sr4000自带API和opencv结合获取图像

时间:2021-12-04 16:08:58
/*
* =====================================================================================
*
* Filename: main.cpp
* Environment:
* Description: SR4K的API使用(libMesaSR.dll)
*
*
* Version: 1.0
* Created: 2013/10/30 20:47:31
* Author: yuliyang
I*
* Mail: wzyuliyang911@gmail.com
* Blog: http://www.cnblogs.com/yuliyang
*
* =====================================================================================
*/ #include "definesSR.h"
#include "libMesaSR.h"
#include <stdio.h>
#include <iostream>
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
using namespace std; /*------------------------------------------------------------------------------------------------------------
*
* 从内存中dump出内容
* 共144*176*sizeof(unsigned short int类型)个字节
*
*------------------------------------------------------------------------------------------------------------*/
//void Dump(unsigned char* p,int num)
//{
// puts("Dump of memory byte by byte regrouped in blocks of 8 byte\n"\
// " bytes: 0 1 2 3 4 5 6 7| 8 9 a b c d e f|1011121314151617|18191a1b1c1d1e1f|\n"\
// "--------:-----------------+----------------+----------------+----------------|");
// for(int i=0;i<num;i++)
// {
// if(!(i&0x1f))
// {
// printf("%08x: ",i);
// }
// printf("%02x",p[i]);
//
// if(!((i+1)&0x07))
// {
// putchar('|');
// if(!((i+1)&0x1f))
// {
// putchar('\n');
// }
// }
// }
// putchar('\n');
//}
int main(){ /*------------------------------------------------------------------------------------------------------------
* 创建一个SR4K设备对象
*------------------------------------------------------------------------------------------------------------*/
CMesaDevice *cam=NULL; SR_OpenDlg(&cam,,NULL); /*------------------------------------------------------------------------------------------------------------
* 设置工作模式在15MHZ
*------------------------------------------------------------------------------------------------------------*/
SR_SetModulationFrequency(cam,MF_15MHz);
SR_SetMode(cam,AM_COR_FIX_PTRN|AM_CONV_GRAY|AM_DENOISE_ANF); /* 其他一些属性的设置:去噪等 */ /*------------------------------------------------------------------------------------------------------------
* 获取行数和列数
*------------------------------------------------------------------------------------------------------------*/
int r= SR_GetRows(cam);
int c= SR_GetCols(cam); size_t bufSz=r*c**sizeof(unsigned int); /* 创建缓存 3种图像,depth图,Amplitude幅度图,和确信度图 */
void *buf=malloc(bufSz);
memset(buf,0xaf,bufSz); /* 缓存区清零 */
/*------------------------------------------------------------------------------------------------------------
* 以下用于坐标变换,转到笛卡尔坐标系
*------------------------------------------------------------------------------------------------------------*/
short *xS16=(short*)buf, *yS16=&xS16[r*c]; WORD *zU16=(WORD*)&yS16[r*c];
int pitchS16X=sizeof(short), pitchS16Y=sizeof(short), pitchU16Z=sizeof(WORD);
SR_Acquire(cam);
// SR_CoordTrfUint16(cam, 0, 0, zU16, pitchS16X, pitchS16Y, pitchU16Z);
SR_CoordTrfUint16(cam, xS16, yS16, zU16, pitchS16X, pitchS16Y, pitchU16Z); int num=SR_Acquire(cam); /* 触发设备获取图像 */
ImgEntry *images;
int numImg=SR_GetImageList(cam,&images); /* 获得图像列表 */
cout<<numImg<<endl;
void * data; /* 指向图像数据部分的指针 */ data=SR_GetImage(cam, );
/*------------------------------------------------------------------------------------------------------------
* 用opencv显示图像
*------------------------------------------------------------------------------------------------------------*/
IplImage *temp=cvCreateImage(cvSize(,),IPL_DEPTH_16U,);
unsigned short int * pdata;
pdata=(unsigned short int*)data;
for (int i=;i<temp->height;i++)
{
for (int j=;j<temp->width;j++)
{
CV_IMAGE_ELEM( temp, unsigned short int, i, j)=*pdata; /* 给图像赋值 */
pdata++; }
} /*------------------------------------------------------------------------------------------------------------
* 显示图像
*------------------------------------------------------------------------------------------------------------*/
cvShowImage("",temp);
cvWaitKey();
cvDestroyWindow("");
cvReleaseImage(&temp); /*for(int i=0;i<numImg;i++)
{
data=SR_GetImage(cam, i);
Dump((unsigned char*)data,(int)r*c*2);
}*/
/*WORD w1=images->width;
WORD h1=images->height;
cout<<images->dataType<<endl;
cout<<images->imgType<<endl; cout<<w1<<endl;
cout<<h1<<endl;*/
//SR_GetImage(cam,0);
//SR_StreamToFile(cam,"11.srs",0); /* 导出srs格式文件 */
//SR_StreamToFile(cam,"11.srs",2);
//SR_CoordTrfFlt(cam, x, y, z, sizeof(float) , sizeof(float) , sizeof(float)); /*-----------------------------------------------------------------------------
* 释放内存
*-----------------------------------------------------------------------------*/
SR_Close(cam) ;
free(buf); //free allocated buffers return ;
}

测试结果:

sr4000自带API和opencv结合获取图像