MANUAL时，和触发信号同步，触发后，STROBE延时指定的时间后(CameraSetStrobeDelayTime)， +// 再持续指定时间的脉冲(CameraSetStrobePulseWidth)， +// 有效极性可设置(CameraSetStrobePolarity)。 +// 当为STROBE_ALWAYS_HIGH时，STROBE信号恒为高,忽略其他设置 +// 当为STROBE_ALWAYS_LOW时，STROBE信号恒为低,忽略其他设置 +// +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetStrobeMode( + CameraHandle hCamera, + INT iMode +); + +/******************************************************/ +// 函数名 : CameraGetStrobeMode +// 功能描述 : 或者当前STROBE信号设置的模式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piMode 指针，返回STROBE_SYNC_WITH_TRIG_AUTO,STROBE_SYNC_WITH_TRIG_MANUAL、STROBE_ALWAYS_HIGH或者STROBE_ALWAYS_LOW。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetStrobeMode( + CameraHandle hCamera, + INT* piMode +); + +/******************************************************/ +// 函数名 : CameraSetStrobeDelayTime +// 功能描述 : 当STROBE信号处于STROBE_SYNC_WITH_TRIG时，通过该函数设置其相对触发信号延时时间。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// uDelayTimeUs 相对触发信号的延时时间，单位为us。可以为0，但不能为负数。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetStrobeDelayTime( + CameraHandle hCamera, + UINT uDelayTimeUs +); + +/******************************************************/ +// 函数名 : CameraGetStrobeDelayTime +// 功能描述 : 当STROBE信号处于STROBE_SYNC_WITH_TRIG时，通过该函数获得其相对触发信号延时时间。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// upDelayTimeUs 指针，返回延时时间，单位us。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetStrobeDelayTime( + CameraHandle hCamera, + UINT* upDelayTimeUs +); + +/******************************************************/ +// 函数名 : CameraSetStrobePulseWidth +// 功能描述 : 当STROBE信号处于STROBE_SYNC_WITH_TRIG时，通过该函数设置其脉冲宽度。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// uTimeUs 脉冲的宽度，单位为时间us。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetStrobePulseWidth( + CameraHandle hCamera, + UINT uTimeUs +); + +/******************************************************/ +// 函数名 : CameraGetStrobePulseWidth +// 功能描述 : 当STROBE信号处于STROBE_SYNC_WITH_TRIG时，通过该函数获得其脉冲宽度。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// upTimeUs 指针，返回脉冲宽度。单位为时间us。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetStrobePulseWidth( + CameraHandle hCamera, + UINT* upTimeUs +); + +/******************************************************/ +// 函数名 : CameraSetStrobePolarity +// 功能描述 : 当STROBE信号处于STROBE_SYNC_WITH_TRIG时，通过该函数设置其有效电平的极性。默认为高有效，当触发信号到来时，STROBE信号被拉高。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iPolarity STROBE信号的极性，0为低电平有效，1为高电平有效。默认为高电平有效。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetStrobePolarity( + CameraHandle hCamera, + INT uPolarity +); + +/******************************************************/ +// 函数名 : CameraGetStrobePolarity +// 功能描述 : 获得相机当前STROBE信号的有效极性。默认为高电平有效。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// ipPolarity 指针，返回STROBE信号当前的有效极性。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetStrobePolarity( + CameraHandle hCamera, + INT* upPolarity +); + +/******************************************************/ +// 函数名 : CameraSetExtTrigSignalType +// 功能描述 : 设置相机外触发信号的种类。上边沿、下边沿、或者高、低电平方式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iType 外触发信号种类，返回值参考CameraDefine.h中 +// emExtTrigSignal类型定义。 + +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetExtTrigSignalType( + CameraHandle hCamera, + INT iType +); + +/******************************************************/ +// 函数名 : CameraGetExtTrigSignalType +// 功能描述 : 获得相机当前外触发信号的种类。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// ipType 指针，返回外触发信号种类，返回值参考CameraDefine.h中 +// emExtTrigSignal类型定义。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetExtTrigSignalType( + CameraHandle hCamera, + INT* ipType +); + +/******************************************************/ +// 函数名 : CameraSetExtTrigShutterType +// 功能描述 : 设置外触发模式下，相机快门的方式，默认为标准快门方式。 +// 部分滚动快门的CMOS相机支持GRR方式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iType 外触发快门方式。参考CameraDefine.h中emExtTrigShutterMode类型。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetExtTrigShutterType( + CameraHandle hCamera, + INT iType +); + +/******************************************************/ +// 函数名 : CameraSetExtTrigShutterType +// 功能描述 : 获得外触发模式下，相机快门的方式，默认为标准快门方式。 +// 部分滚动快门的CMOS相机支持GRR方式。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// ipType 指针，返回当前设定的外触发快门方式。返回值参考 +// CameraDefine.h中emExtTrigShutterMode类型。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetExtTrigShutterType( + CameraHandle hCamera, + INT* ipType +); + +/******************************************************/ +// 函数名 : CameraSetExtTrigDelayTime +// 功能描述 : 设置外触发信号延时时间，默认为0，单位为微秒。 +// 当设置的值uDelayTimeUs不为0时，相机接收到外触发信号后，将延时uDelayTimeUs个微秒后再进行图像捕获。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// uDelayTimeUs 延时时间，单位为微秒，默认为0. +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetExtTrigDelayTime( + CameraHandle hCamera, + UINT uDelayTimeUs +); + +/******************************************************/ +// 函数名 : CameraGetExtTrigDelayTime +// 功能描述 : 获得设置的外触发信号延时时间，默认为0，单位为微秒。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// UINT* upDelayTimeUs +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetExtTrigDelayTime( + CameraHandle hCamera, + UINT* upDelayTimeUs +); + +/******************************************************/ +// 函数名 : CameraSetExtTrigBufferedDelayTime +// 功能描述 : 设置外触发信号延时时间，默认为0，单位为微秒。 +// 当设置的值uDelayTimeUs不为0时，相机接收到外触发信号后，将延时uDelayTimeUs个微秒后再进行图像捕获。 +// 并且会把延时期间收到的触发信号缓存起来，被缓存的信号也将延时uDelayTimeUs个微秒后生效（最大缓存个数128）。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// uDelayTimeUs 延时时间，单位为微秒，默认为0. +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetExtTrigBufferedDelayTime( + CameraHandle hCamera, + UINT uDelayTimeUs +); + +/******************************************************/ +// 函数名 : CameraGetExtTrigBufferedDelayTime +// 功能描述 : 获得设置的外触发信号延时时间，默认为0，单位为微秒。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// puDelayTimeUs 延时时间，单位为微秒，默认为0. +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetExtTrigBufferedDelayTime( + CameraHandle hCamera, + UINT* puDelayTimeUs +); + +/// @ingroup API_TRIGGER +/// \~chinese +/// \brief 设置外触发信号间隔时间，默认为0，单位为微秒。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] uTimeUs 间隔时间，单位为微秒，默认为0. +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the interval time of external trigger signal. The default is 0 and the unit is microsecond. +/// \param [in] hCamera Camera handle. +/// \param [in] uTimeUs Interval time in microseconds. Default is 0. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetExtTrigIntervalTime( + CameraHandle hCamera, + UINT uTimeUs + ); + +/// @ingroup API_TRIGGER +/// \~chinese +/// \brief 获得设置的外触发信号间隔时间，默认为0，单位为微秒。 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] upTimeUs 触发间隔 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the set external trigger signal interval time, the default is 0, the unit is microseconds. +/// \param [in] hCamera Camera handle. +/// \param [out] upTimeUs trigger interval +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetExtTrigIntervalTime( + CameraHandle hCamera, + UINT* upTimeUs + ); + +/******************************************************/ +// 函数名 : CameraSetExtTrigJitterTime +// 功能描述 : 设置相机外触发信号的消抖时间。默认为0，单位为微秒。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// UINT uTimeUs +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetExtTrigJitterTime( + CameraHandle hCamera, + UINT uTimeUs +); + +/******************************************************/ +// 函数名 : CameraGetExtTrigJitterTime +// 功能描述 : 获得设置的相机外触发消抖时间，默认为0.单位为微妙 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// UINT* upTimeUs +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetExtTrigJitterTime( + CameraHandle hCamera, + UINT* upTimeUs +); + +/******************************************************/ +// 函数名 : CameraGetExtTrigCapability +// 功能描述 : 获得相机外触发的属性掩码 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// puCapabilityMask 指针，返回该相机外触发特性掩码，掩码参考CameraDefine.h中 +// EXT_TRIG_MASK_ 开头的宏定义。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetExtTrigCapability( + CameraHandle hCamera, + UINT* puCapabilityMask +); + + +/******************************************************/ +// 函数名 : CameraGetResolutionForSnap +// 功能描述 : 获得抓拍模式下的分辨率选择索引号。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pImageResolution 指针，返回抓拍模式的分辨率。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetResolutionForSnap( + CameraHandle hCamera, + tSdkImageResolution* pImageResolution +); + +/******************************************************/ +// 函数名 : CameraSetResolutionForSnap +// 功能描述 : 设置抓拍模式下相机输出图像的分辨率。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pImageResolution 如果pImageResolution->iWidth +// 和 pImageResolution->iHeight都为0， +// 则表示设定为跟随当前预览分辨率。抓 +// 怕到的图像的分辨率会和当前设定的 +// 预览分辨率一样。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetResolutionForSnap( + CameraHandle hCamera, + tSdkImageResolution* pImageResolution +); + +/******************************************************/ +// 函数名 : CameraCustomizeResolution +// 功能描述 : 打开分辨率自定义面板，并通过可视化的方式 +// 来配置一个自定义分辨率。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pImageCustom 指针，返回自定义的分辨率。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraCustomizeResolution( + CameraHandle hCamera, + tSdkImageResolution* pImageCustom +); + +/******************************************************/ +// 函数名 : CameraCustomizeReferWin +// 功能描述 : 打开参考窗口自定义面板。并通过可视化的方式来 +// 获得一个自定义窗口的位置。一般是用自定义白平衡 +// 和自动曝光的参考窗口。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iWinType 要生成的参考窗口的用途。0,自动曝光参考窗口； +// 1,白平衡参考窗口。 +// hParent 调用该函数的窗口的句柄。可以为NULL。 +// piHOff 指针，返回自定义窗口的左上角横坐标。 +// piVOff 指针，返回自定义窗口的左上角纵坐标。 +// piWidth 指针，返回自定义窗口的宽度。 +// piHeight 指针，返回自定义窗口的高度。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraCustomizeReferWin( + CameraHandle hCamera, + INT iWinType, + HWND hParent, + INT* piHOff, + INT* piVOff, + INT* piWidth, + INT* piHeight +); + +/******************************************************/ +// 函数名 : CameraShowSettingPage +// 功能描述 : 设置相机属性配置窗口显示状态。必须先调用CameraCreateSettingPage +// 成功创建相机属性配置窗口后，才能调用本函数进行 +// 显示。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// bShow TRUE，显示;FALSE，隐藏。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraShowSettingPage( + CameraHandle hCamera, + BOOL bShow +); + +/******************************************************/ +// 函数名 : CameraCreateSettingPage +// 功能描述 : 创建该相机的属性配置窗口。调用该函数，SDK内部会 +// 帮您创建好相机的配置窗口，省去了您重新开发相机 +// 配置界面的时间。强烈建议使用您使用该函数让 +// SDK为您创建好配置窗口。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// hParent 应用程序主窗口的句柄。可以为NULL。 +// pWinText 字符串指针，窗口显示的标题栏。 +// pCallbackFunc 窗口消息的回调函数，当相应的事件发生时， +// pCallbackFunc所指向的函数会被调用， +// 例如切换了参数之类的操作时，pCallbackFunc +// 被回调时，在入口参数处指明了消息类型。 +// 这样可以方便您自己开发的界面和我们生成的UI +// 之间进行同步。该参数可以为NULL。 +// pCallbackCtx 回调函数的附加参数。可以为NULL。pCallbackCtx +// 会在pCallbackFunc被回调时，做为参数之一传入。 +// 您可以使用该参数来做一些灵活的判断。 +// uReserved 预留。必须设置为0。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraCreateSettingPage( + CameraHandle hCamera, + HWND hParent, + char* pWinText, + CAMERA_PAGE_MSG_PROC pCallbackFunc, + PVOID pCallbackCtx, + UINT uReserved +); + +/******************************************************/ +// 函数名 : CameraCreateSettingPageEx +// 功能描述 : 创建该相机的属性配置窗口。调用该函数，SDK内部会 +// 帮您创建好相机的配置窗口，省去了您重新开发相机 +// 配置界面的时间。强烈建议使用您使用该函数让 +// SDK为您创建好配置窗口。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraCreateSettingPageEx( + CameraHandle hCamera +); + + +/******************************************************/ +// 函数名 : CameraSetActiveSettingSubPage +// 功能描述 : 设置相机配置窗口的激活页面。相机配置窗口有多个 +// 子页面构成，该函数可以设定当前哪一个子页面 +// 为激活状态，显示在最前端。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// index 子页面的索引号。参考CameraDefine.h中 +// PROP_SHEET_INDEX的定义。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetActiveSettingSubPage( + CameraHandle hCamera, + INT index +); + +/******************************************************/ +// 函数名 : CameraSpecialControl +// 功能描述 : 相机一些特殊配置所调用的接口，二次开发时一般不需要 +// 调用。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// dwCtrlCode 控制码。 +// dwParam 控制子码，不同的dwCtrlCode时，意义不同。 +// lpData 附加参数。不同的dwCtrlCode时，意义不同。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSpecialControl( + CameraHandle hCamera, + DWORD dwCtrlCode, + DWORD dwParam, + LPVOID lpData +); + +/******************************************************/ +// 函数名 : CameraGetFrameStatistic +// 功能描述 : 获得相机接收帧率的统计信息，包括错误帧和丢帧的情况。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// psFrameStatistic 指针，返回统计信息。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetFrameStatistic( + CameraHandle hCamera, + tSdkFrameStatistic* psFrameStatistic +); + +/******************************************************/ +// 函数名 : CameraGetStatisticResend +// 功能描述 : 获得相机统计信息之重传数量 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pResendCount 指针，返回重传数量。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetStatisticResend( + CameraHandle hCamera, + UINT* pResendCount +); + +/******************************************************/ +// 函数名 : CameraSetNoiseFilter +// 功能描述 : 设置图像降噪模块的使能状态。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// bEnable TRUE，使能；FALSE，禁止。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetNoiseFilter( + CameraHandle hCamera, + BOOL bEnable +); + +/******************************************************/ +// 函数名 : CameraGetNoiseFilterState +// 功能描述 : 获得图像降噪模块的使能状态。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// *pEnable 指针，返回状态。TRUE，为使能。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetNoiseFilterState( + CameraHandle hCamera, + BOOL* pEnable +); + +/******************************************************/ +// 函数名 : CameraRstTimeStamp +// 功能描述 : 复位图像采集的时间戳，从0开始。 +// 参数 : CameraHandle hCamera +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraRstTimeStamp( + CameraHandle hCamera +); + +/******************************************************/ +// 函数名 : CameraSaveUserData +// 功能描述 : 将用户自定义的数据保存到相机的非易性存储器中。 +// 每个型号的相机可能支持的用户数据区最大长度不一样。 +// 可以从设备的特性描述中获取该长度信息。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// uStartAddr 起始地址，从0开始。 +// pbData 数据缓冲区指针 +// ilen 写入数据的长度，ilen + uStartAddr必须 +// 小于用户区最大长度 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSaveUserData( + CameraHandle hCamera, + UINT uStartAddr, + BYTE *pbData, + int ilen +); + +/******************************************************/ +// 函数名 : CameraLoadUserData +// 功能描述 : 从相机的非易性存储器中读取用户自定义的数据。 +// 每个型号的相机可能支持的用户数据区最大长度不一样。 +// 可以从设备的特性描述中获取该长度信息。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// uStartAddr 起始地址，从0开始。 +// pbData 数据缓冲区指针，返回读到的数据。 +// ilen 读取数据的长度，ilen + uStartAddr必须 +// 小于用户区最大长度 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraLoadUserData( + CameraHandle hCamera, + UINT uStartAddr, + BYTE *pbData, + int ilen +); + +/******************************************************/ +// 函数名 : CameraGetFriendlyName +// 功能描述 : 读取用户自定义的设备昵称。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pName 指针，返回指向0结尾的字符串， +// 设备昵称不超过32个字节，因此该指针 +// 指向的缓冲区必须大于等于32个字节空间。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetFriendlyName( + CameraHandle hCamera, + char* pName +); + +/******************************************************/ +// 函数名 : CameraSetFriendlyName +// 功能描述 : 设置用户自定义的设备昵称。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pName 指针，指向0结尾的字符串， +// 设备昵称不超过32个字节，因此该指针 +// 指向字符串必须小于等于32个字节空间。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetFriendlyName( + CameraHandle hCamera, + char* pName +); + +/******************************************************/ +// 函数名 : CameraSdkGetVersionString +// 功能描述 : +// 参数 : pVersionString 指针，返回SDK版本字符串。 +// 该指针指向的缓冲区大小必须大于 +// 32个字节 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSdkGetVersionString( + char* pVersionString +); + +/******************************************************/ +// 函数名 : CameraCheckFwUpdate +// 功能描述 : 检测固件版本，是否需要升级。