675 lines
16 KiB
C++
675 lines
16 KiB
C++
#include "cammer.h"
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#include "ui_cammer.h"
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#define DEFAULT_SHOW_RATE (30) // 默认显示帧率 | defult display frequency
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#define DEFAULT_ERROR_STRING ("N/A")
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#define MAX_FRAME_STAT_NUM (50)
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#define MIN_LEFT_LIST_NUM (2)
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#define MAX_STATISTIC_INTERVAL (5000000000) // List的更新时与最新一帧的时间最大间隔 | The maximum time interval between the update of list and the latest frame
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// 取流回调函数
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// get frame callback function
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static void FrameCallback(IMV_Frame* pFrame, void* pUser)
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{
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cammer* pcammer = (cammer*)pUser;
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if (!pcammer)
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{
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printf("pcammer is NULL!\n");
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return;
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}
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CFrameInfo frameInfo;
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frameInfo.m_nWidth = (int)pFrame->frameInfo.width;
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frameInfo.m_nHeight = (int)pFrame->frameInfo.height;
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frameInfo.m_nBufferSize = (int)pFrame->frameInfo.size;
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frameInfo.m_nPaddingX = (int)pFrame->frameInfo.paddingX;
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frameInfo.m_nPaddingY = (int)pFrame->frameInfo.paddingY;
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frameInfo.m_ePixelType = pFrame->frameInfo.pixelFormat;
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frameInfo.m_pImageBuf = (unsigned char *)malloc(sizeof(unsigned char) * frameInfo.m_nBufferSize);
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frameInfo.m_nTimeStamp = pFrame->frameInfo.timeStamp;
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// 内存申请失败，直接返回
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// memory application failed, return directly
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if (frameInfo.m_pImageBuf != NULL)
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{
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memcpy(frameInfo.m_pImageBuf, pFrame->pData, frameInfo.m_nBufferSize);
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if (pcammer->m_qDisplayFrameQueue.size() > 16)
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{
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CFrameInfo frameOld;
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if (pcammer->m_qDisplayFrameQueue.get(frameOld))
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{
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free(frameOld.m_pImageBuf);
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frameOld.m_pImageBuf = NULL;
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}
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}
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pcammer->m_qDisplayFrameQueue.push_back(frameInfo);
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}
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pcammer->recvNewFrame(pFrame->frameInfo.size);
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}
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// 显示线程
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// display thread
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static unsigned int __stdcall displayThread(void* pUser)
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{
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cammer* pcammer = (cammer*)pUser;
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if (!pcammer)
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{
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printf("pcammer is NULL!\n");
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return -1;
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}
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pcammer->display();
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return 0;
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}
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cammer::cammer(QWidget *parent) :
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QWidget(parent)
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,ui(new Ui::cammer)
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, m_currentCameraKey("")
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, handle(NULL)
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, m_nDisplayInterval(0)
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, m_nFirstFrameTime(0)
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, m_nLastFrameTime(0)
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, m_bNeedUpdate(true)
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, m_nTotalFrameCount(0)
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, m_isExitDisplayThread(false)
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, m_threadHandle(NULL)
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{
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ui->setupUi(this);
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qRegisterMetaType<uint64_t>("uint64_t");
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connect(this, SIGNAL(signalShowImage(unsigned char*, int, int, uint64_t)), this, SLOT(ShowImage(unsigned char*, int, int, uint64_t)));
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// 默认显示30帧
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// defult display 30 frames
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setDisplayFPS(DEFAULT_SHOW_RATE);
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m_elapsedTimer.start();
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// 启动显示线程
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// start display thread
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m_threadHandle = (HANDLE)_beginthreadex(NULL,
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0,
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displayThread,
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this,
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CREATE_SUSPENDED,
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NULL);
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if (!m_threadHandle)
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{
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printf("Failed to create display thread!\n");
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}
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else
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{
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ResumeThread(m_threadHandle);
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m_isExitDisplayThread = false;
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}
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}
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cammer::~cammer()
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{
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// 关闭显示线程
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// close display thread
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m_isExitDisplayThread = true;
