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ReceiveVertices.cpp
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ReceiveVertices.cpp
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// TestAPI.cpp : Defines the entry point for the console application.
//
#include "stdafx.h"
#include "ScanInterfaceC.h"
#include "Callbacks.h"
#include "detect2d.hpp"
#include "detect3d.hpp"
#include <iostream>
#include <boost/timer.hpp>
#include "opencv2/opencv.hpp"
#include <windows.h>
#include <stdio.h>
#include <stdlib.h>
#include "opencv2\highgui.hpp"
#include "opencv\cv.h"
#include "opencv2\core.hpp"
#include <math.h>
#include "SocketMatTransmissionClient.h"
#include "z_axis.h"
#include <vector>
#include <thread>
#include <io.h>
#include <direct.h>
#include <atlconv.h>
#include "OPTErrorCode.h"
#include "OPTController.h"
// Include files to use the PYLON API.
#include "pylon\PylonIncludes.h"
#include <pylon\PylonGUI.h>
#include "config.hpp"
#define level 5
#define minnum 0
static const uint32_t c_countOfImagesToGrab = 1;
class detect2d Detect2d;
class detect3d Detect3d;
class Z_AXIS Motor;
class SocketMatTransmissionClient client;
cv::Mat imgdepthVert;
cv::Mat imgdepthHor;
cv::Mat imageBasler;
char path3D_prefix[]= "D:/vs2015_ws/ScanInterface/examples/c++/ReceiveVertices/src/network_3d/data/newSrc/";
char path2D_prefix[] = "D:/vs2015_ws/ScanInterface/examples/c++/ReceiveVertices/src/network_2d/data/newSrc/";
char path_suffix[] = ".jpg";
char path_3DHor_suffix[] = "_Hor.jpg";
char path_3DVert_suffix[] = "_Vert.jpg";
int counter = 637;
int errorReport;
using namespace std;
using namespace Pylon;
using namespace cv;
cv::Mat socket2D(vector<cv::Mat> img, int num)
{
cout<<img.size()<<endl;
for (int i = 0; i < img.size(); i++)
{
char str_prefix[] = "C:/cache/";
char str_suffix[] = ".jpg";
char str[200];
sprintf(str, "%s%d%s", str_prefix, i, str_suffix);
vector<int> compression_params;
compression_params.push_back(CV_IMWRITE_JPEG_QUALITY); //选择jpeg
compression_params.push_back(100); //在这个填入你要的图片质量
imwrite(str,img[i],compression_params);
}
if (-1 == client.socketConnect("127.0.0.1", 66))
{
std::cout << "connect failed" << endl;
}
int open = 0;//0:open,1:close
int ack = client.sendSignal(open);
cv::Mat result;
if (ack == 1)
{
result=imread("C:/cache/result.jpg",0);
}
return result;
}
//cv::Mat socket3D(cv::Mat img)
//{
// if (-1 == client.socketConnect("127.0.0.1", 55))
// {
// std::cout << "connect failed" << endl;
// }
//
// int open = 0;//0:open,1:close
// client.transmit(img, open);
// cv::Mat imageReceive = client.get();
// client.socketDisconnect();
// return imageReceive;
//
//}
int main(int argc, char* argv[])
{
if (access("C:/cache", 0) == -1)
{
mkdir("C:/cache");
}
#ifdef GRAB
#ifdef CAM2D
if (Motor.openCOM(TEXT("COM4")) == FALSE)
{
std::cout << "Failed to open serial port" << endl;
return 0;
}
OPTController_Handle m_OPTControllerHandle;
long lRet = -1;
lRet = OPTController_InitSerialPort("COM6", &m_OPTControllerHandle);
if (OPT_SUCCEED == lRet)
{
cout << "COM connect successfully!" << endl;
}
OPTController_SetIntensity(m_OPTControllerHandle, 1, 255);
OPTController_SetIntensity(m_OPTControllerHandle, 2, 255);
OPTController_SetIntensity(m_OPTControllerHandle, 3, 255);
OPTController_SetIntensity(m_OPTControllerHandle, 4, 255);
lRet = OPTController_TurnOffChannel(m_OPTControllerHandle, 1);
lRet = OPTController_TurnOffChannel(m_OPTControllerHandle, 2);
lRet = OPTController_TurnOffChannel(m_OPTControllerHandle, 3);
lRet = OPTController_TurnOffChannel(m_OPTControllerHandle, 4);
#endif
#endif
while (1)
{
counter++;
std::cout << "counter:" << counter << endl;
char str0[5];
sprintf(str0, "%05d", counter);
char strPath2D[200], strPath3DVert[200], strPath3DHor[200];
sprintf(strPath2D, "%s%s", path2D_prefix, str0);
sprintf(strPath3DVert, "%s%s%s", path3D_prefix, str0, path_3DVert_suffix);
sprintf(strPath3DHor, "%s%s%s", path3D_prefix, str0, path_3DHor_suffix);
WCHAR dir_name[64];
swprintf(dir_name, L"%S", strPath2D);
#ifdef GRAB
#ifdef CAM2D
// The exit code of the sample application.
