296 lines
6.9 KiB
C++
296 lines
6.9 KiB
C++
// MsgHandleDlg.cpp : 实现文件
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//
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#include "stdafx.h"
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#include "Fast.h"
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#include "HikRgdbCamera.h"
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#include "afxdialogex.h"
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#include "FastView.h"
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#include "RenderImage.hpp"
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#define IMAGE_W 1280
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#define IMAGE_H 720
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char rgb24[IMAGE_W * IMAGE_H * 3];
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#define TIMER_LOGIN 10
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// CMsgHandleDlg 对话框
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IMPLEMENT_DYNAMIC(CHikRgdbCamera, CBaseCamera)
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CHikRgdbCamera::CHikRgdbCamera(CFastView * pParentWnd, int nIdx, CWnd* pParent /*=NULL*/)
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: CBaseCamera(IDD_DLG_CAM, pParentWnd)
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{
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m_nCameraIdx = nIdx;
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m_pParentWnd = pParentWnd;
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m_hCameraHandle = NULL;
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}
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CHikRgdbCamera::~CHikRgdbCamera()
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{
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}
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void CHikRgdbCamera::DoDataExchange(CDataExchange* pDX)
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{
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CDialog::DoDataExchange(pDX);
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}
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BEGIN_MESSAGE_MAP(CHikRgdbCamera, CDialog)
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ON_WM_DESTROY()
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ON_WM_TIMER()
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ON_MESSAGE(WM_CAMERA_SNAP, &CHikRgdbCamera::OnSnap)
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END_MESSAGE_MAP()
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short CHikRgdbCamera::GetPointDepth(unsigned char * pSrcData, int x, int y)
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{
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if (nullptr == pSrcData)
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{
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return -1;
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}
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int nDepth = 0;
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int nMax = INT_MIN;
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int nMin = INT_MAX;
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short* pValue = (short*)pSrcData;
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if (C16_INVALID_VALUE == nDepth)
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{
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return -1;
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}
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return pValue[y * IMAGE_W + x];
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}
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short CHikRgdbCamera::GeRectDepth(unsigned char * pSrcData, cv::Point2f lt, cv::Point2f rb)
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{
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int nMin = 999999;
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for (int i = lt.x; i < rb.x; i++)
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{
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for (int j = lt.y; j < rb.y; j++)
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{
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int depth = GetPointDepth(pSrcData, i, j);
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if (depth < nMin && depth > 0)
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{
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nMin = depth;
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}
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}
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}
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return nMin;
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}
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// CMsgHandleDlg 消息处理程序
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BOOL CHikRgdbCamera::OnInitDialog()
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{
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CDialog::OnInitDialog();
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InitCameraSDK();
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return TRUE; // return TRUE unless you set the focus to a control
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}
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BOOL CHikRgdbCamera::InitCameraSDK()
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{
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MV3D_RGBD_VERSION_INFO stVersion;
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MV3D_RGBD_GetSDKVersion(&stVersion);
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MV3D_RGBD_Initialize();
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int ret = MV3D_RGBD_Initialize();
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unsigned int nDevNum = 0;
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ret = MV3D_RGBD_GetDeviceNumber(DeviceType_USB, &nDevNum);
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if (0 == nDevNum)
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{
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//AfxMessageBox("未检测到相机，请检查相机连接是否正常.");
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return FALSE;
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}
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std::vector<MV3D_RGBD_DEVICE_INFO> devs(nDevNum);
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ret = MV3D_RGBD_GetDeviceList(DeviceType_USB, &devs[0], nDevNum, &nDevNum);
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//打开设备
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MV3D_RGBD_OpenDevice(&m_hCameraHandle, &devs[0]);
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//开始工作流程
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MV3D_RGBD_Start(m_hCameraHandle);
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return TRUE; // return TRUE unless you set the focus to a control
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}
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LRESULT CHikRgdbCamera::OnSnap(WPARAM wParam, LPARAM lParam)
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{
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AfxMessageBox("采样");
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MV3D_RGBD_FRAME_DATA stFrameData = { 0 };
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int nRet = MV3D_RGBD_FetchFrame(m_hCameraHandle, &stFrameData, 5000);
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CTime currentTime = CTime::GetCurrentTime(); // 获取当前时间
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CString dateStr = currentTime.Format(_T("%Y_%m_%d")); // 格式化为字符串
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CString tiemStr = currentTime.Format(_T("%H_%M_%S")); // 格式化为字符串
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CString strPath = theApp.m_strDataPath + "\\" + dateStr;
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if (MV3D_RGBD_OK == nRet)
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{
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if (!stFrameData.nValidInfo)
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{
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RIFrameInfo depth = { 0 };
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RIFrameInfo rgb = { 0 };
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RIFrameInfo rgbd = { 0 };
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parseFrame(&stFrameData, &depth, &rgb, &rgbd);
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/*for (int i = 0; i < 20; i++)
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{
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for (int j = 0; j < 10; j++)
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{
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int nDepth = GeRectDepth(depth.pData, cv::Point2f(i * 64, j * 72), cv::Point2f((i + 1) * 64, (j + 1) * 72));
