IplImage* HV_Camera::HV_QueryFrame()
{
IplImage* Pimage;
HVSTATUS status = STATUS_OK;
CString strMsg;
//只定义一个缓冲区来保存图象数据
BYTE *ppBuf[1];
ppBuf[0] = m_pRawBuffer;
status = HVSnapShot(m_hhv, ppBuf, 1);
if (STATUS_OK < status || status < STATUS_INTERNAL_ERROR)
{
CString str="";
str.Format("Error : 0x%08x",status);
::MessageBox(NULL, str , "Error", MB_ICONWARNING | MB_OK);
}else{
HV_VERIFY(status);
}
// 将原始图像数据进行Bayer转换，转换后为24位。
//同时将原始数据进行上下翻转
ConvertBayer2Rgb(m_pImageBuffer,m_pRawBuffer,Width,Height,ConvertType,
m_pLutR,m_pLutG,m_pLutB,true,m_Layout);
Pimage = Byte2IplImg(m_pImageBuffer, Width ,Height );
return Pimage;
}
void CMainFrame::Scan()
{
CView *pView = GetActiveView(); //获取当前VIEW视图
CDC *pDC = pView->GetDC(); //得到VIEW的DC
CString cs;
cs.Format("%d",Scan_num+1);
pDC->TextOut(0,Height/2,cs,cs.GetLength());
pView->ReleaseDC(pDC);
int i,k;
unsigned char MAX=0;
int MAX_i=0;
unsigned char seq[3];
float peak;
float distance;
float Phi;
//float Theta;
float Z;
float L1,L2,L3,L4;
float r;
uchar* ptr;
HVSTATUS status =STATUS_OK;
/********采集单帧图像**********/
unsigned char *ppbuffer[1];
ppbuffer[0]=m_pRawBuffer;
status =HVSnapShot(m_hhv,ppbuffer,1);
HV_VERIFY(status);
/********显示当前帧************/
OnSnapChange(NULL,NULL);
//生成支持OPENCV的IPLIMAGE数据结构，并使用相机采集的图像数据初始化//
CvSize cvSize;
cvSize.width = Width;
cvSize.height = Height;
IplImage *iplImage = cvCreateImageHeader(cvSize,IPL_DEPTH_8U,3);
cvSetData(iplImage,m_pImageBuffer,Width*3);
//申请灰度空间，将BGR格式转化为灰度数据
IplImage *iplgray = cvCreateImage(cvGetSize(iplImage),IPL_DEPTH_8U,1);
cvCvtColor(iplImage,iplgray,CV_BGR2GRAY);
for(k=0;k<Height;k++)
{
ptr=(uchar*)(iplgray->imageData+k*iplgray->widthStep);
for(i=0;i<Width;i++)
for(i=0;i<Width;i++)
{
if( ptr[i]>=MAX)
{
MAX=ptr[i];
MAX_i=i;
}
}
if(MAX<=50)
{
Scan_result[Scan_num][k].X=0;
Scan_result[Scan_num][k].Y=0;
Scan_result[Scan_num][k].Z=0;
continue;
}
if(MAX_i<=1)
seq[2]=0;
else
seq[2]=ptr[MAX_i-1];
seq[1]=ptr[MAX_i];
if(MAX_i>=Width)
seq[0]=0;
else
seq[0]=ptr[MAX_i+1];
//peak=1/2*(log(seq[0])-log(seq[2]))/(log(seq[0])-2*log(seq[1])+log(seq[2]))+Width-MAX_i;
peak=(seq[2]-seq[0])/(seq[0]+seq[1]+seq[2])+Width-MAX_i;
//peak=(2*ptr[MAX_i-2]+ptr[MAX_i-1]-ptr[MAX_i+1]-2*ptr[MAX_i+2])/(ptr[MAX_i+2]+ptr[MAX_i+1]+ptr[MAX_i]+ptr[MAX_i-1]+ptr[MAX_i-2])+Width-MAX_i;
/************************计算某行扫描结果*****************************************/
distance=FS/(PIX_SIZE*peak+ PIX_OFF)+DIST_OFF;
if(distance>1800)
{
Scan_result[Scan_num][k].X=0;
Scan_result[Scan_num][k].Y=0;
Scan_result[Scan_num][k].Z=0;
continue;
}
//Theta=atan((k-Height/2)*PIX_SIZE/f);
Z=(distance-DIST_OFF)*(Height/2-k)*PIX_SIZE/f;
L1=sqrt(distance*distance+Z*Z);
L3= distance*tan(PI/2- LaserAngle);
L2= sqrt(L1*L1+L3*L3);
L4= sqrt(L3*L3+distance*distance);
r= sqrt( (L3-rotation_r)*(L3-rotation_r)+distance*distance);
Phi=Scan_num*Scan_step+PI/2-acos( (rotation_r*rotation_r+r*r-L4*L4)/2.0f/rotation_r/r);
Scan_result[Scan_num][k].X=r*cos(Phi);
Scan_result[Scan_num][k].Y=r*sin(Phi);
Scan_result[Scan_num][k].Z=Z;
/****************************************************************************/
}
cvReleaseImage(&iplgray);
/************如果扫描完成，关闭串口，并输出数据********/
if(Scan_num==Scan_total-1)
{
MessageBox("扫描完成");
Scan_num=0;
OnBtnSend('2');
//OnBtnSend('2');
sio_close(Port); //关闭串口
/*************数据输出**************/
char* fileName=dataout;
CString strtemp;
CFile file;
CFileException fileException;
if(!file.Open(fileName,CFile::modeCreate | CFile::modeWrite, &fileException))
{
CString errorInfo;
errorInfo.Format("不能打开文件%s,错误:%u\n",fileName,fileException.m_cause);
MessageBox(errorInfo,"错误",MB_OK|MB_ICONERROR);
return;
}
for(i=0;i<Scan_total;i++)
for(k=0;k<Height;k++)
{
if(Scan_result[i][k].X==0 & Scan_result[i][k].Y==0 & Scan_result[i][k].Z==0)
continue;
else
{ strtemp.Format("%.3f, %.3f, %.3f\r\n\r\n",Scan_result[i][k].X,Scan_result[i][k].Y,Scan_result[i][k].Z);
file.Write(strtemp,strtemp.GetLength());
}
}
file.Close();
MessageBox("已成功输出数据","信息",MB_OK|MB_ICONINFORMATION);
return;
}
/**********扫描未完成，发送串口指令***********/
else
{
OnBtnSend('1');
//OnBtnSend('1');
Scan_num=Scan_num+1;
}
}
void DaHengCamera::daHengSnapShot(int camNo)
{
(camNo==1)?(HVSnapShot(m_hhv_1, &m_pRawBuffer_1, 1)):(HVSnapShot(m_hhv_2, &m_pRawBuffer_2, 1));
}
