增加3d拍照
LAPTOP-S9HJSOEB\昊天
1 year ago
parent
efd40fa08c
commit
5ddc663563
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@ -0,0 +1,12 @@
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package com.zhehekeji.web.service.IndustrialCamera;
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public interface CameraSaveUtil {
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/**
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*
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* @param sn sn
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* @param path 图片路径
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* @param type 暂时默认sn 后续可以添加ip等
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* @return
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*/
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boolean saveImage(String sn,String path,String type);
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}
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@ -0,0 +1,50 @@
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package com.zhehekeji.web.service.IndustrialCamera;
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import com.sun.jna.Library;
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import com.sun.jna.Native;
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import com.sun.jna.Pointer;
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import com.sun.jna.Structure;
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import com.sun.jna.ptr.PointerByReference;
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import java.util.Arrays;
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import java.util.List;
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public interface DcLibrary extends Library {
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DcLibrary INSTANCE = (DcLibrary) Native.load((System.getProperty("user.dir"))+"\\libs\\plc\\LxCameraApiR.dll", DcLibrary.class);
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// 创建一个新的实例
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// 设备详细信息结构体
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class LxDeviceInfo extends Structure {
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public long handle; // 使用 long 类型表示 DcHandle
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public short dev_type;
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public byte[] id = new byte[32];
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public byte[] ip = new byte[32];
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public byte[] sn = new byte[32];
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public byte[] mac = new byte[32];
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public byte[] firmware_ver = new byte[32];
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public byte[] algor_ver = new byte[32];
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public byte[] name = new byte[32];
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public byte[] reserve = new byte[32];
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public byte[] reserve2 = new byte[32];
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public byte[] reserve3 = new byte[64];
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public byte[] reserve4 = new byte[128];
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@Override
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protected List<String> getFieldOrder() {
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return Arrays.asList("handle", "dev_type", "id", "ip", "sn", "mac", "firmware_ver", "algor_ver", "name", "reserve", "reserve2", "reserve3", "reserve4");
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}
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}
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// 设备打开函数
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int DcOpenDevice(int open_mode, String param, PointerByReference handle, LxDeviceInfo info);
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String DcGetDeviceList(PointerByReference devlist, int devnum);
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int DcCloseDevice(Pointer handle);
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int DcStartStream(Pointer handle);
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int DcStopStream(Pointer handle);
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int DcSaveXYZ(Pointer handle, String filename);
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int DcSetCmd(Pointer handle, int cmd);
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}
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// Define LX_OPEN_MODE as an enum or int based on your C definition
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@ -0,0 +1,111 @@
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package com.zhehekeji.web.service.IndustrialCamera;
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import com.sun.jna.Native;
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import com.sun.jna.ptr.PointerByReference;
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import lombok.extern.slf4j.Slf4j;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.util.Map;
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import java.util.concurrent.ConcurrentHashMap;
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@Slf4j
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public class LxPointCloudSaveImage {
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static DcLibrary INSTANCER = (DcLibrary) Native.loadLibrary((System.getProperty("user.dir"))+"\\libs\\plc\\LxCameraApiR.dll", DcLibrary.class);
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static DcLibrary INSTANCEL = (DcLibrary) Native.loadLibrary((System.getProperty("user.dir"))+"\\libs\\plc\\LxCameraApiL.dll", DcLibrary.class);
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static Map<String, PointerByReference> handleMap = new ConcurrentHashMap<>();
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public static PointerByReference getHandle(String sn,int type ,DcLibrary INSTANCE){
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if(handleMap.get(sn)!=null){
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return handleMap.get(sn);
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}else {
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// 创建 Pointer 的引用
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PointerByReference handleRef = new PointerByReference();
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// 创建 PointerByReference 的实例用于接收设备列表
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// PointerByReference devlistRef = new PointerByReference();
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// 创建 LxDeviceInfo 实例
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DcLibrary.LxDeviceInfo info = new DcLibrary.LxDeviceInfo();
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//library.DcGetDeviceList( devlistRef,0);
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// 调用 DcOpenDevice 函数
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System.out.println(sn+" "+handleRef+" "+info);
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int result = INSTANCE.DcOpenDevice(1, sn, handleRef, info);
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int i = 0;
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if(result ==0) {
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handleMap.put(sn, handleRef);
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}else {
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for (int ii=0;i<50;i++ ) {
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result = INSTANCE.DcOpenDevice(1, sn, handleRef, info);
