TractorVision初期移植

lib/camera/MindVisionCamera.py

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+import sys
+import platform
+from PySide6.QtWidgets import QApplication, QMainWindow, QLabel
+from PySide6.QtCore import Qt
+from PySide6.QtGui import QImage, QPixmap
+from PySide6.QtCore import QTimer
+import numpy as np
+import ctypes
+from lib.camera.mvsdk import *
+from lib.camera import mvsdk
+
+
+class MindVisionCamera:
+    def __init__(self, sn):
+        self.sn = sn  # 相机序列号
+        self.hCamera = None  # 相机句柄
+        self.FrameBufferSize = None  # 帧缓冲区大小
+        self.pFrameBuffer = None  # 帧缓冲区指针
+        self.monoCamera = None  # 是否为单色相机标志
+        self.cap = None  # 相机能力参数
+
+        # Initialize camera
+        self._initialize_camera()
+
+    def _initialize_camera(self):
+        # Enumerate cameras
+        DevList = CameraEnumerateDevice()
+        nDev = len(DevList)
+        if nDev < 1:
+            print("No camera was found!")
+            return
+
+        for i, DevInfo in enumerate(DevList):
+            # 检索指定sn相机
+            if DevInfo.GetSn() == self.sn:
+                print(f"Found camera with SN: {self.sn}")
+                break
+        else:
+            print(f"Camera with SN: {self.sn} not found!")
+            return
+
+        # Open camera
+        try:
+            self.hCamera = CameraInit(DevInfo, -1, -1)
+        except CameraException as e:
+            print("CameraInit Failed({}): {}".format(e.error_code, e.message))
+            return
+        # 获取相机参数
+        self.cap = CameraGetCapability(self.hCamera)
+        # 判断是否为单色相机
+        self.monoCamera = self.cap.sIspCapacity.bMonoSensor != 0
+
+        if self.monoCamera:
+            CameraSetIspOutFormat(self.hCamera, CAMERA_MEDIA_TYPE_MONO8)
+
+        CameraSetTriggerMode(self.hCamera, 0)  # 设置触发模式为连续采集
+        CameraSetAeState(self.hCamera, 1)  # 关闭自动曝光
+        # CameraSetExposureTime(self.hCamera, 30 * 1000)  # 设置曝光时间为30ms
+        CameraPlay(self.hCamera)  # 开始采集
+
+        # 分配帧缓冲区
+        self.FrameBufferSize = (
+            self.cap.sResolutionRange.iWidthMax
+            * self.cap.sResolutionRange.iHeightMax
+            * (1 if self.monoCamera else 3)
+        )
+        self.pFrameBuffer = CameraAlignMalloc(self.FrameBufferSize, 16)
+
+    def capture(self):
+        try:
+            # 从相机获取图像数据，2000ms超时，返回原始数据指针和帧头信息
+            pRawData, FrameHead = CameraGetImageBuffer(self.hCamera, 2000)
+            CameraImageProcess(self.hCamera, pRawData, self.pFrameBuffer, FrameHead)
+            # 反转
+            if platform.system() == "Windows":
+                mvsdk.CameraFlipFrameBuffer(self.pFrameBuffer, FrameHead, 1)
+            # 此时图片已经存储在pFrameBuffer中， 对于彩色相机pFrameBuffer=RGB数据， 黑白相机pFrameBuffer=8位灰度数据
+            # 将图像数据转换为OpenCV格式
+            image_array = (mvsdk.c_ubyte * FrameHead.uBytes).from_address(
+                self.pFrameBuffer
+            )
+
+            if self.monoCamera:
+                image_np = np.array(image_array).reshape(
+                    FrameHead.iHeight, FrameHead.iWidth
+                )
+            else:
+                image_np = np.array(image_array).reshape(
+                    FrameHead.iHeight, FrameHead.iWidth, 3
+                )
+            # Convert to OpenCV format
+            if FrameHead.uiMediaType == CAMERA_MEDIA_TYPE_MONO8:
+                image = np.frombuffer(image_np, dtype=np.uint8).reshape(
+                    FrameHead.iHeight, FrameHead.iWidth
+                )
+            else:
+                image = np.frombuffer(image_np, dtype=np.uint8).reshape(
+                    FrameHead.iHeight, FrameHead.iWidth, 3
+                )
+
+            CameraReleaseImageBuffer(self.hCamera, pRawData)
+            return image
+
+        except CameraException as e:
+            print("CameraGetImageBuffer failed({}): {}".format(e.error_code, e.message))
+            return None
+
+    def __del__(self):
+        if self.hCamera:
+            CameraUnInit(self.hCamera)
+        if self.pFrameBuffer:
+            CameraAlignFree(self.pFrameBuffer)
+
+
+# class MainWindow(QMainWindow):
+#     def __init__(self, camera):
+#         super().__init__()
+#         self.setWindowTitle("MindVision Camera")
+#         self.setGeometry(100, 100, 800, 600)
+#         self.label = QLabel(self)
+#         self.label.setAlignment(Qt.AlignCenter)
+#         self.label.setScaledContents(True)  # 自动缩放图像以适应标签大小
+#         self.camera = camera
+#         self.timer = QTimer(self)
+#         self.timer.timeout.connect(self.update_frame)
+#         self.timer.start(30)  # Update frame every 30ms
+
+#     def closeEvent(self, event):
+#         self.timer.stop()
+#         self.camera.__del__()
+#         event.accept()
+
+#     def resizeEvent(self, event):
+#         super().resizeEvent(event)
+#         self.update_frame()  # 窗口大小改变时更新图像
+
+#     def update_frame(self):
+#         image = self.camera.capture()
+#         if image is not None:
+#             if self.camera.monoCamera:
+#                 qimage = QImage(image.data, image.shape[1], image.shape[0], QImage.Format_Grayscale8)
+#             else:
+#                 qimage = QImage(image.data, image.shape[1], image.shape[0], QImage.Format_BGR888)
+#             pixmap = QPixmap.fromImage(qimage)
+#             self.label.setPixmap(pixmap)
+#             self.label.resize(self.size())  # 调整标签大小以适应窗口
+
+# if __name__ == '__main__':
+#     app = QApplication(sys.argv)
+#     cam = MindVisionCamera("054042423002")
+#     window = MainWindow(cam)
+#     window.show()
+#     sys.exit(app.exec())