project_capture/capture.cc

#include "capture.h"

#include <vector>
#include <thread>
#include <opencv2/core.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui.hpp>
#include <zmq.hpp>
#include "logc/log.h"
#include <unistd.h>

capture::capture(int camera_index, int zmq_port, int width_set, int height_set, int fps_set, bool _flip)
{
    index = camera_index;
    port = zmq_port;
    width = width_set;
    height = height_set;
    fps = fps_set;
    flip = _flip;

    log_info("trying open camera %d", index);

    cap = new cv::VideoCapture(index, cv::CAP_V4L2);
    cap->set(cv::CAP_PROP_FRAME_WIDTH, width);
    cap->set(cv::CAP_PROP_FRAME_HEIGHT, height);
    cap->set(cv::CAP_PROP_FPS, fps);

    if (!cap->isOpened())
    {
        log_error("Error opening video stream in %d", index);
        status = false;
    }
    else
    {
        log_info("Successful opening video stream in %d", index);
        status = true;
    }

    context = new zmq::context_t(1);
    socket = new zmq::socket_t(*context, ZMQ_REP);
    // int hwm = 10;
    // socket->setsockopt(ZMQ_SNDHWM, &hwm, sizeof(hwm));
    char zmq_bind_port[10] = {0};
    sprintf(zmq_bind_port, "%d", port);
    strcat(zmq_bind_addr, zmq_bind_port);
    log_info("set camera %d zmq address test %s", index, zmq_bind_addr);
    socket->bind(zmq_bind_addr);
}

void capture::start(void)
{
    if (this->is_open())
    {
        log_info("start camera %d capture thread", index);
        thread = new std::thread(&capture::run, this);
    }
    else
    {
        log_error("camera %d have not been inited, exit", index);
    }
}

void capture::run(void)
{
    cv::Mat dst;
    while (1)
    {
        zmq::message_t msg_temp;
        socket->recv(&msg_temp);
        *cap >> frame;
        if (frame.empty())
        {
            log_error("empty frame");
            break;
        }

        // 确保图像是连续的
        if (!frame.isContinuous())
        {
            frame = frame.clone().reshape(1, frame.total());
        }
        if (flip)
        {
            cv::flip(frame, frame, -1);
            // cv::flip(frame, frame, 1);
        }
        cv::cvtColor(frame, dst, cv::COLOR_BGR2RGB);

        // cv::imshow(zmq_bind_addr, frame);

        // 将帧编码后发送
        std::vector<uchar>
            buff;
        cv::imencode(".jpg", dst, buff);
        zmq::message_t message(buff.size());
        memcpy(message.data(), buff.data(), buff.size());
        socket->send(message, zmq::send_flags::none);

        // 发送帧的元数据（宽度、高度、类型等）
        // 这里简单起见，只发送宽度和高度（假设类型为 CV_8UC3）
        // zmq::message_t header_msg(sizeof(int) * 2);
        // int *header_data = static_cast<int *>(header_msg.data());
        // header_data[0] = frame.cols;
        // header_data[1] = frame.rows;
        // socket.send(header_msg, zmq::send_flags::sndmore);

        // 发送帧数据
        // zmq::message_t frame_msg((size_t)frame.total() * frame.elemSize());
        // memcpy(frame_msg.data(), frame.data, frame.total() * frame.elemSize());
        // socket->send(frame_msg, zmq::send_flags::none);
        // 在这里添加一些延迟，以控制帧率
        cv::waitKey(1);
        // usleep(20000);
    }
}

bool capture::is_open(void)
{
    return status;
}