int MicroDisplayControler::FreeRunningFocusing(MicroDisplayInit& mdi)
{
std::cout << "开始对焦，按1放大，按2缩小，按3退出。\r\n";
//采集mdi.MaxPics行图像到缓存
if (MicroDisplayControler::StartGrabbing(mdi) < 0)
{
MD_ErrorMessageWait(mdi.fg);
return -1;
}
cv::Mat OriginalImage;
int resize = mdi.width;
frameindex_t lastPicNr = 0;
cv::namedWindow("SHOW", CV_WINDOW_AUTOSIZE);
int pos = 0;
int realPos = 0;
const int maxpos = 80;
cv::createTrackbar("OFF SET / %", "SHOW", &pos, maxpos);
do{
lastPicNr = Fg_getLastPicNumberBlockingEx(mdi.fg, lastPicNr + 1, mdi.nCamPort, 100, mdi.pMem0);
if (lastPicNr < 0){
int status = 0;
MD_ErrorMessageWait(mdi.fg);
Fg_stopAcquireEx(mdi.fg, mdi.nCamPort, mdi.pMem0, 0);
Fg_FreeMemEx(mdi.fg, mdi.pMem0);
Fg_FreeGrabber(mdi.fg);
CloseDisplay(mdi.nId);
return 0;
}
unsigned char *bytePtr = (unsigned char*)Fg_getImagePtrEx(mdi.fg, lastPicNr, 0, mdi.pMem0);
//if (mdi.nId != -1)
// ::DrawBuffer(mdi.nId, Fg_getImagePtrEx(mdi.fg, lastPicNr, 0, mdi.pMem0), (int)lastPicNr, "");
if (mdi.colorType == mdi.GRAY)
OriginalImage = cv::Mat(mdi.height, mdi.width, CV_8U, bytePtr);
else
OriginalImage = cv::Mat(mdi.height, mdi.width, CV_8UC3, bytePtr);
if (resize != mdi.width)
cv::resize(OriginalImage, OriginalImage, cv::Size(resize, mdi.height));
realPos = resize / 100 * pos;
cv::Mat ROI = OriginalImage(cv::Rect(realPos, 0, resize - realPos, mdi.height));
cv::imshow("SHOW", ROI);
char t = cv::waitKey(20);
if (t == '3')
break;
if (t == '2' && resize > 800)
resize /= 2;
if (t == '1' && resize < mdi.width * 3)
resize *= 2;
} while (true);
MicroDisplayControler::EndGrabbing(mdi);
cv::destroyAllWindows();
//功能主循环END
return 0;
}
void MVCAM::GetFrame(cv::Mat& img)
{
tSdkFrameHead sFrameInfo;
CameraHandle hCamera = (CameraHandle)m_hCamera;
BYTE* pbyBuffer;
CameraSdkStatus status;
if (CameraGetImageBuffer(hCamera, &sFrameInfo, &pbyBuffer, 1000) == CAMERA_STATUS_SUCCESS)
{
//将获得的原始数据转换成RGB格式的数据，同时经过ISP模块，对图像进行降噪，边沿提升，颜色校正等处理。
//我公司大部分型号的相机，原始数据都是Bayer格式的
status = CameraImageProcess(hCamera, pbyBuffer, m_pFrameBuffer, &sFrameInfo);//连续模式
if (status == CAMERA_STATUS_SUCCESS)
{
////使用IplImage
////调用SDK封装好的显示接口来显示图像,您也可以将m_pFrameBuffer中的RGB数据通过其他方式显示，比如directX,OpengGL,等方式。
//CameraImageOverlay(hCamera, m_pFrameBuffer, &sFrameInfo);
//IplImage *iplImage = NULL;
//if (iplImage)
//{
// cvReleaseImageHeader(&iplImage);
//}
//iplImage = cvCreateImageHeader(cvSize(sFrameInfo.iWidth, sFrameInfo.iHeight), IPL_DEPTH_8U, sFrameInfo.uiMediaType == CAMERA_MEDIA_TYPE_MONO8 ? 1 : 3);
//cvSetData(iplImage, m_pFrameBuffer, sFrameInfo.iWidth*(sFrameInfo.uiMediaType == CAMERA_MEDIA_TYPE_MONO8 ? 1 : 3));
//cv::Mat img(iplImage);
//cv::imshow("123", img);
//if (iplImage)
//{
// cvReleaseImageHeader(&iplImage);
//}
//直接用MAT
cv::Mat OriginalImage;
if (ColorType == CV_8U)
OriginalImage = cv::Mat(sFrameInfo.iHeight, sFrameInfo.iWidth, CV_8U, m_pFrameBuffer);
else
OriginalImage = cv::Mat(sFrameInfo.iHeight, sFrameInfo.iWidth, CV_8UC3, m_pFrameBuffer);
//去白边
