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#ifndef CAMERA_CONTROL_H
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#define CAMERA_CONTROL_H
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#include <QMap>
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#include "HikCamera.h"
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#include "LXCamera.h"
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#include "commonDefine.h"
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struct CameraInfo
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{
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CameraType cameraType; //相机类型
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QString cameraLabel; //显示的序列号
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QString userDefinedName; //用户设置的名字
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QString modelName; //相机设备名称（厂家）
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QString serialNumber; //相机设备序列号（厂家）
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double exposure; //曝光时间
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int imageWidth; //宽度
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int imageHeight; //高度
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int rotationAngle{ 0 }; //旋轉角度
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int location = 0; //相机安装位置(对应货物在堆垛机的位置), 1左2右, 0保留为之前规则
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QString calibFile = ""; //标定文件地址
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QString saveImgSuffix = ".bmp" ; //保存的图像格式
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};
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struct FileInfo
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{
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QString strId;
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QString suffix;
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QString name;
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};
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struct ImageInfo
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{
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bool bIs2D;
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cv::Mat image;
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cv::Mat image3D;
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ILImagePtr imageOrigin;
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ILImagePtr imageFixed;
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QString cameraSn;
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FileInfo saveImgInfo;
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};
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class CameraControl : public QObject, public lp_singleton<CameraControl>
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{
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Q_OBJECT
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public:
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explicit CameraControl();
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~CameraControl();
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//static void EnumCameras(QList<CameraInfo>& cameraInfoList);
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bool readCameraConfig(QString filePath);
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bool initCamera();
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bool loadCamera(const QList<CameraInfo>& cameraInfoList);
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bool openCamera(const QStringList& serialNumberList);
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bool closeCamera(const QStringList& serialNumberList);
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bool startCamera(const QStringList& serialNumberList);
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bool stopCamera(const QStringList& serialNumberList);
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bool setSoftwareTrigger(const QStringList& serialNumberList);
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bool openCamera(const QString& serialNumber);
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bool closeCamera(const QString& serialNumber);
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bool startCamera(const QString& serialNumber);
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bool stopCamera(const QString& serialNumber);
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bool setSoftwareTrigger(const QString& serialNumber);
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bool setExposure(const QString& serialNumber,int exposure);
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int getDeviceId(const QString& serialNumber);
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Q_SLOT void onCapture(int cameraLocation,int location, int floor);
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signals:
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void sgCapturedImage(const QVector<ImageInfo>& vecImageInfo, int cameraLocation);
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private:
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Q_SLOT void onOpen();
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bool getSaveImgNameInfo(QString serialNumber, FileInfo& fileInfo);
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void capture(const QStringList& serialNumberList, int location, int floor);
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bool capture(const QString& serialNumber, cv::Mat& img, cv::Mat& img3D,int exposure);
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void flipImg(const cv::Mat& imgSrc, cv::Mat& imgDst, int rotationAngle);
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QMap<int, CameraInfo> m_mapIdCameraInfoTop;
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QMap<int, int> exposureRowMap;
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QMap<int, CameraInfo> m_mapIdCameraInfoSide;
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QMap<QString, int> m_mapSerialNumberIdTop;
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QMap<QString, int> m_mapSerialNumberIdSide; // QString:相机SN码，int:相机ID
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QMap<QString, int> m_cameraStockLocation; // QString:相机SN码, int:相机相对货物的Location
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QVector<Camera*> m_vecPCamera;
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QMap<QString, int> m_mapSNIndex;
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bool m_bCamerasInit{ false };
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eCameraLocation m_eCameraLocation;
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QThread* m_pobjThread;
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QMutex m_mutex;
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ILCalibNPointsPtr m_calib1, m_calib2;
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};
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#endif // !CAMERA_CONTROL_H
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