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实现功能：
- 录制视频。
/* * ===================================================================================== * * Filename: SwissRangerSampleGui.cpp * Environment: * Description: 使用opencv获取深度和幅度数据并且录制视频 * * * Version: 1.0 * Created: 2013/11/6 21:55:43 * Author: yuliyang I* * Mail: wzyuliyang911@gmail.com * Blog: http://www.cnblogs.com/yuliyang * * ===================================================================================== */ #include "stdafx.h" //#include <vld.h> #include "SwissRangerSampleGui.h" #include "commdlg.h" #include "commctrl.h" #pragma comment( lib, "comctl32" ) //Used for slider control #include "richedit.h" #include <math.h> #include "opencv2/core/core.hpp" #include "opencv2/highgui/highgui.hpp" #include "opencv2/imgproc/imgproc.hpp" /*------------------------------------------------------------------------------------------------------------ * rgb2gray用到 *------------------------------------------------------------------------------------------------------------*/ #include "opencv2/imgproc/imgproc_c.h" #include "opencv2/core/core_c.h" #include "opencv2/highgui/highgui_c.h" using namespace cv; CvVideoWriter *distance_vedio; /* 写入距离 */ CvVideoWriter *amp_vedio; /* 写入幅度 */ IplImage *video_a; /* 幅度数据的临时图像 */ IplImage *video_d; /* 距离数据的临时图像 */ IplImage *tempbule; /* 蓝色单通道 */ IplImage *tempgreen; /* 绿色单通道 */ IplImage *tempred; /* 红色单通道 */ IplImage *tempbule_A; /* 幅度(Amp)室外蓝色单通道 */ IplImage *tempgreen_A; /* 幅度彩色图像的绿色通道 */ IplImage *tempred_A; /* 幅度彩色图像的红色通道 */ IplImage *temprgb; /* 距离图像(D)的彩色如何图像 */ IplImage *temprgb_A; /* 幅度彩色融合图像 */ IplImage *tempgray; /* 距离图像的灰度图 */ IplImage *tempgray_A; /* 幅度图像的灰度图 */ bool start_flag(false); /* 未用到 */ bool stop_flag(false); /* 未用到 */ HANDLE hT=NULL; /*------------------------------------------------------------------------------------------------------------ * 本打算用子线程录制视频的，但是没用到 *------------------------------------------------------------------------------------------------------------*/ DWORD WINAPI ThreadFunction(LPVOID lpParameter) { while (TRUE){ if (video_a==NULL) { video_a=cvCreateImage(cvSize(176,144),IPL_DEPTH_16U,1); video_d=cvCreateImage(cvSize(176,144),IPL_DEPTH_16U,3); } else{ /*cvWriteFrame(distance_vedio,video_d); cvWriteFrame(amp_vedio,video_a);*/ // video_a=cvCreateImage(cvSize(176,144),IPL_DEPTH_16U,1); // video_d=cvCreateImage(cvSize(176,144),IPL_DEPTH_16U,3); cvShowImage("0",video_a); cvShowImage("1",video_d); } } MessageBox(NULL,"helo","sd",MB_OK); return true; } #ifndef DOXYGEN //exclude these defines from doxygen // Global Variables: static HINSTANCE hInst; // current instance HINSTANCE AfxGetInstanceHandle(){return hInst;} CPreciseTimer precTimer; #define LIMIT(val,min,max) (((val)<(min))?(min):(((val)>(max))? (max):(val))) #ifndef D3DCOLOR_ARGB typedef DWORD D3DCOLOR; //!<32 bit color value #define D3DCOLOR_ARGB(a,r,g,b) ((D3DCOLOR)((((a)&0xff)<<24)|(((r)&0xff)<<16)|(((g)&0xff)<<8)|((b)&0xff))) #endif //Colors for error overflow etc. #define OVFL_COL D3DCOLOR_ARGB(0,0xff,0xe0,0xc0) #define UDFL_COL D3DCOLOR_ARGB(0,0xc0,0xe0,0xff) #define ERR_COL D3DCOLOR_ARGB(0,0x00,0xe0,0x00) #endif //DOXYGEN //!The RGBColMap struct is used to generate colormaps. //!This is a local class in the file OCTViewSlice.cpp typedef struct { BYTE pos;//!