129 lines
3.2 KiB
C++
129 lines
3.2 KiB
C++
#include "capture.h"
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#include <vector>
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#include <thread>
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#include <opencv2/core.hpp>
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#include <opencv2/opencv.hpp>
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#include <opencv2/highgui.hpp>
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#include <zmq.hpp>
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#include "logc/log.h"
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#include <unistd.h>
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capture::capture(int camera_index, int zmq_port, int width_set, int height_set, int fps_set, bool _flip)
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{
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index = camera_index;
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port = zmq_port;
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width = width_set;
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height = height_set;
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fps = fps_set;
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flip = _flip;
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log_info("trying open camera %d", index);
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cap = new cv::VideoCapture(index, cv::CAP_V4L2);
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cap->set(cv::CAP_PROP_FRAME_WIDTH, width);
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cap->set(cv::CAP_PROP_FRAME_HEIGHT, height);
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cap->set(cv::CAP_PROP_FPS, fps);
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if (!cap->isOpened())
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{
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log_error("开启摄像头 %d 失败", index);
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status = false;
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}
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else
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{
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log_info("开启摄像头 %d 成功", index);
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status = true;
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}
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context = new zmq::context_t(1);
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socket = new zmq::socket_t(*context, ZMQ_REP);
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// int hwm = 10;
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// socket->setsockopt(ZMQ_SNDHWM, &hwm, sizeof(hwm));
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char zmq_bind_port[10] = {0};
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sprintf(zmq_bind_port, "%d", port);
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strcat(zmq_bind_addr, zmq_bind_port);
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log_info("设置 %d zmq 地址 %s", index, zmq_bind_addr);
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socket->bind(zmq_bind_addr);
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}
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void capture::start(void)
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{
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if (this->is_open())
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{
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log_info("开启摄像头 %d 采集和应答线程", index);
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// FIXME request 启动后若 capture 尚未读取到有效帧，则会断言
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thread_capture = new std::thread(&capture::get, this);
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sleep(1);
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thread_request = new std::thread(&capture::req, this);
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}
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else
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{
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log_error("摄像头 %d 未成功初始化，跳过", index);
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}
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}
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void capture::get(void)
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{
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cv::Mat dst;
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while (1)
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{
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*cap >> dst;
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if (dst.empty())
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{
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log_error("摄像头 %d 读取到空帧，尝试销毁后重启", index);
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cap->release();
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// delete cap;
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cap = new cv::VideoCapture(index, cv::CAP_V4L2);
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cap->set(cv::CAP_PROP_FRAME_WIDTH, width);
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cap->set(cv::CAP_PROP_FRAME_HEIGHT, height);
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cap->set(cv::CAP_PROP_FPS, fps);
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log_warn("摄像头 %d 重新构造完成\r\n", index);
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*cap >> dst;
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}
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// 确保图像是连续的
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if (!dst.isContinuous())
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{
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dst = dst.clone().reshape(1, dst.total());
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}
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// 中心翻转处理
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if (flip)
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{
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cv::flip(dst, dst, -1);
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}
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// 将图像转换为 rgb
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cv::cvtColor(dst, frame, cv::COLOR_BGR2RGB);
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// 在这里添加一些延迟，以控制帧率
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cv::waitKey(1);
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}
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}
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void capture::req(void)
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{
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zmq::message_t msg_temp;
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while (1)
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{
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socket->recv(&msg_temp);
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// 将帧编码后发送
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std::vector<uchar>
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buff;
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cv::imencode(".jpg", frame, buff);
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zmq::message_t message(buff.size());
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memcpy(message.data(), buff.data(), buff.size());
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socket->send(message, zmq::send_flags::none);
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}
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log_error("capture exit");
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}
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bool capture::is_open(void)
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{
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return status;
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} |