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WaitForSingleObject(m_threadHandle, INFINITE);
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CloseHandle(m_threadHandle);
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delete ui;
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}
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// 设置曝光
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// set exposeTime
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bool cammer::SetExposeTime(double dExposureTime)
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{
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int ret = IMV_OK;
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ret = IMV_SetDoubleFeatureValue(handle, "ExposureTime", dExposureTime);
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if (IMV_OK != ret)
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{
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printf("set ExposureTime value = %0.2f fail, ErrorCode[%d]\n", dExposureTime, ret);
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return false;
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}
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return true;
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}
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// 设置增益
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// set gain
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bool cammer::SetAdjustPlus(double dGainRaw)
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{
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int ret = IMV_OK;
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ret = IMV_SetDoubleFeatureValue(handle, "GainRaw", dGainRaw);
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if (IMV_OK != ret)
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{
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printf("set GainRaw value = %0.2f fail, ErrorCode[%d]\n", dGainRaw, ret);
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return false;
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}
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return true;
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}
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// 打开相机
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// open camera
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bool cammer::CameraOpen(void)
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{
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int ret = IMV_OK;
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if (m_currentCameraKey.length() == 0)
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{
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printf("open camera fail. No camera.\n");
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return false;
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}
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if (handle)
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{
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printf("handle is already been create!\n");
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return false;
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}
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QByteArray cameraKeyArray = m_currentCameraKey.toLocal8Bit();
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char* cameraKey = cameraKeyArray.data();
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ret = IMV_CreateHandle(&handle, modeByCameraKey, (void*)cameraKey);
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if (IMV_OK != ret)
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{
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printf("create devHandle failed! cameraKey[%s], ErrorCode[%d]\n", cameraKey, ret);
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return false;
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}
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// 打开相机
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// Open camera
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ret = IMV_Open(handle);
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if (IMV_OK != ret)
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{
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printf("open camera failed! ErrorCode[%d]\n", ret);
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return false;
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}
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return true;
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}
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// 关闭相机
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// close camera
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bool cammer::CameraClose(void)
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{
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int ret = IMV_OK;
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if (!handle)
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{
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printf("close camera fail. No camera.\n");
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return false;
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}
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if (false == IMV_IsOpen(handle))
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{
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printf("camera is already close.\n");
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return false;
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}
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ret = IMV_Close(handle);
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if (IMV_OK != ret)
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{
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printf("close camera failed! ErrorCode[%d]\n", ret);
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return false;
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}
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ret = IMV_DestroyHandle(handle);
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if (IMV_OK != ret)
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{
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printf("destroy devHandle failed! ErrorCode[%d]\n", ret);
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return false;
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}
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handle = NULL;
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return true;
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}
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// 开始采集
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// start grabbing
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bool cammer::CameraStart()
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{
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int ret = IMV_OK;
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if (IMV_IsGrabbing(handle))
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{
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printf("camera is already grebbing.\n");
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return false;
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}
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ret = IMV_AttachGrabbing(handle, FrameCallback, this);
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if (IMV_OK != ret)
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{
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printf("Attach grabbing failed! ErrorCode[%d]\n", ret);
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return false;
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}
