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修复hik相机报错

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This commit is contained in:
Robofish 2025-12-15 20:00:51 +08:00
parent cc767394b8
commit 6962892648
4 changed files with 45 additions and 20 deletions
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0
build.sh Executable file
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16
configs/camera.yaml
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@ -1,9 +1,9 @@
camera_name: "mindvision" # camera_name: "mindvision"
exposure_ms: 2 # exposure_ms: 2
gamma: 0.5 # gamma: 0.5
vid_pid: "f622:d13a" # vid_pid: "f622:d13a"
# camera_name: "hikrobot" camera_name: "hikrobot"
# exposure_ms: 3 exposure_ms: 3
# gain: 10.0 gain: 10.0
# vid_pid: "2bdf:0001" vid_pid: "2bdf:0001"

6
configs/sentry.yaml
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@ -1,5 +1,5 @@
# enemy_color: "red" enemy_color: "red"
enemy_color: "blue" # enemy_color: "blue"
#####-----神经网络参数-----##### #####-----神经网络参数-----#####
@ -10,7 +10,7 @@ yolov8_model_path: assets/yolov8.xml
yolov5_model_path: assets/yolov5.xml yolov5_model_path: assets/yolov5.xml
device: GPU device: GPU
min_confidence: 0.8 min_confidence: 0.8
use_traditional: true use_traditional: false
#####-----ROI-----##### #####-----ROI-----#####
roi: roi:

41
io/hikrobot/hikrobot.cpp
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@ -116,7 +116,21 @@ void HikRobot::capture_start()
} }
auto timestamp = std::chrono::steady_clock::now(); 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.nWidth = raw.stFrameInfo.nWidth;
cvt_param.nHeight = raw.stFrameInfo.nHeight; cvt_param.nHeight = raw.stFrameInfo.nHeight;
@ -130,16 +144,27 @@ void HikRobot::capture_start()
cvt_param.enDstPixelType = PixelType_Gvsp_BGR8_Packed; cvt_param.enDstPixelType = PixelType_Gvsp_BGR8_Packed;
// ret = MV_CC_ConvertPixelType(handle_, &cvt_param); // ret = MV_CC_ConvertPixelType(handle_, &cvt_param);
const auto & frame_info = raw.stFrameInfo;
auto pixel_type = frame_info.enPixelType;
cv::Mat dst_image; cv::Mat dst_image;
const static std::unordered_map<MvGvspPixelType, cv::ColorConversionCodes> type_map = { const static std::unordered_map<MvGvspPixelType, cv::ColorConversionCodes> type_map = {
{PixelType_Gvsp_BayerGR8, cv::COLOR_BayerGR2RGB}, {PixelType_Gvsp_BayerGR8, cv::COLOR_BayerGR2BGR},
{PixelType_Gvsp_BayerRG8, cv::COLOR_BayerRG2RGB}, {PixelType_Gvsp_BayerRG8, cv::COLOR_BayerRG2BGR},
{PixelType_Gvsp_BayerGB8, cv::COLOR_BayerGB2RGB}, {PixelType_Gvsp_BayerGB8, cv::COLOR_BayerGB2BGR},
{PixelType_Gvsp_BayerBG8, cv::COLOR_BayerBG2RGB}}; {PixelType_Gvsp_BayerBG8, cv::COLOR_BayerBG2BGR},
cv::cvtColor(img, dst_image, type_map.at(pixel_type)); {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; 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}); queue_.push({img, timestamp});