int exitCode = 0;
if(Motor.reset_z_axis()==FALSE)
{
std::cout << "Z-axis reset failed!" << endl;
}
std::cout << "Please put a side of the next battery in basler!" << endl;
getchar();
bool flag = CreateDirectory(dir_name, NULL);
for (int i = 0; i < level; i++)
{
for (int j = 0;j < 4 ; j++)
{
lRet = OPTController_TurnOffChannel(m_OPTControllerHandle, 1);
lRet = OPTController_TurnOffChannel(m_OPTControllerHandle, 2);
lRet = OPTController_TurnOffChannel(m_OPTControllerHandle, 3);
lRet = OPTController_TurnOffChannel(m_OPTControllerHandle, 4);
lRet = OPTController_TurnOnChannel(m_OPTControllerHandle, j+1);
char strFileName[200];
sprintf(strFileName, "%s%d%s", strPath2D, i*4+j, path_suffix);
// Before using any pylon methods, the pylon runtime must be initialized.
PylonInitialize();
try
{
CInstantCamera camera(CTlFactory::GetInstance().CreateFirstDevice());// Create an instant camera object with the camera device found first.
//cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;// Print the model name of the camera.
camera.MaxNumBuffer = 5;
camera.StartGrabbing(c_countOfImagesToGrab);// Start the grabbing of c_countOfImagesToGrab images.
CGrabResultPtr ptrGrabResult;// This smart pointer will receive the grab result data.
camera.IsGrabbing();
camera.RetrieveResult(5000, ptrGrabResult, TimeoutHandling_ThrowException);// Wait for an image and then retrieve it. A timeout of 5000 ms is used.
if (ptrGrabResult->GrabSucceeded())// Image grabbed successfully?
{
// Access the image data.
std::cout << "SizeX: " << ptrGrabResult->GetWidth() << "SizeY: " << ptrGrabResult->GetHeight() << endl;
const uint8_t *pImageBuffer = (uint8_t *)ptrGrabResult->GetBuffer();
//cout << "Gray value of first pixel: " << (uint32_t)pImageBuffer[0] << endl << endl;
imageBasler = cv::Mat(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC1, (uint8_t *)ptrGrabResult->GetBuffer());
cv::imwrite(strFileName, imageBasler);
//boost::timer t2;
//std::cout << "Time of scratch check: " << t2.elapsed() << endl;
}
else
{
std::cout << "Error: " << ptrGrabResult->GetErrorCode() << " " << ptrGrabResult->GetErrorDescription() << endl;
}
}
catch (const GenericException &e)
{
// Error handling.
cerr << "An exception occurred." << endl
<< e.GetDescription() << endl;
exitCode = 1;
}
// Releases all pylon resources.