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ret = IMV_StartGrabbing(handle);
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if (IMV_OK != ret)
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{
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printf("start grabbing failed! ErrorCode[%d]\n", ret);
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return false;
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}
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return true;
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}
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// 停止采集
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// stop grabbing
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bool cammer::CameraStop()
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{
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int ret = IMV_OK;
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if (!IMV_IsGrabbing(handle))
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{
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printf("camera is already stop grebbing.\n");
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return false;
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}
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ret = IMV_StopGrabbing(handle);
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if (IMV_OK != ret)
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{
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printf("Stop grabbing failed! ErrorCode[%d]\n", ret);
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return false;
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}
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// 清空显示队列
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// clear display queue
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CFrameInfo frameOld;
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while (m_qDisplayFrameQueue.get(frameOld))
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{
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free(frameOld.m_pImageBuf);
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frameOld.m_pImageBuf = NULL;
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}
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m_qDisplayFrameQueue.clear();
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return true;
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}
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// 切换采集方式、触发方式 （连续采集、外部触发、软件触发）
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// Switch acquisition mode and triggering mode (continuous acquisition, external triggering and software triggering)
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bool cammer::CameraChangeTrig(ETrigType trigType)
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{
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int ret = IMV_OK;
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if (trigContinous == trigType)
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{
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// 设置触发模式
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// set trigger mode
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ret = IMV_SetEnumFeatureSymbol(handle, "TriggerMode", "Off");
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if (IMV_OK != ret)
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{
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printf("set TriggerMode value = Off fail, ErrorCode[%d]\n", ret);
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return false;
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}
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}
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else if (trigSoftware == trigType)
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{
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// 设置触发器
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// set trigger
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ret = IMV_SetEnumFeatureSymbol(handle, "TriggerSelector", "FrameStart");
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if (IMV_OK != ret)
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{
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printf("set TriggerSelector value = FrameStart fail, ErrorCode[%d]\n", ret);
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return false;
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}
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// 设置触发模式
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// set trigger mode
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ret = IMV_SetEnumFeatureSymbol(handle, "TriggerMode", "On");
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if (IMV_OK != ret)
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{
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printf("set TriggerMode value = On fail, ErrorCode[%d]\n", ret);
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return false;
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}
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// 设置触发源为软触发
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// set triggerSource as software trigger
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ret = IMV_SetEnumFeatureSymbol(handle, "TriggerSource", "Software");
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if (IMV_OK != ret)
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{
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printf("set TriggerSource value = Software fail, ErrorCode[%d]\n", ret);
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return false;
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}
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}
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else if (trigLine == trigType)
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{
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// 设置触发器
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// set trigger
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ret = IMV_SetEnumFeatureSymbol(handle, "TriggerSelector", "FrameStart");
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if (IMV_OK != ret)
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{
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printf("set TriggerSelector value = FrameStart fail, ErrorCode[%d]\n", ret);
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return false;
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}
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// 设置触发模式
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// set trigger mode
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ret = IMV_SetEnumFeatureSymbol(handle, "TriggerMode", "On");
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if (IMV_OK != ret)
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{
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printf("set TriggerMode value = On fail, ErrorCode[%d]\n", ret);
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return false;
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}
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// 设置触发源为Line1触发
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// set trigggerSource as Line1 trigger
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ret = IMV_SetEnumFeatureSymbol(handle, "TriggerSource", "Line1");
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if (IMV_OK != ret)
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{
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printf("set TriggerSource value = Line1 fail, ErrorCode[%d]\n", ret);
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return false;
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}