<position in the color shading BYTE r; //!<red value BYTE g; //!<green value BYTE b; //!<blue value } RGBColMap; //!<colormap entry for SetColormap() static const RGBColMap jet[]={ {0x00, 0x00, 0x00, 0x80}, {0x20, 0x00, 0x00, 0xff}, {0x60, 0x00, 0xff, 0xff}, {0xa0, 0xff, 0xff, 0x00}, {0xe0, 0xff, 0x00, 0x00}, {0xff, 0x80, 0x00, 0x00} }; //!fills a folormap with a desired color shading void SetColormap(const RGBColMap* cm, RGBQUAD* col) { int i,x; float f; col[0].rgbBlue =(BYTE)cm[0].b; col[0].rgbGreen=(BYTE)cm[0].g; col[0].rgbRed =(BYTE)cm[0].r; col[0].rgbReserved=0x00; x=1; for (i=1;i<256;i++) { while (cm[x].pos<i)x++; f=((float)i-cm[x-1].pos)/(cm[x].pos-cm[x-1].pos); col[i].rgbBlue =(BYTE)(f*cm[x].b+(1.-f)*cm[x-1].b); col[i].rgbGreen=(BYTE)(f*cm[x].g+(1.-f)*cm[x-1].g); col[i].rgbRed =(BYTE)(f*cm[x].r+(1.-f)*cm[x-1].r); col[i].rgbReserved=0x00; } } //!Loops and calls CWndSwissranger::Acquire() until CCameraThread::Stop() is called DWORD CCameraThread::CameraLoop() { while(!_stop) { _srWnd->Acquire(); } return 0; } const TCHAR* CWndSwissranger::_wndClass="WndSwissrangerClass"; const TCHAR* CWndSwissranger::_wndTitle="Swissranger"; //!ingroup swissRangerSampleGui //!This is he main entry function that allocates a CWndSwissranger object, creates the window and starts the message loop. int APIENTRY _tWinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, LPTSTR lpCmdLine, int nCmdShow) { MSG msg; WINDOWINFO winf; HACCEL hAccelTable; HWND dlg; hInst = hInstance; InitCommonControls(); SR_CheckForNewDllVersion(0); CWndSwissranger wndSR; wndSR.Create(hInstance,0); hAccelTable = LoadAccelerators(hInstance, (LPCTSTR)IDC_SWISSRANGERSAMPLEGUI); // Main message loop: while (GetMessage(&msg, NULL, 0, 0)) { if (TranslateAccelerator(msg.hwnd, hAccelTable, &msg))continue; dlg=msg.hwnd; while(IsWindow(dlg) && GetWindowInfo(dlg,&winf)) { if ((winf.dwStyle&WS_POPUP) && IsDialogMessage(dlg, &msg)) { goto cont2; } dlg=GetParent(dlg); } TranslateMessage(&msg); DispatchMessage(&msg); cont2:; } return (int) msg.wParam; } //!redirects the call from this static function to the method WindowProc BOOL CALLBACK CDlgAbout::SWindowProc(HWND hDlg, UINT message, WPARAM wParam, LPARAM lParam) { CDlgAbout* pWnd; if (message == WM_INITDIALOG) { pWnd=(CDlgAbout*)lParam; pWnd->_hWnd=hDlg; // get the pointer to the window from lpCreateParams which was set in CreateWindow SetWindowLong(hDlg, GWL_USERDATA, (long)(lParam)); pWnd->OnInitialUpdate(); return TRUE; } // get the pointer to the window pWnd = GetObjectFromWindow(hDlg); // if we have the pointer, go to the message handler of the window // else, use DefWindowProc if (pWnd) return pWnd->WindowProc(hDlg, message, wParam, lParam); else return FALSE; } //!window message handling function BOOL CALLBACK CDlgAbout::WindowProc(HWND hDlg, UINT message, WPARAM wParam, LPARAM lParam) { switch (message) { case WM_INITDIALOG: return TRUE; case WM_COMMAND: if (LOWORD(wParam) == IDOK || LOWORD(wParam) == IDCANCEL) { EndDialog(hDlg, LOWORD(wParam)); return