From 6962892648ff8d893b36600ae1a189c407341334 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Mon, 15 Dec 2025 20:00:51 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8Dhik=E7=9B=B8=E6=9C=BA?=
 =?UTF-8?q?=E6=8A=A5=E9=94=99?=
MIME-Version: 1.0
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---
 build.sh                 |  0
 configs/camera.yaml      | 16 +++++++--------
 configs/sentry.yaml      |  6 +++---
 io/hikrobot/hikrobot.cpp | 43 +++++++++++++++++++++++++++++++---------
 4 files changed, 45 insertions(+), 20 deletions(-)
 create mode 100755 build.sh

diff --git a/build.sh b/build.sh
new file mode 100755
index 0000000..e69de29
diff --git a/configs/camera.yaml b/configs/camera.yaml
index e1c9cdd..cddfc59 100644
--- a/configs/camera.yaml
+++ b/configs/camera.yaml
@@ -1,9 +1,9 @@
-camera_name: "mindvision"
-exposure_ms: 2
-gamma: 0.5
-vid_pid: "f622:d13a"
+# camera_name: "mindvision"
+# exposure_ms: 2
+# gamma: 0.5
+# vid_pid: "f622:d13a"
 
-# camera_name: "hikrobot"
-# exposure_ms: 3
-# gain: 10.0
-# vid_pid: "2bdf:0001"
\ No newline at end of file
+camera_name: "hikrobot"
+exposure_ms: 3
+gain: 10.0
+vid_pid: "2bdf:0001"
\ No newline at end of file
diff --git a/configs/sentry.yaml b/configs/sentry.yaml
index b6b2cd4..6282e7a 100644
--- a/configs/sentry.yaml
+++ b/configs/sentry.yaml
@@ -1,5 +1,5 @@
-# enemy_color: "red"
-enemy_color: "blue"
+enemy_color: "red"
+# enemy_color: "blue"
 
 
 #####-----神经网络参数-----#####
@@ -10,7 +10,7 @@ yolov8_model_path: assets/yolov8.xml
 yolov5_model_path: assets/yolov5.xml
 device: GPU
 min_confidence: 0.8
-use_traditional: true
+use_traditional: false
 
 #####-----ROI-----#####
 roi: 
diff --git a/io/hikrobot/hikrobot.cpp b/io/hikrobot/hikrobot.cpp
index 92d7927..5c53b68 100644
--- a/io/hikrobot/hikrobot.cpp
+++ b/io/hikrobot/hikrobot.cpp
@@ -116,7 +116,21 @@ void HikRobot::capture_start()
       }
 
       auto timestamp = std::chrono::steady_clock::now();
-      cv::Mat img(cv::Size(raw.stFrameInfo.nWidth, raw.stFrameInfo.nHeight), CV_8U, raw.pBufAddr);
+      
+      const auto & frame_info = raw.stFrameInfo;
+      auto pixel_type = frame_info.enPixelType;
+      
+      // Determine image type based on pixel format
+      int cv_type = CV_8U;
+      bool is_color = false;
+      
+      // Check if it's a color format (RGB or BGR already converted)
+      if (pixel_type == PixelType_Gvsp_RGB8_Packed || pixel_type == PixelType_Gvsp_BGR8_Packed) {
+        cv_type = CV_8UC3;
+        is_color = true;
+      }
+      
+      cv::Mat img(cv::Size(raw.stFrameInfo.nWidth, raw.stFrameInfo.nHeight), cv_type, raw.pBufAddr);
 
       cvt_param.nWidth = raw.stFrameInfo.nWidth;
       cvt_param.nHeight = raw.stFrameInfo.nHeight;
@@ -130,16 +144,27 @@ void HikRobot::capture_start()
       cvt_param.enDstPixelType = PixelType_Gvsp_BGR8_Packed;
 
       // ret = MV_CC_ConvertPixelType(handle_, &cvt_param);
-      const auto & frame_info = raw.stFrameInfo;
-      auto pixel_type = frame_info.enPixelType;
       cv::Mat dst_image;
       const static std::unordered_map<MvGvspPixelType, cv::ColorConversionCodes> type_map = {
-        {PixelType_Gvsp_BayerGR8, cv::COLOR_BayerGR2RGB},
-        {PixelType_Gvsp_BayerRG8, cv::COLOR_BayerRG2RGB},
-        {PixelType_Gvsp_BayerGB8, cv::COLOR_BayerGB2RGB},
-        {PixelType_Gvsp_BayerBG8, cv::COLOR_BayerBG2RGB}};
-      cv::cvtColor(img, dst_image, type_map.at(pixel_type));
-      img = dst_image;
+        {PixelType_Gvsp_BayerGR8, cv::COLOR_BayerGR2BGR},
+        {PixelType_Gvsp_BayerRG8, cv::COLOR_BayerRG2BGR},
+        {PixelType_Gvsp_BayerGB8, cv::COLOR_BayerGB2BGR},
+        {PixelType_Gvsp_BayerBG8, cv::COLOR_BayerBG2BGR},
+        {PixelType_Gvsp_BayerRBGG8, cv::COLOR_BayerRG2BGR}};
+      
+      auto it = type_map.find(pixel_type);
+      if (it != type_map.end()) {
+        cv::cvtColor(img, dst_image, it->second);
+        img = dst_image;
+      } else if (is_color && pixel_type == PixelType_Gvsp_RGB8_Packed) {
+        // Convert RGB to BGR
+        cv::cvtColor(img, dst_image, cv::COLOR_RGB2BGR);
+        img = dst_image;
+      } else if (!is_color) {
+        tools::logger()->warn("Unsupported pixel type: {:#x}. Camera may be outputting already converted format. Using raw image.", pixel_type);
+        // If pixel format is not in the map, the image might already be in the desired format
+        img = img;
+      }
 
       queue_.push({img, timestamp});