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}
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return true;
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}
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// 执行一次软触发
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// execute one software trigger
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bool cammer::ExecuteSoftTrig(void)
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{
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int ret = IMV_OK;
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ret = IMV_ExecuteCommandFeature(handle, "TriggerSoftware");
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if (IMV_OK != ret)
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{
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printf("ExecuteSoftTrig fail, ErrorCode[%d]\n", ret);
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return false;
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}
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printf("ExecuteSoftTrig success.\n");
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return true;
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}
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// 设置当前相机
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// set current camera
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void cammer::SetCamera(const QString& strKey)
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{
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m_currentCameraKey = strKey;
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}
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// 显示
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// diaplay
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bool cammer::ShowImage(unsigned char* pRgbFrameBuf, int nWidth, int nHeight, uint64_t nPixelFormat)
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{
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QImage image;
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if (NULL == pRgbFrameBuf ||
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nWidth == 0 ||
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nHeight == 0)
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{
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printf("%s image is invalid.\n", __FUNCTION__);
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return false;
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}
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if (gvspPixelMono8 == nPixelFormat)
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{
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image = QImage(pRgbFrameBuf, nWidth, nHeight, QImage::Format_Grayscale8);
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}
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else
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{
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image = QImage(pRgbFrameBuf,nWidth, nHeight, QImage::Format_RGB888);
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}
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// 将QImage的大小收缩或拉伸，与label的大小保持一致。这样label中能显示完整的图片
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// Shrink or stretch the size of Qimage to match the size of the label. In this way, the complete image can be displayed in the label
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QImage imageScale = image.scaled(QSize(ui->label_Pixmap->width(), ui->label_Pixmap->height()));
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QPixmap pixmap = QPixmap::fromImage(imageScale);
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ui->label_Pixmap->setPixmap(pixmap);
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free(pRgbFrameBuf);
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return true;
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}
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// 显示线程
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// display thread
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void cammer::display()
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{
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while (!m_isExitDisplayThread)
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{
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CFrameInfo frameInfo;
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if (false == m_qDisplayFrameQueue.get(frameInfo))
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{
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Sleep(1);
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continue;
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}
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// 判断是否要显示。超过显示上限（30帧），就不做转码、显示处理
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// Judge whether to display. If the upper display limit (30 frames) is exceeded, transcoding and display processing will not be performed
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if (!isTimeToDisplay())
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{
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// 释放内存
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// release memory
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free(frameInfo.m_pImageBuf);
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continue;
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}
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// mono8格式可不做转码，直接显示，其他格式需要经过转码才能显示
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// mono8 format can be displayed directly without transcoding. Other formats can be displayed only after transcoding
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if (gvspPixelMono8 == frameInfo.m_ePixelType)
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{
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// 显示线程中发送显示信号，在主线程中显示图像
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// Send display signal in display thread and display image in main thread
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emit signalShowImage(frameInfo.m_pImageBuf, (int)frameInfo.m_nWidth, (int)frameInfo.m_nHeight, (uint64_t)frameInfo.m_ePixelType);
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}
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else
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{
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// 转码
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unsigned char* pRGBbuffer = NULL;
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int nRgbBufferSize = 0;
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nRgbBufferSize = frameInfo.m_nWidth * frameInfo.m_nHeight * 3;
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pRGBbuffer = (unsigned char*)malloc(nRgbBufferSize);
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if (pRGBbuffer == NULL)
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{
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// 释放内存
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// release memory
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free(frameInfo.m_pImageBuf);
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printf("RGBbuffer malloc failed.\n");
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continue;
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}
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IMV_PixelConvertParam stPixelConvertParam;
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stPixelConvertParam.nWidth = frameInfo.m_nWidth;
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stPixelConvertParam.nHeight = frameInfo.m_nHeight;
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stPixelConvertParam.ePixelFormat = frameInfo.m_ePixelType;