TRUE; } break; } return FALSE; } CWndSwissranger* CWndSwissranger::_cbInstance=0; //!registers a new window class ATOM CWndSwissranger::RegisterClass(HINSTANCE hInstance) { static bool registered=false; if(registered)return 0; registered=true; WNDCLASSEX wcex; wcex.cbSize = sizeof(WNDCLASSEX); wcex.style = CS_HREDRAW | CS_VREDRAW; //wcex.lpfnWndProc = SWindowProc; wcex.cbClsExtra = 0; wcex.cbWndExtra = 0; wcex.hInstance = hInstance; wcex.hIcon = LoadIcon(hInstance, (LPCTSTR)IDI_SWISSRANGERSAMPLEGUI); wcex.hCursor = LoadCursor(NULL, IDC_ARROW); wcex.hbrBackground = (HBRUSH)(COLOR_WINDOW+1); wcex.lpszMenuName = (LPCTSTR)IDC_SWISSRANGERSAMPLEGUI; wcex.lpszClassName = _wndClass; wcex.hIconSm = LoadIcon(wcex.hInstance, (LPCTSTR)IDI_SMALL); return RegisterClassEx(&wcex); } //!redirects the call from this static function to the method WindowProc BOOL CALLBACK CWndSwissranger::SWindowProc(HWND hDlg, UINT message, WPARAM wParam, LPARAM lParam) { CWndSwissranger* pWnd; if (message == WM_INITDIALOG) { pWnd=(CWndSwissranger*)lParam; pWnd->_hWnd=hDlg; // get the pointer to the window from lpCreateParams which was set in CreateWindow SetWindowLong(hDlg, GWL_USERDATA, (long)(lParam)); pWnd->OnInitialUpdate(); return TRUE; } // get the pointer to the window pWnd = GetObjectFromWindow(hDlg); // if we have the pointer, go to the message handler of the window // else, use DefWindowProc if (pWnd) return pWnd->WindowProc(hDlg, message, wParam, lParam); else return FALSE; } //!window message handling function BOOL CALLBACK CWndSwissranger::WindowProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam) { int wmId, wmEvent; switch (message) { case WM_COMMAND: wmId = LOWORD(wParam); wmEvent = HIWORD(wParam); // Parse the menu selections: switch (wmId) { case IDOK: case IDCANCEL: { _camThread.Stop(1000); if(IsWindowEnabled(::GetDlgItem(hWnd,IDC_CLOSE))) { OnCloseDev(); } DestroyWindow(hWnd); break; } case IDM_ABOUT: { CDlgAbout about; about.DoModal(AfxGetInstanceHandle(),hWnd); break; } case IDM_EXIT: DestroyWindow(hWnd); break; case ID_SETTINGS_DLL: { if(_srCam) SR_OpenSettingsDlg(_srCam,hWnd); else { MessageBox(hWnd,"No Swissranger camera opened","Warning",MB_ICONEXCLAMATION); } break; } case IDC_CHECK_NEW_DLL: { int res=SR_CheckForNewDllVersion(3); if(res) MessageBox(hWnd,"No new libMesaSR-dll version found","libMesaSR: Info",MB_ICONASTERISK); break; } case ID_OPEN_FORCE_DLG: { OnOpenDlg(2); break; } case IDC_OPEN: case ID_OPEN_DLG: { short s=GetKeyState(VK_LSHIFT); if(s<0)//shift pressed? OnOpenDlg(2); else OnOpenDlg(3); break; } case IDC_ACQUIRE: { //_camThread.Run(this); HWND hcntrl=GetDlgItem(hWnd,IDC_CONTINUOUS); LRESULT lResult = SendMessage(hcntrl, BM_GETCHECK, 0, 0); if(lResult) { if(_camThread.IsRunning()) { _camThread.Stop(0); EnableWindow(::GetDlgItem(hWnd,IDC_CLOSE),TRUE); ::SendMessage(::GetDlgItem(hWnd,IDC_ACQUIRE),WM_SETTEXT,0,(LPARAM)"Acquire"); } else { EnableWindow(::GetDlgItem(hWnd,IDC_CLOSE),FALSE); ::SendMessage(::GetDlgItem(hWnd,IDC_ACQUIRE),WM_SETTEXT,0,(LPARAM)"Stop"); precTimer.StartTimer(); _camThread.Run(this); } } else { precTimer.StartTimer(); Acquire(); } break; } case IDC_CLOSE: { OnCloseDev(); break; } case