add
1、采集深度、彩色、rgb点云，并存储到文件； 2、界面操作逻辑控制，防止用户错误操作；
This commit is contained in:
tangchao0503
@ -1,24 +1,233 @@
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#include "DepthCameraWindow.h"
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#include "DepthCameraWindow.h"
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DepthCameraWindow::DepthCameraWindow(QWidget* parent)
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: QDialog(parent)
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{
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ui.setupUi(this);
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m_DepthCameraThread = new QThread();
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m_DepthCameraOperation = new DepthCameraOperation();
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m_DepthCameraOperation->moveToThread(m_DepthCameraThread);
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m_DepthCameraThread->start();
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connect(ui.openDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::openDepthCamera);
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connect(ui.closeDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::closeDepthCamera);
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connect(this, &DepthCameraWindow::openDepthCameraSignal, m_DepthCameraOperation, &DepthCameraOperation::OpenDepthCamera);
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connect(m_DepthCameraOperation, &DepthCameraOperation::CamOpenedSignal, this, &DepthCameraWindow::onCamOpened);
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connect(m_DepthCameraOperation, &DepthCameraOperation::CamClosedSignal, this, &DepthCameraWindow::onCamClosed);
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}
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DepthCameraWindow::~DepthCameraWindow()
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{
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m_DepthCameraThread->quit();
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m_DepthCameraThread->wait();
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delete m_DepthCameraOperation;
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m_DepthCameraOperation = nullptr;
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}
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void DepthCameraWindow::openDepthCamera()
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{
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if (!m_DepthCameraOperation->getRecordStatus())
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{
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emit openDepthCameraSignal();
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}
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}
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void DepthCameraWindow::onCamOpened()
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{
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ui.openDepthCamera_btn->setEnabled(false);
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ui.closeDepthCamera_btn->setEnabled(true);
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ui.openDepthCamera_btn->setText(QString::fromLocal8Bit("已打开"));
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}
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void DepthCameraWindow::closeDepthCamera()
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{
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m_DepthCameraOperation->CloseDepthCamera();
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}
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void DepthCameraWindow::onCamClosed()
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{
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ui.openDepthCamera_btn->setEnabled(true);
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ui.closeDepthCamera_btn->setEnabled(false);
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ui.openDepthCamera_btn->setText(QString::fromLocal8Bit("打 开"));
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}
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//-------------------------------------------------------------------------------------------------------------------------------
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DepthCameraOperation::DepthCameraOperation()
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{
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m_pipe = nullptr;
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m_func = nullptr;
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record = false;
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}
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DepthCameraOperation::~DepthCameraOperation()
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{
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if (m_pipe)
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{
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m_pipe->stop();
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delete m_pipe;
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m_pipe = nullptr;
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}
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}
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void DepthCameraOperation::OpenDepthCamera()
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{
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if (m_pipe)
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{
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return;
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}
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m_pipe = new ob::Pipeline();
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std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
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// Get device from pipeline.
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auto device = m_pipe->getDevice();
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auto devInfo = device->getDeviceInfo();
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auto pid = devInfo->getPid();
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auto vid = devInfo->getVid();
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//// Get sensorList from device.
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//auto sensorList = device->getSensorList();
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//for (uint32_t index = 0; index < sensorList->getCount(); index++) {
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// // Query all supported infrared sensor type and enable the infrared stream.
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// // For dual infrared device, enable the left and right infrared streams.
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// // For single infrared device, enable the infrared stream.
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// OBSensorType sensorType = sensorList->getSensorType(index);
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// std::cout << "Supported Sensor type: " << sensorType << std::endl;
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// // Enable the stream for the sensor type.
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// config->enableStream(sensorType);
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//}
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config->enableVideoStream(OB_STREAM_DEPTH, 640, 480, 15, OB_FORMAT_Y16);
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config->enableVideoStream(OB_STREAM_COLOR, 640, 480, 15, OB_FORMAT_YUYV);
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config->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
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config->setAlignMode(ALIGN_D2C_HW_MODE);
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m_pipe->enableFrameSync();
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// Create a format converter filter.
