use std::ffi::CString; use std::mem::size_of; use std::slice; use std::thread::sleep; use std::time::Duration; use opencv::{ highgui, imgcodecs, core, }; use gxi_hako::{ gx::{ gx_interface::*, gx_enum::*, gx_struct::*, gx_handle::*, }, utils::{ debug::print_device_info, builder::GXDeviceBaseInfoBuilder, facade::*, image_process::*, }, }; extern "C" fn frame_callback(p_frame_callback_data: *mut GX_FRAME_CALLBACK_PARAM) { // 避免刷屏 // println!("Frame callback triggered."); // println!("Frame status: {:?}", unsafe { (*p_frame_callback_data).status }); // println!("Frame All: {:?}", unsafe { *p_frame_callback_data }); unsafe { let frame_callback_data = &*p_frame_callback_data; if frame_callback_data.status == 0 { let data = slice::from_raw_parts(frame_callback_data.pImgBuf as *const u8, (frame_callback_data.nWidth * frame_callback_data.nHeight) as usize); let mat = core::Mat::new_rows_cols_with_data( frame_callback_data.nHeight, frame_callback_data.nWidth, // core::CV_8UC1, data ).unwrap(); highgui::imshow("Camera Frame", &mat).unwrap(); if highgui::wait_key(10).unwrap() > 0 { highgui::destroy_window("Camera Frame").unwrap(); } } } } fn main() { unsafe { // You can change the library path as you need let gx = GXInstance::new("C:\\Program Files\\Daheng Imaging\\GalaxySDK\\APIDll\\Win64\\GxIAPI.dll").expect("Failed to load library"); gx.gx_init_lib().expect("Failed to initialize library"); // Update the device list let mut device_num = 0; gx.gx_update_device_list(&mut device_num, 1000) .expect("Failed to update device list"); if device_num > 0 { let mut base_info: Vec = (0..device_num).map(|_| { GXDeviceBaseInfoBuilder::new().build() }).collect(); let mut size = (device_num as usize) * size_of::(); let status = gx .gx_get_all_device_base_info(base_info.as_mut_ptr(), &mut size) .expect("Failed to get all device base info"); if status == 0 { // Assuming 0 is GX_STATUS_SUCCESS println!( "Device base info retrieved successfully. Number of devices: {}", device_num ); for device in &base_info { print_device_info(&device); } // Attempt to open the first device using its SN let first_device_sn = std::str::from_utf8(&base_info[0].szSN).unwrap_or(""); let mut device_handle: GX_DEV_HANDLE = std::ptr::null_mut(); let open_status = gx .gx_open_device_by_index(1, &mut device_handle) .expect("Failed to open device with index"); if open_status == 0 { println!( "Successfully opened device index 1 with SN: {}", first_device_sn.trim_end_matches(char::from(0)) ); // let reg_result = gx.gx_register_capture_callback(device_handle, frame_callback); // match reg_result { // Ok(_) => println!("Capture callback registered successfully."), // Err(e) => eprintln!("Failed to register capture callback: {:?}", e), // } gx.gx_send_command(device_handle, GX_FEATURE_ID::GX_COMMAND_ACQUISITION_START) .expect("Failed to send command"); // 这种写法在所有权机制下是错误的，因为image_buffer在返回的时候就已经被释放了 // let frame_data_facade = fetch_frame_data(&gx, device_handle); // let mut frame_data = convert_to_frame_data(&frame_data_facade.unwrap()); // 这种写法是正确的，因为image_buffer被返回到了当前作用域 let (frame_data_facade, image_buffer) = fetch_frame_data(&gx, device_handle).unwrap(); let mut frame_data = convert_to_frame_data(&frame_data_facade); // or you can use the following code to initialize the GX_FRAME_DATA struct without using the facade // the following config is about Mono8, 2048x1536 camera // let pixel_size = 1; // BayerRg8、Mono8 格式下每像素1字节 // let image_size = 2048 * 1536 * pixel_size; // 图像宽*高*每像素字节数 // let mut image_buffer = vec![1u8; image_size]; // 分配图像缓冲区 // let mut frame_data = GX_FRAME_DATA { // nStatus: 0, // pImgBuf: image_buffer.as_mut_ptr() as *mut c_void, // 设置图像数据指针 // nWidth: 2048, // nHeight: 1536, // // nPixelFormat: PixelFormatEntry::Mono8 as i32, // nPixelFormat: 17301505, // nImgSize: image_size as i32, // nFrameID: 0, // nTimestamp: 0, // reserved: [17301505], // }; let result = gx.gx_get_image(device_handle, &mut frame_data, 100); match result { Ok(_) => { println!("Image captured successfully."); // 熬不住了，先睡了，有时间再去封装 // if frame_data.nStatus == 0 { // let mat = mono8_to_mat(&frame_data); // highgui::imshow("Camera Frame", &mat).unwrap(); // if highgui::wait_key(10).unwrap() > 0 { // highgui::destroy_window("Camera Frame").unwrap(); // } // highgui::named_window("Camera", highgui::WINDOW_AUTOSIZE).unwrap(); // } if frame_data.nStatus == 0 { let data = slice::from_raw_parts(frame_data.pImgBuf as *const u8, (frame_data.nWidth * frame_data.nHeight) as usize); // 使用正确的函数签名创建Mat对象 let mat = core::Mat::new_rows_cols_with_data( frame_data.nHeight, frame_data.nWidth, // core::CV_8UC1, data ).unwrap(); // 保存图像 // 尝试保存图像，检查是否成功 if imgcodecs::imwrite("right.png", &mat, &opencv::types::VectorOfi32::new()).unwrap() { println!("Image saved successfully."); } else { println!("Failed to save the image."); } } } Err(e) => eprintln!("Failed to capture image: {:?}", e), } // highgui::named_window("Camera", highgui::WINDOW_AUTOSIZE).unwrap(); // loop { // sleep(Duration::from_secs(1)); // break; // } gx.gx_send_command(device_handle, GX_FEATURE_ID::GX_COMMAND_ACQUISITION_STOP) .expect("Failed to send command"); // let unregeister_result = gx.gx_unregister_capture_callback(device_handle); // match unregeister_result { // Ok(_) => println!("Capture callback unregistered successfully."), // Err(e) => eprintln!("Failed to unregister capture callback: {:?}", e), // } // Close the device gx.gx_close_device(device_handle) .expect("Failed to close device"); println!("Device closed.") } else { println!( "Failed to open device with SN: {}", first_device_sn.trim_end_matches(char::from(0)) ); } } else { println!("Failed to retrieve device base info, status: {}", status); } } else { println!("No Devices found."); } gx.gx_close_lib().expect("Failed to close library"); println!("Library closed.") } }