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char acDepth[32];
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sprintf(acDepth, "%d", nDepth);
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cv::rectangle(image, cv::Point2f(i * 64, j * 72), cv::Point2f((i + 1) * 64, (j + 1) * 72), cv::Scalar(5, 5, 2555), 1, 8, 0);
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cv::putText(image, acDepth, cv::Point2f(i * 64, j * 72 + 20), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(5, 5, 255), 1);
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}
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}*/
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if (!PathIsDirectory(strPath))//判断日期路径是否存在
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{
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CreateDirectory(strPath, NULL);//新建日期文件夹
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}
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char acFileName[256] = "";
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sprintf(acFileName, "%s\\%s-%d.jpg", strPath, tiemStr, m_nCameraIdx);
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vector<CRect> targetRects;
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cv::Mat image(IMAGE_H, IMAGE_W, CV_8UC3, rgb.pData); //buffer为转完的rgb数据
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//识别目标区域位置
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TargetDetection(m_nCameraIdx, image, targetRects);
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//模拟检测区域
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targetRects.push_back(CRect(500, 400, 900, 600));
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//计算目标区域深度
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cv::Point3f coordinate = cv::Point3f(0, 0, 99999);
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CRect rect;
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TargetPosition(depth.pData, targetRects, coordinate, rect);
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if (coordinate.z != 99999)
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{
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char acCoordinate[32];
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sprintf(acCoordinate, "x:%.0f, y:%.0f, z:%.0f", coordinate.x, coordinate.y, coordinate.z);
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cv::rectangle(image, cv::Point2f(rect.left, rect.top), cv::Point2f(rect.right, rect.bottom), cv::Scalar(5, 5, 2555), 1, 8, 0);
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cv::putText(image, acCoordinate, cv::Point2f(coordinate.x, coordinate.y), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(5, 5, 255), 1);
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//m_pParentWnd->CameraSnapPicRet(acFileName, m_nCameraIdx, coordinate);
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}
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//生成解析文件
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imwrite(acFileName, image);
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//返回最优目标坐标
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m_pParentWnd->StartPlay(acFileName);
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}
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}
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return 0;
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}
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void CHikRgdbCamera::OnTimer(UINT_PTR nIDEvent)
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{
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// TODO: 在此添加消息处理程序代码和/或调用默认值
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if (nIDEvent == TIMER_LOGIN)
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{
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//设备断开，重新打开
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}
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CDialog::OnTimer(nIDEvent);
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}
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void CHikRgdbCamera::OnDestroy()
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{
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CDialog::OnDestroy();
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}
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void CHikRgdbCamera::TargetDetection(int nCameraIdx, cv::Mat &mat_img, vector<CRect> &findRects)
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{
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CRect findRect;
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try {
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cv::Mat dst = mat_img;
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//cv::Size newSize(mat_img.size().width / 4, mat_img.size().height / 4); // 设置新的尺寸
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//cv::resize(mat_img, dst, newSize); // 调整图像尺寸
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auto det_image = theApp.m_yoloV4.m_pDetector->mat_to_image_resize(dst);
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auto start = std::chrono::steady_clock::now();
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std::vector<bbox_t> result_vec = theApp.m_yoloV4.m_pDetector->detect_resized(*det_image, dst.size().width, dst.size().height);
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auto end = std::chrono::steady_clock::now();
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std::chrono::duration<double> spent = end - start;
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std::cout << " Time: " << spent.count() << " sec \n";
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theApp.m_yoloV4.DrawObjectBoxes(dst, result_vec, theApp.m_yoloV4.m_vObjects_Names);
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for (int i = 0; i < result_vec.size(); i++)
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{
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bbox_t result_area = result_vec.at(i);
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std::string obj_name = theApp.m_yoloV4.m_vObjects_Names[result_area.obj_id];
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//if (result_area.prob >= 0.9 && (0 == obj_name.compare("up") ))
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{
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CRect rect;
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rect.left = result_area.x;
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rect.top = result_area.y;
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rect.right = result_area.x + result_area.w;
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rect.bottom = result_area.y + result_area.h;
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findRects.push_back(rect);
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}
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}
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}
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catch (std::exception &e) { std::cerr << "exception: " << e.what() << "\n"; getchar(); }
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catch (...) { std::cerr << "unknown exception \n"; getchar(); }
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}
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void CHikRgdbCamera::TargetPosition(unsigned char* pDepthData, vector<CRect> &findRects, cv::Point3f& coordinate, CRect& rect)
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{
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for (int i = 0; i < findRects.size(); i++)
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{
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CRect rt = findRects.at(i);
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if (rt.Width() > rt.Height())
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{
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int x = (rt.left + rt.right) / 2;
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int y = (rt.top + rt.bottom) / 2;
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int z = GetPointDepth(pDepthData, x, y);
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if (z < coordinate.z && z > 0)
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{
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coordinate = cv::Point3f(x, y, z);
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rect = rt;
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}
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}
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else
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{
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//旋转90度
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}
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}
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}
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