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auto formatConverter = std::make_shared<ob::FormatConvertFilter>();
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m_pipe->start(config);
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// Drop several frames
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for (int i = 0; i < 15; ++i) {
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auto lost = m_pipe->waitForFrameset(100);
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}
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auto pointCloud = std::make_shared<ob::PointCloudFilter>();
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int frameIndex = 0;
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record = true;
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QString fileNamePrefix = AppSettings::instance().dataFolder() + QDir::separator() + AppSettings::instance().fileName();
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while (record)
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{
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if(frameIndex==0)
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{
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emit CamOpenedSignal();
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std::cout << "Start recording..." << std::endl;
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}
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auto frameSet = m_pipe->waitForFrameset(100);
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if (frameSet == nullptr)
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{
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std::cout << "No frames received in 100ms..." << std::endl;
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continue;
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}
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// Get the depth and color frames.
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auto depthFrame = frameSet->getFrame(OB_FRAME_DEPTH)->as<ob::DepthFrame>();
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auto colorFrame = frameSet->getFrame(OB_FRAME_COLOR)->as<ob::ColorFrame>();
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// Convert the color frame to RGB format.
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if (colorFrame->format() != OB_FORMAT_RGB) {
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if (colorFrame->format() == OB_FORMAT_MJPG) {
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formatConverter->setFormatConvertType(FORMAT_MJPG_TO_RGB);
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}
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else if (colorFrame->format() == OB_FORMAT_UYVY) {
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formatConverter->setFormatConvertType(FORMAT_UYVY_TO_RGB);
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}
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else if (colorFrame->format() == OB_FORMAT_YUYV) {
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formatConverter->setFormatConvertType(FORMAT_YUYV_TO_RGB);
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}
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else {
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std::cout << "Color format is not support!" << std::endl;
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continue;
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}
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colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
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}
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// Processed the color frames to BGR format, use OpenCV to save to disk.
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formatConverter->setFormatConvertType(FORMAT_RGB_TO_BGR);
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colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
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saveDepthFrame(depthFrame, frameIndex, fileNamePrefix.toStdString());
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saveColorFrame(colorFrame, frameIndex, fileNamePrefix.toStdString());
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pointCloud->setCreatePointFormat(OB_FORMAT_RGB_POINT);
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std::shared_ptr<ob::Frame> frame = pointCloud->process(frameSet);
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QString plyPath = fileNamePrefix + "_"+ QString::number(frameIndex) + ".ply";
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ob::PointCloudHelper::savePointcloudToPly(plyPath.toStdString().c_str(), frame, false, false, 50);
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frameIndex++;
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}
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m_pipe->stop();
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delete m_pipe;
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m_pipe = nullptr;
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}
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void DepthCameraOperation::saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_)
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{
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std::vector<int> params;
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params.push_back(cv::IMWRITE_PNG_COMPRESSION);
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params.push_back(0);
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params.push_back(cv::IMWRITE_PNG_STRATEGY);
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params.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
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std::string depthName = fileNamePrefix_ + "_Depth_" + std::to_string(depthFrame->width()) + "x" + std::to_string(depthFrame->height()) + "_" + std::to_string(frameIndex) + "_"
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+ std::to_string(depthFrame->timeStamp()) + "ms.png";
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cv::Mat depthMat(depthFrame->height(), depthFrame->width(), CV_16UC1, depthFrame->data());
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cv::imwrite(depthName, depthMat, params);
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std::cout << "Depth saved:" << depthName << std::endl;
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}
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void DepthCameraOperation::saveColorFrame(const std::shared_ptr<ob::ColorFrame> colorFrame, const uint32_t frameIndex, std::string fileNamePrefix_)
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{
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std::vector<int> params;
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params.push_back(cv::IMWRITE_PNG_COMPRESSION);
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params.push_back(0);
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params.push_back(cv::IMWRITE_PNG_STRATEGY);
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params.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
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std::string colorName = fileNamePrefix_ + "_Color_" + std::to_string(colorFrame->width()) + "x" + std::to_string(colorFrame->height()) + "_" + std::to_string(frameIndex) + "_"
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+ std::to_string(colorFrame->timeStamp()) + "ms.png";
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cv::Mat depthMat(colorFrame->height(), colorFrame->width(), CV_8UC3, colorFrame->data());
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cv::imwrite(colorName, depthMat, params);
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std::cout << "Color saved:" << colorName << std::endl;
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}
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void DepthCameraOperation::OpenDepthCamera_callback()
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{
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}
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void DepthCameraOperation::setCallback(void(*func)())
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{
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m_func = func;
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}
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void DepthCameraOperation::CloseDepthCamera()
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{
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std::cout << "DepthCameraOperation::CloseDepthCamera，关闭深度相机" << std::endl;
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record = false;
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emit CamClosedSignal();
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}
