我正在使用三台ptgrey相机来获取图像并将其保存到我的硬盘中。 我正在使用MultiCameraWriteToDiskEx示例，它工作得很好，但我也希望在采集过程中显示图像，所以我试图将FlyCapture图像转换为可重复的OpenCV格式，以便用cvShowImage（）或imshow（）函数。
我有一个函数IplImage* ConvertImageToOpenCV(Image* pImage)可以将Flycapture2 Image *转换为OpenCV IplImage *但是我不知道如何在 doGrabLoop（）捕捉相机帧的功能。
IplImage* ConvertImageToOpenCV(Image* pImage)
{
IplImage* cvImage = NULL;
bool bColor = true;
CvSize mySize;
mySize.height = pImage->GetRows();
mySize.width = pImage->GetCols();
printf("ciao %d\n", pImage->GetPixelFormat() );
switch ( pImage->GetPixelFormat() )
{
case PIXEL_FORMAT_MONO8: cvImage = cvCreateImageHeader(mySize, 8, 1 );
cvImage->depth = IPL_DEPTH_8U;
cvImage->nChannels = 1;
bColor = false;
break;
case PIXEL_FORMAT_411YUV8: cvImage = cvCreateImageHeader(mySize, 8, 3 );
cvImage->depth = IPL_DEPTH_8U;
cvImage->nChannels = 3;
break;
case PIXEL_FORMAT_422YUV8: cvImage = cvCreateImageHeader(mySize, 8, 3 );
cvImage->depth = IPL_DEPTH_8U;
cvImage->nChannels = 3;
break;
case PIXEL_FORMAT_444YUV8: cvImage = cvCreateImageHeader(mySize, 8, 3 );
cvImage->depth = IPL_DEPTH_8U;
cvImage->nChannels = 3;
break;
case PIXEL_FORMAT_RGB8: cvImage = cvCreateImageHeader(mySize, 8, 3 );
cvImage->depth = IPL_DEPTH_8U;
cvImage->nChannels = 3;
break;
case PIXEL_FORMAT_MONO16: cvImage = cvCreateImageHeader(mySize, 16, 1 );
cvImage->depth = IPL_DEPTH_16U;
cvImage->nChannels = 1;
bColor = false;
break;
case PIXEL_FORMAT_RGB16: cvImage = cvCreateImageHeader(mySize, 16, 3 );
cvImage->depth = IPL_DEPTH_16U;
cvImage->nChannels = 3;
break;
case PIXEL_FORMAT_S_MONO16: cvImage = cvCreateImageHeader(mySize, 16, 1 );
cvImage->depth = IPL_DEPTH_16U;
cvImage->nChannels = 1;
bColor = false;
break;
case PIXEL_FORMAT_S_RGB16: cvImage = cvCreateImageHeader(mySize, 16, 3 );
cvImage->depth = IPL_DEPTH_16U;
cvImage->nChannels = 3;
break;
case PIXEL_FORMAT_RAW8: cvImage = cvCreateImageHeader(mySize, 8, 3 );
cvImage->depth = IPL_DEPTH_8U;
cvImage->nChannels = 3;
break;
case PIXEL_FORMAT_RAW16: cvImage = cvCreateImageHeader(mySize, 8, 3 );
cvImage->depth = IPL_DEPTH_8U;
cvImage->nChannels = 3;
break;
case PIXEL_FORMAT_MONO12: printf("Not supported by OpenCV");
bColor = false;
break;
case PIXEL_FORMAT_RAW12: printf("Not supported by OpenCV");
break;
case PIXEL_FORMAT_BGR: cvImage = cvCreateImageHeader(mySize, 8, 3 );
cvImage->depth = IPL_DEPTH_8U;
cvImage->nChannels = 3;
break;
case PIXEL_FORMAT_BGRU: cvImage = cvCreateImageHeader(mySize, 8, 4 );
cvImage->depth = IPL_DEPTH_8U;
cvImage->nChannels = 4;
break;
case PIXEL_FORMAT_RGBU: cvImage = cvCreateImageHeader(mySize, 8, 4 );
cvImage->depth = IPL_DEPTH_8U;
cvImage->nChannels = 4;
break;
default: printf("Some error occured...\n");
return NULL;
}
if(bColor) {
if(!bInitialized)
{
colorImage.SetData(new unsigned char[pImage->GetCols() * pImage->GetRows()*3], pImage->GetCols() * pImage->GetRows()*3);
bInitialized = true;
}
pImage->Convert(PIXEL_FORMAT_BGR, &colorImage); //needs to be as BGR to be saved
cvImage->width = colorImage.GetCols();
cvImage->height = colorImage.GetRows();
cvImage->widthStep = colorImage.GetStride();
cvImage->origin = 0; //interleaved color channels
cvImage->imageDataOrigin = (char*)colorImage.GetData(); //DataOrigin and Data same pointer, no ROI
cvImage->imageData = (char*)(colorImage.GetData());
cvImage->widthStep = colorImage.GetStride();
cvImage->nSize = sizeof (IplImage);
cvImage->imageSize = cvImage->height * cvImage->widthStep;
}
else
{
cvImage->imageDataOrigin = (char*)(pImage->GetData());
cvImage->imageData = (char*)(pImage->GetData());
cvImage->widthStep = pImage->GetStride();
cvImage->nSize = sizeof (IplImage);