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pNeedUpdate 指针，返回固件检测状态，TRUE表示需要更新 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraCheckFwUpdate( + CameraHandle hCamera, + BOOL* pNeedUpdate +); + +/******************************************************/ +// 函数名 : CameraGetFirmwareVision +// 功能描述 : 获得固件版本的字符串 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pVersion 必须指向一个大于32字节的缓冲区， +// 返回固件的版本字符串。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetFirmwareVersion( + CameraHandle hCamera, + char* pVersion +); + +/******************************************************/ +// 函数名 : CameraGetEnumInfo +// 功能描述 : 获得指定设备的枚举信息 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pCameraInfo 指针，返回设备的枚举信息。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetEnumInfo( + CameraHandle hCamera, + tSdkCameraDevInfo* pCameraInfo +); + +/******************************************************/ +// 函数名 : CameraGetInerfaceVersion +// 功能描述 : 获得指定设备接口的版本 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pVersion 指向一个大于32字节的缓冲区，返回接口版本字符串。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetInerfaceVersion( + CameraHandle hCamera, + char* pVersion +); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 设置指定IO的电平状态，IO为输出型IO，相机预留可编程输出IO的个数由@link #tSdkCameraCapbility.iOutputIoCounts @endlink决定。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iOutputIOIndex IO的索引号，从0开始。 +/// \param [in] uState 要设定的状态(GE、SUA: 0(高) 1(低)) +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \note 已废弃，使用CameraSetIOStateEx，它对所有型号相机的输出状态值统一为1高 0低 +/// \~english +/// \brief Set the level state of the specified IO. IO is the output IO. The number of programmable output IOs for the camera is determined by @link #tSdkCameraCapbility.iOutputIoCounts @endlink. +/// \param [in] hCamera Camera handle. +/// \param [in] iOutputIOIndex IO index, starting from 0. +/// \param [in] uState The state to set(GE、SUA: 0(high) 1(low)) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +/// \note Obsolete, use CameraSetIOStateEx, which has a unified output state value of 1 high and 0 low for all models of cameras +MVSDK_API CameraSdkStatus CameraSetIOState( + CameraHandle hCamera, + INT iOutputIOIndex, + UINT uState +); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 设置指定IO的电平状态，IO为输出型IO，相机预留可编程输出IO的个数由@link #tSdkCameraCapbility.iOutputIoCounts @endlink决定。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iOutputIOIndex IO的索引号，从0开始。 +/// \param [in] uState 要设定的状态（1为高，0为低） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the level state of the specified IO. IO is the output IO. The number of programmable output IOs for the camera is determined by @link #tSdkCameraCapbility.iOutputIoCounts @endlink. +/// \param [in] hCamera Camera handle. +/// \param [in] iOutputIOIndex IO index, starting from 0. +/// \param [in] uState The state to set, 1 is high, 0 is low +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetIOStateEx( + CameraHandle hCamera, + INT iOutputIOIndex, + UINT uState + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 读取指定IO的电平状态，IO为输出型IO，相机预留可编程输出IO的个数由@link #tSdkCameraCapbility.iOutputIoCounts @endlink决定。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iOutputIOIndex IO的索引号，从0开始。 +/// \param [out] puState 返回IO状态(GE、SUA: 0(高) 1(低)) +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \note 已废弃，使用CameraGetOutPutIOStateEx，它对所有型号相机的输出状态值统一为1高 0低 +/// \~english +/// \brief Read the level state of the specified IO. IO is the output IO. The number of programmable output IOs for the camera is determined by @link #tSdkCameraCapbility.iOutputIoCounts @endlink. +/// \param [in] hCamera Camera handle. +/// \param [in] iOutputIOIndex IO index, starting from 0. +/// \param [out] puState return IO state(GE、SUA: 0(high) 1(low)) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +/// \note Obsolete, use CameraGetOutPutIOStateEx, which has a unified output state value of 1 high and 0 low for all models of cameras +MVSDK_API CameraSdkStatus CameraGetOutPutIOState( + CameraHandle hCamera, + INT iOutputIOIndex, + UINT* puState + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 读取指定IO的电平状态，IO为输出型IO，相机预留可编程输出IO的个数由@link #tSdkCameraCapbility.iOutputIoCounts @endlink决定。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iOutputIOIndex IO的索引号，从0开始。 +/// \param [out] puState 返回IO状态，1为高，0为低 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Read the level state of the specified IO. IO is the output IO. The number of programmable output IOs for the camera is determined by @link #tSdkCameraCapbility.iOutputIoCounts @endlink. +/// \param [in] hCamera Camera handle. +/// \param [in] iOutputIOIndex IO index, starting from 0. +/// \param [out] puState return IO state, 1 is high, 0 is low +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetOutPutIOStateEx( + CameraHandle hCamera, + INT iOutputIOIndex, + UINT* puState + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 读取指定IO的电平状态，IO为输入型IO，相机预留可编程输出IO的个数由@link #tSdkCameraCapbility.iInputIoCounts @endlink决定。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iInputIOIndex IO的索引号，从0开始。 +/// \param [out] puState 指针，返回IO状态(GE、SUA: 0(高) 1(低)) +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \note 已废弃，使用CameraGetIOStateEx，它对所有型号相机的输入状态值统一为1高 0低 +/// \~english +/// \brief Read the level state of the specified IO, IO is input type IO, the number of programmable output IOs that the camera reserves is decided by @link #tSdkCameraCapbility.iInputIoCounts @endlink. +/// \param [in] hCamera Camera handle. +/// \param [in] iInputIOIndex IO index, starting from 0. +/// \param [out] puState returns IO state(GE、SUA: 0(high) 1(low)) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +/// \note Obsolete, use CameraGetIOStateEx, which has a unified input state value of 1 high and 0 low for all models of cameras +MVSDK_API CameraSdkStatus CameraGetIOState( + CameraHandle hCamera, + INT iInputIOIndex, + UINT* puState +); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 读取指定IO的电平状态，IO为输入型IO，相机预留可编程输出IO的个数由@link #tSdkCameraCapbility.iInputIoCounts @endlink决定。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iInputIOIndex IO的索引号，从0开始。 +/// \param [out] puState 指针，返回IO状态,1为高，0为低 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Read the level state of the specified IO, IO is input type IO, the number of programmable output IOs that the camera reserves is decided by @link #tSdkCameraCapbility.iInputIoCounts @endlink. +/// \param [in] hCamera Camera handle. +/// \param [in] iInputIOIndex IO index, starting from 0. +/// \param [out] puState returns IO state, 1 is high, 0 is low +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetIOStateEx( + CameraHandle hCamera, + INT iInputIOIndex, + UINT* puState + ); + +/******************************************************/ +// 函数名 : CameraSetInPutIOMode +// 功能描述 : 设置输入IO的模式，相机 +// 预留可编程输出IO的个数由tSdkCameraCapbility中 +// iInputIoCounts决定。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iInputIOIndex IO的索引号，从0开始。 +// iMode IO模式,参考CameraDefine.h中emCameraGPIOMode +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetInPutIOMode( + CameraHandle hCamera, + INT iInputIOIndex, + INT iMode + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 获取输入IO的模式 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iInputIOIndex IO的索引号，从0开始。 +/// \param [out] piMode IO模式,参考@link #emCameraGPIOMode @endlink +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the input IO mode +/// \param [in] hCamera Camera handle. +/// \param [in] iInputIOIndex IO index, starting from 0. +/// \param [out] piMode IO mode, reference @link #emCameraGPIOMode @endlink +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetInPutIOMode( + CameraHandle hCamera, + INT iInputIOIndex, + INT* piMode + ); + +/******************************************************/ +// 函数名 : CameraSetOutPutIOMode +// 功能描述 : 设置输出IO的模式，相机 +// 预留可编程输出IO的个数由tSdkCameraCapbility中 +// iOutputIoCounts决定。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iOutputIOIndex IO的索引号，从0开始。 +// iMode IO模式,参考CameraDefine.h中emCameraGPIOMode +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetOutPutIOMode( + CameraHandle hCamera, + INT iOutputIOIndex, + INT iMode + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 获取输出IO的模式 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iOutputIOIndex IO的索引号，从0开始。 +/// \param [out] piMode IO模式,参考@link #emCameraGPIOMode @endlink +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the output IO mode +/// \param [in] hCamera Camera handle. +/// \param [in] iOutputIOIndex IO index, starting from 0. +/// \param [out] piMode IO mode, reference @link #emCameraGPIOMode @endlink +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetOutPutIOMode( + CameraHandle hCamera, + INT iOutputIOIndex, + INT* piMode + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 获取输入IO的模式支持能力 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iInputIOIndex IO的索引号，从0开始。 +/// \param [out] piCapbility IO模式支持位掩码 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the mode support capability of the input IO +/// \param [in] hCamera Camera handle. +/// \param [in] iInputIOIndex IO index, starting from 0. +/// \param [out] piCapbility IO mode support bit mask +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetInPutIOModeCapbility( + CameraHandle hCamera, + INT iInputIOIndex, + UINT* piCapbility + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 获取输出IO的模式支持能力 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iOutputIOIndex IO的索引号，从0开始。 +/// \param [out] piCapbility IO模式支持位掩码 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the mode support capability of the output IO +/// \param [in] hCamera Camera handle. +/// \param [in] iOutputIOIndex IO index, starting from 0. +/// \param [out] piCapbility IO mode support bit mask +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetOutPutIOModeCapbility( + CameraHandle hCamera, + INT iOutputIOIndex, + UINT* piCapbility + ); + +/******************************************************/ +// 函数名 : CameraSetOutPutPWM +// 功能描述 : 设置PWM型输出的参数，相机 +// 预留可编程输出IO的个数由tSdkCameraCapbility中 +// iOutputIoCounts决定。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iOutputIOIndex IO的索引号，从0开始。 +// iCycle PWM的周期，单位(us) +// uDuty 占用比，取值1%~99% +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetOutPutPWM( + CameraHandle hCamera, + INT iOutputIOIndex, + UINT iCycle, + UINT uDuty + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 设置编码器有效方向 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] dir 有效方向（0:正反转都有效 1：顺时针（A相超前于B） 2:逆时针） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the effective direction of the rotary encoder +/// \param [in] hCamera Camera handle. +/// \param [in] dir Valid direction (0: Both positive and negative are valid 1: Clockwise (A phase leads B) 2: Counterclockwise) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetRotaryEncDir( + CameraHandle hCamera, + INT dir + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 获取编码器有效方向 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] dir 有效方向（0:正反转都有效 1：顺时针（A相超前于B） 2:逆时针） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the effective direction of the rotary encoder +/// \param [in] hCamera Camera handle. +/// \param [out] dir Valid direction (0: Both positive and negative are valid 1: Clockwise (A phase leads B) 2: Counterclockwise) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetRotaryEncDir( + CameraHandle hCamera, + INT* dir + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 设置编码器频率 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] mul 倍频 +/// \param [in] div 分频 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the frequency of the rotary encoder +/// \param [in] hCamera Camera handle. +/// \param [in] mul frequency multiplier +/// \param [in] div frequency division +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetRotaryEncFreq( + CameraHandle hCamera, + INT mul, + INT div + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 获取编码器频率 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] mul 倍频 +/// \param [out] div 分频 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the frequency of the rotary encoder +/// \param [in] hCamera Camera handle. +/// \param [out] mul frequency multiplier +/// \param [out] div frequency division +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetRotaryEncFreq( + CameraHandle hCamera, + INT* mul, + INT* div + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 设置输入IO的格式 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iInputIOIndex IO的索引号，从0开始。 +/// \param [in] iFormat IO格式,参考@link #emCameraGPIOFormat @endlink +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the input IO format +/// \param [in] hCamera Camera handle. +/// \param [in] iInputIOIndex IO index, starting from 0. +/// \param [in] iFormat IO format, reference @link #emCameraGPIOFormat @endlink +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetInPutIOFormat( + CameraHandle hCamera, + INT iInputIOIndex, + INT iFormat + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 获取输入IO的格式 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iInputIOIndex IO的索引号，从0开始。 +/// \param [out] piFormat IO格式,参考@link #emCameraGPIOFormat @endlink +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the input IO format +/// \param [in] hCamera Camera handle. +/// \param [in] iInputIOIndex IO index, starting from 0. +/// \param [out] piFormat IO format, reference @link #emCameraGPIOFormat @endlink +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetInPutIOFormat( + CameraHandle hCamera, + INT iInputIOIndex, + INT* piFormat + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 设置输出IO的格式 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iOutputIOIndex IO的索引号，从0开始。 +/// \param [in] iFormat IO格式,参考@link #emCameraGPIOFormat @endlink +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the output IO format +/// \param [in] hCamera Camera handle. +/// \param [in] iOutputIOIndex IO index, starting from 0. +/// \param [in] iFormat IO format, reference @link #emCameraGPIOFormat @endlink +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetOutPutIOFormat( + CameraHandle hCamera, + INT iOutputIOIndex, + INT iFormat + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 获取输出IO的格式 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iOutputIOIndex IO的索引号，从0开始。 +/// \param [out] piFormat IO格式,参考@link #emCameraGPIOFormat @endlink +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the output IO format +/// \param [in] hCamera Camera handle. +/// \param [in] iOutputIOIndex IO index, starting from 0. +/// \param [out] piFormat IO format, reference @link #emCameraGPIOFormat @endlink +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetOutPutIOFormat( + CameraHandle hCamera, + INT iOutputIOIndex, + INT* piFormat + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 获取输入IO的格式支持能力 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iInputIOIndex IO的索引号，从0开始。 +/// \param [out] piCapbility IO格式支持位掩码 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the format support capability of the input IO +/// \param [in] hCamera Camera handle. +/// \param [in] iInputIOIndex IO index, starting from 0. +/// \param [out] piCapbility IO format support bit mask +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetInPutIOFormatCapbility( + CameraHandle hCamera, + INT iInputIOIndex, + UINT* piCapbility + ); + +/// @ingroup API_GPIO +/// \~chinese +/// \brief 获取输出IO的格式支持能力 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iOutputIOIndex IO的索引号，从0开始。 +/// \param [out] piCapbility IO格式支持位掩码 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the format support capability of the output IO +/// \param [in] hCamera Camera handle. +/// \param [in] iOutputIOIndex IO index, starting from 0. +/// \param [out] piCapbility IO format support bit mask +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetOutPutIOFormatCapbility( + CameraHandle hCamera, + INT iOutputIOIndex, + UINT* piCapbility + ); + +/******************************************************/ +// 函数名 : CameraSetOutPutDelayTime +// 功能描述 : 设置输出延时，相机 +// 预留可编程输出IO的个数由tSdkCameraCapbility中 +// iOutputIoCounts决定。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iOutputIOIndex IO的索引号，从0开始。 +// uDelayTimeUs 延时，单位(us) +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetOutPutDelayTime( + CameraHandle hCamera, + INT iOutputIOIndex, + UINT uDelayTimeUs + ); + +/******************************************************/ +// 函数名 : CameraSetOutPutPulseWidth +// 功能描述 : 设置输出脉宽，相机 +// 预留可编程输出IO的个数由tSdkCameraCapbility中 +// iOutputIoCounts决定。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iOutputIOIndex IO的索引号，从0开始。 +// uTimeUs 脉宽，单位(us) +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetOutPutPulseWidth( + CameraHandle hCamera, + INT iOutputIOIndex, + UINT uTimeUs + ); + +/******************************************************/ +// 函数名 : CameraSetOutPutPolarity +// 功能描述 : 设置输出极性，相机 +// 预留可编程输出IO的个数由tSdkCameraCapbility中 +// iOutputIoCounts决定。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iOutputIOIndex IO的索引号，从0开始。 +// uPolarity 0:正向 1：反向 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetOutPutPolarity( + CameraHandle hCamera, + INT iOutputIOIndex, + UINT uPolarity + ); + +/******************************************************/ +// 函数名 : CameraSetAeAlgorithm +// 功能描述 : 设置自动曝光时选择的算法，不同的算法适用于 +// 不同的场景。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iIspProcessor 选择执行该算法的对象，参考CameraDefine.h +// emSdkIspProcessor的定义 +// iAeAlgorithmSel 要选择的算法编号。从0开始，最大值由tSdkCameraCapbility +// 中iAeAlmSwDesc和iAeAlmHdDesc决定。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetAeAlgorithm( + CameraHandle hCamera, + INT iIspProcessor, + INT iAeAlgorithmSel +); + +/******************************************************/ +// 函数名 : CameraGetAeAlgorithm +// 功能描述 : 获得当前自动曝光所选择的算法 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iIspProcessor 选择执行该算法的对象，参考CameraDefine.h +// emSdkIspProcessor的定义 +// piAeAlgorithmSel 返回当前选择的算法编号。从0开始，最大值由tSdkCameraCapbility +// 中iAeAlmSwDesc和iAeAlmHdDesc决定。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetAeAlgorithm( + CameraHandle hCamera, + INT iIspProcessor, + INT* piAlgorithmSel +); + +/******************************************************/ +// 函数名 : CameraSetBayerDecAlgorithm +// 功能描述 : 设置Bayer数据转彩色的算法。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iIspProcessor 选择执行该算法的对象，参考CameraDefine.h +// emSdkIspProcessor的定义 +// iAlgorithmSel 要选择的算法编号。从0开始，最大值由tSdkCameraCapbility +// 中iBayerDecAlmSwDesc和iBayerDecAlmHdDesc决定。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetBayerDecAlgorithm( + CameraHandle hCamera, + INT iIspProcessor, + INT iAlgorithmSel +); + +/******************************************************/ +// 函数名 : CameraGetBayerDecAlgorithm +// 功能描述 : 获得Bayer数据转彩色所选择的算法。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iIspProcessor 选择执行该算法的对象，参考CameraDefine.h +// emSdkIspProcessor的定义 +// piAlgorithmSel 返回当前选择的算法编号。从0开始，最大值由tSdkCameraCapbility +// 中iBayerDecAlmSwDesc和iBayerDecAlmHdDesc决定。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetBayerDecAlgorithm( + CameraHandle hCamera, + INT iIspProcessor, + INT* piAlgorithmSel +); + +/******************************************************/ +// 函数名 : CameraSetIspProcessor +// 功能描述 : 设置图像处理单元的算法执行对象，由PC端或者相机端 +// 来执行算法，当由相机端执行时，会降低PC端的CPU占用率。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iIspProcessor 参考CameraDefine.h中 +// emSdkIspProcessor的定义。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetIspProcessor( + CameraHandle hCamera, + INT iIspProcessor +); + +/******************************************************/ +// 函数名 : CameraGetIspProcessor +// 功能描述 : 获得图像处理单元的算法执行对象。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piIspProcessor 返回选择的对象，返回值参考CameraDefine.h中 +// emSdkIspProcessor的定义。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetIspProcessor( + CameraHandle hCamera, + INT* piIspProcessor +); + +/******************************************************/ +// 函数名 : CameraSetBlackLevel +// 功能描述 : 设置图像的黑电平基准，默认值为0 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iBlackLevel 要设定的电平值。范围为0到255。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetBlackLevel( + CameraHandle hCamera, + INT iBlackLevel +); + +/******************************************************/ +// 函数名 : CameraGetBlackLevel +// 功能描述 : 获得图像的黑电平基准，默认值为0 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piBlackLevel 返回当前的黑电平值。范围为0到255。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetBlackLevel( + CameraHandle hCamera, + INT* piBlackLevel +); + +/******************************************************/ +// 函数名 : CameraSetWhiteLevel +// 功能描述 : 设置图像的白电平基准，默认值为255 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// iWhiteLevel 要设定的电平值。范围为0到255。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetWhiteLevel( + CameraHandle hCamera, + INT iWhiteLevel +); + +/******************************************************/ +// 函数名 : CameraGetWhiteLevel +// 功能描述 : 获得图像的白电平基准，默认值为255 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// piWhiteLevel 返回当前的白电平值。范围为0到255。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetWhiteLevel( + CameraHandle hCamera, + INT* piWhiteLevel +); + +/******************************************************/ +// 函数名 : CameraSetIspOutFormat +// 功能描述 : 设置CameraGetImageBuffer函数的图像处理的输出格式，支持 +// CAMERA_MEDIA_TYPE_MONO8和CAMERA_MEDIA_TYPE_RGB8 +// (在CameraDefine.h中定义)三种，分别对应8位灰度图像和24位彩色图像。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// uFormat 要设定格式。CAMERA_MEDIA_TYPE_MONO8或者CAMERA_MEDIA_TYPE_RGB8 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraSetIspOutFormat( + CameraHandle hCamera, + UINT uFormat +); + +/******************************************************/ +// 函数名 : CameraGetIspOutFormat +// 功能描述 : 获得图像处理的输出格式，目前只支持 +// CAMERA_MEDIA_TYPE_MONO8和CAMERA_MEDIA_TYPE_RGB8 +// (在CameraDefine.h中定义)两种，其他的参数会返回错误。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// puFormat 返回当前设定的格式。CAMERA_MEDIA_TYPE_MONO8或者CAMERA_MEDIA_TYPE_RGB8 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetIspOutFormat( + CameraHandle hCamera, + UINT* puFormat +); + +/******************************************************/ +// 函数名 : CameraGetErrorString +// 功能描述 : 获得错误码对应的描述字符串 +// 参数 : iStatusCode 错误码。(定义于CameraStatus.h中) +// 返回值 : 成功时，返回错误码对应的字符串首地址; +// 否则返回NULL。 +/******************************************************/ +MVSDK_API char* CameraGetErrorString( + CameraSdkStatus iStatusCode +); + + +/******************************************************/ +// 函数名 : CameraReConnect +// 功能描述 : 重新连接设备，用于USB设备意外掉线后重连 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraReConnect( + CameraHandle hCamera +); + + +/******************************************************/ +// 函数名 : CameraConnectTest +// 功能描述 : 测试相机的连接状态，用于检测相机是否掉线 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0)，表示相机连接状态正常; +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraConnectTest( + CameraHandle hCamera +); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 设置相机的LED使能状态，不带LED的型号，此函数返回错误代码，表示不支持。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index LED灯的索引号，从0开始。如果只有一个可控制亮度的LED，则该参数为0 。 +/// \param [in] enable 使能状态 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the camera's LED enable status, without the LED's model, this function returns an error code indicating that it is not supported. +/// \param [in] hCamera Camera handle. +/// \param [in] index The index of the LED, starting from 0. If there is only one LED that can control the brightness, this parameter is 0. +/// \param [in] enable enable state +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetLedEnable( + CameraHandle hCamera, + int index, + BOOL enable + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 获得相机的LED使能状态，不带LED的型号，此函数返回错误代码，表示不支持。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index LED灯的索引号，从0开始。如果只有一个可控制亮度的LED，则该参数为0 。 +/// \param [out] enable 指针，返回LED使能状态 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the camera's LED enable status, without the LED's model, this function returns an error code indicating that it is not supported. +/// \param [in] hCamera Camera handle. +/// \param [in] index The index of the LED, starting from 0. If there is only one LED that can control the brightness, this parameter is 0. +/// \param [out] enable Return LED enable status +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetLedEnable( + CameraHandle hCamera, + int index, + BOOL* enable + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 设置相机的LED开关状态，不带LED的型号，此函数返回错误代码，表示不支持。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index LED灯的索引号，从0开始。如果只有一个可控制亮度的LED，则该参数为0 。 +/// \param [in] onoff LED开关状态 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the camera's LED switch status, without the LED's model, this function returns an error code indicating that it is not supported. +/// \param [in] hCamera Camera handle. +/// \param [in] index The index of the LED, starting from 0. If there is only one LED that can control the brightness, this parameter is 0. +/// \param [in] onoff LED on/off status +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetLedOnOff( + CameraHandle hCamera, + int index, + BOOL onoff + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 获得相机的LED开关状态，不带LED的型号，此函数返回错误代码，表示不支持。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index LED灯的索引号，从0开始。如果只有一个可控制亮度的LED，则该参数为0 。 +/// \param [out] onoff 返回LED开关状态 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the camera's LED switch status, without the LED model, this function returns an error code that does not support. +/// \param [in] hCamera Camera handle. +/// \param [in] index The index of the LED, starting from 0. If there is only one LED that can control the brightness, this parameter is 0. +/// \param [out] onoff Returns LED switch status +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetLedOnOff( + CameraHandle hCamera, + int index, + BOOL* onoff + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 设置相机的LED持续时间，不带LED的型号，此函数返回错误代码，表示不支持。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index LED灯的索引号，从0开始。如果只有一个可控制亮度的LED，则该参数为0 。 +/// \param [in] duration LED持续时间，单位毫秒 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the camera's LED duration, without the LED model, this function returns an error code indicating that it is not supported. +/// \param [in] hCamera Camera handle. +/// \param [in] index The index of the LED, starting from 0. If there is only one LED that can control the brightness, this parameter is 0. +/// \param [in] duration LED duration in milliseconds +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetLedDuration( + CameraHandle hCamera, + int index, + UINT duration + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 获得相机的LED持续时间，不带LED的型号，此函数返回错误代码，表示不支持。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index LED灯的索引号，从0开始。如果只有一个可控制亮度的LED，则该参数为0 。 +/// \param [out] duration 返回LED持续时间，单位毫秒 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the camera's LED duration, without the LED model, this function returns an error code indicating that it is not supported. +/// \param [in] hCamera Camera handle. +/// \param [in] index The index of the LED, starting from 0. If there is only one LED that can control the brightness, this parameter is 0. +/// \param [out] duration Returns the LED duration in milliseconds +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetLedDuration( + CameraHandle hCamera, + int index, + UINT* duration + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 设置相机的LED亮度，不带LED的型号，此函数返回错误代码，表示不支持。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index LED灯的索引号，从0开始。如果只有一个可控制亮度的LED，则该参数为0 。 +/// \param [in] uBrightness LED亮度值，范围0到255. 0表示关闭，255最亮。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the camera's LED brightness, without the LED model, this function returns an error code indicating that it is not supported. +/// \param [in] hCamera Camera handle. +/// \param [in] index The index of the LED, starting from 0. If there is only one LED that can control the brightness, this parameter is 0. +/// \param [in] uBrightness LED brightness value, range 0 to 255. 0 means off, 255 brightest. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetLedBrightness( + CameraHandle hCamera, + int index, + UINT uBrightness +); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 获得相机的LED亮度，不带LED的型号，此函数返回错误代码，表示不支持。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index LED灯的索引号，从0开始。如果只有一个可控制亮度的LED，则该参数为0 。 +/// \param [out] uBrightness 指针，返回LED亮度值，范围0到255. 0表示关闭，255最亮。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the camera's LED brightness, without the LED model, this function returns an error code that does not support. +/// \param [in] hCamera Camera handle. +/// \param [in] index The index of the LED, starting from 0. If there is only one LED that can control the brightness, this parameter is 0. +/// \param [out] uBrightness Returns the LED brightness value in the range 0 to 255. 0 means off, 255 is the brightest. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetLedBrightness( + CameraHandle hCamera, + int index, + UINT* uBrightness +); + +// 申请一段对齐的内存空间。功能和malloc类似，但是返回的内存是以align指定的字节数对齐的 +MVSDK_API BYTE* CameraAlignMalloc(int size, int align); + +//释放由CameraAlignMalloc 函数分配的内存空间。 +MVSDK_API void CameraAlignFree(BYTE* membuffer); + +/******************************************************/ +// 函数名 : CameraCommonCall +// 功能描述 : 相机的一些特殊功能调用，二次开发时一般不需要调用。 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// pszCall 功能及参数 +// pszResult 调用结果，不同的pszCall时，意义不同。 +// uResultBufSize pszResult指向的缓冲区的字节大小 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraCommonCall( + CameraHandle hCamera, + char const* pszCall, + char* pszResult, + UINT uResultBufSize +); + +/******************************************************/ +// 函数名 : CameraGetEyeCount +// 功能描述 : 获取多目相机的目数 +// 参数 : hCamera 相机的句柄，由CameraInit函数获得。 +// 返回值 : 成功时，返回CAMERA_STATUS_SUCCESS (0); +// 否则返回非0值的错误码,请参考CameraStatus.h +// 中错误码的定义。 +/******************************************************/ +MVSDK_API CameraSdkStatus CameraGetEyeCount( + CameraHandle hCamera, + int *eyecount +); + +/// @ingroup API_MULTI_EYE +/// \~chinese +/// \brief 对多目相机帧内的某个单目图做ISP +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iEyeIndex 单目索引。 +/// \param [in] pbyIn 输入图像数据的缓冲区地址，不能为NULL。 +/// \param [in] pInFrInfo 输入图像数据的帧头，不能为NULL。 +/// \param [out] pbyOut 处理后图像输出的缓冲区地址，不能为NULL。 +/// \param [out] pOutFrInfo 处理后图像的帧头信息，不能为NULL。 +/// \param [in] uOutFormat 处理完后图像的输出格式。 +/// \param [in] uReserved 预留参数，必须设置为0。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Do ISP for a certain monocular in the multi-camera frame. +/// \param [in] hCamera Camera handle. +/// \param [in] iEyeIndex eye index. +/// \param [in] pbyIn Input the buffer address of the image data, which cannot be NULL. +/// \param [in] pInFrInfo Input the frame header of the image data, which cannot be NULL. +/// \param [out] pbyOut The buffer address of the image output after processing, cannot be NULL. +/// \param [out] pOutFrInfo The header information of the processed image cannot be NULL. +/// \param [in] uOutFormat The output format of the image after processing. +/// \param [in] uReserved Reservation parameters must be set to 0. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraMultiEyeImageProcess( + CameraHandle hCamera, + int iEyeIndex, + BYTE* pbyIn, + tSdkFrameHead* pInFrInfo, + BYTE* pbyOut, + tSdkFrameHead* pOutFrInfo, + UINT uOutFormat, + UINT uReserved + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 设置光源控制器的输出模式（智能相机系列且需要硬件支持） +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index 控制器索引 +/// \param [in] mode 输出模式（0:跟随闪光灯 1:手动） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the output mode of the light controller (Smart camera series and hardware support required) +/// \param [in] hCamera Camera handle. +/// \param [in] index controller index +/// \param [in] mode output mode (0: follow strobe 1: manual) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetLightingControllerMode( + CameraHandle hCamera, + int index, + int mode + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 设置光源控制器的输出状态（智能相机系列且需要硬件支持） +/// \param [in] hCamera 相机的句柄。 +/// \param [in] index 控制器索引 +/// \param [in] state 输出状态（0:关闭 1：打开） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the output status of the light controller (Smart camera series and hardware support required) +/// \param [in] hCamera Camera handle. +/// \param [in] index controller index +/// \param [in] state output state (0: off 1: on) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetLightingControllerState( + CameraHandle hCamera, + int index, + int state + ); + +/// @ingroup API_UTIL +/// \~chinese +/// \brief 翻转帧数据 +/// \param [inout] pFrameBuffer 帧数据 +/// \param [in] pFrameHead 帧头 +/// \param [in] Flags 1:上下 2：左右 3：上下、左右皆做一次翻转(相当于旋转180度) +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Flip frame data +/// \param [inout] pFrameBuffer frame data +/// \param [in] pFrameHead Frame Header +/// \param [in] Flags 1: Up and down 2: Around 3: Up and down, left and right are all flipped (equivalent to 180 degrees rotation) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraFlipFrameBuffer( + BYTE *pFrameBuffer, + tSdkFrameHead* pFrameHead, + int Flags + ); + +/// @ingroup API_UTIL +/// \~chinese +/// \brief 转换帧数据格式 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] pInFrameBuffer 输入帧数据 +/// \param [out] pOutFrameBuffer 输出帧数据 +/// \param [in] outWidth 输出宽度 +/// \param [in] outHeight 输出高度 +/// \param [in] outMediaType 输出格式 @see CameraSetIspOutFormat +/// \param [inout] pFrameHead 帧头信息（转换成功后，里面的信息会被修改为输出帧的信息） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Conversion frame data format +/// \param [in] hCamera Camera handle. +/// \param [in] pInFrameBuffer input frame data +/// \param [out] pOutFrameBuffer output frame data +/// \param [in] outWidth output width +/// \param [in] outHeight output height +/// \param [in] outMediaType output format @see CameraSetIspOutFormat +/// \param [inout] pFrameHead frame header information (after successful conversion, the information inside will be modified to output frame information) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraConvertFrameBufferFormat( + CameraHandle hCamera, + BYTE *pInFrameBuffer, + BYTE *pOutFrameBuffer, + int outWidth, + int outHeight, + UINT outMediaType, + tSdkFrameHead* pFrameHead + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 获取当前帧的ID，需相机支持(网口全系列支持)，此函数返回错误代码，表示不支持。 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] id 帧ID +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief The ID of the current frame needs to be supported by the camera (supported by the full range of network ports). This function returns an error code indicating that it is not supported. +/// \param [in] hCamera Camera handle. +/// \param [out] id Frame ID +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetFrameID( + CameraHandle hCamera, + UINT* id + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 获取当前帧的时间戳(单位微秒) +/// \param [in] hCamera 相机的句柄。 +/// \param [out] TimeStampL 时间戳低32位 +/// \param [out] TimeStampH 时间戳高32位 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the timestamp of the current frame (in microseconds) +/// \param [in] hCamera Camera handle. +/// \param [out] TimeStampL timestamp low 32 bits +/// \param [out] TimeStampH Timestamp high 32 bits +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetFrameTimeStamp( + CameraHandle hCamera, + UINT* TimeStampL, + UINT* TimeStampH + ); + +/// @ingroup API_RECONNECT +/// \~chinese +/// \brief 设置相机连接状态改变的回调通知函数。当相机掉线、重连时，pCallBack所指向的回调函数就会被调用。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] pCallBack 回调函数指针。 +/// \param [in] pContext 回调函数的附加参数，在回调函数被调用时该附加参数会被传入，可以为NULL。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Sets the callback notification function for camera connection state changes. When the camera is disconnected and reconnected, the callback function pointed to by pCallBack will be called. +/// \param [in] hCamera Camera handle. +/// \param [in] pCallBack callback function pointer. +/// \param [in] pContext Additional parameter of the callback function. This additional parameter will be passed in when the callback function is called. It can be NULL. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetConnectionStatusCallback( + CameraHandle hCamera, + CAMERA_CONNECTION_STATUS_CALLBACK pCallBack, + PVOID pContext + ); + +/// @ingroup API_ENUM +/// \~chinese +/// \brief 从指定IP枚举GIGE设备，并建立设备列表（适用于相机和电脑不在同一网段的情况） +/// \param [in] ppIpList 目标IP +/// \param [in] numIp 目标IP个数 +/// \param [out] pCameraList 设备列表数组指针 +/// \param [inout] piNums 设备的个数指针，调用时传入pCameraList数组的元素个数，函数返回时，保存实际找到的设备个数 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义 +/// \warning piNums指向的值必须初始化，且不超过pCameraList数组元素个数，否则有可能造成内存溢出 +/// \note 返回的相机信息列表，会根据acFriendlyName排序的。例如可以将两个相机分别改为“Camera1”和“Camera2”的名字后，名字为“Camera1”的相机会排前面，名为“Camera2”的相机排后面。 +/// \~english +/// \brief Enumerates GIGE devices from the specified IP and builds a device list (applicable when the camera and computer are not on the same network segment) +/// \param [in] ppIpList target IP +/// \param [in] numIp number of target IPs +/// \param [out] pCameraList Device list array pointer +/// \param [inout] piNums The number of pointers to the device, the number of elements passed to the pCameraList array at the time of the call. When the function returns, the number of devices actually found is saved. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +/// \warning piNums The value pointed to must be initialized and does not exceed the number of pCameraList array elements, otherwise it may cause memory overflow +/// \note The list of returned camera information will be sorted according to acFriendlyName. For example, after changing the two cameras to the names of "Camera1" and "Camera2," the camera named "Camera1" will be in front, and the camera named "Camera2" will be behind the row. +MVSDK_API CameraSdkStatus CameraGigeEnumerateDevice( + char const** ppIpList, + int numIp, + tSdkCameraDevInfo* pCameraList, + INT* piNums +); + +/// @ingroup API_UTIL +/// \~chinese +/// \brief 配置网口相机的一些功能选项 +/// \param [in] optionName 选项("NumBuffers", "3") +/// \param [in] value 值 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Configure some options for the gige camera +/// \param [in] optionName option name("NumBuffers", "3") +/// \param [in] value setting value +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGigeSetOption( + char const* optionName, + char const* value + ); + +/// @ingroup API_UTIL +/// \~chinese +/// \brief 获取GIGE相机的IP地址 +/// \param [in] pCameraInfo 相机的设备描述信息，可由@link #CameraEnumerateDevice @endlink函数获得。 +/// \param [out] CamIp 相机IP(注意：必须保证传入的缓冲区大于等于16字节) +/// \param [out] CamMask 相机子网掩码(注意：必须保证传入的缓冲区大于等于16字节) +/// \param [out] CamGateWay 相机网关(注意：必须保证传入的缓冲区大于等于16字节) +/// \param [out] EtIp 网卡IP(注意：必须保证传入的缓冲区大于等于16字节) +/// \param [out] EtMask 网卡子网掩码(注意：必须保证传入的缓冲区大于等于16字节) +/// \param [out] EtGateWay 网卡网关(注意：必须保证传入的缓冲区大于等于16字节) +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the GIGE camera's IP address +/// \param [in] pCameraInfo camera's device description information can be obtained by @link #CameraEnumerateDevice @endlink function. +/// \param [out] CamIp camera IP (Note: must ensure that the incoming buffer is greater than or equal to 16 bytes) +/// \param [out] CamMask camera subnet mask (Note: must ensure that the incoming buffer is greater than or equal to 16 bytes) +/// \param [out] CamGateWay camera gateway (Note: must ensure that the incoming buffer is greater than or equal to 16 bytes) +/// \param [out] EtIp network card IP (Note: must ensure that the incoming buffer is greater than or equal to 16 bytes) +/// \param [out] EtMask subnet mask (Note: must ensure that the incoming buffer is greater than or equal to 16 bytes) +/// \param [out] EtGateWay NIC Gateway (Note: must ensure that the incoming buffer is greater than or equal to 16 bytes) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGigeGetIp( + tSdkCameraDevInfo* pCameraInfo, + char* CamIp, + char* CamMask, + char* CamGateWay, + char* EtIp, + char* EtMask, + char* EtGateWay + ); + +/// @ingroup API_UTIL +/// \~chinese +/// \brief 设置GIGE相机的IP地址 +/// \param [in] pCameraInfo 相机的设备描述信息，可由@link #CameraEnumerateDevice @endlink函数获得。 +/// \param [in] Ip 相机IP(如：192.168.1.100) +/// \param [in] SubMask 相机子网掩码(如：255.255.255.0) +/// \param [in] GateWay 相机网关(如：192.168.1.1) +/// \param [in] bPersistent TRUE: 设置相机为固定IP，FALSE：设置相机自动分配IP（忽略参数Ip, SubMask, GateWay） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the GIGE camera's IP address +/// \param [in] pCameraInfo camera's device description information can be obtained by @link #CameraEnumerateDevice @endlink function. +/// \param [in] Ip camera IP (eg 192.168.1.100) +/// \param [in] SubMask camera subnet mask (eg 255.255.255.0) +/// \param [in] GateWay Camera Gateway (eg 192.168.1.1) +/// \param [in] bPersistent TRUE: Set camera to fixed IP, FALSE: Set camera to assign IP automatically (ignoring parameters Ip, SubMask, GateWay) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGigeSetIp( + tSdkCameraDevInfo* pCameraInfo, + char const* Ip, + char const* SubMask, + char const* GateWay, + BOOL bPersistent + ); + +/// @ingroup API_UTIL +/// \~chinese +/// \brief 获取GIGE相机的MAC地址 +/// \param [in] pCameraInfo 相机的设备描述信息，可由@link #CameraEnumerateDevice @endlink函数获得。 +/// \param [out] CamMac 相机MAC(注意：必须保证传入的缓冲区大于等于18字节) +/// \param [out] EtMac 网卡MAC(注意：必须保证传入的缓冲区大于等于18字节) +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Select the LUT table in the preset LUT mode. +/// \param [in] pCameraInfo camera's device description information can be obtained by @link #CameraEnumerateDevice @endlink function. +/// \param [out] CamMac camera MAC (Note: must ensure that the incoming buffer is greater than or equal to 18 bytes) +/// \param [out] EtMac network card MAC (Note: must ensure that the incoming buffer is greater than or equal to 18 bytes) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGigeGetMac( + tSdkCameraDevInfo* pCameraInfo, + char* CamMac, + char* EtMac + ); + +/// @ingroup API_GRAB +/// \~chinese +/// \brief 清空相机内已缓存的所有帧 +/// \param [in] hCamera 相机的句柄。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Clear all cached frames in the camera +/// \param [in] hCamera Camera handle. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraClearBuffer( + CameraHandle hCamera + ); + +/// @ingroup API_GRAB +/// \~chinese +/// \brief 获得一帧图像数据。 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] pFrameInfo 图像的帧头信息指针。 +/// \param [out] pbyBuffer 指向图像的数据的缓冲区指针。 +/// \param [in] wTimes 抓取图像的超时时间。 +/// \param [in] Priority 取图优先级 详见：@link #emCameraGetImagePriority @endlink +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \note 除了多一个优先级参数外与@link #CameraGetImageBuffer @endlink相同 +/// \~english +/// \brief Get a frame of image data. +/// \param [in] hCamera Camera handle. +/// \param [out] pFrameInfo Frame header information pointer +/// \param [out] pbyBuffer Pointer to the buffer of data for the image. +/// \param [in] wTimes The time-out time for capturing images. +/// \param [in] Priority map priority See: @link #emCameraGetImagePriority @endlink +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +/// \note Same as @link #CameraGetImageBuffer @endlink except one more priority parameter +MVSDK_API CameraSdkStatus CameraGetImageBufferPriority( + CameraHandle hCamera, + tSdkFrameHead* pFrameInfo, + BYTE** pbyBuffer, + UINT wTimes, + UINT Priority + ); + +/// @ingroup API_GRAB +/// \~chinese +/// \brief 获得一帧图像数据。该接口获得的图像是经过处理后的RGB格式。 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] piWidth 整形指针，返回图像的宽度 +/// \param [out] piHeight 整形指针，返回图像的高度 +/// \param [in] wTimes 抓取图像的超时时间。单位毫秒。 +/// \param [in] Priority 取图优先级 详见：@link #emCameraGetImagePriority @endlink +/// \return 成功时，返回RGB数据缓冲区的首地址;否则返回0。 +/// \note 除了多一个优先级参数外与@link #CameraGetImageBufferEx @endlink相同 +/// \~english +/// \brief Get a frame of image data. The image obtained by this interface is the processed RGB format. +/// \param [in] hCamera Camera handle. +/// \param [out] piWidth Returns the width of the image +/// \param [out] piHeight Returns the height of the image +/// \param [in] wTimes The time-out time for capturing images. The unit is milliseconds. +/// \param [in] Priority map priority See: @link #emCameraGetImagePriority @endlink +/// \return Returns the first address of the RGB data buffer when successful; otherwise returns 0. +/// \note Same as @link #CameraGetImageBufferEx @endlink except one more priority parameter +MVSDK_API unsigned char* CameraGetImageBufferPriorityEx( + CameraHandle hCamera, + INT* piWidth, + INT* piHeight, + UINT wTimes, + UINT Priority + ); + +/// @ingroup API_TRIGGER +/// \~chinese +/// \brief 执行软触发。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] uFlags 功能标志,详见@link #emCameraSoftTriggerExFlags @endlink中的定义 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \see CameraSoftTrigger +/// \~english +/// \brief Perform a soft trigger. +/// \param [in] hCamera Camera handle. +/// \param [in] uFlags function flags, as defined in @link #emCameraSoftTriggerExFlags @endlink +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +/// \see CameraSoftTrigger +MVSDK_API CameraSdkStatus CameraSoftTriggerEx( + CameraHandle hCamera, + UINT uFlags + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 当相机处于触发模式（软触发或硬触发）时，相机发送一帧到PC，如相机未收到PC端的接收确认，相机可以把帧重发几次。用本函数设置相机重发次数。（仅网口相机支持） +/// \param [in] hCamera 相机的句柄。 +/// \param [in] count 重发次数（<=0表示禁用重发功能） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief When the camera is in the trigger mode (soft trigger or hard trigger), the camera sends a frame to the PC. If the camera does not receive the reception confirmation from the PC, the camera can retransmit the frame several times. Use this function to set the number of camera resends. (only supported by Gige camera) +/// \param [in] hCamera Camera handle. +/// \param [in] count number of resends (<=0 means disable resends) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetFrameResendCount( + CameraHandle hCamera, + int count + ); + +/// @ingroup API_BASIC +/// \~chinese +/// \brief 配置系统选项（通常需要在CameraInit打开相机之前配置好） +/// \param [in] optionName 选项("NumBuffers", "3") +/// \param [in] value 值 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Configure system options (usually required before CameraInit turns on the camera) +/// \param [in] optionName option name("NumBuffers", "3") +/// \param [in] value setting value +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetSysOption( + char const* optionName, + char const* value + ); + +/// @ingroup API_DEAD_PIXEL +/// \~chinese +/// \brief 使能坏点修正 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] bEnable TRUE: 使能坏点修正 FALSE: 关闭坏点修正 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Enable dead pixel correction +/// \param [in] hCamera Camera handle. +/// \param [in] bEnable TRUE: Enable dead pixel correction FALSE: Turn off dead pixel correction +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetCorrectDeadPixel( + CameraHandle hCamera, + BOOL bEnable + ); + +/// @ingroup API_DEAD_PIXEL +/// \~chinese +/// \brief 获取坏点修正使能状态 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] pbEnable 返回使能状态 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get dead pixel correction enabled +/// \param [in] hCamera Camera handle. +/// \param [out] pbEnable Returns enable state +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetCorrectDeadPixel( + CameraHandle hCamera, + BOOL* pbEnable + ); + +/// @ingroup API_UNDISTORT +/// \~chinese +/// \brief 设置校正参数 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] width 图片宽度 +/// \param [in] height 图片高度 +/// \param [in] cameraMatrix 内参(fx, fy, cx, cy) +/// \param [in] distCoeffs 畸变系数(k1,k2,p1,p2,k3) +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set undistort parameters +/// \param [in] hCamera Camera handle. +/// \param [in] width image width +/// \param [in] height image height +/// \param [in] cameraMatrix internal matrix(fx, fy, cx, cy) +/// \param [in] distCoeffs distortion coefficient (k1, k2, p1, p2, k3) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetUndistortParams( + CameraHandle hCamera, + int width, + int height, + double cameraMatrix[4], + double distCoeffs[5] + ); + +/// @ingroup API_UNDISTORT +/// \~chinese +/// \brief 获取校正参数 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] width 图片宽度 +/// \param [out] height 图片高度 +/// \param [out] cameraMatrix 内参(fx, fy, cx, cy) +/// \param [out] distCoeffs 畸变系数(k1,k2,p1,p2,k3) +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get undistort parameters +/// \param [in] hCamera Camera handle. +/// \param [out] width image width +/// \param [out] height image height +/// \param [out] cameraMatrix internal matrix(fx, fy, cx, cy) +/// \param [out] distCoeffs distortion coefficient (k1, k2, p1, p2, k3) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetUndistortParams( + CameraHandle hCamera, + int *width, + int *height, + double cameraMatrix[4], + double distCoeffs[5] + ); + +/// @ingroup API_UNDISTORT +/// \~chinese +/// \brief 使能镜头校正 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] bEnable 使能校正 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set undistort enable status +/// \param [in] hCamera Camera handle. +/// \param [in] bEnable enable status +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetUndistortEnable( + CameraHandle hCamera, + BOOL bEnable + ); + +/// @ingroup API_UNDISTORT +/// \~chinese +/// \brief 获取镜头校正使能状态 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] bEnable 使能校正 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get undistort enable status +/// \param [in] hCamera Camera handle. +/// \param [out] bEnable enable status +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetUndistortEnable( + CameraHandle hCamera, + BOOL* bEnable + ); + +/// @ingroup API_UNDISTORT +/// \~chinese +/// \brief 打开校正编辑面板 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] hParent 调用该函数的窗口的句柄。可以为NULL。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Open the undistort editing panel +/// \param [in] hCamera Camera handle. +/// \param [in] hParent The handle of the window that called the function. Can be NULL. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraCustomizeUndistort( + CameraHandle hCamera, + HWND hParent + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 使能平场校正 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] bEnable TRUE: 使能平场校正 FALSE: 关闭平场校正 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Enable flat field correction +/// \param [in] hCamera Camera handle. +/// \param [in] bEnable TRUE: Enable flat field correction FALSE: Turn off flat field correction +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraFlatFieldingCorrectSetEnable( + CameraHandle hCamera, + BOOL bEnable + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 获取平场校正使能状态 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] pbEnable 返回使能状态 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get Plane Correction Enable Status +/// \param [in] hCamera Camera handle. +/// \param [out] pbEnable Returns enable state +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraFlatFieldingCorrectGetEnable( + CameraHandle hCamera, + BOOL* pbEnable + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 设置平场校正参数 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] pDarkFieldingImage 暗场图片 +/// \param [in] pDarkFieldingFrInfo 暗场图片信息 +/// \param [in] pLightFieldingImage 明场图片 +/// \param [in] pLightFieldingFrInfo 明场图片信息 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set flat field correction parameters +/// \param [in] hCamera Camera handle. +/// \param [in] pDarkFieldingImage dark field image +/// \param [in] pDarkFieldingFrInfo dark field image information +/// \param [in] pLightFieldingImage Brightfield image +/// \param [in] pLightFieldingFrInfo Brightfield image information +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraFlatFieldingCorrectSetParameter( + CameraHandle hCamera, + BYTE const* pDarkFieldingImage, + tSdkFrameHead const* pDarkFieldingFrInfo, + BYTE const* pLightFieldingImage, + tSdkFrameHead const* pLightFieldingFrInfo + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 获取平场校正参数的状态 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] pbValid 返回参数是否有效 +/// \param [out] pFilePath 返回参数文件的路径 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get status of flat field correction parameters +/// \param [in] hCamera Camera handle. +/// \param [out] pbValid Return whether the parameter is valid +/// \param [out] pFilePath Returns the path of the parameter file +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraFlatFieldingCorrectGetParameterState( + CameraHandle hCamera, + BOOL *pbValid, + char *pFilePath + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 保存平场校正参数到文件 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] pszFileName 文件路径 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Save flat correction parameters to file +/// \param [in] hCamera Camera handle. +/// \param [in] pszFileName file path +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraFlatFieldingCorrectSaveParameterToFile( + CameraHandle hCamera, + char const* pszFileName + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 从文件中加载平场校正参数 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] pszFileName 文件路径 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Load flat field correction parameters from file +/// \param [in] hCamera Camera handle. +/// \param [in] pszFileName file path +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraFlatFieldingCorrectLoadParameterFromFile( + CameraHandle hCamera, + char const* pszFileName + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 设置3D降噪参数 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] bEnable 启用或禁用 +/// \param [in] nCount 使用几张图片进行降噪(2-8张) +/// \param [in] Weights 降噪权重，如当使用3张图片进行降噪则这个参数可以传入3个浮点(0.3,0.3,0.4)，最后一张图片的权重大于前2张。如果不需要使用权重，则把这个参数传入0，表示所有图片的权重相同(0.33,0.33,0.33) +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set 3D noise reduction parameters +/// \param [in] hCamera Camera handle. +/// \param [in] bEnable enable or disable +/// \param [in] nCount Noise reduction using several pictures (2-8) +/// \param [in] Weights Noise reduction weight, such as when using 3 pictures for noise reduction, this parameter can be passed in 3 floating points (0.3, 0.3, 0.4). The weight of the last picture is larger than the first 2 pictures. . If you do not need to use weights, then pass this parameter to 0, indicating that all images have the same weight (0.33, 0.33, 0.33) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetDenoise3DParams( + CameraHandle hCamera, + BOOL bEnable, + int nCount, + float *Weights + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 获取当前的3D降噪参数 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] bEnable 启用或禁用 +/// \param [out] nCount 使用了几张图片进行降噪 +/// \param [out] bUseWeight 是否使用了降噪权重 +/// \param [out] Weights 降噪权重 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get current 3D noise reduction parameters +/// \param [in] hCamera Camera handle. +/// \param [out] bEnable enable or disable +/// \param [out] nCount uses several pictures for noise reduction +/// \param [out] bUseWeight whether to use noise reduction weights +/// \param [out] Weights Noise Reduction Weights +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetDenoise3DParams( + CameraHandle hCamera, + BOOL *bEnable, + int *nCount, + BOOL *bUseWeight, + float *Weights + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 对一组帧进行一次降噪处理 +/// \param [in] InFramesHead 输入帧头 +/// \param [in] InFramesData 输入帧数据 +/// \param [in] nCount 输入帧的数量 +/// \param [in] Weights 降噪权重 +/// \param [out] OutFrameHead 输出帧头 +/// \param [out] OutFrameData 输出帧数据 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Perform a noise reduction on a group of frames +/// \param [in] InFramesHead input frame header +/// \param [in] InFramesData input frame data +/// \param [in] nCount Number of input frames +/// \param [in] Weights Noise Reduction Weight +/// \param [out] OutFrameHead output frame header +/// \param [out] OutFrameData output frame data +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraManualDenoise3D( + tSdkFrameHead *InFramesHead, + BYTE **InFramesData, + int nCount, + float *Weights, + tSdkFrameHead *OutFrameHead, + BYTE *OutFrameData + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 获取输出格式的特性支持。（比如：H264、H265支持设置码率） +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iMediaType 输出格式索引 +/// \param [out] uCap 特性支持 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the feature support of the output format. (For example: H264, H265 support setting bit rate) +/// \param [in] hCamera Handle of the camera. +/// \param [in] iMediaType output format index +/// \param [out] uCap feature support +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetMediaCapability( + CameraHandle hCamera, + int iMediaType, + UINT *uCap + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 设置码率。（仅部分输出格式支持，比如：H264、H265） +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iMediaType 输出格式索引 +/// \param [in] uRate 码率 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the bit rate. (Only some output formats are supported, such as H264, H265) +/// \param [in] hCamera Handle of the camera. +/// \param [in] iMediaType output format index +/// \param [in] uRate bit rate +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetMediaBitRate( + CameraHandle hCamera, + int iMediaType, + UINT uRate + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 获取码率设置。（仅部分输出格式支持，比如：H264、H265） +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iMediaType 输出格式索引 +/// \param [out] uRate 码率 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the bit rate. (Only some output formats are supported, such as H264, H265) +/// \param [in] hCamera Handle of the camera. +/// \param [in] iMediaType output format index +/// \param [out] uRate bit rate +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetMediaBitRate( + CameraHandle hCamera, + int iMediaType, + UINT *uRate + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 设置相机帧事件回调函数。当帧开始以及帧完成时，pCallBack所指向的回调函数就会被调用。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] pCallBack 回调函数指针。 +/// \param [in] pContext 回调函数的附加参数，在回调函数被调用时该附加参数会被传入，可以为NULL。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \note 对于全局快门相机帧开始表示一帧曝光结束 +/// \~english +/// \brief Set the camera frame event callback function. When the frame starts and when the frame is completed, the callback function pointed to by pCallBack will be called. +/// \param [in] hCamera Camera handle. +/// \param [in] pCallBack callback function pointer. +/// \param [in] pContext Additional parameter of the callback function. This additional parameter will be passed in when the callback function is called. It can be NULL. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +/// \note For the start of the global shutter camera frame, it means the end of a frame exposure +MVSDK_API CameraSdkStatus CameraSetFrameEventCallback( + CameraHandle hCamera, + CAMERA_FRAME_EVENT_CALLBACK pCallBack, + PVOID pContext + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 设置降噪系数. +/// \param [in] hCamera 相机的句柄。 +/// \param [in] value [0,7] +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the noise reduction coefficient. +/// \param [in] hCamera Camera handle. +/// \param [in] value [0,7] +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetNoiseReductionValue( + CameraHandle hCamera, + int value + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 获取降噪系数. +/// \param [in] hCamera 相机的句柄。 +/// \param [out] value [0,7] +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the noise reduction coefficient. +/// \param [in] hCamera Camera handle. +/// \param [out] value [0,7] +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetNoiseReductionValue( + CameraHandle hCamera, + int* value + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 设置对数曲线值 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] value [0,255] +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set logarithmic curve value +/// \param [in] hCamera Camera handle. +/// \param [in] value [0,255] +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetLogarithmicCurveValue( + CameraHandle hCamera, + int value + ); + +/// @ingroup API_ENHANCE +/// \~chinese +/// \brief 获取对数曲线值 +/// \param [in] hCamera 相机的句柄。 +/// \param [out] value [0,255] +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get logarithmic curve value +/// \param [in] hCamera Camera handle. +/// \param [out] value [0,255] +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetLogarithmicCurveValue( + CameraHandle hCamera, + int* value + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 设置拼接行数，从多帧提取指定的行数拼接成一帧 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] numLines 拼接行数（默认为0，0表示不做拼接处理） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Set the number of splicing lines, extract the specified number of lines from multiple frames and splice them into one frame (only support line scan series) +/// \param [in] hCamera Camera handle. +/// \param [in] numLines Number of splicing lines (default is 0, 0 means no splicing processing) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSetSpliceLines( + CameraHandle hCamera, + int numLines + ); + +/// @ingroup API_ADVANCE +/// \~chinese +/// \brief 获取拼接行数 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] numLines 拼接行数（默认为0，0表示不做拼接处理） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get the number of splicing lines +/// \param [in] hCamera Camera handle. +/// \param [in] numLines Number of splicing lines (default is 0, 0 means no splicing processing) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraGetSpliceLines( + CameraHandle hCamera, + int* numLines + ); + +/// @ingroup API_GRAB +/// \~chinese +/// \brief 从指定通道获取数据。(仅部分相机硬件支持此功能) +/// \param [in] hCamera 相机的句柄。 +/// \param [in] pszChannelName 通道名。 +/// \param [out] pFrameInfo 图像的帧头信息指针。 +/// \param [out] pbyBuffer 返回图像数据的缓冲区指针。 +/// \param [in] wTimes 抓取图像的超时时间，单位毫秒。在wTimes时间内还未获得图像，则该函数会返回超时错误。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Get data from the specified channel. (Only some camera hardware supports this function) +/// \param [in] hCamera Handle of the camera. +/// \param [in] pszChannelName Channel name. +/// \param [out] pFrameInfo The header information pointer of the image. +/// \param [out] pbyBuffer Returns the buffer pointer of the image data. +/// \param [in] wTimes Timeout for grabbing an image in milliseconds. The function returns a timeout error if no image has been obtained within wTimes. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraSnapChannelBuffer( + CameraHandle hCamera, + char const* pszChannelName, + tSdkFrameHead* pFrameInfo, + BYTE** pbyBuffer, + UINT wTimes + ); + +/// @ingroup API_GRAB +/// \~chinese +/// \brief 释放由@link #CameraSnapChannelBuffer @endlink获得的缓冲区。 