IDC_MINCOL: { HWND hcntrl=(HWND)lParam; switch(wmEvent) { case EN_CHANGE: { char buf[64]; HWND hcntrl=(HWND)lParam; GetWindowText(hcntrl,buf,_countof(buf)); hcntrl=GetDlgItem(hWnd,IDC_CB_COL); LRESULT lResult = SendMessage(hcntrl,CB_GETCURSEL,0,0); float v=(float)atof(buf); _minVal[lResult]=v; break; } } break; } case IDC_MAXCOL: { HWND hcntrl=(HWND)lParam; switch(wmEvent) { case EN_CHANGE: { char buf[64]; HWND hcntrl=(HWND)lParam; GetWindowText(hcntrl,buf,_countof(buf)); hcntrl=GetDlgItem(hWnd,IDC_CB_COL); LRESULT lResult = SendMessage(hcntrl,CB_GETCURSEL,0,0); float v=(float)atof(buf); _maxVal[lResult]=v; break; } } break; } case IDC_CB_COL: { switch(wmEvent) { case CBN_SELCHANGE: { HWND hcntrl=(HWND)lParam; LRESULT lResult = SendMessage(hcntrl,CB_GETCURSEL,0,0); SetColorLim((int)lResult); break; } } break; } case IDC_AUTO_EXPOSURE: { bool optInt=SendMessage(GetDlgItem(_hWnd,IDC_AUTO_EXPOSURE), BM_GETCHECK, 0, 0)?true:false; if(optInt) SR_SetAutoExposure(_srCam, 5,255,10,45); else SR_SetAutoExposure(_srCam, 255,0,0,0); break; } case IDC_MEDIAN: { if(SendMessage((HWND)lParam,(UINT)BM_GETCHECK,0,0)==BST_CHECKED) SetMode(_acquMode|AM_MEDIAN); else SetMode(_acquMode&~AM_MEDIAN); break; } case IDC_CONV_GRAY: { if(SendMessage((HWND)lParam,(UINT)BM_GETCHECK,0,0)==BST_CHECKED) SetMode(_acquMode|AM_CONV_GRAY); else SetMode(_acquMode&~AM_CONV_GRAY); break; } case IDC_COORD_TRANSF: { HWND hcntrl=GetDlgItem(_hWnd,IDC_COORD_TRANSF); LRESULT lResult = SendMessage(hcntrl, BM_GETCHECK, 0, 0); _coordTrf=lResult?true:false; break; } default: return FALSE; // Didn't process the message: Got a WM_COMMAND message with unknown id. } break; case WM_PAINT: { OnPaint(); break; } case WM_SIZE: { RECT rct0; RECT cltRct; HWND imgWnd0=GetDlgItem(hWnd,IDC_IMAGE0); int w = LOWORD(lParam); int h = HIWORD(lParam); TRACE("WM_SIZE %d,%d",w,h); GetClientRect(hWnd,&cltRct); GetWindowRect(imgWnd0,&rct0);ScreenToClient(hWnd,(LPPOINT)&rct0);ScreenToClient(hWnd,((LPPOINT)&rct0)+1); int d=10; int ww=(cltRct.right-rct0.left-d); MoveWindow(imgWnd0, rct0.left,// rct0.top,// ww, cltRct.bottom-rct0.top-d, true); break; } case WM_DESTROY: PostQuitMessage(0); break; default: return FALSE; // Didn't process the message: Got a WM_COMMAND message with unknown id. } return TRUE; // processed the message } //!fills the dib with image data from the camera /* */ /*------------------------------------------------------------------------------------------------------------ * 主要修改部分by * yuliyang 2013/11/7 20:27:06 * * * * * *------------------------------------------------------------------------------------------------------------*/ void CWndSwissranger::SetDib() /* 该函数在aquire() 图像时重复调用*/ { /*------------------------------------------------------------------------------------------------------------ * * 0000-0xffff 扩展到0x000000-0xffffff每种颜色 * 每种颜色占一个字节 00-ff * 扩张后再分配到各个通道，然后再组装成彩色一幅图 * * * *------------------------------------------------------------------------------------------------------------*/ tempbule=cvCreateImage(cvSize(_imgSz.cx,_imgSz.cy),IPL_DEPTH_8U,1); /* 蓝色单通道 */ tempgreen=cvCreateImage(cvSize(_imgSz.cx,_imgSz.cy),IPL_DEPTH_8U,1); /* 绿色单通道 */ tempred=cvCreateImage(cvSize(_imgSz.cx,_imgSz.cy),IPL_DEPTH_8U,1); /* 红色单通道 */ tempbule_A=cvCreateImage(cvSize(_imgSz.cx,_imgSz.cy),IPL_DEPTH_8U,1); /* 幅度室外蓝色单通道 */ tempgreen_A=cvCreateImage(cvSize(_imgSz.cx,_imgSz.cy),IPL_DEPTH_8U,1); tempred_A=cvCreateImage(cvSize(_imgSz.cx,_imgSz.cy),IPL_DEPTH_8U,1); temprgb=cvCreateImage(cvSize(_imgSz.cx,_imgSz.cy),IPL_DEPTH_8U,3); temprgb_A=cvCreateImage(cvSize(_imgSz.cx,_imgSz.cy),IPL_DEPTH_8U,3); tempgray=cvCreateImage(cvSize(_imgSz.cx,_imgSz.cy),IPL_DEPTH_8U,1); tempgray_A=cvCreateImage(cvSize(_imgSz.cx,_imgSz.cy),IPL_DEPTH_8U,1); //IplImage *temp0=cvCreateImage(cvSize(176,144),IPL_DEPTH_16U,1); if (distance_vedio==NULL) /* 第一次是初始化视频读写 */ { distance_vedio=cvCreateVideoWriter("distance.avi",CV_FOURCC('X','V','I','D'),20,cvSize(_imgSz.cx,_imgSz.cy),1); /* 彩色 */ amp_vedio=cvCreateVideoWriter("amp.avi",CV_FOURCC('X','V','I','D'),20,cvSize(_imgSz.cx,_imgSz.cy),0); /* 灰度 */ } if (video_a==NULL) /* 图像无数据时 */ { video_a=cvCreateImage(cvSize(176,144),IPL_DEPTH_16U,1); /* 因为获取图像与写入图像有时间差 */ video_d=cvCreateImage(cvSize(176,144),IPL_DEPTH_16U,3); } cvNamedWindow("distance",CV_WINDOW_AUTOSIZE); cvNamedWindow("amp",CV_WINDOW_AUTOSIZE); cvNamedWindow("gray",CV_WINDOW_AUTOSIZE); cvNamedWindow("amp_gray",CV_WINDOW_AUTOSIZE); //cvNamedWindow("0",CV_WINDOW_AUTOSIZE); /*------------------------------------------------------------------------------------------------------------ * 获取距离图像 * *------------------------------------------------------------------------------------------------------------*/ if(_dibCam) { int i,idx,img; int row=0; int col=0; float v,minVal,step; img=0;idx=0; if(_coordTrf) { int res; float lambda[MF_LAST]={3.75f, 5.f, 7.142857f, 7.5f, 7.894737f, 2.5f, 10.f, 15.f, 5.172414f, 4.838710f, 10.344828f, 9.677419f};//MF_40MHz,MF_30MHz,MF_21MHz,MF_20MHz,MF_19MHz,... ModulationFrq frq=SR_GetModulationFrequency(_srCam); res=SR_CoordTrfFlt(_srCam, 0,0,_z, sizeof(float),sizeof(float),sizeof(float)); minVal=_minVal[img]; step=(float)0xff/(_maxVal[img]-_minVal[img]); for(i=0;i<_imgSz.cx*_imgSz.cy;i++,idx++) { row=i/_imgSz.cx; col=i%_imgSz.cx; v=(_z[i]*((float)(1<<16)/lambda[frq])-minVal)*step; _dibCam[idx]=_bmiScale->bmiColors[(BYTE)LIMIT(v,0,255)]; /*------------------------------------------------------------------------------------------------------------ * 获取3个通道的数据分别给opencv图像赋值 * *------------------------------------------------------------------------------------------------------------*/ BYTE Blue1 =_dibCam[idx].rgbBlue; BYTE Green1=_dibCam[idx].rgbGreen; BYTE Red1=_dibCam[idx].rgbRed; CV_IMAGE_ELEM( tempbule, uchar, row,col )=Blue1; CV_IMAGE_ELEM( tempgreen, uchar, row,col )=Green1; CV_IMAGE_ELEM( tempred, uchar, row,col )=Red1; } cvMerge(tempbule,tempgreen,tempred,NULL,temprgb); /* 图像融合 */ cvShowImage("distance",temprgb); cvCvtColor(temprgb,tempgray,CV_RGB2GRAY); cvShowImage("gray",tempgray); video_d=temprgb; // cvShowImage("1",video_d); cvWriteFrame(distance_vedio,temprgb); /* 写入视频文件 */ // cvCopy(temprgb,video_d,0); cvWaitKey(10); img++; } /*------------------------------------------------------------------------------------------------------------ * 获取幅度图像 * *------------------------------------------------------------------------------------------------------------*/ //cvShowImage("1",video_d); cvWriteFrame(amp_vedio,video_d); for(;img<_numImg;img++) { WORD* p=(WORD*)_imgEntryArray[img].data; unsigned short int * pdata0; pdata0=(unsigned short int *)SR_GetImage(_srCam, 1); /* 原数据 */ minVal=_minVal[img]; step=(float)0xff/(_maxVal[img]-_minVal[img]); for(i=0;i<_imgSz.cx*_imgSz.cy;i++,idx++) { int row=i/_imgSz.cx; /* 行 */ int col=i%_imgSz.cx; /* 列 */ v=((float)p[i]-minVal)*step; _dibCam[idx]=_bmiScale->bmiColors[(BYTE)LIMIT(v,0,255)]; /*------------------------------------------------------------------------------------------------------------ * 幅度数据的赋值 * *------------------------------------------------------------------------------------------------------------*/ BYTE Blue1 =_dibCam[idx].rgbBlue; BYTE Green1=_dibCam[idx].rgbGreen; BYTE Red1=_dibCam[idx].rgbRed; CV_IMAGE_ELEM( tempbule_A, uchar, row,col )=Blue1; CV_IMAGE_ELEM( tempgreen_A, uchar, row,col )=Green1; CV_IMAGE_ELEM( tempred_A, uchar, row,col )=Red1; } cvMerge(tempbule_A,tempgreen_A,tempred_A,NULL,temprgb_A); cvShowImage("amp",temprgb_A); /* 融合 */ cvCvtColor(temprgb_A,tempgray_A,CV_RGB2GRAY); cvShowImage("amp_gray",tempgray_A); //cvWriteFrame(amp_vedio,tempgray_A); // cvCopy(tempgray_A,video_a,0); video_a=tempgray_A; cvWaitKey(10); //for (int i=0;i<144;i++) //{ // for (int j=0;j<176;j++) // { // CV_IMAGE_ELEM( temp0, unsigned short int, i, j)=*pdata0; /* 给图像赋值 */ // pdata0++; // } //} //cvShowImage("0",temp0); //cvWaitKey(10); } // cvShowImage("0",video_a); cvWriteFrame(amp_vedio,video_a); /* 写入幅度视频文件 */ } InvalidateRect(_hWnd,0,false); /* 重绘窗口 */ cvReleaseImage(&tempbule); cvReleaseImage(&tempgreen); cvReleaseImage(&tempred); cvReleaseImage(&temprgb); // cvDestroyWindow("distance"); } //!redirects the call from this static function to the method SRFuncCB int CWndSwissranger::SSRFuncCB(SRCAM srCam, unsigned int msg, unsigned int param, void* data) { if(!_cbInstance) return 0; return _cbInstance->SRFuncCB(srCam, msg, param, data); } //!callback function of the libMesaSR. It enters/leaves the critical section during changes int CWndSwissranger::SRFuncCB(SRCAM srCam, unsigned int msg, unsigned int param, void* data) { switch(msg) { default: return SR_GetDefaultCallback()(srCam,msg,param,data); break; case CM_CHANGING: EnterCritSec(); break; case CM_CHANGED: if(param) AllocObj(); LeaveCritSec(); break; } return 0; } //!allocates memory for _dibCam buffer and initializes the _bmiCam structure void CWndSwissranger::AllocObj() { _imgSz.cx=SR_GetCols(_srCam); _imgSz.cy=SR_GetRows(_srCam); _numImg=SR_GetImageList(_srCam,&_imgEntryArray); SAFE_FREE(_dibCam); _dibCam=(RGBQUAD*)malloc(_imgSz.cx*_imgSz.cy*_numImg*sizeof(RGBQUAD));//RGBQUAD, RGBTRIPLE, BYTE, WORD _bmiCam->bmiHeader.biWidth =_imgSz.cx; _bmiCam->bmiHeader.biHeight=-_numImg*_imgSz.cy; SAFE_FREE(_z); _z=(float*)malloc(_imgSz.cx*_imgSz.cy*sizeof(float)); } //!frees all allocated objects void CWndSwissranger::Free() { SAFE_FREE(_dibCam); SAFE_FREE(_bmiCam); SAFE_FREE(_dibScale); SAFE_FREE(_bmiScale); SAFE_FREE(_z); } //!initializes _maxVal,_bmiCam, _bmiScale and