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stPixelConvertParam.pSrcData = frameInfo.m_pImageBuf;
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stPixelConvertParam.nSrcDataLen = frameInfo.m_nBufferSize;
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stPixelConvertParam.nPaddingX = frameInfo.m_nPaddingX;
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stPixelConvertParam.nPaddingY = frameInfo.m_nPaddingY;
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stPixelConvertParam.eBayerDemosaic = demosaicNearestNeighbor;
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stPixelConvertParam.eDstPixelFormat = gvspPixelRGB8;
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stPixelConvertParam.pDstBuf = pRGBbuffer;
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stPixelConvertParam.nDstBufSize = nRgbBufferSize;
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int ret = IMV_PixelConvert(handle, &stPixelConvertParam);
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if (IMV_OK != ret)
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{
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// 释放内存
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// release memory
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printf("image convert to RGB failed! ErrorCode[%d]\n", ret);
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free(frameInfo.m_pImageBuf);
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free(pRGBbuffer);
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continue;
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}
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// 释放内存
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// release memory
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free(frameInfo.m_pImageBuf);
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// 显示线程中发送显示信号，在主线程中显示图像
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// Send display signal in display thread and display image in main thread
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emit signalShowImage(pRGBbuffer, (int)stPixelConvertParam.nWidth, (int)stPixelConvertParam.nHeight, (uint64_t)stPixelConvertParam.eDstPixelFormat);
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}
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}
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}
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bool cammer::isTimeToDisplay()
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{
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m_mxTime.lock();
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// 不显示
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// don't display
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if (m_nDisplayInterval <= 0)
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{
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m_mxTime.unlock();
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return false;
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}
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// 第一帧必须显示
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// the frist frame must be displayed
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if (m_nFirstFrameTime == 0 || m_nLastFrameTime == 0)
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{
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m_nFirstFrameTime = m_elapsedTimer.nsecsElapsed();
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m_nLastFrameTime = m_nFirstFrameTime;
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m_mxTime.unlock();
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return true;
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}
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// 当前帧和上一帧的间隔如果大于显示间隔就显示
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// display if the interval between the current frame and the previous frame is greater than the display interval
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uint64_t nCurTimeTmp = m_elapsedTimer.nsecsElapsed();
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uint64_t nAcquisitionInterval = nCurTimeTmp - m_nLastFrameTime;
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if (nAcquisitionInterval > m_nDisplayInterval)
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{
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m_nLastFrameTime = nCurTimeTmp;
|
||
m_mxTime.unlock();
|
||
return true;
|
||
}
|
||
|
||
// 当前帧相对于第一帧的时间间隔
|
||
// Time interval between the current frame and the first frame
|
||
uint64_t nPre = (m_nLastFrameTime - m_nFirstFrameTime) % m_nDisplayInterval;
|
||
if (nPre + nAcquisitionInterval > m_nDisplayInterval)
|
||
{
|
||
m_nLastFrameTime = nCurTimeTmp;
|
||
m_mxTime.unlock();
|
||
return true;
|
||
}
|
||
|
||
m_mxTime.unlock();
|
||
return false;
|
||
}
|
||
|
||
// 设置显示频率
|
||
// set display frequency
|
||
void cammer::setDisplayFPS(int nFPS)
|
||
{
|
||
m_mxTime.lock();
|
||
if (nFPS > 0)
|
||
{
|
||
m_nDisplayInterval = 1000 * 1000 * 1000.0 / nFPS;
|
||
}
|
||
else
|
||
{
|
||
m_nDisplayInterval = 0;
|
||
}
|
||
m_mxTime.unlock();
|
||
}
|
||
|
||
// 窗口关闭响应函数
|
||
// window close response function
|
||
void cammer::closeEvent(QCloseEvent * event)
|
||
{
|
||
IMV_DestroyHandle(handle);
|
||
handle = NULL;
|
||
}
|
||
|
||
// 状态栏统计信息 开始
|
||
// Status bar statistics begin
|
||
void cammer::resetStatistic()
|
||
{
|
||
QMutexLocker locker(&m_mxStatistic);
|
||
m_nTotalFrameCount = 0;
|
||
m_listFrameStatInfo.clear();
|
||
m_bNeedUpdate = true;
|
||
}
|
||
QString cammer::getStatistic()
|
||
{
|
||
if (m_mxStatistic.tryLock(30))
|
||
{
|
||
if (m_bNeedUpdate)
|
||
{
|
||
updateStatistic();
|
||
}
|
||
|
||
m_mxStatistic.unlock();
|
||
return m_strStatistic;
|
||
}
|
||
return "";
|
||
}
|
||
void cammer::updateStatistic()
|
||
{
|
||
size_t nFrameCount = m_listFrameStatInfo.size();
|
||
QString strFPS = DEFAULT_ERROR_STRING;
|
||
QString strSpeed = DEFAULT_ERROR_STRING;
|
||
|
||
if (nFrameCount > 1)
|
||
{
|
||
quint64 nTotalSize = 0;
|
||
FrameList::const_iterator it = m_listFrameStatInfo.begin();
|
||
|
||
if (m_listFrameStatInfo.size() == 2)
|
||
{
|
||
nTotalSize = m_listFrameStatInfo.back().m_nFrameSize;
|
||
}
|
||
else
|
||
{
|
||
for (++it; it != m_listFrameStatInfo.end(); ++it)
|
||
{
|
||
nTotalSize += it->m_nFrameSize;
|
||
}
|
||
}
|
||
|
||
const FrameStatInfo& first = m_listFrameStatInfo.front();
|
||
const FrameStatInfo& last = m_listFrameStatInfo.back();
|
||
|
||
qint64 nsecs = last.m_nPassTime - first.m_nPassTime;
|
||
|
||
if (nsecs > 0)
|
||
{
|
||
double dFPS = (nFrameCount - 1) * ((double)1000000000.0 / nsecs);
|
||
double dSpeed = nTotalSize * ((double)1000000000.0 / nsecs) / (1000.0) / (1000.0) * (8.0);
|
||
strFPS = QString::number(dFPS, 'f', 2);
|
||
strSpeed = QString::number(dSpeed, 'f', 2);
|
||
}
|
||
}
|
||
|
||
m_strStatistic = QString("Stream: %1 images %2 FPS %3 Mbps")
|
||
.arg(m_nTotalFrameCount)
|
||
.arg(strFPS)
|
||
.arg(strSpeed);
|
||
m_bNeedUpdate = false;
|
||
}
|
||
|
||
void cammer::recvNewFrame(quint32 frameSize)
|
||
{
|
||
QMutexLocker locker(&m_mxStatistic);
|
||
if (m_listFrameStatInfo.size() >= MAX_FRAME_STAT_NUM)
|
||
{
|
||
m_listFrameStatInfo.pop_front();
|
||
}
|
||
m_listFrameStatInfo.push_back(FrameStatInfo(frameSize, m_elapsedTimer.nsecsElapsed()));
|
||
++m_nTotalFrameCount;
|
||
|
||
if (m_listFrameStatInfo.size() > MIN_LEFT_LIST_NUM)
|
||
{
|
||
FrameStatInfo infoFirst = m_listFrameStatInfo.front();
|
||
FrameStatInfo infoLast = m_listFrameStatInfo.back();
|
||
while (m_listFrameStatInfo.size() > MIN_LEFT_LIST_NUM && infoLast.m_nPassTime - infoFirst.m_nPassTime > MAX_STATISTIC_INTERVAL)
|
||
{
|
||
m_listFrameStatInfo.pop_front();
|
||
infoFirst = m_listFrameStatInfo.front();
|
||
}
|
||
}
|
||
|
||
m_bNeedUpdate = true;
|
||
}
|
||
// 状态栏统计信息 end
|
||
// Status bar statistics ending
|