使用Opencv，大恒C++ SDK采集大恒水星相机图像

在项目中，使用了大恒的水星相机，需要把图存成Opencv的Mat形式。大恒C++ SDK采集的图像数据不能直接把图像的数据存进Mat，需要将原始数据（我这里是BayerRG8）经过格式转换之后转变成RGB24的格式，直接调用SDK的ConvertToRGB24函数。然后再向Mat写入数据。

代码是参考了C++ SDK的手册，按说明书配置VS工程。

说明书自带的示例工程的代码直接拷贝出来报错，不能使用，缺少了几个空格。我自己的代码已经修改了，并把图传给了Mat。

直接上代码

// An highlighted block
#include <iostream>
#include <opencv2/opencv.hpp>
//using namespace cv;
using namespace std;
#include <GalaxyIncludes.h>

cv::Mat img;
//用户继承掉线事件处理类
class CSampleDeviceOfflineEventHandler : public IDeviceOfflineEventHandler
{
public:
void DoOnDeviceOfflineEvent(void* pUserParam)
{
cout << "收到设备掉线事件!" << endl;
}
};

//用户继承属性更新事件处理类

class CSampleFeatureEventHandler : public IFeatureEventHandler
{
public:
void DoOnFeatureEvent(const GxIAPICPP::gxstring&strFeatureName, void* pUserParam)
{
cout << "收到曝光结束事件!" << endl;
}
};

//用户继承采集事件处理类
class CSampleCaptureEventHandler : public ICaptureEventHandler
{
public:
void DoOnImageCaptured(CImageDataPointer&objImageDataPointer, void* pUserParam)
{
cout << "收到一帧图像!" << endl;
cout << "ImageInfo: " << objImageDataPointer->GetStatus() << endl;
cout << "ImageInfo: " << objImageDataPointer->GetWidth() << endl;
cout << "ImageInfo: " << objImageDataPointer->GetHeight() << endl;
cout << "ImageInfo: " << objImageDataPointer->GetPayloadSize() << endl;

img.create(objImageDataPointer->GetHeight(), objImageDataPointer->GetWidth(), CV_8UC3);
void *pRGB24Buffer = NULL;
//假设原始数据是BayerRG8图像
pRGB24Buffer = objImageDataPointer->ConvertToRGB24(GX_BIT_0_7, GX_RAW2RGB_NEIGHBOUR, true);
memcpy(img.data, pRGB24Buffer, (objImageDataPointer->GetHeight()) * (objImageDataPointer->GetWidth()) * 3);
cv::flip(img, img, 0);
cv::imshow("sss", img);
cv::waitKey(1);

cout << "帧数：" << objImageDataPointer->GetFrameID() << endl;
}
};

int main(int argc, char* argv[])
{

//声明事件回调对象指针
IDeviceOfflineEventHandler* pDeviceOfflineEventHandler = NULL;///<掉线事件回调对象
IFeatureEventHandler* pFeatureEventHandler = NULL;///<远端设备事件回调对象
ICaptureEventHandler* pCaptureEventHandler = NULL;///<采集回调对象

//初始化
IGXFactory::GetInstance().Init();

try
{
do
{
//枚举设备
gxdeviceinfo_vector vectorDeviceInfo;
IGXFactory::GetInstance().UpdateDeviceList(1000, vectorDeviceInfo);
if (0 == vectorDeviceInfo.size())
{
cout << "无可用设备!" << endl;
break;
}
cout << vectorDeviceInfo[0].GetVendorName() << endl;
cout << vectorDeviceInfo[0].GetSN() << endl;
//打开第一台设备以及设备下面第一个流
CGXDevicePointer ObjDevicePtr = IGXFactory::GetInstance().OpenDeviceBySN(
vectorDeviceInfo[0].GetSN(),
GX_ACCESS_EXCLUSIVE);
CGXStreamPointer ObjStreamPtr = ObjDevicePtr->OpenStream(0);

//注册设备掉线事件【目前只有千兆网系列相机支持此事件通知】
GX_DEVICE_OFFLINE_CALLBACK_HANDLE hDeviceOffline = NULL;
pDeviceOfflineEventHandler = new CSampleDeviceOfflineEventHandler();
hDeviceOffline = ObjDevicePtr->RegisterDeviceOfflineCallback(pDeviceOfflineEventHandler, NULL);

//获取远端设备属性控制器
CGXFeatureControlPointer ObjFeatureControlPtr = ObjDevicePtr->GetRemoteFeatureControl();

//设置曝光时间(示例中写死us,只是示例,并不代表真正可工作参数)
//ObjFeatureControlPtr->GetFloatFeature("ExposureTime")->SetValue(50);

////注册远端设备事件:曝光结束事件【目前只有千兆网系列相机支持曝光结束事件】
////选择事件源
//ObjFeatureControlPtr->GetEnumFeature("EventSelector")->SetValue("ExposureEnd");

////使能事件
//ObjFeatureControlPtr->GetEnumFeature("EventNotification")->SetValue("On");
//GX_FEATURE_CALLBACK_HANDLE hFeatureEvent = NULL;
//pFeatureEventHandler = new CSampleFeatureEventHandler();
//hFeatureEvent = ObjFeatureControlPtr->RegisterFeatureCallback(
//"EventExposureEnd",
//pFeatureEventHandler,
//NULL);

//注册回调采集
pCaptureEventHandler = new CSampleCaptureEventHandler();
ObjStreamPtr->RegisterCaptureCallback(pCaptureEventHandler, NULL);

//发送开采命令
ObjStreamPtr->StartGrab();
ObjFeatureControlPtr->GetCommandFeature("AcquisitionStart")->Execute();

//此时开采成功,控制台打印信息,直到输入任意键继续
getchar();

//发送停采命令
ObjFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();
ObjStreamPtr->StopGrab();

//注销采集回调
ObjStreamPtr->UnregisterCaptureCallback();

////注销远端设备事件
//ObjFeatureControlPtr->UnregisterFeatureCallback(hFeatureEvent);

////注销设备掉线事件
//ObjDevicePtr->UnregisterDeviceOfflineCallback(hDeviceOffline);

//释放资源
ObjStreamPtr->Close();
ObjDevicePtr->Close();
} while (0);
}

catch (CGalaxyException&e)
{
cout << "错误码: " << e.GetErrorCode() << endl;
cout << "错误描述信息: " << e.what() << endl;
}
catch (std::exception&e)
{
cout << "错误描述信息: " << e.what() << endl;
}

//反初始化库
IGXFactory::GetInstance().Uninit();

//销毁事件回调指针
if (NULL != pCaptureEventHandler)
{
delete pCaptureEventHandler;
pCaptureEventHandler = NULL;
}
if (NULL != pDeviceOfflineEventHandler)
{
delete pDeviceOfflineEventHandler;
pDeviceOfflineEventHandler = NULL;
}
if (NULL != pFeatureEventHandler)
{
delete pFeatureEventHandler;
pFeatureEventHandler = NULL;
}
return 0;

}
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运行结果

opencv显示的图片

至此，实现了大恒水星相机单相机的采集与opencv显示。