From b2e0db759312b6d0abe92849b02931430654565e Mon Sep 17 00:00:00 2001
From: sige <sige@sige.com>
Date: Thu, 29 Feb 2024 16:32:21 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8A=A8=E4=BD=9C=EF=BC=9A=E6=8B=8D=E7=85=A7?=
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---
 .../move/MoveCameraGrabFrame.java                  | 31 ++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 src/src/main/java/com/my/graphiteDigesterBg/move/MoveCameraGrabFrame.java

diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveCameraGrabFrame.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveCameraGrabFrame.java
new file mode 100644
index 0000000..332bc86
--- /dev/null
+++ b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveCameraGrabFrame.java
@@ -0,0 +1,31 @@
+package com.my.graphiteDigesterBg.move;
+import com.my.graphiteDigesterBg.MyDevice;
+import com.my.graphiteDigesterBg.diframe.DiTaskMoveBase;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActCameraBasler;
+import org.opencv.core.Core;
+import org.opencv.core.Mat;
+import org.opencv.core.Rect;
+public class MoveCameraGrabFrame extends DiTaskMoveBase {
+    // camera
+    private DiActCameraBasler camera;
+
+    @Override
+    public void run() {
+        this.camera = this.getActuator(MyDevice.ACT_CAMERA, DiActCameraBasler.class);
+    }
+
+    // get detect image mat
+    public Mat getDetectImageMat() {
+        var srcImageMat = this.camera.grabToMat();
+
+        // 翻转图像
+        Mat flippedImgMat = new Mat();
+        Core.flip(srcImageMat, flippedImgMat, 1);
+
+        // 裁剪图像
+        Rect croppedRoi = new Rect(240, 120, 800, 800);
+        Mat croppedImgMat = new Mat(flippedImgMat, croppedRoi);
+
+        return croppedImgMat;
+    }
+}