Add Hikvision camera driver

Author: KingRichord

example/GigeCam/main.cpp

@@ -1,4 +1,5 @@
 #include "infinite_sense.h"
+#include "mv_cam.h"
 using namespace infinite_sense;
 int main() {
 
@@ -9,13 +10,11 @@ int main() {
    synchronizer.SetNetLink("192.168.1.188", 8888);
   */
   synchronizer.SetUsbLink("/dev/ttyACM0", 460800);
-
-  /*
-    如使用工业相机, 需要指定 相机名称 和 同步板的触发端口
-    std::map<std::string, TriggerDevice> params;
-    params["camera_1"] = TriggerDevice::CAM_1; //camera_1:表示设备的名称，TriggerDevice::CAM_1:使用同步板CAM_1端口触发
-    synchronizer.UseMvCam(params);
-  */
+  // 如使用工业相机, 需要指定 相机名称 和 同步板的触发端口
+  std::map<std::string, TriggerDevice> params;
+  params["camera_1"] = TriggerDevice::CAM_1; // camera_1:表示设备的名称，TriggerDevice::CAM_1:使用同步板CAM_1端口触发
+  const auto mv_cam = std::make_shared<MvCam>(params);
+  synchronizer.UseCam(mv_cam);
 
   // 2.开启同步
   synchronizer.Start();

example/GigeCam/mv_cam.cpp

@@ -73,9 +73,9 @@ bool PrintDeviceInfo(const MV_CC_DEVICE_INFO *info) {
   return true;
 }
 
-CamManger::~CamManger() { Stop(); }
+MvCam::~MvCam() { Stop(); }
 
-bool CamManger::Initialization() {
+bool MvCam::Initialization() {
   int n_ret = MV_OK;
   MV_CC_DEVICE_INFO_LIST st_device_list{};
   memset(&st_device_list, 0, sizeof(MV_CC_DEVICE_INFO_LIST));
@@ -148,7 +148,7 @@ bool CamManger::Initialization() {
     return false;
   }
 }
-void CamManger::Restart() {
+void MvCam::Restart() {
   Stop();
   std::this_thread::sleep_for(std::chrono::milliseconds{500});
   if (!Initialization()) {
@@ -159,7 +159,7 @@ void CamManger::Restart() {
   }
 }
 
-void CamManger::Stop() {
+void MvCam::Stop() {
   Disable();
   std::this_thread::sleep_for(std::chrono::milliseconds{500});
   for (auto &cam_thread : cam_threads_) {
@@ -188,7 +188,7 @@ void CamManger::Stop() {
     LOG(INFO) << "Exit  " << i << "  cam ";
   }
 }
-void CamManger::Receive(void *handle, const std::string &name)  {
+void MvCam::Receive(void *handle, const std::string &name)  {
   unsigned int last_count = 0;
   MV_FRAME_OUT st_out_frame;
   CamData cam_data;
@@ -257,7 +257,7 @@ void CamManger::Receive(void *handle, const std::string &name)  {
     std::this_thread::sleep_for(std::chrono::milliseconds{2});
   }
 }
-void CamManger::Start() {
+void MvCam::Start() {
   for (const auto &handle : handles_) {
     int n_ret = MV_OK;
     MVCC_STRINGVALUE pst_value;
@@ -272,7 +272,7 @@ void CamManger::Start() {
       name = "cam_" + std::to_string(cam_index++);
       LOG(WARNING) << "Camera name is empty,create name " << name;
     }
-    cam_threads_.emplace_back(&CamManger::Receive, this, handle, name);
+    cam_threads_.emplace_back(&MvCam::Receive, this, handle, name);
     LOG(INFO) << "Camera name is " << name << " start";
   }
 }

example/GigeCam/mv_cam.h

@@ -1,10 +1,10 @@
 #pragma once
 #include "infinite_sense.h"
 namespace infinite_sense {
-class CamManger final : public Cam {
+class MvCam final : public Cam {
  public:
-  explicit CamManger(const std::map<std::string, TriggerDevice>& params) : params_(params) {}
-  ~CamManger() override;
+  explicit MvCam(const std::map<std::string, TriggerDevice>& params) : params_(params) {}
+  ~MvCam() override;
 
   bool Initialization() override;
   void Stop() override;