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System.out.println(i + "次尝试");
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try {
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Thread.sleep(500);
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} catch (InterruptedException e) {
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throw new RuntimeException(e);
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}
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}
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}
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// 输出结果
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System.out.println("Result: " + result);
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System.out.println("Handle: " + handleRef.getValue()); // 获取 DcHandle 的值
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System.out.println("Device Type: " + info.dev_type);
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System.out.println("ID: " + new String(info.id).trim());
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System.out.println("IP: " + new String(info.ip).trim());
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System.out.println("SN: " + new String(info.sn).trim());
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System.out.println("MAC: " + new String(info.mac).trim());
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System.out.println("Firmware Version: " + new String(info.firmware_ver).trim());
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System.out.println("Algorithm Version: " + new String(info.algor_ver).trim());
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System.out.println("Name: " + new String(info.name).trim());
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System.out.println("Reserve: " + new String(info.reserve).trim());
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System.out.println("Reserve2: " + new String(info.reserve2).trim());
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System.out.println("Reserve3: " + new String(info.reserve3).trim());
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System.out.println("Reserve4: " + new String(info.reserve4).trim());//lxPointCloudApi.DcCloseDevice(handle);
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return handleRef;
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}
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}
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public static boolean saveImage(String sn, String path,int type) {
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DcLibrary INSTANCE;
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if (type==1){
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INSTANCE = INSTANCER;
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}else {
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INSTANCE = INSTANCEL;
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}
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int result = 0;
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PointerByReference handleRef = getHandle(sn,type,INSTANCE);
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result = INSTANCE.DcStartStream(handleRef.getValue());
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System.out.println("Result: " + result);
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result = INSTANCE.DcSetCmd(handleRef.getValue(),5001);
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System.out.println("Result: " + result);
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Path path1 = Paths.get(path);
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try {
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// 如果路径不存在，则创建目录
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Files.createDirectories(path1.getParent());
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}catch (Exception e){
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log.info("路径失败");
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}
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int i = INSTANCE.DcSaveXYZ(handleRef.getValue(), path);
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log.info(sn+" 3dCamera get pcd :"+path +";rest:"+i);
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System.out.println(sn+" 3dCamera get pcd :"+path +";rest:"+i);
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result = INSTANCE.DcStopStream(handleRef.getValue());
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System.out.println("stop Stream Result: " + result);
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return true;
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}
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public static void main(String[] args) {
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saveImage("1","E:\\1-8-2-R.pcd",1);
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saveImage("2","E:\\12-R.pcd",2);
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}
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}
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@ -0,0 +1,11 @@
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package com.zhehekeji.web.service.IndustrialCamera.algorithm;
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import lombok.Data;
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import java.util.List;
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@Data
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public class BoxPositionConf {
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Double height;
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List<Double[]> position;
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}
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@ -0,0 +1,77 @@
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package com.zhehekeji.web.service.IndustrialCamera.algorithm;
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import java.io.BufferedReader;
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import java.io.FileInputStream;
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import java.io.FileReader;
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import java.io.IOException;
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import java.nio.ByteBuffer;
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import java.nio.ByteOrder;
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public class PCDReader {
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public static void main(String[] args) {
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String filePath = "path/to/your/file.pcd";
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try {
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if (isBinaryFormat(filePath)) {
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readBinaryPCD(filePath);
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} else {
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readAsciiPCD(filePath);
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}
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} catch (IOException e) {
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e.printStackTrace();
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}
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}
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private static boolean isBinaryFormat(String filePath) throws IOException {
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try (BufferedReader reader = new BufferedReader(new FileReader(filePath))) {
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String line;
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while ((line = reader.readLine()) != null) {
