海康网络相机利用SDK 多线程读取图像程序

#include “calibration.h“
#include “utils.h“
#include “global.h“
#include 
#include 

void loadCameraParams（cv::Mat &cameraMatrix cv::Mat &distCoeffs）
{
	cv::FileStorage fs（“..\build\camera.yaml“ cv::FileStorage::READ）;

    fs [“camera_matrix“] >> cameraMatrix;
    fs [“distortion_coefficients“] >> distCoeffs;
}

cv::Mat calibrator（cv::Mat &view）
{

#if 1
	vector imageList;
	/*static */bool bLoadCameraParams = false;
	static bool bInitMap = false;
	static cv::Mat cameraMatrix distCoeffs map1 map2;
	static cv::Mat newCameraMatrix;

	cv::Mat rview;
	cv::Size imageSizenewImageSize;
	/*static */double cameraMatrix_1 = 0cameraMatrix_2 = 0cameraMatrix_3 = 0cameraMatrix_4 = 0;
	/*static */double distCoeffs_1 = 0 distCoeffs_2 = 0 distCoeffs_3 = 0 distCoeffs_4 = 0 distCoeffs_5 = 0;

	if（view.empty（） || view.cols == 0 || view.rows == 0）
		return cv::Mat（）;

	imageSize.width = view.cols;
	imageSize.height = view.rows;

// 	newImageSize.width = 1.5*imageSize.width;
// 	newImageSize.height = 1.5*imageSize.height;

	newImageSize.width = imageSize.width;
	newImageSize.height = imageSize.height;

	if（bLoadCameraParams == false）
	{
		loadCameraParams（cameraMatrix distCoeffs）;
		bLoadCameraParams = true;
		cameraMatrix_1 = cameraMatrix.at（00）;
		cameraMatrix_2 = cameraMatrix.at（02）;
		cameraMatrix_3 = cameraMatrix.at（11）;
		cameraMatrix_4 = cameraMatrix.at（12）;

		distCoeffs_1 = distCoeffs.at（00）;
		distCoeffs_2 = distCoeffs.at（10）;
		distCoeffs_3 = distCoeffs.at（20）;
		distCoeffs_4 = distCoeffs.at（30）;
		distCoeffs_5 = distCoeffs.at（40）;
	}

	int middleValue = 100; // 100;

	if（bLoadCameraParams == true）
	{
		cameraMatrix.at（0 0） = （camera_matrix_1_MIN - middleValue） * 1.0 / middleValue * cameraMatrix_1;
		cameraMatrix.at（0 2） = （camera_matrix_2_MIN - middleValue） * 1.0 / middleValue * cameraMatrix_2;
		cameraMatrix.at（1 1） = （camera_matrix_3_MIN - middleValue） * 1.0 / middleValue * cameraMatrix_3;
		cameraMatrix.at（1 2） = （camera_matrix_4_MIN - middleValue） * 1.0 / middleValue * cameraMatrix_4;

		distCoeffs.at（0 0） = （distortion_coeff_1_MIN - middleValue） * 1.0 / middleValue * distCoeffs_1;
		distCoeffs.at（1 0） = （distortion_coeff_1_MIN - middleValue） * 1.0 / middleValue * distCoeffs_2;
		distCoeffs.at（2 0） = （distortion_coeff_1_MIN - middleValue） * 1.0 / middleValue * distCoeffs_3;
		distCoeffs.at（3 0） = （distortion_coeff_1_MIN - middleValue） * 1.0 / middleValue * distCoeffs_4;
		distCoeffs.at（4 0） = （distortion_coeff_1_MIN - middleValue） * 1.0 / middleValue * distCoeffs_5;
	}

//	SHOW_TICK（）;

	// 省了15ms左右的消耗
	// if （bInitMap == false）
	{
		newCameraMatrix = cv::getOptimalNewCameraMatrix（cameraMatrix distCoeffs imageSize
			1 newImageSize 0）;
		cv::initUndi

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2018-03-31 12:54  calibrationRT
     目录           0  2018-03-31 12:56  calibrationRTDebug
     目录           0  2018-03-21 19:24  calibrationRTuild
     文件         791  2015-12-18 16:49  calibrationRTuildHKVISION_DEBUG_32.props
     文件         791  2015-12-17 14:53  calibrationRTuildHKVISION_DEBUG_64.props
     文件       19522  2016-02-24 18:29  calibrationRTuildcamera.yaml
     文件       19530  2016-01-27 23:35  calibrationRTuildcamera_nofisheye.yaml
     文件       19523  2016-01-03 15:32  calibrationRTuildcamerabk.yaml
     文件        1540  2016-01-05 16:46  calibrationRTuildopencv3_32.props
     文件        1559  2015-12-17 14:53  calibrationRTuildopencv3_64.props
     文件        1559  2015-12-17 14:53  calibrationRTuildopencv3_debug_32.props
     文件        1559  2018-03-22 22:21  calibrationRTuildopencv3_x86.props
     文件       18513  2015-12-17 14:53  calibrationRTuildparam.png
     目录           0  2018-03-25 12:29  calibrationRTcaliRt
     目录           0  2018-03-22 21:48  calibrationRTcaliRtDebug
     文件        2221  2016-02-24 16:18  calibrationRTcaliRtDebugcaliRt.Build.CppClean.log
     文件          15  2018-03-22 21:48  calibrationRTcaliRtDebugcaliRt.log
     目录           0  2018-03-21 21:28  calibrationRTcaliRtDebugcaliRt.tlog
     文件      355336  2018-03-22 21:48  calibrationRTcaliRtDebugcaliRt.tlogCL.read.1.tlog
     文件       11566  2018-03-22 21:48  calibrationRTcaliRtDebugcaliRt.tlogCL.write.1.tlog
     文件         214  2018-03-21 21:29  calibrationRTcaliRtDebugcaliRt.tlogcaliRt.lastbuildstate
     文件        9146  2018-03-22 21:48  calibrationRTcaliRtDebugcaliRt.tlogcl.command.1.tlog
     文件        4770  2018-03-21 21:30  calibrationRTcaliRtDebugcaliRt.tloglink.command.1.tlog
     文件       10252  2018-03-21 21:30  calibrationRTcaliRtDebugcaliRt.tloglink.read.1.tlog
     文件        2094  2018-03-21 21:30  calibrationRTcaliRtDebugcaliRt.tloglink.write.1.tlog
     文件           0  2018-03-21 21:29  calibrationRTcaliRtDebugcaliRt.tlogunsuccessfulbuild
     文件      276613  2018-03-21 21:30  calibrationRTcaliRtDebugcalibration.obj
     文件      260176  2018-03-21 21:30  calibrationRTcaliRtDebugglobal.obj
     文件      532674  2018-03-22 21:48  calibrationRTcaliRtDebugmain.obj
     文件      746040  2018-03-21 21:30  calibrationRTcaliRtDebug
eadCamera.obj
     文件      201857  2018-03-21 21:30  calibrationRTcaliRtDebugutils.obj
............此处省略47个文件信息