cvImage->imageSize = cvImage->height * cvImage->widthStep;
//at this point cvImage contains a valid IplImage
}
return cvImage;
}
//
// Grab and test loop
//
int doGrabLoop()
{
FlyCaptureError error = FLYCAPTURE_FAILED;
unsigned int aruiPrevSeqNum[ _MAX_CAMERAS ];
unsigned int aruiDelta[ _MAX_CAMERAS ];
unsigned int aruiCycles[ _MAX_CAMERAS ];
HANDLE arhFile[ _MAX_CAMERAS ];
DWORD ardwBytesWritten[ _MAX_CAMERAS ];
DWORD dwTotalKiloBytesWritten = 0;
bool bMissed = false;
bool bOutOfSync = false;
unsigned int uiMissedImages = 0;
unsigned int uiOutOfSyncImages = 0;
__int64 nStartTime = 0;
__int64 nEndTime = 0;
__int64 nDifference = 0;
__int64 nTotalTime = 0;
__int64 nGlobalStartTime = 0;
__int64 nGlobalEndTime = 0;
__int64 nGlobalTotalTime = 0;
__int64 nFrequency = 0;
QueryPerformanceFrequency( (LARGE_INTEGER*)&nFrequency );
QueryPerformanceCounter( (LARGE_INTEGER*)&nGlobalStartTime );
printf( "Starting grab...\n" );
// Create files to write to
if ( createFiles( arhFile ) != 0 )
{
printf( "There was error creating the files\n" );
return -1;
}
BOOL bSuccess;
//
// Start grabbing the images
//
for( int iImage = 0; iImage < g_iNumImagesToGrab; iImage++ )
{
#ifdef _VERBOSE
printf( "Grabbing image %u\n", iImage );
#else
printf( "." );
#endif
unsigned int uiCamera = 0;
// Grab an image from each camera
for( uiCamera = 0; uiCamera < g_uiNumCameras; uiCamera++ )
{
error = flycaptureLockNext( g_arContext[uiCamera], &g_arImageplus[uiCamera] );
_HANDLE_ERROR( error, "flycaptureLockNext()" );
// Save image dimensions & bayer info from first image for each camera
if(iImage == 0)
{
g_arImageTemplate[uiCamera] = g_arImageplus[uiCamera].image;
error = flycaptureGetColorTileFormat(g_arContext[uiCamera], &g_arBayerTile[uiCamera]);
_HANDLE_ERROR( error, "flycaptureGetColorTileFormat()" );
}
}
for( uiCamera = 0; uiCamera < g_uiNumCameras; uiCamera++ )
{
// Start timer
QueryPerformanceCounter( (LARGE_INTEGER*)&nStartTime );
// Calculate the size of the image to be written
int iImageSize = 0;
int iRowInc = g_arImageplus[uiCamera].image.iRowInc;
int iRows = g_arImageplus[uiCamera].image.iRows;
iImageSize = iRowInc * iRows;
// ERROR: HOW CAN I CONVERT g_arImageplus[ uiCamera ].image.pData IN ORDER TO USE IT WITH ConvertImageToOpenCV() function?
IplImage* destImage = ConvertImageToOpenCV(g_arImageplus[ uiCamera ].image.pData);
cvShowImage("prova", destImage);
waitKey(1);
// Write to the file
bSuccess = WriteFile(
arhFile[uiCamera],
g_arImageplus[ uiCamera ].image.pData,
iImageSize,
&ardwBytesWritten[uiCamera],
NULL );
// End timer
QueryPerformanceCounter( (LARGE_INTEGER*)&nEndTime );
// Ensure that the write was successful
if ( !bSuccess || ( ardwBytesWritten[uiCamera] != (unsigned)iImageSize ) )
{
printf( "Error writing to file for camera %u!\n", uiCamera );
return -1;
}
// Update various counters
dwTotalKiloBytesWritten += (ardwBytesWritten[uiCamera] / 1024);
nDifference = nEndTime - nStartTime;
nTotalTime += nDifference;
// Keep track of the difference in image sequence numbers (uiSeqNum)
// in order to determine if any images have been missed. A difference
// greater than 1 indicates that an image has been missed.
if( iImage == 0 )
{
// This is the first image, set up the variables
aruiPrevSeqNum[uiCamera] = g_arImageplus[uiCamera].uiSeqNum;
aruiDelta[uiCamera] = 1;
}
else
{
// Get the difference in sequence numbers between the current
// image and the last image we received
aruiDelta[uiCamera] =
g_arImageplus[uiCamera].uiSeqNum - aruiPrevSeqNum[uiCamera];
}
if( aruiDelta[uiCamera] != 1 )
{
// We have missed an image.