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] pszChannelName 通道名。 +/// \param [in] pbyBuffer 帧缓冲区地址。 +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Releases the buffer obtained by @link #CameraSnapChannelBuffer @endlink. +/// \param [in] hCamera Camera handle. +/// \param [in] pszChannelName Channel name. +/// \param [in] pbyBuffer Frame buffer address. +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraReleaseChannelBuffer( + CameraHandle hCamera, + char const* pszChannelName, + BYTE* pbyBuffer + ); + +/// @ingroup API_UTIL +/// \~chinese +/// \brief 图片清晰度评估 +/// \param [in] hCamera 相机的句柄。 +/// \param [in] iAlgorithSel 使用的评估算法,参考@link emEvaluateDefinitionAlgorith @endlink的定义 +/// \param [in] pbyIn 输入图像数据的缓冲区地址，不能为NULL。 +/// \param [in] pFrInfo 输入图像的帧头信息 +/// \param [out] DefinitionValue 返回的清晰度估值（越大越清晰） +/// \return 成功返回 CAMERA_STATUS_SUCCESS(0)。否则返回非0值的错误码, 请参考 CameraStatus.h 中错误码的定义。 +/// \~english +/// \brief Image clarity assessment +/// \param [in] hCamera Camera handle. +/// \param [in] iAlgorithSel The currently used evaluation algorithm, see @link emEvaluateDefinitionAlgorith @endlink +/// \param [in] pbyIn The buffer address of the input image data. Cannot be NULL. +/// \param [in] pFrInfo input image frame header information +/// \param [out] DefinitionValue Returns the sharpness value (greater the clearer) +/// \return Returns CAMERA_STATUS_SUCCESS(0) successfully. Otherwise, it returns a non-zero error code. Please refer to the definition of the error code in CameraStatus.h. +MVSDK_API CameraSdkStatus CameraEvaluateImageDefinition( + CameraHandle hCamera, + INT iAlgorithSel, + BYTE* pbyIn, + tSdkFrameHead* pFrInfo, + double* DefinitionValue + ); + +#ifdef __cplusplus +} +#endif +#endif + diff --git a/src/ros2_mindvision_camera/mvsdk/include/CameraDefine.h b/src/ros2_mindvision_camera/mvsdk/include/CameraDefine.h new file mode 100644 index 00000000..a677bf75 --- /dev/null +++ b/src/ros2_mindvision_camera/mvsdk/include/CameraDefine.h @@ -0,0 +1,836 @@ +#pragma once +#ifndef _CAMERA_DEFINE_H_ +#define _CAMERA_DEFINE_H_ + +#include "CameraStatus.h" + +#define MAX_CROSS_LINE 9 + +//ľͶ +typedef int CameraHandle; +typedef int INT; +typedef int LONG; +typedef unsigned int UINT; +typedef unsigned long long UINT64; +typedef int BOOL; +typedef unsigned char BYTE; +typedef unsigned int DWORD; +typedef void* PVOID; +typedef void* HWND; +typedef char* LPCTSTR; +typedef unsigned short USHORT; +typedef short SHORT; + typedef unsigned char* LPBYTE; +typedef char CHAR; +typedef char TCHAR; +typedef unsigned short WORD; +typedef INT HANDLE; +typedef void VOID; +typedef unsigned int ULONG; +typedef void* LPVOID; +typedef unsigned char UCHAR; +typedef void* HMODULE; + +#define TRUE 1 +#define FALSE 0 +//ͼ任ķʽ +typedef enum +{ + LUTMODE_PARAM_GEN=0,//ͨڲ̬LUT + LUTMODE_PRESET, //ʹԤLUT + LUTMODE_USER_DEF //ʹûԶLUT +}emSdkLutMode; + +//Ƶ +typedef enum +{ + RUNMODE_PLAY=0, //Ԥͼʾڴģʽȴ֡ĵ + RUNMODE_PAUSE, //ͣͣͼͬʱҲȥͼ + RUNMODE_STOP //ֹͣʼʹֹͣģʽ +}emSdkRunMode; + +//SDKڲʾӿڵʾʽ +typedef enum +{ + DISPLAYMODE_SCALE=0, //ʾģʽŵʾؼijߴ + DISPLAYMODE_REAL //1:1ʾģʽͼߴʾؼijߴʱֻʾֲ +}emSdkDisplayMode; + +//¼״̬ +typedef enum +{ + RECORD_STOP = 0, //ֹͣ + RECORD_START, //¼ + RECORD_PAUSE //ͣ +}emSdkRecordMode; + +//ͼľ +typedef enum +{ + MIRROR_DIRECTION_HORIZONTAL = 0,//ˮƽ + MIRROR_DIRECTION_VERTICAL //ֱ +}emSdkMirrorDirection; + +/// @ingroup MV_ENUM_TYPE +/// \~chinese ͼת +/// \~english Rotation of the image +typedef enum +{ + ROTATE_DIRECTION_0=0, ///< \~chinese ת \~english Do not rotate + ROTATE_DIRECTION_90=1, ///< \~chinese ʱ90 \~english Counterclockwise 90 degrees + ROTATE_DIRECTION_180=2, ///< \~chinese ʱ180 \~english Counterclockwise 180 degrees + ROTATE_DIRECTION_270=3, ///< \~chinese ʱ270 \~english Counterclockwise 270 degrees +}emSdkRotateDirection; + +//Ƶ֡ +typedef enum +{ + FRAME_SPEED_LOW = 0, //ģʽ + FRAME_SPEED_NORMAL, //ͨģʽ + FRAME_SPEED_HIGH, //ģʽ(ҪϸߵĴ,豸ʱ֡ʵȶӰ) + FRAME_SPEED_SUPER //ģʽ(ҪϸߵĴ,豸ʱ֡ʵȶӰ) +}emSdkFrameSpeed; + +//ļĸʽ +typedef enum +{ + FILE_JPG = 1,//JPG + FILE_BMP = 2,//BMP + FILE_RAW = 4,//bayerʽļ,ڲ֧bayerʽ޷Ϊøʽ + FILE_PNG = 8, //PNG + FILE_BMP_8BIT = 16, ///< \~chinese BMP 8bit \~english BMP 8bit + FILE_PNG_8BIT = 32, ///< \~chinese PNG 8bit \~english PNG 8bit + FILE_RAW_16BIT = 64, ///< \~chinese RAW 16bit \~english RAW 16bit +}emSdkFileType; + +/// @ingroup MV_ENUM_TYPE +/// \~chinese еͼ񴫸Ĺģʽ +/// \~english Image Sensor Operation Mode in Camera +typedef enum +{ + /// \~chinese ɼģʽ + /// \~english Continuous acquisition mode + CONTINUATION=0, + + /// \~chinese ģʽָ󣬴ʼɼָ֡ͼ񣬲ɼɺֹͣ + /// \~english Software trigger mode. After the software sends the instruction, the sensor starts to capture the image of the specified frame number. After the acquisition is completed, the output is stopped. + SOFT_TRIGGER=1, + + /// \~chinese Ӳģʽյⲿźţʼɼָ֡ͼ񣬲ɼɺֹͣ + /// \~english In the hardware trigger mode, when receiving an external signal, the sensor starts to capture the image of the specified frame number. After the acquisition is completed, the output is stopped. + EXTERNAL_TRIGGER=2, + + /// \~chinese ģʽ + /// \~english Encoder trigger mode (only for line scan cameras) + ROTARYENC_TRIGGER=3, + + /// \~chinese ģʽ + /// \~english Encoder condition trigger mode (only for line scan cameras) + ROTARYENC_COND_TRIGGER=4, +} emSdkSnapMode; + +//ԶعʱƵƵ +typedef enum +{ + LIGHT_FREQUENCY_50HZ = 0,//50HZ,һĵƹⶼ50HZ + LIGHT_FREQUENCY_60HZ //60HZ,Ҫָʾ +}emSdkLightFrequency; + +//òΪA,B,C,D 4б档 +typedef enum +{ + PARAMETER_TEAM_DEFAULT = 0xff, + PARAMETER_TEAM_A = 0, + PARAMETER_TEAM_B = 1, + PARAMETER_TEAM_C = 2, + PARAMETER_TEAM_D = 3 +}emSdkParameterTeam; + + +/*emSdkParameterMode ģʽطΪļʹ豸ַʽ + +PARAM_MODE_BY_MODEL:ͬͺŵABCDļ޸ + һ̨IJļӰ쵽ͬͺŵ + ء + +PARAM_MODE_BY_NAME:豸ͬABCDļ + Ĭ£ֻijͺһ̨ʱ + 豸һģϣijһ̨ܹ + ͬIJļͨ޸豸ķʽ + ָIJļ + +PARAM_MODE_BY_SN:ԼΨһкABCDļ + кڳʱѾ̻ڣÿ̨к + ַͬͨʽÿ̨IJļǶġ + +ԸԼʹûʹϼַʽز磬 +MV-U300Ϊϣ̨ͺŵ ϶4ô +ʹPARAM_MODE_BY_MODELʽ;ϣijһ̨ij̨MV-U300 +ʹԼļMV-U300ҪʹͬIJļôʹ +PARAM_MODE_BY_NAMEʽ;ϣÿ̨MV-U300ʹòͬIJļô +ʹPARAM_MODE_BY_SNʽ +ļڰװĿ¼ \Camera\Configs Ŀ¼£configΪ׺ļ +*/ +typedef enum +{ + PARAM_MODE_BY_MODEL = 0, //ͺļмزMV-U300 + PARAM_MODE_BY_NAME, //豸dz(tSdkCameraDevInfo.acFriendlyName)ļмزMV-U300,dzƿԶ + PARAM_MODE_BY_SN, //豸ΨһкŴļмزкڳʱѾд豸ÿ̨ӵвͬкš + PARAM_MODE_IN_DEVICE //豸Ĺ̬洢мزеͺŶִ֧жд飬tSdkCameraCapbility.bParamInDevice +}emSdkParameterMode; + + +//SDKɵҳֵ +typedef enum +{ + PROP_SHEET_INDEX_EXPOSURE = 0, + PROP_SHEET_INDEX_ISP_COLOR, + PROP_SHEET_INDEX_ISP_LUT, + PROP_SHEET_INDEX_ISP_SHAPE, + PROP_SHEET_INDEX_VIDEO_FORMAT, + PROP_SHEET_INDEX_RESOLUTION, + PROP_SHEET_INDEX_IO_CTRL, + PROP_SHEET_INDEX_TRIGGER_SET, + PROP_SHEET_INDEX_OVERLAY, + PROP_SHEET_INDEX_DEVICE_INFO, + PROP_SHEET_INDEX_WDR, + PROP_SHEET_INDEX_MULTI_EXPOSURE +}emSdkPropSheetMask; + +//SDKɵҳĻصϢ +typedef enum +{ + SHEET_MSG_LOAD_PARAM_DEFAULT = 0, //ָĬϺ󣬴Ϣ + SHEET_MSG_LOAD_PARAM_GROUP, //ָ飬Ϣ + SHEET_MSG_LOAD_PARAM_FROMFILE, //ָļز󣬴Ϣ + SHEET_MSG_SAVE_PARAM_GROUP //ǰ鱻ʱϢ +}emSdkPropSheetMsg; + +//ӻѡοڵ +typedef enum +{ + REF_WIN_AUTO_EXPOSURE = 0, + REF_WIN_WHITE_BALANCE, +}emSdkRefWinType; + +//ӻѡοڵ +typedef enum +{ + RES_MODE_PREVIEW = 0, + RES_MODE_SNAPSHOT, +}emSdkResolutionMode; + +//ƽʱɫģʽ +typedef enum +{ + CT_MODE_AUTO = 0, //Զʶɫ + CT_MODE_PRESET, //ʹָԤɫ + CT_MODE_USER_DEF //Զɫ(;) +}emSdkClrTmpMode; + +//LUTɫͨ +typedef enum +{ + LUT_CHANNEL_ALL = 0,//R,B,Gͨͬʱ + LUT_CHANNEL_RED, //ɫͨ + LUT_CHANNEL_GREEN, //ɫͨ + LUT_CHANNEL_BLUE, //ɫͨ +}emSdkLutChannel; + +//ISPԪ +typedef enum +{ + ISP_PROCESSSOR_PC = 0,//ʹPCISPģ + ISP_PROCESSSOR_DEVICE //ʹԴӲISPģ +}emSdkIspProcessor; + +//źſƷʽ +typedef enum +{ + STROBE_SYNC_WITH_TRIG_AUTO = 0, //ʹźͬعʱԶSTROBEźšʱЧԿ(CameraSetStrobePolarity) + STROBE_SYNC_WITH_TRIG_MANUAL, //ʹźͬSTROBEʱָʱ(CameraSetStrobeDelayTime)ٳָʱ(CameraSetStrobePulseWidth)ЧԿ(CameraSetStrobePolarity) + STROBE_ALWAYS_HIGH, //ʼΪߣSTROBEźŵ + STROBE_ALWAYS_LOW //ʼΪͣSTROBEźŵ +}emStrobeControl; + +//Ӳⴥź +typedef enum +{ + EXT_TRIG_LEADING_EDGE = 0, //شĬΪ÷ʽ + EXT_TRIG_TRAILING_EDGE, //½ش + EXT_TRIG_HIGH_LEVEL, //ߵƽ,ƽȾعʱ䣬ͺŵֵ֧ƽʽ + EXT_TRIG_LOW_LEVEL //͵ƽ, +}emExtTrigSignal; + +//ӲⴥʱĿŷʽ +typedef enum +{ + EXT_TRIG_EXP_STANDARD = 0, //׼ʽĬΪ÷ʽ + EXT_TRIG_EXP_GRR, //ȫָλʽֹŵCMOSͺŵָ֧÷ʽⲿеţԴﵽȫֿŵЧʺĸ˶ +}emExtTrigShutterMode; + +/// @ingroup MV_ENUM_TYPE +/// \~chinese 㷨 +/// \~english Sharpness assessment algorithm +typedef enum +{ + EVALUATE_DEFINITION_DEVIATION=0, ///< \~chinese  \~english Variance method + EVALUATE_DEFINITION_SMD=1, ///< \~chinese ػҶȷ \~english Adjacent Pixel Gray Difference Method + EVALUATE_DEFINITION_GRADIENT=2, ///< \~chinese ݶͳ \~english Gradient statistics + EVALUATE_DEFINITION_SOBEL=3, ///< \~chinese Sobel \~english Sobel + EVALUATE_DEFINITION_ROBERT=4, ///< \~chinese Robert \~english Robert + EVALUATE_DEFINITION_LAPLACE=5, ///< \~chinese Laplace \~english Laplace + + EVALUATE_DEFINITION_ALG_MAX=6, ///< \~chinese 㷨 \~english The number of algorithms +}emEvaluateDefinitionAlgorith; + +// GPIOģʽ +typedef enum +{ + IOMODE_TRIG_INPUT=0, ///< \~chinese \~english Trigger input + IOMODE_STROBE_OUTPUT=1, ///< \~chinese \~english Strobe output + IOMODE_GP_INPUT=2, ///< \~chinese ͨ \~english Universal input + IOMODE_GP_OUTPUT=3, ///< \~chinese ͨ \~english Universal output + IOMODE_PWM_OUTPUT=4, ///< \~chinese PWM \~english PWM output + IOMODE_ROTARYENC_INPUT=5, ///< \~chinese \~english rotary input +}emCameraGPIOMode; + +/// @ingroup MV_ENUM_TYPE +/// \~chinese GPIO ʽ +/// \~english GPIO Format +typedef enum +{ + IOFORMAT_SINGLE=0, ///< \~chinese \~english single ended + IOFORMAT_RS422=1, ///< \~chinese RS422 \~english Differential RS422 + IOFORMAT_RS422_TERM=2, ///< \~chinese RS422ն˵ \~english Differential RS422 and Termination Enable +}emCameraGPIOFormat; + +/// @ingroup MV_ENUM_TYPE +/// \~chinese ȡͼȼ +/// \~english Get Image priority +typedef enum +{ + CAMERA_GET_IMAGE_PRIORITY_OLDEST=0, ///< \~chinese ȡɵһ֡ \~english Get the oldest frame in the cache + CAMERA_GET_IMAGE_PRIORITY_NEWEST=1, ///< \~chinese ȡµһ֡ȴ֡ɵĽȫ \~english Get the latest frame in the cache (older than this frame will be discarded) + + /// \~chinese е֡˿ع佫ᱻϣȴһ֡ + /// \note ijЩͺŵִ֧˹ܣڲִ֧˹ܵ־൱@link #CAMERA_GET_IMAGE_PRIORITY_OLDEST @endlink + /// \~english All frames in the cache are discarded, and if the camera is now being exposed or transmitted it will be immediately interrupted, waiting to receive the next frame + /// \note Some models do not support this feature. For cameras that do not support this feature this flag is equivalent to @link #CAMERA_GET_IMAGE_PRIORITY_OLDEST @endlink + CAMERA_GET_IMAGE_PRIORITY_NEXT=2, +}emCameraGetImagePriority; + +/// @ingroup MV_ENUM_TYPE +/// \~chinese ܱ־ +/// \~english Soft trigger function flag +typedef enum +{ + CAMERA_ST_CLEAR_BUFFER_BEFORE = 0x1, ///< \~chinese ֮ǰѻ֡ \~english Empty camera-cached frames before soft triggering +}emCameraSoftTriggerExFlags; + +//豸Ϣ +typedef struct +{ + char acProductSeries[32]; // Ʒϵ + char acProductName[32]; // Ʒ + char acFriendlyName[32]; // ƷdzƣûԶdzƣڣֶͬʱʹ,CameraSetFriendlyNameӿڸıdzƣ豸Ч + char acLinkName[32]; // ں˷ڲʹ + char acDriverVersion[32]; // 汾 + char acSensorType[32]; // sensor + char acPortType[32]; // ӿ + char acSn[32]; // ƷΨһк + UINT uInstance; // ͺڸõϵʵţͬͺŶ +} tSdkCameraDevInfo; + +#define EXT_TRIG_MASK_GRR_SHUTTER 1 ///< \~chinese ֧GRRģʽ \~english Shutter supports GRR mode +#define EXT_TRIG_MASK_LEVEL_MODE 2 ///< \~chinese ֵ֧ƽ \~english Support level trigger +#define EXT_TRIG_MASK_DOUBLE_EDGE 4 ///< \~chinese ֧˫ش \~english Supports bilateral triggering +#define EXT_TRIG_MASK_BUFFERED_DELAY 8 ///< \~chinese ֧źź \~english Supports signal delayed activation + +//tSdkResolutionRangeṹSKIP BINRESAMPLEģʽֵ +#define MASK_2X2_HD (1<<0) //ӲSKIPBINز 2X2 +#define MASK_3X3_HD (1<<1) +#define MASK_4X4_HD (1<<2) +#define MASK_5X5_HD (1<<3) +#define MASK_6X6_HD (1<<4) +#define MASK_7X7_HD (1<<5) +#define MASK_8X8_HD (1<<6) +#define MASK_9X9_HD (1<<7) +#define MASK_10X10_HD (1<<8) +#define MASK_11X11_HD (1<<9) +#define MASK_12X12_HD (1<<10) +#define MASK_13X13_HD (1<<11) +#define MASK_14X14_HD (1<<12) +#define MASK_15X15_HD (1<<13) +#define MASK_16X16_HD (1<<14) +#define MASK_17X17_HD (1<<15) +#define MASK_2X2_SW (1<<16) //ӲSKIPBINز 2X2 +#define MASK_3X3_SW (1<<17) +#define MASK_4X4_SW (1<<18) +#define MASK_5X5_SW (1<<19) +#define MASK_6X6_SW (1<<20) +#define MASK_7X7_SW (1<<21) +#define MASK_8X8_SW (1<<22) +#define MASK_9X9_SW (1<<23) +#define MASK_10X10_SW (1<<24) +#define MASK_11X11_SW (1<<25) +#define MASK_12X12_SW (1<<26) +#define MASK_13X13_SW (1<<27) +#define MASK_14X14_SW (1<<28) +#define MASK_15X15_SW (1<<29) +#define MASK_16X16_SW (1<<30) +#define MASK_17X17_SW (1<<31) + +//ķֱ趨ΧڹUI +typedef struct +{ + INT iHeightMax; //ͼ߶ + INT iHeightMin; //ͼС߶ + INT iWidthMax; //ͼ + INT iWidthMin; //ͼС + UINT uSkipModeMask; //SKIPģʽ룬Ϊ0ʾ֧SKIP bit0Ϊ1,ʾ֧SKIP 2x2 ;bit1Ϊ1ʾ֧SKIP 3x3.... + UINT uBinSumModeMask; //BIN()ģʽ룬Ϊ0ʾ֧BIN bit0Ϊ1,ʾ֧BIN 2x2 ;bit1Ϊ1ʾ֧BIN 3x3.... + UINT uBinAverageModeMask; //BIN(ֵ)ģʽ룬Ϊ0ʾ֧BIN bit0Ϊ1,ʾ֧BIN 2x2 ;bit1Ϊ1ʾ֧BIN 3x3.... + UINT uResampleMask; //Ӳز +} tSdkResolutionRange; + + +//ķֱ +typedef struct +{ + INT iIndex; // ţ[0,N]ʾԤķֱ(N ΪԤֱʵһ㲻20),OXFF ʾԶֱ(ROI) + char acDescription[32]; // ÷ֱʵϢԤֱʱϢЧԶֱʿɺԸϢ + UINT uBinSumMode; // BIN()ģʽ,ΧܳtSdkResolutionRangeuBinSumModeMask + UINT uBinAverageMode; // BIN(ֵ)ģʽ,ΧܳtSdkResolutionRangeuBinAverageModeMask + UINT uSkipMode; // ǷSKIPijߴ磬Ϊ0ʾֹSKIPģʽΧܳtSdkResolutionRangeuSkipModeMask + UINT uResampleMask; // Ӳز + INT iHOffsetFOV; // ɼӳSensorӳϽǵĴֱƫ + INT iVOffsetFOV; // ɼӳSensorӳϽǵˮƽƫ + INT iWidthFOV; // ɼӳĿ + INT iHeightFOV; // ɼӳĸ߶ + INT iWidth; // ͼĿ + INT iHeight; // ͼĸ߶ + INT iWidthZoomHd; // ӲŵĿ,Ҫд˲ķֱʣ˱Ϊ0. + INT iHeightZoomHd; // Ӳŵĸ߶,Ҫд˲ķֱʣ˱Ϊ0. + INT iWidthZoomSw; // ŵĿ,Ҫд˲ķֱʣ˱Ϊ0. + INT iHeightZoomSw; // ŵĸ߶,Ҫд˲ķֱʣ˱Ϊ0. +} tSdkImageResolution; + +//ƽɫģʽϢ +typedef struct +{ + INT iIndex; // ģʽ + char acDescription[32]; // Ϣ +} tSdkColorTemperatureDes; + +//֡Ϣ +typedef struct +{ + INT iIndex; // ֡ţһ0Ӧڵģʽ1Ӧͨģʽ2Ӧڸģʽ + char acDescription[32]; // Ϣ +} tSdkFrameSpeed; + +//ع⹦ܷΧ +typedef struct +{ + UINT uiTargetMin; //ԶعĿСֵ + UINT uiTargetMax; //ԶعĿֵ + UINT uiAnalogGainMin; //ģСֵλΪfAnalogGainStepж + UINT uiAnalogGainMax; //ģֵλΪfAnalogGainStepж + float fAnalogGainStep; //ģÿ1ӦӵķŴ磬uiAnalogGainMinһΪ16fAnalogGainStepһΪ0.125ôСŴ16*0.125 = 2 + UINT uiExposeTimeMin; //ֶģʽ£عʱСֵλ:СCameraGetExposureLineTimeԻһжӦʱ(΢),Ӷõ֡عʱ + UINT uiExposeTimeMax; //ֶģʽ£عʱֵλ: +} tSdkExpose; + +//ģʽ +typedef struct +{ + INT iIndex; //ģʽ + char acDescription[32]; //ģʽϢ +} tSdkTrigger; + +//ְС(ҪЧ) +typedef struct +{ + INT iIndex; //ְС + char acDescription[32]; //ӦϢ + UINT iPackSize; +} tSdkPackLength; + +//ԤLUT +typedef struct +{ + INT iIndex; // + char acDescription[32]; //Ϣ +} tSdkPresetLut; + +//AE㷨 +typedef struct +{ + INT iIndex; // + char acDescription[32]; //Ϣ +} tSdkAeAlgorithm; + +//RAWתRGB㷨 +typedef struct +{ + INT iIndex; // + char acDescription[32]; //Ϣ +} tSdkBayerDecodeAlgorithm; + + +//֡ͳϢ +typedef struct +{ + INT iTotal; //ǰɼ֡֡ + INT iCapture; //ǰɼЧ֡ + INT iLost; //ǰ֡ +} tSdkFrameStatistic; + +//ͼݸʽ +typedef struct +{ + INT iIndex; //ʽ + char acDescription[32]; //Ϣ + UINT iMediaType; //Ӧͼʽ룬CAMERA_MEDIA_TYPE_BAYGR8ڱļж塣 +} tSdkMediaType; + +//٤趨Χ +typedef struct +{ + INT iMin; //Сֵ + INT iMax; //ֵ +} tGammaRange; + +//Աȶȵ趨Χ +typedef struct +{ + INT iMin; //Сֵ + INT iMax; //ֵ +} tContrastRange; + +//RGBͨ趨Χ +typedef struct +{ + INT iRGainMin; //ɫСֵ + INT iRGainMax; //ɫֵ + INT iGGainMin; //ɫСֵ + INT iGGainMax; //ɫֵ + INT iBGainMin; //ɫСֵ + INT iBGainMax; //ɫֵ +} tRgbGainRange; + +//Ͷ趨ķΧ +typedef struct +{ + INT iMin; //Сֵ + INT iMax; //ֵ +} tSaturationRange; + +//񻯵趨Χ +typedef struct +{ + INT iMin; //Сֵ + INT iMax; //ֵ +} tSharpnessRange; + +//ISPģʹϢ +typedef struct +{ + BOOL