128 lines
4.0 KiB
Python
128 lines
4.0 KiB
Python
#coding=utf-8
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import cv2
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import numpy as np
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import mvsdk
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import platform
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class Camera(object):
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def __init__(self, DevInfo):
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super(Camera, self).__init__()
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self.DevInfo = DevInfo
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self.hCamera = 0
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self.cap = None
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self.pFrameBuffer = 0
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def open(self):
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if self.hCamera > 0:
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return True
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# 打开相机
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hCamera = 0
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try:
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hCamera = mvsdk.CameraInit(self.DevInfo, -1, -1)
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except mvsdk.CameraException as e:
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print("CameraInit Failed({}): {}".format(e.error_code, e.message) )
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return False
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# 获取相机特性描述
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cap = mvsdk.CameraGetCapability(hCamera)
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# 判断是黑白相机还是彩色相机
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monoCamera = (cap.sIspCapacity.bMonoSensor != 0)
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# 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
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if monoCamera:
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mvsdk.CameraSetIspOutFormat(hCamera, mvsdk.CAMERA_MEDIA_TYPE_MONO8)
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else:
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mvsdk.CameraSetIspOutFormat(hCamera, mvsdk.CAMERA_MEDIA_TYPE_BGR8)
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# 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
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FrameBufferSize = cap.sResolutionRange.iWidthMax * cap.sResolutionRange.iHeightMax * (1 if monoCamera else 3)
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# 分配RGB buffer，用来存放ISP输出的图像
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# 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）
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pFrameBuffer = mvsdk.CameraAlignMalloc(FrameBufferSize, 16)
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# 相机模式切换成连续采集
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mvsdk.CameraSetTriggerMode(hCamera, 0)
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# 手动曝光，曝光时间30ms
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mvsdk.CameraSetAeState(hCamera, 0)
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mvsdk.CameraSetExposureTime(hCamera, 30 * 1000)
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# 让SDK内部取图线程开始工作
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mvsdk.CameraPlay(hCamera)
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self.hCamera = hCamera
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self.pFrameBuffer = pFrameBuffer
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self.cap = cap
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return True
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def close(self):
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if self.hCamera > 0:
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mvsdk.CameraUnInit(self.hCamera)
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self.hCamera = 0
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mvsdk.CameraAlignFree(self.pFrameBuffer)
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self.pFrameBuffer = 0
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def grab(self):
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# 从相机取一帧图片
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hCamera = self.hCamera
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pFrameBuffer = self.pFrameBuffer
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try:
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pRawData, FrameHead = mvsdk.CameraGetImageBuffer(hCamera, 200)
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mvsdk.CameraImageProcess(hCamera, pRawData, pFrameBuffer, FrameHead)
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mvsdk.CameraReleaseImageBuffer(hCamera, pRawData)
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# 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
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# linux下直接输出正的，不需要上下翻转
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if platform.system() == "Windows":
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mvsdk.CameraFlipFrameBuffer(pFrameBuffer, FrameHead, 1)
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# 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
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# 把pFrameBuffer转换成opencv的图像格式以进行后续算法处理
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frame_data = (mvsdk.c_ubyte * FrameHead.uBytes).from_address(pFrameBuffer)
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frame = np.frombuffer(frame_data, dtype=np.uint8)
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frame = frame.reshape((FrameHead.iHeight, FrameHead.iWidth, 1 if FrameHead.uiMediaType == mvsdk.CAMERA_MEDIA_TYPE_MONO8 else 3) )
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return frame
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except mvsdk.CameraException as e:
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if e.error_code != mvsdk.CAMERA_STATUS_TIME_OUT:
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print("CameraGetImageBuffer failed({}): {}".format(e.error_code, e.message) )
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return None
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def main_loop():
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# 枚举相机
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DevList = mvsdk.CameraEnumerateDevice()
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nDev = len(DevList)
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if nDev < 1:
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print("No camera was found!")
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return
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for i, DevInfo in enumerate(DevList):
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print("{}: {} {}".format(i, DevInfo.GetFriendlyName(), DevInfo.GetPortType()))
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cams = []
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for i in map(lambda x: int(x), raw_input("Select cameras: ").split()):
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cam = Camera(DevList[i])
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if cam.open():
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cams.append(cam)
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while (cv2.waitKey(1) & 0xFF) != ord('q'):
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for cam in cams:
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frame = cam.grab()
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if frame is not None:
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frame = cv2.resize(frame, (640,480), interpolation = cv2.INTER_LINEAR)
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cv2.imshow("{} Press q to end".format(cam.DevInfo.GetFriendlyName()), frame)
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for cam in cams:
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cam.close()
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def main():
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try:
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main_loop()
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finally:
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cv2.destroyAllWindows()
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main()
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