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@ -1,11 +1,56 @@
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#pragma once
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#pragma once
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#include <QDialog>
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#include <QNetworkRequest>
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#include <QNetworkReply>
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#include <QNetworkAccessManager>
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#include <QImage>
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#include <Qthread>
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#include <QDir>
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#include <iostream>
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#include "ui_DepthCamera.h"
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#include "AppSettings.h"
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#include <opencv2/opencv.hpp>
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#include <libobsensor/ObSensor.hpp>
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#include "libobsensor/hpp/Utils.hpp"
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typedef void(*func)();
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class DepthCameraOperation :public QObject
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{
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Q_OBJECT
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public:
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DepthCameraOperation();
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~DepthCameraOperation();
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QImage m_qImage;
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void setCallback(void(*func)());
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bool getRecordStatus() const { return record; }
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private:
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ob::Pipeline* m_pipe;
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cv::Mat frame;
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func m_func;
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void saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_);
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void saveColorFrame(const std::shared_ptr<ob::ColorFrame> colorFrame, const uint32_t frameIndex, std::string fileNamePrefix_);
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bool record;
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public slots:
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void OpenDepthCamera();
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void OpenDepthCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
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void CloseDepthCamera();
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signals:
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void PlotSignal();
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void CamOpenedSignal();
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void CamClosedSignal();
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};
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class DepthCameraWindow : public QDialog
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{
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@ -15,13 +60,19 @@ public:
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DepthCameraWindow(QWidget* parent = nullptr);
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~DepthCameraWindow();
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DepthCameraOperation* m_DepthCameraOperation;
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public Q_SLOTS:
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void PlotRgbImageSignal();
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void CamClosedSignal();
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void openDepthCamera();
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void onCamOpened();
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void closeDepthCamera();
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void onCamClosed();
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signals:
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void openDepthCameraSignal();
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private:
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Ui::DepthCameraClass ui;
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QThread* m_DepthCameraThread;
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};
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@ -55,8 +55,8 @@
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</ImportGroup>
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<PropertyGroup Label="UserMacros" />
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<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
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<IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
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<LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;$(LibraryPath)</LibraryPath>
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<IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;C:\Program Files\OrbbecSDK 2.7.6\include;$(IncludePath)</IncludePath>
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<LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;C:\Program Files\OrbbecSDK 2.7.6\lib;$(LibraryPath)</LibraryPath>
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<TargetName>Spectral Insight</TargetName>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
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@ -66,7 +66,7 @@
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</PropertyGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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<Link>
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<AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
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<AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;OrbbecSDK.lib;%(AdditionalDependencies)</AdditionalDependencies>
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<AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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</Link>
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<ClCompile>
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@ -30,7 +30,7 @@ void RgbCameraOperation::OpenCamera()
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cam->release();
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emit CamClosed();
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emit CamOpenedSignal();
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}
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@ -65,4 +65,6 @@ void RgbCameraOperation::CloseCamera()
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std::cout << "关闭摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
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record = false;
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emit CamClosedSignal();
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}
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@ -42,6 +42,7 @@ public slots:
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signals:
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void PlotSignal();
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void CamClosed();
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void CamOpenedSignal();
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void CamClosedSignal();
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};
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#endif // !RGBCAMERAOPERATION_H
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@ -18,7 +18,7 @@ rgbCameraWindow::rgbCameraWindow(QWidget* parent)
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//connect(this->ui.open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera_callback()));//ʹ<>ûص<C3BB><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3><CCA3>ϵ<EFBFBD><CFB5><EFBFBD>Ƶ <20><> ʧ<><CAA7>
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connect(ui.close_rgb_camera_btn, SIGNAL(clicked()), this, SLOT(onCloseRgbCamera()));//<2F>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD>
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connect(m_RgbCamera, SIGNAL(CamClosed()), this, SIGNAL(CamClosedSignal()));
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connect(m_RgbCamera, SIGNAL(CamClosedSignal()), this, SIGNAL(CamClosedSignal()));
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}
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rgbCameraWindow::~rgbCameraWindow()
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