Qt hello - 專注于Qt的技術分享平臺

最近項目上用到了深視的線掃相機，集成了三天才搞定，分享下代碼。

順便吐槽一下，想用相機取圖，這么簡單的功能，搞得如此麻煩。

1，文檔有三份，就不能集成到一份么，維護起來也簡單。

2，并且文檔不更新，我看了好久，按照文檔開發，結果不行，技術說文檔太舊了。

3，文檔里好多代碼，特別多的魔數，突然出現一個數字，也不解釋啥意思。

4，獲取點云應該是一個常見的需求，但是接口不能直接獲取，還需要自己運算，直接提供一個接口給到客戶不是更好么。

一，打開相機

int Open() {if (StartStatus)return 0;std::regex pattern("((25[0-5]|2[0-4]\\d|1\\d{2}|[1-9]?\\d)\\.){3}(25[0-5]|2[0-4]\\d|1\\d{2}|[1-9]?\\d)");if (!regex_match(_Address, pattern)){std::cout << "Error _Address:" << _Address << std::endl;return -1;}//sdk dll 連接參數配置SR7IF_ETHERNET_CONFIG SREthernetConFig;//獲取IP控件地址4個值std::vector<std::string> ip_list = SplitString(_Address, ".");for (unsigned int i = 0; i < 4; i++){SREthernetConFig.abyIpAddress[i] = std::atoi(ip_list[i].c_str());}//連接相機 int reT = SR7IF_EthernetOpen(SR_DEVICEID, &SREthernetConFig);if (reT < 0)   //失敗{std::cout << "connect sr error: " << reT << std::endl;return -1;}else {std::cout << "connect sr ok " << reT << std::endl;}//批處理輸出 輪廓+亮度int pData = 0;SR7IF_SetSetting(SR_DEVICEID, 0x02, 0x10, 0x00, 0x21, 0, &pData, 1);//循環 關int cycle = 0;SR7IF_SetSetting(SR_DEVICEID, 0x02, 0x10, 0x00, 0x10, 0, &cycle, 1);StartStatus = true;return 0;}

二，獲取數據?

我這里使用阻塞方式獲取數據。他們還提供了非阻塞也就是回調方式獲取數據，但是我的代碼在線程同步的時候經常崩潰，沒找到原因。還有一種是無線循環獲取數據，我這里也沒跑通，出來的數據不對。

int interface_sr::getData() {//獲取參數std::vector<std::string> listParameter =  SplitString(privateParameter,":");if (listParameter.size() == 2) {if (listParameter.at(0) == "BatchPoints") {int BatchPoints = std::stoi(listParameter.at(1));std::cout << "set BatchPoints " << BatchPoints << std::endl;//批處理點數SR7IF_SetSetting(SR_DEVICEID, 0x02, 0x10, 0x00, 0x0a, 0, &BatchPoints, 2);}}//開始批處理SR7IF_StartMeasure(SR_DEVICEID, 50000);SR7IF_Data DataObject = NULL;int res= SR7IF_ReceiveData(SR_DEVICEID, DataObject);if (res != 0) {std::cout << "SR7IF_ReceiveData error:" << res << std::endl;return -1;}int BatchPoint = SR7IF_ProfilePointSetCount(SR_DEVICEID, DataObject);int DataWidth = SR7IF_ProfileDataWidth(SR_DEVICEID, DataObject);//高度數據int* heightData = new int[BatchPoint * DataWidth];res = SR7IF_GetProfileData(SR_DEVICEID, DataObject, heightData);if (res != 0) {std::cout << "SR7IF_GetProfileData error:" << res << std::endl;return -1;}//灰度數據unsigned char* grayData = new unsigned char[BatchPoint * DataWidth];res = SR7IF_GetIntensityData(SR_DEVICEID, DataObject, grayData);if (res != 0) {std::cout << "SR7IF_GetIntensityData error:" << res << std::endl;return -1;}double xpitch = SR7IF_ProfileData_XPitch(SR_DEVICEID, DataObject);double ypitch = xpitch;int width = DataWidth;int height = BatchPoint;pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud <pcl::PointXYZ>);std::vector<cv::Point3f> points;for (int i = 0; i < width * height; i++) {double x, y, z;x = i % width * xpitch;     //x 坐標y = i / width * ypitch;     //y 坐標z = (double)(heightData[i] / 100000.0 ); //z  轉成mm為單位points.push_back(cv::Point3f(x, y, z));pcl::PointXYZ point(x, y, z);cloud->points.push_back(point);}//保存點云pcl::io::savePLYFileBinary("point_cloud.ply", *cloud);//點云cv::Mat tempCloudImage = cv::Mat(cv::Size(width, height), CV_32FC3, points.data());//深度cv::Mat tempDepthImage = cv::Mat(cv::Size(width, height), CV_32FC1, cv::Scalar(0));for (int i = 0; i < height; ++i) {for (int j = 0; j < width; ++j) {int index = i * width + j;tempDepthImage.at<float>(i, j) = (double)(heightData[index] / 100000.0 );}}//灰度圖cv::Mat tempGrayImage = cv::Mat(cv::Size(DataWidth, BatchPoint), CV_8UC1, const_cast<unsigned char*>(grayData));SR7IF_StopMeasure(SR_DEVICEID);delete[] heightData;delete[] grayData;return 0;}

Qt hello - 專注于Qt的技術分享平臺