205 lines
8.0 KiB
C++
Executable File
205 lines
8.0 KiB
C++
Executable File
#pragma once
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#include "IStructuredLightCamera.h"
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#include <atomic>
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#include <memory>
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#include <mutex>
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/**
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* @file VizumCamera.h
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* @brief 伟景智能 Vizum 结构光相机封装类
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*
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* 基于 VzNLSDK 封装，实现 IStructuredLightCamera 接口。
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* 伟景相机是一款基于双目+激光扫描的3D相机。
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*/
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namespace StructuredLight {
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struct ROIRect {
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int left = 0;
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int right = 0;
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int top = 0;
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int bottom = 0;
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};
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/**
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* @brief 伟景智能 Vizum 结构光相机实现类
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*/
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class VizumCamera : public IStructuredLightCamera {
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public:
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VizumCamera();
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~VizumCamera() override;
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// 禁用拷贝
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VizumCamera(const VizumCamera&) = delete;
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VizumCamera& operator=(const VizumCamera&) = delete;
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// ========================================================================
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// IStructuredLightCamera 接口实现 - 基本操作
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// ========================================================================
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std::string GetSDKVersion() const override;
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SLCameraBrand GetBrand() const override { return SLCameraBrand::Vizum; }
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bool SearchCameras(std::vector<SLDeviceInfo>& deviceList) override;
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bool Connect(const std::string& ipAddress) override;
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void Disconnect() override;
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bool IsConnected() const override;
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bool GetDeviceInfo(SLDeviceInfo& info) override;
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// ========================================================================
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// IStructuredLightCamera 接口实现 - 同步采集
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// ========================================================================
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bool TriggerCapture(std::string& frameId,
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CaptureType captureType = CaptureType::All) override;
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bool GetImage(const std::string& frameId, SLImage& image) override;
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bool GetPointCloud(const std::string& frameId, PointCloud& cloud) override;
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bool GetPointCloudRaw(const std::string& frameId,
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float* buffer, size_t bufferSize) override;
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bool GetPointCloudVector(const std::string& frameId,
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std::vector<float>& data) override;
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bool GetDepthMap(const std::string& frameId, DepthMap& depthMap) override;
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bool GetDepthMapRaw(const std::string& frameId,
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float* buffer, size_t bufferSize) override;
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bool CaptureFrame(FrameData& frameData,
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CaptureType captureType = CaptureType::All) override;
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// ========================================================================
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// IStructuredLightCamera 接口实现 - 异步采集（预留）
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// ========================================================================
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bool StartAsyncCapture(FrameCallback callback,
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CaptureType captureType = CaptureType::All) override;
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void StopAsyncCapture() override;
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bool IsAsyncCapturing() const override;
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// ========================================================================
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// IStructuredLightCamera 接口实现 - 相机参数
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// ========================================================================
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bool GetCameraMatrix(CameraMatrix& matrix) override;
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bool GetCameraMatrixVector(std::vector<float>& matrix) override;
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bool GetDistortionCoeffs(DistortionCoeffs& coeffs) override;
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bool GetDistortionCoeffsVector(std::vector<float>& coeffs) override;
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// ========================================================================
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// IStructuredLightCamera 接口实现 - 配置
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// ========================================================================
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bool GetIntParam(const std::string& name, int& value) override;
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bool SetIntParam(const std::string& name, int value) override;
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bool GetFloatParam(const std::string& name, float& value) override;
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bool SetFloatParam(const std::string& name, float value) override;
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bool GetStringParam(const std::string& name, std::string& value) override;
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bool SetStringParam(const std::string& name, const std::string& value) override;
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bool GetConfig(std::string& configJson) override;
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bool SetConfig(const std::string& configJson) override;
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// ========================================================================
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// 伟景相机特有方法
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// ========================================================================
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/**
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* @brief 初始化SDK（全局只需调用一次）
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* @return 是否成功
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*/
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static bool InitSDK();
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/**
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* @brief 销毁SDK（程序退出时调用）
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*/
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static void DestroySDK();
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/**
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* @brief 获取左目图像
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* @param[out] image 输出图像
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* @return 是否成功
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*/
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bool GetLeftImage(SLImage& image);
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/**
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* @brief 获取右目图像
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* @param[out] image 输出图像
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* @return 是否成功
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*/
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bool GetRightImage(SLImage& image);
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/**
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* @brief 临时把左右检测 ROI 配置为全幅，采集左目全图后恢复初始 ROI
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* @param[out] image SDK 返回的矫正全幅左目图（尺寸等于设备分辨率，原点必须为(0,0)）
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* @param[out] frameId 本次采集帧编号
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* @param[in] initialLeftROI 连接时缓存的左目点云 ROI，也是唯一恢复目标
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* @param[in] initialRightROI 连接时缓存的右目点云 ROI，也是唯一恢复目标
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* @param[out] cameraStateRestored 返回前是否确认初始 ROI、CalibROI 和输出模式均已恢复
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* @return 全幅 ROI 配置、采集、SDK 图像释放、初始 ROI 恢复及校验是否全部成功
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* @note 该事务按 SDK 官方示例调用 ConfigDetectROI；任何失败路径都会尝试恢复初始左右 ROI
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*/
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bool CaptureFullFrameLeftImage(SLImage& image,
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std::string& frameId,
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const ROIRect& initialLeftROI,
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const ROIRect& initialRightROI,
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bool& cameraStateRestored);
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/**
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* @brief 启用/禁用矫正 ROI 图像输出(VzNL_EnableCalibROI)
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* @param enable true=启用;启用后 GetLeftImage/GetRightImage 返回 SDK 矫正图
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* @return 是否成功
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* @note 需在 Connect 成功后调用
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*/
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bool SetCalibROIEnabled(bool enable);
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/**
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* @brief 读取当前左右目检测 ROI，不修改相机配置
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* @param[out] leftROI 左目检测 ROI（全幅图坐标）
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* @param[out] rightROI 右目检测 ROI（全幅图坐标）
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* @return 是否成功
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*/
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bool GetDetectROI(ROIRect& leftROI, ROIRect& rightROI);
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/**
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* @brief 启动自动检测模式进行摆镜扫描采集点云
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* @param[out] pointCloud 输出点云
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* @param[in] timeoutMs 超时时间（毫秒），默认3000ms
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* @return 是否成功
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* @note 此方法用于静态场景，通过摆镜扫描累积点云
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* @note 重写基类方法
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*/
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bool CapturePointCloudWithAutoDetect(PointCloud& pointCloud, int timeoutMs = 3000) override;
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/**
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* @brief 获取累积的扫描线数据（用于保存点云文件）
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* @return 扫描线数据，每条扫描线包含一组3D点
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*/
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std::vector<std::vector<Point3D>> GetAccumulatedScanLines();
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/**
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* @brief 清除累积的扫描线数据
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*/
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void ClearAccumulatedScanLines();
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private:
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struct Impl;
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friend struct VizumCameraCallbackHooks;
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// SDK初始化状态
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static std::atomic<bool> s_sdkInitialized;
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static std::mutex s_sdkMutex;
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// 内部辅助方法
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bool UpdateDeviceInfo();
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bool CaptureAndCacheData(CaptureType captureType);
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bool ConvertVzImageToSLImage(void* vzImage, SLImage& slImage);
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void HandleAutoOutputLaserLine(int dataType, void* laserLinePoint);
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void HandleDeviceStatusChange(int status);
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void ConvertLaserLineDataToPointCloud(void* laserLinePoint);
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std::unique_ptr<Impl> m_impl;
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};
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SLCameraPtr CreateVizumCamera();
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} // namespace StructuredLight
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