bMonoSensor; //ʾͺǷΪڰ,ǺڰɫصĹܶ޷ + BOOL bWbOnce; //ʾͺǷֶ֧ƽ⹦ + BOOL bAutoWb; //ʾͺǷ֧Զƽ⹦ + BOOL bAutoExposure; //ʾͺǷ֧Զع⹦ + BOOL bManualExposure; //ʾͺǷֶ֧ع⹦ + BOOL bAntiFlick; //ʾͺǷֿ֧Ƶ + BOOL bDeviceIsp; //ʾͺǷ֧ӲISP + BOOL bForceUseDeviceIsp;//bDeviceIspbForceUseDeviceIspͬʱΪTRUEʱʾǿֻӲISPȡ + BOOL bZoomHD; //ӲǷ֧ͼ(ֻС) +} tSdkIspCapacity; + +/* ϵ豸ϢЩϢڶ̬UI */ +typedef struct +{ + + tSdkTrigger *pTriggerDesc; // ģʽ + INT iTriggerDesc; // ģʽĸpTriggerDescĴС + + tSdkImageResolution *pImageSizeDesc;// Ԥֱѡ + INT iImageSizeDesc; // ԤֱʵĸpImageSizeDescĴС + + tSdkColorTemperatureDes *pClrTempDesc;// Ԥɫģʽڰƽ + INT iClrTempDesc; + + tSdkMediaType *pMediaTypeDesc; // ͼʽ + INT iMediaTypdeDesc; // ͼʽpMediaTypeDescĴС + + tSdkFrameSpeed *pFrameSpeedDesc; // ɵ֡ͣӦͨ ͳٶ + INT iFrameSpeedDesc; // ɵ֡͵ĸpFrameSpeedDescĴС + + tSdkPackLength *pPackLenDesc; // ȣһ豸 + INT iPackLenDesc; // ɹѡĴְȵĸpPackLenDescĴС + + INT iOutputIoCounts; // ɱIOĸ + INT iInputIoCounts; // ɱIOĸ + + tSdkPresetLut *pPresetLutDesc; // ԤLUT + INT iPresetLut; // ԤLUTĸpPresetLutDescĴС + + INT iUserDataMaxLen; // ָʾڱû󳤶ȡΪ0ʾޡ + BOOL bParamInDevice; // ָʾ豸Ƿִ֧豸жд顣1Ϊ֧֣0֧֡ + + tSdkAeAlgorithm *pAeAlmSwDesc; // Զع㷨 + int iAeAlmSwDesc; // Զع㷨 + + tSdkAeAlgorithm *pAeAlmHdDesc; // ӲԶع㷨ΪNULLʾ֧ӲԶع + int iAeAlmHdDesc; // ӲԶع㷨Ϊ0ʾ֧ӲԶع + + tSdkBayerDecodeAlgorithm *pBayerDecAlmSwDesc; // BayerתΪRGBݵ㷨 + int iBayerDecAlmSwDesc; // BayerתΪRGBݵ㷨 + + tSdkBayerDecodeAlgorithm *pBayerDecAlmHdDesc; // ӲBayerתΪRGBݵ㷨ΪNULLʾ֧ + int iBayerDecAlmHdDesc; // ӲBayerתΪRGBݵ㷨Ϊ0ʾ֧ + + /* ͼĵڷΧ,ڶ̬UI*/ + tSdkExpose sExposeDesc; // عķΧֵ + tSdkResolutionRange sResolutionRange; // ֱʷΧ + tRgbGainRange sRgbGainRange; // ͼ淶Χ + tSaturationRange sSaturationRange; // ͶȷΧ + tGammaRange sGammaRange; // ٤Χ + tContrastRange sContrastRange; // ԱȶȷΧ + tSharpnessRange sSharpnessRange; // 񻯷Χ + tSdkIspCapacity sIspCapacity; // ISP + + +} tSdkCameraCapbility; + + +//ͼ֡ͷϢ +typedef struct +{ + UINT uiMediaType; // ͼʽ,Image Format + UINT uBytes; // ͼֽ,Total bytes + INT iWidth; // ͼĿȣͼ󣬸ñܱ̬޸ģָʾͼߴ + INT iHeight; // ͼĸ߶ȣͼ󣬸ñܱ̬޸ģָʾͼߴ + INT iWidthZoomSw; // ŵĿ,Ҫüͼ񣬴˱Ϊ0. + INT iHeightZoomSw; // ŵĸ߶,Ҫüͼ񣬴˱Ϊ0. + BOOL bIsTrigger; // ָʾǷΪ֡ is trigger + UINT uiTimeStamp; // ֡IJɼʱ䣬λ0.1 + UINT uiExpTime; // ǰͼعֵλΪ΢us + float fAnalogGain; // ǰͼģ汶 + INT iGamma; // ֡ͼ٤趨ֵLUTģʽΪ̬ʱЧģʽΪ-1 + INT iContrast; // ֡ͼĶԱȶ趨ֵLUTģʽΪ̬ʱЧģʽΪ-1 + INT iSaturation; // ֡ͼıͶ趨ֵںڰ壬Ϊ0 + float fRgain; // ֡ͼĺɫ汶ںڰ壬Ϊ1 + float fGgain; // ֡ͼɫ汶ںڰ壬Ϊ1 + float fBgain; // ֡ͼɫ汶ںڰ壬Ϊ1 +}tSdkFrameHead; + +//ͼ֡ +typedef struct sCameraFrame +{ + tSdkFrameHead head; //֡ͷ + BYTE * pBuffer; // +}tSdkFrame; + +/// \~chinese ֡¼ +/// \~english Frame Event +typedef struct tSdkFrameEvent_ +{ + UINT uType; ///< \~chinese ¼(1:֡ʼ 2:֡) \~english Event type (1:frame start 2:frame end) + UINT uStatus; ///< \~chinese ״̬(0:ɹ 0:) \~english Status (0:success, non-zero:error) + UINT uFrameID; ///< \~chinese ֡ID \~english Frame ID + UINT uWidth; ///< \~chinese \~english Width + UINT uHeight; ///< \~chinese ߶ \~english Height + UINT uPixelFormat; ///< \~chinese ͼʽ \~english Image Format + UINT TimeStampL; ///< \~chinese ʱ32λ \~english Lower 32 bits of timestamp + UINT TimeStampH; ///< \~chinese ʱ32λ \~english High 32 bits of timestamp +}tSdkFrameEvent; + +//ͼ񲶻Ļص +typedef void (*CAMERA_SNAP_PROC)(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext); + +//SDKɵҳϢص +typedef void (*CAMERA_PAGE_MSG_PROC)(CameraHandle hCamera,UINT MSG,UINT uParam,PVOID pContext); + +/// @ingroup API_RECONNECT +/// \~chinese ״̬ص +/// \param [in] hCamera +/// \param [in] MSG Ϣ0: ӶϿ 1: ӻָ +/// \param [in] uParam Ϣ +/// \param [in] pContext û +/// \return +/// \note USBuParamȡֵ +/// \note δ +/// \note uParamȡֵ +/// \note MSG=0ʱδ +/// \note MSG=1ʱ +/// \note 0ϴεԭͨѶʧ +/// \note 1ϴεԭ +/// \~english Camera connection status callback +/// \param [in] hCamera Camera handle +/// \param [in] MSG message, 0: Camera disconnected 1: Camera connection restored +/// \param [in] uParam Additional Information +/// \param [in] pContext user data +/// \return None +/// \note USB camera uParam value: +/// \note Undefined +/// \note network camera uParam value: +/// \note When MSG=0: Undefined +/// \note When MSG=1: +/// \note 0: The last dropped reason, network communication failed +/// \note 1: The last dropped reason, the camera lost power +typedef void (*CAMERA_CONNECTION_STATUS_CALLBACK)(CameraHandle hCamera,UINT MSG,UINT uParam,PVOID pContext); + +/// @ingroup API_ADVANCE +/// \~chinese ֡¼ص +/// \~english Callback function definition for frame event +typedef void (*CAMERA_FRAME_EVENT_CALLBACK)(CameraHandle hCamera, tSdkFrameEvent* pEvent, PVOID pContext); + + +//----------------------------IMAGE FORMAT DEFINE------------------------------------ +//----------------------------ͼʽ------------------------------------------- +#define CAMERA_MEDIA_TYPE_MONO 0x01000000 +#define CAMERA_MEDIA_TYPE_RGB 0x02000000 +#define CAMERA_MEDIA_TYPE_COLOR 0x02000000 +#define CAMERA_MEDIA_TYPE_CUSTOM 0x80000000 +#define CAMERA_MEDIA_TYPE_COLOR_MASK 0xFF000000 +#define CAMERA_MEDIA_TYPE_OCCUPY1BIT 0x00010000 +#define CAMERA_MEDIA_TYPE_OCCUPY2BIT 0x00020000 +#define CAMERA_MEDIA_TYPE_OCCUPY4BIT 0x00040000 +#define CAMERA_MEDIA_TYPE_OCCUPY8BIT 0x00080000 +#define CAMERA_MEDIA_TYPE_OCCUPY10BIT 0x000A0000 +#define CAMERA_MEDIA_TYPE_OCCUPY12BIT 0x000C0000 +#define CAMERA_MEDIA_TYPE_OCCUPY16BIT 0x00100000 +#define CAMERA_MEDIA_TYPE_OCCUPY24BIT 0x00180000 +#define CAMERA_MEDIA_TYPE_OCCUPY32BIT 0x00200000 +#define CAMERA_MEDIA_TYPE_OCCUPY36BIT 0x00240000 +#define CAMERA_MEDIA_TYPE_OCCUPY48BIT 0x00300000 +#define CAMERA_MEDIA_TYPE_OCCUPY64BIT 0x00400000 + +#define CAMERA_MEDIA_TYPE_EFFECTIVE_PIXEL_SIZE_MASK 0x00FF0000 +#define CAMERA_MEDIA_TYPE_EFFECTIVE_PIXEL_SIZE_SHIFT 16 + +#define CAMERA_MEDIA_TYPE_PIXEL_SIZE(type) (((type) & CAMERA_MEDIA_TYPE_EFFECTIVE_PIXEL_SIZE_MASK)>>CAMERA_MEDIA_TYPE_EFFECTIVE_PIXEL_SIZE_SHIFT) + +#define CAMERA_MEDIA_TYPE_ID_MASK 0x0000FFFF +#define CAMERA_MEDIA_TYPE_COUNT 0x46 + +/*mono*/ +#define CAMERA_MEDIA_TYPE_MONO1P (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY1BIT | 0x0037) +#define CAMERA_MEDIA_TYPE_MONO2P (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY2BIT | 0x0038) +#define CAMERA_MEDIA_TYPE_MONO4P (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY4BIT | 0x0039) +#define CAMERA_MEDIA_TYPE_MONO8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0001) +#define CAMERA_MEDIA_TYPE_MONO8S (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0002) +#define CAMERA_MEDIA_TYPE_MONO10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0003) +#define CAMERA_MEDIA_TYPE_MONO10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0004) +#define CAMERA_MEDIA_TYPE_MONO12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0005) +#define CAMERA_MEDIA_TYPE_MONO12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0006) +#define CAMERA_MEDIA_TYPE_MONO14 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0025) +#define CAMERA_MEDIA_TYPE_MONO16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0007) + +/*Bayer */ +#define CAMERA_MEDIA_TYPE_BAYGR8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0008) +#define CAMERA_MEDIA_TYPE_BAYRG8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0009) +#define CAMERA_MEDIA_TYPE_BAYGB8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x000A) +#define CAMERA_MEDIA_TYPE_BAYBG8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x000B) + +#define CAMERA_MEDIA_TYPE_BAYGR10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0026) +#define CAMERA_MEDIA_TYPE_BAYRG10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0027) +#define CAMERA_MEDIA_TYPE_BAYGB10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0028) +#define CAMERA_MEDIA_TYPE_BAYBG10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0029) + + +#define CAMERA_MEDIA_TYPE_BAYGR10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000C) +#define CAMERA_MEDIA_TYPE_BAYRG10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000D) +#define CAMERA_MEDIA_TYPE_BAYGB10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000E) +#define CAMERA_MEDIA_TYPE_BAYBG10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000F) + +#define CAMERA_MEDIA_TYPE_BAYGR12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0010) +#define CAMERA_MEDIA_TYPE_BAYRG12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0011) +#define CAMERA_MEDIA_TYPE_BAYGB12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0012) +#define CAMERA_MEDIA_TYPE_BAYBG12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0013) + + +#define CAMERA_MEDIA_TYPE_BAYGR10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0026) +#define CAMERA_MEDIA_TYPE_BAYRG10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0027) +#define CAMERA_MEDIA_TYPE_BAYGB10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0028) +#define CAMERA_MEDIA_TYPE_BAYBG10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0029) + +#define CAMERA_MEDIA_TYPE_BAYGR12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002A) +#define CAMERA_MEDIA_TYPE_BAYRG12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002B) +#define CAMERA_MEDIA_TYPE_BAYGB12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002C) +#define CAMERA_MEDIA_TYPE_BAYBG12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002D) + +#define CAMERA_MEDIA_TYPE_BAYGR16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x002E) +#define CAMERA_MEDIA_TYPE_BAYRG16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x002F) +#define CAMERA_MEDIA_TYPE_BAYGB16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0030) +#define CAMERA_MEDIA_TYPE_BAYBG16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0031) + +/*RGB */ +#define CAMERA_MEDIA_TYPE_RGB8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0014) +#define CAMERA_MEDIA_TYPE_BGR8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0015) +#define CAMERA_MEDIA_TYPE_RGBA8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x0016) +#define CAMERA_MEDIA_TYPE_BGRA8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x0017) +#define CAMERA_MEDIA_TYPE_RGB10 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0018) +#define CAMERA_MEDIA_TYPE_BGR10 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0019) +#define CAMERA_MEDIA_TYPE_RGB12 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x001A) +#define CAMERA_MEDIA_TYPE_BGR12 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x001B) +#define CAMERA_MEDIA_TYPE_RGB16 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0033) +#define CAMERA_MEDIA_TYPE_BGR16 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x004B) +#define CAMERA_MEDIA_TYPE_RGBA16 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY64BIT | 0x0064) +#define CAMERA_MEDIA_TYPE_BGRA16 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY64BIT | 0x0051) +#define CAMERA_MEDIA_TYPE_RGB10V1_PACKED (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x001C) +#define CAMERA_MEDIA_TYPE_RGB10P32 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x001D) +#define CAMERA_MEDIA_TYPE_RGB12V1_PACKED (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY36BIT | 0X0034) +#define CAMERA_MEDIA_TYPE_RGB565P (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0035) +#define CAMERA_MEDIA_TYPE_BGR565P (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0X0036) + +/*YUV and YCbCr*/ +#define CAMERA_MEDIA_TYPE_YUV411_8_UYYVYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x001E) +#define CAMERA_MEDIA_TYPE_YUV422_8_UYVY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x001F) +#define CAMERA_MEDIA_TYPE_YUV422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0032) +#define CAMERA_MEDIA_TYPE_YUV8_UYV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0020) +#define CAMERA_MEDIA_TYPE_YCBCR8_CBYCR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x003A) +//CAMERA_MEDIA_TYPE_YCBCR422_8 : YYYYCbCrCbCr +#define CAMERA_MEDIA_TYPE_YCBCR422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x003B) +#define CAMERA_MEDIA_TYPE_YCBCR422_8_CBYCRY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0043) +#define CAMERA_MEDIA_TYPE_YCBCR411_8_CBYYCRYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x003C) +#define CAMERA_MEDIA_TYPE_YCBCR601_8_CBYCR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x003D) +#define CAMERA_MEDIA_TYPE_YCBCR601_422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x003E) +#define CAMERA_MEDIA_TYPE_YCBCR601_422_8_CBYCRY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0044) +#define CAMERA_MEDIA_TYPE_YCBCR601_411_8_CBYYCRYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x003F) +#define CAMERA_MEDIA_TYPE_YCBCR709_8_CBYCR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0040) +#define CAMERA_MEDIA_TYPE_YCBCR709_422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0041) +#define CAMERA_MEDIA_TYPE_YCBCR709_422_8_CBYCRY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0045) +#define CAMERA_MEDIA_TYPE_YCBCR709_411_8_CBYYCRYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0042) + +/*RGB Planar */ +#define CAMERA_MEDIA_TYPE_RGB8_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0021) +#define CAMERA_MEDIA_TYPE_RGB10_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0022) +#define CAMERA_MEDIA_TYPE_RGB12_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0023) +#define CAMERA_MEDIA_TYPE_RGB16_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0024) + + + +/*MindVision 12bit packed bayer*/ +#define CAMERA_MEDIA_TYPE_BAYGR12_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0060) +#define CAMERA_MEDIA_TYPE_BAYRG12_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0061) +#define CAMERA_MEDIA_TYPE_BAYGB12_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0062) +#define CAMERA_MEDIA_TYPE_BAYBG12_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0063) + +/*MindVision 12bit packed monochome*/ +#define CAMERA_MEDIA_TYPE_MONO12_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0064) +#define CAMERA_MEDIA_TYPE_YUV420P_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0065) + +/*planar YUV 4:2:0, 12bpp, 1 plane for Y and 1 plane for the UV components, which are interleaved (first byte V and the following byte U)*/ +#define CAMERA_MEDIA_TYPE_YUV_NV21_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0066) + +/* H264 H265 */ +#define CAMERA_MEDIA_TYPE_H264_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0067) +#define CAMERA_MEDIA_TYPE_H265_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0068) + +/* JPEG */ +#define CAMERA_MEDIA_TYPE_JPEG_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0069) + +#endif diff --git a/src/ros2_mindvision_camera/mvsdk/include/CameraStatus.h b/src/ros2_mindvision_camera/mvsdk/include/CameraStatus.h new file mode 100644 index 00000000..52e1f35a --- /dev/null +++ b/src/ros2_mindvision_camera/mvsdk/include/CameraStatus.h @@ -0,0 +1,114 @@ + +#ifndef __CAMERA_STATUS_DEF__ +#define __CAMERA_STATUS_DEF__ + +typedef int CameraSdkStatus; + + +/*õĺ*/ +#define SDK_SUCCESS(_FUC_) ((_FUC_) == CAMERA_STATUS_SUCCESS) + +#define SDK_UNSUCCESS(_FUC_) ((_FUC_) != CAMERA_STATUS_SUCCESS) + +#define SDK_UNSUCCESS_RETURN(_FUC_,RET) if((RET = (_FUC_)) != CAMERA_STATUS_SUCCESS)\ + {\ + return RET;\ + } + +#define SDK_UNSUCCESS_BREAK(_FUC_) if((_FUC_) != CAMERA_STATUS_SUCCESS)\ + {\ + break;\ + } + + +/* ô */ + +#define CAMERA_STATUS_SUCCESS 0 // ɹ +#define CAMERA_STATUS_FAILED -1 // ʧ +#define CAMERA_STATUS_INTERNAL_ERROR -2 // ڲ +#define CAMERA_STATUS_UNKNOW -3 // δ֪ +#define CAMERA_STATUS_NOT_SUPPORTED -4 // ָ֧ù +#define CAMERA_STATUS_NOT_INITIALIZED -5 // ʼδ +#define CAMERA_STATUS_PARAMETER_INVALID -6 // Ч +#define CAMERA_STATUS_PARAMETER_OUT_OF_BOUND -7 // Խ +#define CAMERA_STATUS_UNENABLED -8 // δʹ +#define CAMERA_STATUS_USER_CANCEL -9 // ûֶȡˣroiȡ +#define CAMERA_STATUS_PATH_NOT_FOUND -10 // עûҵӦ· +#define CAMERA_STATUS_SIZE_DISMATCH -11 // ͼݳȺͶijߴ粻ƥ +#define CAMERA_STATUS_TIME_OUT -12 // ʱ +#define CAMERA_STATUS_IO_ERROR -13 // ӲIO +#define CAMERA_STATUS_COMM_ERROR -14 // ͨѶ +#define CAMERA_STATUS_BUS_ERROR -15 // ߴ +#define CAMERA_STATUS_NO_DEVICE_FOUND -16 // ûз豸 +#define CAMERA_STATUS_NO_LOGIC_DEVICE_FOUND -17 // δҵ߼豸 +#define CAMERA_STATUS_DEVICE_IS_OPENED -18 // 豸Ѿ +#define CAMERA_STATUS_DEVICE_IS_CLOSED -19 // 豸Ѿر +#define CAMERA_STATUS_DEVICE_VEDIO_CLOSED -20 // ûд豸Ƶ¼صĺʱƵûд򿪣طظô +#define CAMERA_STATUS_NO_MEMORY -21 // û㹻ϵͳڴ +#define CAMERA_STATUS_FILE_CREATE_FAILED -22 // ļʧ +#define CAMERA_STATUS_FILE_INVALID -23 // ļʽЧ +#define CAMERA_STATUS_WRITE_PROTECTED -24 // дд +#define CAMERA_STATUS_GRAB_FAILED -25 // ݲɼʧ +#define CAMERA_STATUS_LOST_DATA -26 // ݶʧ +#define CAMERA_STATUS_EOF_ERROR -27 // δյ֡ +#define CAMERA_STATUS_BUSY -28 // æ(һβڽ)˴βܽ +#define CAMERA_STATUS_WAIT -29 // Ҫȴ(в)ٴγtrf +#define CAMERA_STATUS_IN_PROCESS -30 // ڽУѾ +#define CAMERA_STATUS_IIC_ERROR -31 // IIC +#define CAMERA_STATUS_SPI_ERROR -32 // SPI +#define CAMERA_STATUS_USB_CONTROL_ERROR -33 // USBƴ +#define CAMERA_STATUS_USB_BULK_ERROR -34 // USB BULK +#define CAMERA_STATUS_SOCKET_INIT_ERROR -35 // 紫׼ʼʧ +#define CAMERA_STATUS_GIGE_FILTER_INIT_ERROR -36 // ں˹ʼʧܣǷȷװ°װ +#define CAMERA_STATUS_NET_SEND_ERROR -37 // ݷʹ +#define CAMERA_STATUS_DEVICE_LOST -38 // ʧȥӣⳬʱ +#define CAMERA_STATUS_DATA_RECV_LESS -39 // յֽ +#define CAMERA_STATUS_FUNCTION_LOAD_FAILED -40 // ļмسʧ +#define CAMERA_STATUS_CRITICAL_FILE_LOST -41 // ļʧ +#define CAMERA_STATUS_SENSOR_ID_DISMATCH -42 // ̼ͳƥ䣬ԭ˴Ĺ̼ +#define CAMERA_STATUS_OUT_OF_RANGE -43 // ЧΧ +#define CAMERA_STATUS_REGISTRY_ERROR -44 // װע°װ򣬻аװĿ¼Setup/Installer.exe +#define CAMERA_STATUS_ACCESS_DENY -45 // ֹʡָѾռʱʸ᷵ظ״̬(һܱͬʱ) +#define CAMERA_STATUS_CAMERA_NEED_RESET -46 // ʾҪλʹãʱϵϵͳ󣬱ʹá +#define CAMERA_STATUS_ISP_MOUDLE_NOT_INITIALIZED -47 // ISPģδʼ +#define CAMERA_STATUS_ISP_DATA_CRC_ERROR -48 // У +#define CAMERA_STATUS_MV_TEST_FAILED -49 // ݲʧ +#define CAMERA_STATUS_INTERNAL_ERR1 -50 // ڲ1 +#define CAMERA_STATUS_U3V_NO_CONTROL_EP -51 // U3Vƶ˵δҵ +#define CAMERA_STATUS_U3V_CONTROL_ERROR -52 // U3VͨѶ +#define CAMERA_STATUS_INVALID_FRIENDLY_NAME -53 ///< \~chinese Ч豸ﲻַܰ(\/:*?"