init commit

python demo/cv_grab2.py

@@ -0,0 +1,127 @@
+#coding=utf-8
+import cv2
+import numpy as np
+import mvsdk
+import platform
+
+class Camera(object):
+	def __init__(self, DevInfo):
+		super(Camera, self).__init__()
+		self.DevInfo = DevInfo
+		self.hCamera = 0
+		self.cap = None
+		self.pFrameBuffer = 0
+
+	def open(self):
+		if self.hCamera > 0:
+			return True
+
+		# 打开相机
+		hCamera = 0
+		try:
+			hCamera = mvsdk.CameraInit(self.DevInfo, -1, -1)
+		except mvsdk.CameraException as e:
+			print("CameraInit Failed({}): {}".format(e.error_code, e.message) )
+			return False
+
+		# 获取相机特性描述
+		cap = mvsdk.CameraGetCapability(hCamera)
+
+		# 判断是黑白相机还是彩色相机
+		monoCamera = (cap.sIspCapacity.bMonoSensor != 0)
+
+		# 黑白相机让ISP直接输出MONO数据，而不是扩展成R=G=B的24位灰度
+		if monoCamera:
+			mvsdk.CameraSetIspOutFormat(hCamera, mvsdk.CAMERA_MEDIA_TYPE_MONO8)
+		else:
+			mvsdk.CameraSetIspOutFormat(hCamera, mvsdk.CAMERA_MEDIA_TYPE_BGR8)
+
+		# 计算RGB buffer所需的大小，这里直接按照相机的最大分辨率来分配
+		FrameBufferSize = cap.sResolutionRange.iWidthMax * cap.sResolutionRange.iHeightMax * (1 if monoCamera else 3)
+
+		# 分配RGB buffer，用来存放ISP输出的图像
+		# 备注：从相机传输到PC端的是RAW数据，在PC端通过软件ISP转为RGB数据（如果是黑白相机就不需要转换格式，但是ISP还有其它处理，所以也需要分配这个buffer）
+		pFrameBuffer = mvsdk.CameraAlignMalloc(FrameBufferSize, 16)
+
+		# 相机模式切换成连续采集
+		mvsdk.CameraSetTriggerMode(hCamera, 0)
+
+		# 手动曝光，曝光时间30ms
+		mvsdk.CameraSetAeState(hCamera, 0)
+		mvsdk.CameraSetExposureTime(hCamera, 30 * 1000)
+
+		# 让SDK内部取图线程开始工作
+		mvsdk.CameraPlay(hCamera)
+
+		self.hCamera = hCamera
+		self.pFrameBuffer = pFrameBuffer
+		self.cap = cap
+		return True
+
+	def close(self):
+		if self.hCamera > 0:
+			mvsdk.CameraUnInit(self.hCamera)
+			self.hCamera = 0
+
+		mvsdk.CameraAlignFree(self.pFrameBuffer)
+		self.pFrameBuffer = 0
+
+	def grab(self):
+		# 从相机取一帧图片
+		hCamera = self.hCamera
+		pFrameBuffer = self.pFrameBuffer
+		try:
+			pRawData, FrameHead = mvsdk.CameraGetImageBuffer(hCamera, 200)
+			mvsdk.CameraImageProcess(hCamera, pRawData, pFrameBuffer, FrameHead)
+			mvsdk.CameraReleaseImageBuffer(hCamera, pRawData)
+
+			# windows下取到的图像数据是上下颠倒的，以BMP格式存放。转换成opencv则需要上下翻转成正的
+			# linux下直接输出正的，不需要上下翻转
+			if platform.system() == "Windows":
+				mvsdk.CameraFlipFrameBuffer(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
+			# 把pFrameBuffer转换成opencv的图像格式以进行后续算法处理
+			frame_data = (mvsdk.c_ubyte * FrameHead.uBytes).from_address(pFrameBuffer)
+			frame = np.frombuffer(frame_data, dtype=np.uint8)
+			frame = frame.reshape((FrameHead.iHeight, FrameHead.iWidth, 1 if FrameHead.uiMediaType == mvsdk.CAMERA_MEDIA_TYPE_MONO8 else 3) )
+			return frame
+		except mvsdk.CameraException as e:
+			if e.error_code != mvsdk.CAMERA_STATUS_TIME_OUT:
+				print("CameraGetImageBuffer failed({}): {}".format(e.error_code, e.message) )
+			return None
+
+def main_loop():
+	# 枚举相机
+	DevList = mvsdk.CameraEnumerateDevice()
+	nDev = len(DevList)
+	if nDev < 1:
+		print("No camera was found!")
+		return
+
+	for i, DevInfo in enumerate(DevList):
+		print("{}: {} {}".format(i, DevInfo.GetFriendlyName(), DevInfo.GetPortType()))
+
+	cams = []
+	for i in map(lambda x: int(x), raw_input("Select cameras: ").split()):
+		cam = Camera(DevList[i])
+		if cam.open():
+			cams.append(cam)
+
+	while (cv2.waitKey(1) & 0xFF) != ord('q'):
+		for cam in cams:
+			frame = cam.grab()
+			if frame is not None:
+				frame = cv2.resize(frame, (640,480), interpolation = cv2.INTER_LINEAR)
+				cv2.imshow("{} Press q to end".format(cam.DevInfo.GetFriendlyName()), frame)
+
+	for cam in cams:
+		cam.close()
+
+def main():
+	try:
+		main_loop()
+	finally:
+		cv2.destroyAllWindows()
+
+main()