allocates _dibScale void CWndSwissranger::Initialize() { int i; for(i=0;i<_countof(_minVal);i++) { _minVal[i]=0; _maxVal[i]=0xffff; } _maxVal[0]=30000.f; _maxVal[1]=15000.f; _maxVal[2]=30000.f; _maxVal[3]=15000.f; _bmiCam=(BITMAPINFO*)malloc(sizeof(BITMAPINFOHEADER)+1*sizeof(RGBQUAD)); memset(_bmiCam,0,sizeof(BITMAPINFOHEADER)); _bmiCam->bmiHeader.biSize = sizeof(BITMAPINFOHEADER); _bmiCam->bmiHeader.biPlanes = 1; _bmiCam->bmiHeader.biBitCount = 32; _bmiCam->bmiHeader.biCompression = BI_RGB; _bmiScale=(BITMAPINFO*)malloc(sizeof(BITMAPINFOHEADER)+256*sizeof(RGBQUAD)); memset(_bmiScale,0,sizeof(BITMAPINFOHEADER)); _bmiScale->bmiHeader.biSize = sizeof(BITMAPINFOHEADER); _bmiScale->bmiHeader.biPlanes = 1; _bmiScale->bmiHeader.biBitCount = 8; _bmiScale->bmiHeader.biCompression = BI_RGB; _bmiScale->bmiHeader.biWidth=256; _bmiScale->bmiHeader.biHeight=1; //alloc and fill scale DIB int x; _dibScale=(BYTE*)malloc(256*sizeof(BYTE)); for (x=0;x<256;x++)_dibScale[x]=x; SetColormap(jet,_bmiScale->bmiColors); } //!When the window is created this function will be called void CWndSwissranger::OnInitialUpdate() { LRESULT lResult; HWND hcntrl; int i; char buf[64]; HICON hIcon=LoadIcon(hInst, (LPCTSTR)IDI_SMALL); lResult = SendMessage(_hWnd, WM_SETICON, ICON_BIG, (LPARAM)hIcon); lResult = SendMessage(_hWnd, WM_SETICON, ICON_SMALL, (LPARAM)hIcon); hcntrl=GetDlgItem(_hWnd,IDC_CB_COL); for(i=0;i<_countof(_minVal);i++) { _snprintf(buf,_countof(buf),"Image %d",i); lResult = SendMessage(hcntrl,CB_INSERTSTRING,-1,(LPARAM)buf); } lResult = SendMessage(hcntrl,CB_SETCURSEL,0,0); SetColorLim(0); hcntrl=GetDlgItem(_hWnd,IDC_CONTINUOUS); lResult = SendMessage(hcntrl, BM_SETCHECK, BST_CHECKED, 0); hcntrl=GetDlgItem(_hWnd,IDC_COORD_TRANSF); lResult = SendMessage(hcntrl, BM_SETCHECK, BST_CHECKED, 0); _coordTrf=true; } //!Sets the acuire mode of the camera void CWndSwissranger::SetMode(int mode) { EnterCritSec(); _acquMode=mode; SR_SetMode(_srCam, mode); LeaveCritSec(); } //!Sets color limits _minVal[idx] and _maxVal[idx] according to the gui settings void CWndSwissranger::SetColorLim(int idx) { HWND hcntrl; char buf[64]; hcntrl=GetDlgItem(_hWnd,IDC_MINCOL); _snprintf(buf,_countof(buf),"%.2f",_minVal[idx]); SetWindowText(hcntrl,buf); hcntrl=GetDlgItem(_hWnd,IDC_MAXCOL); _snprintf(buf,_countof(buf),"%.2f",_maxVal[idx]); SetWindowText(hcntrl,buf); } //!called when close button is pressed /*------------------------------------------------------------------------------------------------------------ * 释放视频文件 * * * *------------------------------------------------------------------------------------------------------------*/ void CWndSwissranger::OnCloseDev() { /*------------------------------------------------------------------------------------------------------------ * 重要：如果不释放的话得到的视频文件大小是不对的只有6K大小 * * *------------------------------------------------------------------------------------------------------------*/ cvReleaseVideoWriter(&distance_vedio); /* 释放距离视频资源 */ cvReleaseVideoWriter(&_vedio); /* 释放幅度图像资源 */ int res; TRACE("swissrangerTester: SR_Close"); res=SR_Close(_srCam); EnableWindow(::GetDlgItem(_hWnd,IDC_OPEN),TRUE); if (res < 0) { TRACE("Failed