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if (line.startsWith("DATA")) {
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return line.contains("binary");
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}
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}
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}
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return false;
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}
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private static void readAsciiPCD(String filePath) throws IOException {
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try (BufferedReader reader = new BufferedReader(new FileReader(filePath))) {
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String line;
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while ((line = reader.readLine()) != null) {
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if (!line.startsWith("#") && !line.startsWith("FIELDS") && !line.startsWith("SIZE") &&
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!line.startsWith("TYPE") && !line.startsWith("COUNT") && !line.startsWith("WIDTH") &&
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!line.startsWith("HEIGHT") && !line.startsWith("VIEWPOINT") && !line.startsWith("POINTS") &&
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!line.startsWith("DATA")) {
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String[] values = line.split(" ");
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for (String value : values) {
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System.out.println(value);
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}
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}
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}
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}
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}
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private static void readBinaryPCD(String filePath) throws IOException {
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try (FileInputStream fis = new FileInputStream(filePath)) {
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ByteBuffer buffer = ByteBuffer.wrap(fis.readAllBytes());
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buffer.order(ByteOrder.LITTLE_ENDIAN);
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// Skip header (assuming 11 lines of header; adjust if needed)
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for (int i = 0; i < 11; i++) {
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while (buffer.get() != '\n') {
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// Skip header lines
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}
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}
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// Read binary data (assuming float x, y, z and int rgb)
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while (buffer.hasRemaining()) {
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float x = buffer.getFloat();
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float y = buffer.getFloat();
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float z = buffer.getFloat();
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int rgb = buffer.getInt(); // Read 4 bytes for RGB
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System.out.printf("x: %f, y: %f, z: %f, rgb: %d%n", x, y, z, rgb);
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}
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}
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}
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}
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@ -0,0 +1,53 @@
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package com.zhehekeji.web.service.IndustrialCamera.algorithm;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.JsonMappingException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import lombok.Data;
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import java.io.File;
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import java.io.IOException;
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@Data
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public class PcdPojo {
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double[][] rotationMatrix = {
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{0.9982215762138367, 0.057795289903879166, 0.014606773853302002},
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{-0.0510917492210865, 0.7032182216644287, 0.7091360092163086},
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{0.030712969601154327, -0.7086211442947388, 0.7049204111099243}
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}; // 这里使用给定的旋转矩阵
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double[] minBounds = {-905.5771484375, 174.71572875976562, 69.14165496826172}; // 裁剪最小值
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double[] maxBounds = {321.80609130859375, 1170.4776611328125, 1199.3507080078125}; // 裁剪最大值
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private double floorHeight;
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private double[] max_pt;
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private double[] min_pt;
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private double[] rotation;
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//路径D://config//3DConfig/"+相机sn+".json"
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private String configPath;
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//盘点路径 configProperties.getSavePath().getMediaPath() + street.getLeft3D()+ currentDate.format(formatter)+"/"+transmissionPojo.getCheckId()+".pcd";
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//随行路径 configProperties.getSavePath().getMediaPath() + street.getLeft3D()+"000/"+ currentDate.format(formatter)+"/"+transmissionPojo.getRow()+".pcd";
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private String pcd1;
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private String pcd2;
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private String cameraSn1;
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private String cameraSn2;
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private Integer count;
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public PcdPojo setPCDInfo(PcdPojo pojo) throws IOException {
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ObjectMapper mapper = new ObjectMapper();
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// 读取 JSON 文件并转换为 配置信息
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PcdPojo pojoIn = mapper.readValue(new File(pojo.getConfigPath()), mapper.getTypeFactory().constructType(PcdPojo.class));
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this.setMinBounds(pojoIn.getMin_pt());
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this.setMaxBounds(pojoIn.getMax_pt());
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double[] x = {pojoIn.getRotation()[0], pojoIn.getRotation()[1], pojoIn.getRotation()[2]};
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double[] y = {pojoIn.getRotation()[3], pojoIn.getRotation()[4], pojoIn.getRotation()[5]};
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double[] z = {pojoIn.getRotation()[6], pojoIn.getRotation()[7], pojoIn.getRotation()[8]};
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this.setRotationMatrix(new double[][]{x, y, z});
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return this;
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}
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}
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