bMissed = true;
uiMissedImages += aruiDelta[uiCamera] - 1;
}
else
{
bMissed = false;
}
aruiPrevSeqNum[uiCamera] = g_arImageplus[uiCamera].uiSeqNum;
// Calculate the cycle count for the camera
aruiCycles[uiCamera] =
g_arImageplus[uiCamera].image.timeStamp.ulCycleSeconds * 8000 +
g_arImageplus[uiCamera].image.timeStamp.ulCycleCount;
// Determine the difference of the timestamp for every image from the
// first camera. If the difference is greater than 1 cycle count,
// register the camera as being out of synchronization.
int iDeltaFrom0 = abs( (int)(aruiCycles[uiCamera] - aruiCycles[0]) );
if( ( iDeltaFrom0 % ( 128 * 8000 - 1 ) ) > 1 )
{
bOutOfSync = true;
uiOutOfSyncImages++;
}
else
{
bOutOfSync = false;
}
#ifdef _VERBOSE
// Output is in the following order:
// - The index of the image being captured
// - The index of the camera that is currently being captured
// - The time taken to write the image to disk
// - Number of kilobytes written
// - Write speed (in MB/s)
// - Sequence number
// - Cycle seconds in timestamp
// - Cycle count in timestamp
// - Delta from 0th value
// - Missed an image?
// - Out of sync?
printf(
"%04d: \t%02u\t%0.5f\t%.0lf\t%.2lf\t%04u\t%03u.%04u\t%d\t%s %s\n",
iImage,
uiCamera,
nDifference,
(double)ardwBytesWritten[ uiCamera ] / 1024.0,
(double)ardwBytesWritten[ uiCamera ] / ( 1024 * 1024 * nDifference ),
g_arImageplus[ uiCamera ].uiSeqNum,
g_arImageplus[ uiCamera ].image.timeStamp.ulCycleSeconds,
g_arImageplus[ uiCamera ].image.timeStamp.ulCycleCount,
iDeltaFrom0,
bMissed ? "Y" : "N",
bOutOfSync ? "Y" : "N");
#endif
}
// Unlock image, handing the buffer back to the buffer pool.
for( uiCamera = 0; uiCamera < g_uiNumCameras; uiCamera++ )
{
error = flycaptureUnlock(
g_arContext[uiCamera], g_arImageplus[uiCamera].uiBufferIndex );
_HANDLE_ERROR( error, "flycaptureUnlock()" );
}
}
//
// Done grabbing images
//
QueryPerformanceCounter( (LARGE_INTEGER*)&nGlobalEndTime );
nGlobalTotalTime = nGlobalEndTime - nGlobalStartTime;
double dGlobalTotalTime = (double)nGlobalTotalTime / (double)nFrequency;
double dTotalTime = (double)nTotalTime / (double)nFrequency;
// Report on the results
// Burst time is the time that was spent writing to disk only
// Overall time is total time taken, including image grabs, calculations etc
printf(
"\nBurst: Wrote %.1lfMB in %0.2fs ( %.2lfMB/sec )\n",
(double)( dwTotalKiloBytesWritten / 1024 ),
dTotalTime,
(double)( dwTotalKiloBytesWritten / ( 1024 * dTotalTime ) ) );
printf(
"Overall: Wrote %.1lfMB in %0.2fs ( %.2lfMB/sec )\n",
(double)( dwTotalKiloBytesWritten / 1024 ),
dGlobalTotalTime,
(double)( dwTotalKiloBytesWritten / ( 1024 * dGlobalTotalTime ) ) );
printf( g_bSyncSuccess ? "Sync success\n" : "Sync failed\n" );
printf( "Missed images = %u.\n", uiMissedImages );
printf( "Out of sync images = %u.\n", uiOutOfSyncImages );
for ( unsigned int uiCamera = 0; uiCamera < g_uiNumCameras; uiCamera++ )
{
// Close file handles
CloseHandle(arhFile[uiCamera]);
}
return 0;
}
答案 0 :(得分：1)
您的转换方式：
IplImage* ConvertImageToOpenCV(Image* pImage)
采用图像指针。构造一个新图像，从您拥有的数据传递给它。 Here's the doc for the Image class.如果您使用此功能，它将不会保留缓冲区或复制它：
Image ( unsigned int rows,
unsigned int cols,
unsigned int stride,
unsigned char* pData,
unsigned int dataSize,
PixelFormat format,
BayerTileFormat bayerFormat = NONE
)
所以你的代码看起来像：
// Pull these values from your other image structure
Image image(rows, cols, stride, pData, dataSize, format, bayerFormat);
// Pass the address of the temporary image to your conversion
IplImage* opencvImage = ConvertImageToOpenCV(&image);