PylonTerminate();
std::cout << strFileName << endl;
}
Motor.move_distance(14);
}
//lRet = OPTController_ReleaseSerialPort(m_OPTControllerHandle);
#endif
#endif
#ifdef READ
#ifdef CAM3D
vector<cv::Mat> img;
for (int i = 0; i < level*4; i++)
{
char strFileName[200];
sprintf(strFileName, "%s/%d%s", strPath2D, i, path_suffix);
cout << strFileName << endl;
cv::Mat img1 = cv::imread(strFileName,0);
img.push_back(img1);
}
cv::Mat output = socket2D(img, 1);
cv::Mat result = Detect2d.drawResult(img[1], output);
imwrite("D:/vs2015_ws/ScanInterface/examples/c++/ReceiveVertices/src/network_2d/data/newSrc/1.jpg", output);
imwrite("D:/vs2015_ws/ScanInterface/examples/c++/ReceiveVertices/src/network_2d/data/newSrc/2.jpg", result);
#endif
#endif
#ifdef GRAB
#ifdef CAM3D
for (int i = 0; i < 2; i++)
{
const char* pathToFlexScan3D = "C:\\Program Files\\LMI Technologies\\FlexScan3D 3.3\\App\\FlexScan3D.exe";
char* itemName;
int* numValues;
float** values;
if (i == 0)
{
cout << "Please put the battery under the LMI camera vertically!" << endl;
}
if (i == 1)
{
cout << "Please put the battery under the LMI camera horizonlly!" << endl;
}
getchar();
// Start FlexScan3D
//printf("Starting FlexScan3D...\n");
//if (FS3D_Init(pathToFlexScan3D) != FS3D_RESULT_OK)
if (FS3D_Attach() != FS3D_RESULT_OK)
{
printf("Could not start FlexScan3D.\n");
getchar();
return -1;
}
// Disable writing to disk
//printf("Disable disk writing...\n");
if (FS3D_Command("scriptline \"Set('Scanning_WriteToDisk', 'True')\"") != FS3D_RESULT_OK)
{
printf("An error occurred when modifying the Scanning_WriteToDisk setting.\n");
//FS3D_Exit();
FS3D_Detach();
return -1;
}
printf("Connecting to the scanner...\n");
if (FS3D_Command("scriptline \"ScannerConnect()\"") != FS3D_RESULT_OK)
{
printf("An error occurred when attempting to connect to the scanner.\n");
//FS3D_Exit();
FS3D_Detach();
return -1;
}
// Set up the callback
//printf("Register callback...\n");
// ScanProcessedCallback gets called every time a scan occurs
if (FS3D_RegisterCallback("ScanProcessed", NULL, ScanProcessedCallback) != FS3D_RESULT_OK)
{
printf("An error occurred when registering the callback.\n");
//FS3D_Exit();
FS3D_Detach();
return -1;
}
//boost::timer constant;
//printf("Setting scanner exposure...\n");
/*if (FS3D_Command("scriptline \"SetScannerExposure(GetScannerNameFromIndex(0), 100)\"") != FS3D_RESULT_OK)
{
printf("An error occurred when set scanner exposure.\n");
//FS3D_Exit();
FS3D_Detach();
return -1;
}*/
printf("Scanning...\n");
if (FS3D_Command("scriptline \"Scan()\"") != FS3D_RESULT_OK)
{
printf("An error occurred when attempting to scan.\n");
//FS3D_Exit();
FS3D_Detach();
return -1;
}
//cout << "Total time: " << constant.elapsed() << endl;
// Cancel the callback
//printf("Unregister callback...\n");
//ScanProcessedCallback gets called every time a scan occurs
if (FS3D_UnregisterCallback("ScanProcessed") != FS3D_RESULT_OK)
{
printf("An error occurred when unregistering the callback.\n");
//FS3D_Exit();
FS3D_Detach();
return -1;
}
// Keep running until a key is pressed
//printf("Press the Enter key to exit...\n");
//getchar();
//printf("Enable disk writing...\n");
if (FS3D_Command("scriptline \"Set('Scanning_WriteToDisk', 'True')\"") != FS3D_RESULT_OK)
{
printf("An error occurred when modifying the Scanning_WriteToDisk setting.\n");
//FS3D_Exit();
FS3D_Detach();
return -1;
}
// shut down FlexScan3D
//printf("Shutting down FlexScan3D...\n");
//FS3D_Exit();
FS3D_Detach();
if (i == 0)
{
imgdepthVert = cv::imread("cache.jpg");
}
if (i == 1)
{
imgdepthHor = cv::imread("cache.jpg");
}
}
cv::imwrite(strPath3DVert, imgdepthVert);
cv::imwrite(strPath3DHor, imgdepthHor);
#endif
#endif
#ifdef READ
#ifdef CAM3D
cout << strPath3DVert << endl;
cv::Mat imgdepthVert = cv::imread(strPath3DVert, 0);
cv::Mat output_Vert = socket3D(imgdepthVert);
cv::Mat result_Vert = Detect3d.drawResult(imgdepthVert, output_Vert);
cv::Mat imgdepthHor = cv::imread(strPath3DHor, 0);
cv::Mat output_Hor = socket3D(imgdepthHor);
cv::Mat result_Hor = Detect3d.drawResult(imgdepthHor, output_Hor);
cv::imshow("aa", result_Vert);
cv::imshow("bb", result_Hor);
cv::waitKey();*/
//int error3D = Detect3d.errorReport(imgdepthVert, imgdepthHor, silkModel2d);
#endif
#endif
}
return 0;
}