自定义相机更新

KingRichord · KingRichord · commit 13a975160dfa · 2025-05-11T23:07:08.000+08:00
diff --git a/example/CustomCam/cus_cam.cpp b/example/CustomCam/cus_cam.cpp
@@ -24,13 +24,18 @@ void CustomCam::Stop() {
 void CustomCam::Receive(void *handle, const std::string &name)  {
   Messenger &messenger = Messenger::GetInstance();
   while (is_running) {
+      // 1. 初始化相机数据
       CamData cam_data;
+      // 2. 读取相机同步时间戳
       if (params.find(name) != params.end()) {
         if (uint64_t time; GET_LAST_TRIGGER_STATUS(params[name], time)) {
           cam_data.time_stamp_us = time;
         }
       }
+      // 3. 读取相机图像
+      cam_data.name = name;
       cam_data.image = GMat();
+      // 4. 发布相机数据
       messenger.PubStruct(name,&cam_data,sizeof(cam_data));
       std::this_thread::sleep_for(std::chrono::milliseconds{1});
     }

Original file line number	Diff line number	Diff line change
`@@ -24,13 +24,18 @@ void CustomCam::Stop() {`
`24`	`24`	`void CustomCam::Receive(void *handle, const std::string &name) {`
`25`	`25`	`Messenger &messenger = Messenger::GetInstance();`
`26`	`26`	`while (is_running) {`
	`27`	`+ // 1. 初始化相机数据`
`27`	`28`	`CamData cam_data;`
	`29`	`+ // 2. 读取相机同步时间戳`
`28`	`30`	`if (params.find(name) != params.end()) {`
`29`	`31`	`if (uint64_t time; GET_LAST_TRIGGER_STATUS(params[name], time)) {`
`30`	`32`	`cam_data.time_stamp_us = time;`
`31`	`33`	`}`
`32`	`34`	`}`
	`35`	`+ // 3. 读取相机图像`
	`36`	`+ cam_data.name = name;`
`33`	`37`	`cam_data.image = GMat();`
	`38`	`+ // 4. 发布相机数据`
`34`	`39`	`messenger.PubStruct(name,&cam_data,sizeof(cam_data));`
`35`	`40`	`std::this_thread::sleep_for(std::chrono::milliseconds{1});`
`36`	`41`	`}`