to close device: error %d",res); //but change the button states anyway, no return; } EnableWindow(::GetDlgItem(_hWnd,IDC_CLOSE),FALSE); EnableWindow(::GetDlgItem(_hWnd,IDC_ACQUIRE),FALSE); _srCam=0;//there are no valid device opened } //!called on a WM_PAINT message void CWndSwissranger::OnPaint() { char buf[256]; _snprintf(buf,_countof(buf)," %.2f fps ",1.f/_timePerFrame); HWND hcntrl=GetDlgItem(_hWnd,IDC_TX_FPS); ::SetWindowText(hcntrl,buf); PAINTSTRUCT ps; HDC hdc; HWND imgWnd; hdc = BeginPaint(_hWnd, &ps); EndPaint(_hWnd, &ps); imgWnd=GetDlgItem(_hWnd,IDC_IMAGE0); /*------------------------------------------------------------------------------------------------------------ * 删除掉了DC的绘图操作代码 * * *------------------------------------------------------------------------------------------------------------*/ //hdc = BeginPaint(imgWnd, &ps); //RECT rect; //GetClientRect(imgWnd,&rect); //float fct; //if(_dibScale) //{ // const SIZE sz={_bmiScale->bmiHeader.biWidth,_bmiScale->bmiHeader.biHeight}; // fct=(float)(rect.right-10)/sz.cx; // StretchDIBits(hdc, 5, 5, (int)(fct*sz.cx), 10, 0, 0, // x,y,w,h destination // x,y source // _bmiScale->bmiHeader.biWidth, _bmiScale->bmiHeader.biHeight, // width & height in source // _dibScale, _bmiScale, // pointer to 'bits' //BITMAPINFOHEADER // DIB_RGB_COLORS, SRCCOPY); //} //if(_dibCam) //{ // const SIZE sz={_bmiCam->bmiHeader.biWidth,-_bmiCam->bmiHeader.biHeight}; // fct=min((float)(rect.right-10)/sz.cx,(float)(rect.bottom-25)/sz.cy); // StretchDIBits(hdc, 5, 20, (int)(fct*sz.cx), (int)(fct*sz.cy), 0, 0, // x,y,w,h destination // x,y source // _bmiCam->bmiHeader.biWidth, -_bmiCam->bmiHeader.biHeight, // width & height in source // _dibCam, _bmiCam, // pointer to 'bits' //BITMAPINFOHEADER // DIB_RGB_COLORS, SRCCOPY); //} //EndPaint(imgWnd, &ps); return; } //!called when open button is pressed void CWndSwissranger::OnOpenDlg(int mode) { TRACE("swissrangerTester: SR_Open device"); if (_srCam) { TRACE("Swiss Ranger device already opened."); return; } int res; res=SR_OpenDlg(&_srCam,mode,_hWnd); SendMessage(GetDlgItem(_hWnd,IDC_AUTO_EXPOSURE), BST_UNCHECKED, 0, 0); _acquMode=SR_GetMode(_srCam); SendMessage((HWND)GetDlgItem(_hWnd,IDC_MEDIAN),(UINT)BM_SETCHECK, (_acquMode&AM_MEDIAN)?BST_CHECKED:BST_UNCHECKED,0); SendMessage((HWND)GetDlgItem(_hWnd,IDC_CONV_GRAY),(UINT)BM_SETCHECK, (_acquMode&AM_CONV_GRAY)?BST_CHECKED:BST_UNCHECKED,0); if (res<=0) { TRACE("Couldn't connect to Swiss Ranger device error %d",res); return; } TRACE("swissrangerTester: Device opened successfully device handle=%d",_srCam); AllocObj(); EnableWindow(::GetDlgItem(_hWnd,IDC_OPEN),FALSE); EnableWindow(::GetDlgItem(_hWnd,IDC_CLOSE),TRUE); EnableWindow(::GetDlgItem(_hWnd,IDC_ACQUIRE),TRUE); } //!Acquires an image and displays it void CWndSwissranger::Acquire() { EnterCritSec(); int res=SR_Acquire(_srCam); if (res < 0) { TRACE("Failed to acquire the measurement"); } else { //logPrintf("swissrangerTester: %d bytes read", res); SetDib(); } LeaveCritSec(); __int64 tic=precTimer.GetTime();precTimer.StartTimer(); static __int64 smtic=0; _timePerFrame=0.90f*_timePerFrame+0.10f*(float)tic/1e6f; smtic+=tic; smtic=0; }
