btl143/project_capture
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This commit is contained in:
bmy
2024-07-04 17:50:05 +08:00
parent 564fd4439f
commit 7b34be682a
3 changed files with 47 additions and 89 deletions
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75
capture.cc
View File

@@ -27,12 +27,12 @@ capture::capture(int camera_index, int zmq_port, int width_set, int height_set,
if (!cap->isOpened())
{
log_error("Error opening video stream in %d", index);
log_error("开启摄像头 %d 失败", index);
status = false;
}
else
{
log_info("Successful opening video stream in %d", index);
log_info("开启摄像头 %d 成功", index);
status = true;
}
@@ -43,7 +43,7 @@ capture::capture(int camera_index, int zmq_port, int width_set, int height_set,
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);
log_info("设置 %d zmq 地址 %s", index, zmq_bind_addr);
socket->bind(zmq_bind_addr);
}
@@ -51,68 +51,73 @@ void capture::start(void)
{
if (this->is_open())
{
log_info("start camera %d capture thread", index);
thread = new std::thread(&capture::run, this);
log_info("开启摄像头 %d 采集和应答线程", index);
// FIXME request 启动后若 capture 尚未读取到有效帧，则会断言
thread_capture = new std::thread(&capture::get, this);
sleep(1);
thread_request = new std::thread(&capture::req, this);
}
else
{
log_error("camera %d have not been inited, exit", index);
log_error("摄像头 %d 未成功初始化，跳过", index);
}
}
void capture::run(void)
void capture::get(void)
{
cv::Mat dst;
while (1)
{
zmq::message_t msg_temp;
socket->recv(&msg_temp);
*cap >> frame;
if (frame.empty())
*cap >> dst;
if (dst.empty())
{
// TODO 尝试返回缓存帧，并重新启动 capture
log_error("empty frame");
break;
log_error("摄像头 %d 读取到空帧，尝试销毁后重启", index);
cap->release();
// delete cap;
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);
log_warn("摄像头 %d 重新构造完成\r\n", index);
*cap >> dst;
}
// 确保图像是连续的
if (!frame.isContinuous())
if (!dst.isContinuous())
{
frame = frame.clone().reshape(1, frame.total());
dst = dst.clone().reshape(1, dst.total());
}
// 中心翻转处理
if (flip)
{
cv::flip(frame, frame, -1);
cv::flip(dst, dst, -1);
}
// 将图像转换为 rgb
cv::cvtColor(frame, dst, cv::COLOR_BGR2RGB);
cv::cvtColor(dst, frame, cv::COLOR_BGR2RGB);
// 在这里添加一些延迟，以控制帧率
cv::waitKey(1);
}
}
void capture::req(void)
{
zmq::message_t msg_temp;
while (1)
{
socket->recv(&msg_temp);
// 将帧编码后发送
std::vector<uchar>
buff;
cv::imencode(".jpg", dst, buff);
cv::imencode(".jpg", frame, 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);
}
log_error("capture exit");

6
capture.h
View File

@@ -18,7 +18,8 @@ public:
bool flip = false;
char zmq_bind_addr[40] = "tcp://*:";
std::thread *thread;
std::thread *thread_capture;
std::thread *thread_request;
cv::VideoCapture *cap;
cv::Mat frame;
zmq::context_t *context;
@@ -26,7 +27,8 @@ public:
capture(int camera_index, int zmq_port, int width_set = 320, int height_set = 240, int fps_set = 20, bool flip = false);
void start(void);
void run(void);
void get(void);
void req(void);
bool is_open(void);
};

53
main.cc
View File

@@ -48,62 +48,13 @@ int main(int argc, char **argv)
capture cap0(server_0_index.u.i, server_0_port.u.i);
capture cap1(server_1_index.u.i, server_1_port.u.i, 320, 240, 60, true);
// capture cap2(server_2_index.u.i, server_2_port.u.i);
// capture cap2(server_2_index.u.i, server_2_port.u.i, 640, 480);
cap0.start();
cap1.start();
// cap2.start();
if (cap0.is_open())
{
cap0.thread->join();
}
if (cap1.is_open())
{
cap1.thread->join();
}
// if (cap2.is_open())
// {
// cap2.thread->join();
// }
cap1.thread_request->join();
// while (true)
// {
// cap >> frame;
// if (frame.empty())
// {
// std::cerr << "Empty frame" << std::endl;
// break;
// }
// // 确保图像是连续的
// if (!frame.isContinuous())
// {
// frame = frame.clone().reshape(1, frame.total());
// }
// // std::cout << frame.cols << ":" << frame.rows << std::endl;
// // cv::imshow("realtime", frame);
// // 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);
// }
// // 关闭视频捕获和 ZMQ 套接字
// cap.release();
// socket.close();
return 0;
}