img = OriginalImage(cv::Rect(2, 2, sFrameInfo.iWidth - 4, sFrameInfo.iHeight - 4)).clone();
}
//在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
//否则再次调用CameraGetImageBuffer时，程序将被挂起，直到其他线程中调用CameraReleaseImageBuffer来释放了buffer
CameraReleaseImageBuffer(hCamera, pbyBuffer);
}
}
void MainWindow::processVideoAndUpdateQUI()
{
ProcUpdateElapsedTime.start();
CaptureCamera.read(OriginalImageMat);
if (OriginalImageMat.empty()) return;
cv::resize(OriginalImageMat, ResizedImageMat, cv::Size(352,220), 0, 0, cv::INTER_CUBIC); //resizing the image to fit in the UI
cv::flip(ResizedImageMat, ResizedImageMat, 1); //eliminating the mirror effect
//Add the picture to the processer
int move = Processer->getMove(ResizedImageMat);
//std::cout << "move: " << move <<std::endl;
//Move the car
if(prevmove == 0)
{
myRoad->moveCar(move);
}
prevmove = move;
cv::cvtColor(ResizedImageMat, ResizedImageMat, CV_BGR2RGB); //converting the image to RGB
cv::rectangle(ResizedImageMat,cv::Rect(0, 0, 100, 130),cv::Scalar(200));
cv::rectangle(ResizedImageMat,cv::Rect(250,0,102,130),cv::Scalar(200));
QImage OriginalImage((uchar*)ResizedImageMat.data,
ResizedImageMat.cols,
ResizedImageMat.rows,
ResizedImageMat.step,
QImage::Format_RGB888); //Creating the QImage for the label
NetworkSendImage = OriginalImage;
NetworkSendImage = NetworkSendImage.scaledToHeight(165);
ui->MyVideoLabel->setPixmap(QPixmap::fromImage(OriginalImage));
//Sending number of lives and distance embedded in the image
NetworkSendImage.setText("lives", QString::number(lives));
NetworkSendImage.setText("distance", QString::number(distance));
n->sendData(NetworkSendImage); //sending the image over the network
if(lives < 0 && PartnerIpAddr.toString()!=MyIpAddr.toString())
{
lose();
}
// std::cerr << "processVideoAndUpdateQUI() elapsed time: " << ProcUpdateElapsedTime.elapsed() << " msec" << std::endl << std::endl;
}
//returns a pointer to a vector of int's, where, for every detected costumer, inserts his place in the costumers vector, to the returned vector
std::vector<int>* FaceDetection::Detect(const std::string& ImageSent, const Customers& customers)
{
std::vector<int> *custsDetected= new std::vector<int>;
cv::CascadeClassifier face_cascade("/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml");
std::string image= "customers/" + ImageSent;
cv::Mat OriginalImage = cv::imread(image, CV_LOAD_IMAGE_GRAYSCALE);
std::vector<cv::Rect> faces;
face_cascade.detectMultiScale(OriginalImage, faces, 1.1, 2, 0|CV_HAAR_SCALE_IMAGE);
for (int i= 0; i < customers.GetSize(); i++){
std::string custName= (customers.GetCustomerAt(i))->getName();
std::string picPath= "faces/" + custName + "/" + custName + ".tiff";
cv::Mat custFace= cv::imread(picPath, CV_LOAD_IMAGE_GRAYSCALE);
int size= faces.size();
for (int j= 0; j < size; j++){
cv::Mat faceFound= OriginalImage(faces[j]);
if (custFace.size() == faceFound.size()) {
if (cv::countNonZero(custFace != faceFound) == 0)
custsDetected->push_back(i);
}
}
}
return custsDetected;
}