<>|") \~english Invalid device name, the name cannot contain the following characters (\/:*?"<>|") +#define CAMERA_STATUS_FORMAT_ERROR -54 ///< \~chinese ʽ \~english Format error +#define CAMERA_STATUS_PCIE_OPEN_ERROR -55 ///< \~chinese PCIE豸ʧ \~english PCIE device open failed +#define CAMERA_STATUS_PCIE_COMM_ERROR -56 ///< \~chinese PCIE豸ͨѶʧ \~english PCIE device communication failed +#define CAMERA_STATUS_PCIE_DDR_ERROR -57 ///< \~chinese PCIE DDR \~english PCIE DDR error + + + +//AIAƶı׼ͬ +/*#define CAMERA_AIA_SUCCESS 0x0000 */ +#define CAMERA_AIA_PACKET_RESEND 0x0100 //֡Ҫش +#define CAMERA_AIA_NOT_IMPLEMENTED 0x8001 //豸ֵ֧ +#define CAMERA_AIA_INVALID_PARAMETER 0x8002 //Ƿ +#define CAMERA_AIA_INVALID_ADDRESS 0x8003 //ɷʵĵַ +#define CAMERA_AIA_WRITE_PROTECT 0x8004 //ʵĶ󲻿д +#define CAMERA_AIA_BAD_ALIGNMENT 0x8005 //ʵĵַûаҪ +#define CAMERA_AIA_ACCESS_DENIED 0x8006 //ûзȨ +#define CAMERA_AIA_BUSY 0x8007 //ڴ +#define CAMERA_AIA_DEPRECATED 0x8008 //0x8008-0x0800B 0x800F ָѾ +#define CAMERA_AIA_PACKET_UNAVAILABLE 0x800C //Ч +#define CAMERA_AIA_DATA_OVERRUN 0x800D //ͨյݱҪĶ +#define CAMERA_AIA_INVALID_HEADER 0x800E //ݰͷijЩЭ鲻ƥ +#define CAMERA_AIA_PACKET_NOT_YET_AVAILABLE 0x8010 //ͼְݻδ׼ãڴģʽӦóʳʱ +#define CAMERA_AIA_PACKET_AND_PREV_REMOVED_FROM_MEMORY 0x8011 //ҪʵķְѾڡشʱѾڻ +#define CAMERA_AIA_PACKET_REMOVED_FROM_MEMORY 0x8012 //CAMERA_AIA_PACKET_AND_PREV_REMOVED_FROM_MEMORY +#define CAMERA_AIA_NO_REF_TIME 0x0813 //ûвοʱԴʱִͬʱ +#define CAMERA_AIA_PACKET_TEMPORARILY_UNAVAILABLE 0x0814 //ŵ⣬ǰְʱãԺз +#define CAMERA_AIA_OVERFLOW 0x0815 //豸ͨǶ +#define CAMERA_AIA_ACTION_LATE 0x0816 //ִѾЧָʱ +#define CAMERA_AIA_ERROR 0x8FFF // + + + + + +#endif diff --git a/src/ros2_mindvision_camera/package.xml b/src/ros2_mindvision_camera/package.xml new file mode 100644 index 00000000..5acbde1e --- /dev/null +++ b/src/ros2_mindvision_camera/package.xml @@ -0,0 +1,35 @@ + + + + mindvision_camera + 0.1.0 + A template for ROS packages. + Chen Jun + MIT + https://github.com/chenjunnn/ros2_mindvision_camera + https://github.com/chenjunnn/ros2_mindvision_camera/issues + Chen Jun + + + ament_cmake + + + rclcpp + rclcpp_components + sensor_msgs + image_transport + image_transport_plugins + camera_info_manager + + camera_calibration + python3-opencv + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/ros2_mindvision_camera/src/mv_camera_node.cpp b/src/ros2_mindvision_camera/src/mv_camera_node.cpp new file mode 100644 index 00000000..5c30604c --- /dev/null +++ b/src/ros2_mindvision_camera/src/mv_camera_node.cpp @@ -0,0 +1,317 @@ +// Copyright (c) 2022 ChenJun +// Licensed under the MIT License. + +// MindVision Camera SDK +#include + +// ROS +#include +#include +#include +#include +#include +#include + +// C++ system +#include +#include +#include +#include + +namespace mindvision_camera +{ +class MVCameraNode : public rclcpp::Node +{ +public: + explicit MVCameraNode(const rclcpp::NodeOptions & options) : Node("mv_camera", options) + { + RCLCPP_INFO(this->get_logger(), "Starting MVCameraNode!"); + + CameraSdkInit(1); + + // 枚举设备，并建立设备列表 + int i_camera_counts = 1; + int i_status = -1; + tSdkCameraDevInfo t_camera_enum_list; + i_status = CameraEnumerateDevice(&t_camera_enum_list, &i_camera_counts); + RCLCPP_INFO(this->get_logger(), "Enumerate state = %d", i_status); + RCLCPP_INFO(this->get_logger(), "Found camera count = %d", i_camera_counts); + + // 没有连接设备 + if (i_camera_counts == 0) { + RCLCPP_ERROR(this->get_logger(), "No camera found!"); + return; + } + + // 相机初始化。初始化成功后，才能调用任何其他相机相关的操作接口 + i_status = CameraInit(&t_camera_enum_list, -1, -1, &h_camera_); + + // 初始化失败 + RCLCPP_INFO(this->get_logger(), "Init state = %d", i_status); + if (i_status != CAMERA_STATUS_SUCCESS) { + RCLCPP_ERROR(this->get_logger(), "Init failed!"); + return; + } + + // 获得相机的特性描述结构体。该结构体中包含了相机可设置的各种参数的范围信息。决定了相关函数的参数 + CameraGetCapability(h_camera_, &t_capability_); + + // 直接使用vector的内存作为相机输出buffer + image_msg_.data.reserve( + t_capability_.sResolutionRange.iHeightMax * t_capability_.sResolutionRange.iWidthMax * 3); + + // 设置手动曝光 + CameraSetAeState(h_camera_, false); + + // Declare camera parameters + declareParameters(); + + // 让SDK进入工作模式，开始接收来自相机发送的图像 + // 数据。如果当前相机是触发模式，则需要接收到 + // 触发帧以后才会更新图像。 + CameraPlay(h_camera_); + + CameraSetIspOutFormat(h_camera_, CAMERA_MEDIA_TYPE_RGB8); + + // Create camera publisher + // rqt_image_view can't subscribe image msg with sensor_data QoS + // https://github.com/ros-visualization/rqt/issues/187 + bool use_sensor_data_qos = this->declare_parameter("use_sensor_data_qos", false); + auto qos = use_sensor_data_qos ? rmw_qos_profile_sensor_data : rmw_qos_profile_default; + camera_pub_ = image_transport::create_camera_publisher(this, "image_raw", qos); + + // Load camera info + camera_name_ = this->declare_parameter("camera_name", "mv_camera"); + camera_info_manager_ = + std::make_unique(this, camera_name_); + auto camera_info_url = this->declare_parameter( + "camera_info_url", "package://mindvision_camera/config/camera_info.yaml"); + if (camera_info_manager_->validateURL(camera_info_url)) { + camera_info_manager_->loadCameraInfo(camera_info_url); + camera_info_msg_ = camera_info_manager_->getCameraInfo(); + } else { + RCLCPP_WARN(this->get_logger(), "Invalid camera info URL: %s", camera_info_url.c_str()); + } + + // Add callback to the set parameter event + params_callback_handle_ = this->add_on_set_parameters_callback( + std::bind(&MVCameraNode::parametersCallback, this, std::placeholders::_1)); + + capture_thread_ = std::thread{[this]() -> void { + RCLCPP_INFO(this->get_logger(), "Publishing image!"); + + image_msg_.header.frame_id = "camera_optical_frame"; + image_msg_.encoding = "rgb8"; + + while (rclcpp::ok()) { + int status = CameraGetImageBuffer(h_camera_, &s_frame_info_, &pby_buffer_, 1000); + if (status == CAMERA_STATUS_SUCCESS) { + CameraImageProcess(h_camera_, pby_buffer_, image_msg_.data.data(), &s_frame_info_); + if (flip_image_) { + CameraFlipFrameBuffer(image_msg_.data.data(), &s_frame_info_, 3); + } + camera_info_msg_.header.stamp = image_msg_.header.stamp = this->now(); + image_msg_.height = s_frame_info_.iHeight; + image_msg_.width = s_frame_info_.iWidth; + image_msg_.step = s_frame_info_.iWidth * 3; + image_msg_.data.resize(s_frame_info_.iWidth * s_frame_info_.iHeight * 3); + + camera_pub_.publish(image_msg_, camera_info_msg_); + + // 在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。 + // 否则再次调用CameraGetImageBuffer时，程序将被挂起一直阻塞， + // 直到其他线程中调用CameraReleaseImageBuffer来释放了buffer + CameraReleaseImageBuffer(h_camera_, pby_buffer_); + fail_conut_ = 0; + } else { + RCLCPP_WARN(this->get_logger(), "Failed to get image buffer, status = %d", status); + fail_conut_++; + } + + if (fail_conut_ > 5) { + RCLCPP_FATAL(this->get_logger(), "Failed to get image buffer, exit!"); + rclcpp::shutdown(); + } + } + }}; + } + + ~MVCameraNode() override + { + if (capture_thread_.joinable()) { + capture_thread_.join(); + } + + CameraUnInit(h_camera_); + + RCLCPP_INFO(this->get_logger(), "Camera node destroyed!"); + } + +private: + void declareParameters() + { + rcl_interfaces::msg::ParameterDescriptor param_desc; + param_desc.integer_range.resize(1); + param_desc.integer_range[0].step = 1; + + // Exposure time + param_desc.description = "Exposure time in microseconds"; + // 对于CMOS传感器，其曝光的单位是按照行来计算的 + double exposure_line_time; + CameraGetExposureLineTime(h_camera_, &exposure_line_time); + param_desc.integer_range[0].from_value = + t_capability_.sExposeDesc.uiExposeTimeMin * exposure_line_time; + param_desc.integer_range[0].to_value = + t_capability_.sExposeDesc.uiExposeTimeMax * exposure_line_time; + double exposure_time = this->declare_parameter("exposure_time", 5000, param_desc); + CameraSetExposureTime(h_camera_, exposure_time); + RCLCPP_INFO(this->get_logger(), "Exposure time = %f", exposure_time); + + // Analog gain + param_desc.description = "Analog gain"; + param_desc.integer_range[0].from_value = t_capability_.sExposeDesc.uiAnalogGainMin; + param_desc.integer_range[0].to_value = t_capability_.sExposeDesc.uiAnalogGainMax; + int analog_gain; + CameraGetAnalogGain(h_camera_, &analog_gain); + analog_gain = this->declare_parameter("analog_gain", analog_gain, param_desc); + CameraSetAnalogGain(h_camera_, analog_gain); + RCLCPP_INFO(this->get_logger(), "Analog gain = %d", analog_gain); + + // RGB Gain + // Get default value + CameraGetGain(h_camera_, &r_gain_, &g_gain_, &b_gain_); + // R Gain + param_desc.integer_range[0].from_value = t_capability_.sRgbGainRange.iRGainMin; + param_desc.integer_range[0].to_value = t_capability_.sRgbGainRange.iRGainMax; + r_gain_ = this->declare_parameter("rgb_gain.r", r_gain_, param_desc); + // G Gain + param_desc.integer_range[0].from_value = t_capability_.sRgbGainRange.iGGainMin; + param_desc.integer_range[0].to_value = t_capability_.sRgbGainRange.iGGainMax; + g_gain_ = this->declare_parameter("rgb_gain.g", g_gain_, param_desc); + // B Gain + param_desc.integer_range[0].from_value = t_capability_.sRgbGainRange.iBGainMin; + param_desc.integer_range[0].to_value = t_capability_.sRgbGainRange.iBGainMax; + b_gain_ = this->declare_parameter("rgb_gain.b", b_gain_, param_desc); + // Set gain + CameraSetGain(h_camera_, r_gain_, g_gain_, b_gain_); + RCLCPP_INFO(this->get_logger(), "RGB Gain: R = %d", r_gain_); + RCLCPP_INFO(this->get_logger(), "RGB Gain: G = %d", g_gain_); + RCLCPP_INFO(this->get_logger(), "RGB Gain: B = %d", b_gain_); + + // Saturation + param_desc.description = "Saturation"; + param_desc.integer_range[0].from_value = t_capability_.sSaturationRange.iMin; + param_desc.integer_range[0].to_value = t_capability_.sSaturationRange.iMax; + int saturation; + CameraGetSaturation(h_camera_, &saturation); + saturation = this->declare_parameter("saturation", saturation, param_desc); + CameraSetSaturation(h_camera_, saturation); + RCLCPP_INFO(this->get_logger(), "Saturation = %d", saturation); + + // Gamma + param_desc.integer_range[0].from_value = t_capability_.sGammaRange.iMin; + param_desc.integer_range[0].to_value = t_capability_.sGammaRange.iMax; + int gamma; + CameraGetGamma(h_camera_, &gamma); + gamma = this->declare_parameter("gamma", gamma, param_desc); + CameraSetGamma(h_camera_, gamma); + RCLCPP_INFO(this->get_logger(), "Gamma = %d", gamma); + + // Flip + flip_image_ = this->declare_parameter("flip_image", true); + } + + rcl_interfaces::msg::SetParametersResult parametersCallback( + const std::vector & parameters) + { + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + for (const auto & param : parameters) { + if (param.get_name() == "exposure_time") { + int status = CameraSetExposureTime(h_camera_, param.as_int()); + if (status != CAMERA_STATUS_SUCCESS) { + result.successful = false; + result.reason = "Failed to set exposure time, status = " + std::to_string(status); + } + } else if (param.get_name() == "analog_gain") { + int status = CameraSetAnalogGain(h_camera_, param.as_int()); + if (status != CAMERA_STATUS_SUCCESS) { + result.successful = false; + result.reason = "Failed to set analog gain, status = " + std::to_string(status); + } + } else if (param.get_name() == "rgb_gain.r") { + r_gain_ = param.as_int(); + int status = CameraSetGain(h_camera_, r_gain_, g_gain_, b_gain_); + if (status != CAMERA_STATUS_SUCCESS) { + result.successful = false; + result.reason = "Failed to set RGB gain, status = " + std::to_string(status); + } + } else if (param.get_name() == "rgb_gain.g") { + g_gain_ = param.as_int(); + int status = CameraSetGain(h_camera_, r_gain_, g_gain_, b_gain_); + if (status != CAMERA_STATUS_SUCCESS) { + result.successful = false; + result.reason = "Failed to set RGB gain, status = " + std::to_string(status); + } + } else if (param.get_name() == "rgb_gain.b") { + b_gain_ = param.as_int(); + int status = CameraSetGain(h_camera_, r_gain_, g_gain_, b_gain_); + if (status != CAMERA_STATUS_SUCCESS) { + result.successful = false; + result.reason = "Failed to set RGB gain, status = " + std::to_string(status); + } + } else if (param.get_name() == "saturation") { + int status = CameraSetSaturation(h_camera_, param.as_int()); + if (status != CAMERA_STATUS_SUCCESS) { + result.successful = false; + result.reason = "Failed to set saturation, status = " + std::to_string(status); + } + } else if (param.get_name() == "gamma") { + int gamma = param.as_int(); + int status = CameraSetGamma(h_camera_, gamma); + if (status != CAMERA_STATUS_SUCCESS) { + result.successful = false; + result.reason = "Failed to set Gamma, status = " + std::to_string(status); + } + } else if (param.get_name() == "flip_image") { + flip_image_ = param.as_bool(); + } else { + result.successful = false; + result.reason = "Unknown parameter: " + param.get_name(); + } + } + return result; + } + + int h_camera_; + uint8_t * pby_buffer_; + tSdkCameraCapbility t_capability_; // 设备描述信息 + tSdkFrameHead s_frame_info_; // 图像帧头信息 + + sensor_msgs::msg::Image image_msg_; + + image_transport::CameraPublisher camera_pub_; + + // RGB Gain + int r_gain_, g_gain_, b_gain_; + + bool flip_image_; + + std::string camera_name_; + std::unique_ptr camera_info_manager_; + sensor_msgs::msg::CameraInfo camera_info_msg_; + + int fail_conut_ = 0; + std::thread capture_thread_; + + OnSetParametersCallbackHandle::SharedPtr params_callback_handle_; +}; + +} // namespace mindvision_camera + +#include "rclcpp_components/register_node_macro.hpp" + +// Register the component with class_loader. +// This acts as a sort of entry point, allowing the component to be discoverable when its library +// is being loaded into a running process. +RCLCPP_COMPONENTS_REGISTER_NODE(mindvision_camera::MVCameraNode)