HDMI输入直至Yolov5识别全流程代码

hdmiIn/rk3588_hdmi_in_out-in_and_out/.clang-format

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hdmiIn/rk3588_hdmi_in_out-in_and_out/.gitignore

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+cmake-build-*/
+.idea
+build

hdmiIn/rk3588_hdmi_in_out-in_and_out/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.21)  
+project(rk3588_hdmi_in)  
+
+set(CMAKE_CXX_STANDARD 17)  
+
+# 查找所需的库  
+find_package(OpenCV REQUIRED)  
+find_package(kaylordut REQUIRED)  
+
+# 明确列出所有源文件  
+set(SOURCES  
+    main.cpp  
+    src/fps_counter.cpp  
+    src/hdmi_in.cpp  
+    src/framebuffer.cpp  
+    src/video_saver.cpp  
+    src/virtual_device.cpp   
+)  
+
+# 创建可执行文件  
+add_executable(rk3588_hdmi_in ${SOURCES})  
+
+# 包含头文件  
+target_include_directories(rk3588_hdmi_in PRIVATE  
+    include  
+    ${OpenCV_INCLUDE_DIRS}  
+)  
+
+# 链接库  
+target_link_libraries(rk3588_hdmi_in PRIVATE  
+    ${OpenCV_LIBS}  
+    ${kaylordut_LIBS}  
+)  

hdmiIn/rk3588_hdmi_in_out-in_and_out/include/fps_counter.h

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+#ifndef FPS_COUNTER_H  
+#define FPS_COUNTER_H  
+
+#include <chrono>  
+#include <deque>  
+
+class FPSCounter {  
+public:  
+    FPSCounter(size_t window_size = 10);  
+    double update();  
+
+private:  
+    size_t window_size_;  
+    std::deque<std::chrono::steady_clock::time_point> time_points_;  
+    std::deque<double> fps_values_;  
+};  
+
+#endif // FPS_COUNTER_H  

hdmiIn/rk3588_hdmi_in_out-in_and_out/include/framebuffer.h

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+//
+// Created by kaylor on 1/9/25.
+//
+
+#ifndef FRAMEBUFFER_H
+#define FRAMEBUFFER_H
+#include "linux/fb.h"
+#include "opencv2/opencv.hpp"
+#include "string"
+
+class FrameBuffer {
+ public:
+  FrameBuffer(std::string device);
+  ~FrameBuffer();
+  bool WriteFrameBuffer(const cv::Mat image);
+
+ private:
+  std::string device_;
+  int fd_;
+  char *fb_ptr_{nullptr};
+  fb_fix_screeninfo fix_screeninfo_;
+  fb_var_screeninfo var_screeninfo_;
+};
+
+#endif  // FRAMEBUFFER_H

hdmiIn/rk3588_hdmi_in_out-in_and_out/include/hdmi_in.h

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+//
+// Created by kaylor on 1/8/25.
+//
+
+#ifndef HDMI_IN_H
+#define HDMI_IN_H
+
+#include "opencv2/opencv.hpp"
+
+class HdmiIn {
+ public:
+  HdmiIn(std::string device_name);
+  ~HdmiIn();
+  cv::Mat get_next_frame();
+
+ private:
+  cv::VideoCapture capture_;
+  std::string device_name_;
+};
+
+#endif  // HDMI_IN_H

hdmiIn/rk3588_hdmi_in_out-in_and_out/include/video_saver.h

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+#ifndef VIDEO_SAVER_H  
+#define VIDEO_SAVER_H  
+
+#include <opencv2/opencv.hpp>  
+#include <filesystem>  
+#include <queue>  
+#include <mutex>  
+#include <condition_variable>  
+#include <thread>  
+
+namespace fs = std::filesystem;  
+
+class VideoSaver {  
+public:  
+    VideoSaver(int fps, int width, int height, size_t max_total_size_gb = 1);  
+    ~VideoSaver();  
+
+    void write_frame(const cv::Mat& frame);  
+    static void file_deleter();  
+    static void stop_file_deleter();  
+
+private:  
+    void start_new_file();  
+    void check_and_cleanup_files();  
+
+    int fps_;  
+    int width_;  
+    int height_;  
+    int frame_count_;  
+    size_t max_total_size_bytes_;  
+    cv::VideoWriter writer_;  
+
+    static std::mutex delete_mutex;  
+    static std::condition_variable delete_cv;  
+    static std::queue<std::string> files_to_delete_queue;  
+    static bool stop_delete_thread;  
+};  
+
+#endif // VIDEO_SAVER_H  

hdmiIn/rk3588_hdmi_in_out-in_and_out/include/virtual_device.h

@@ -0,0 +1,19 @@
+#ifndef VIRTUAL_DEVICE_H  
+#define VIRTUAL_DEVICE_H  
+
+#include <opencv2/opencv.hpp>  
+#include <queue>  
+#include <mutex>  
+#include <condition_variable>  
+
+// 声明全局变量为 extern  
+extern std::queue<cv::Mat> frame_queue;  
+extern std::mutex queue_mutex;  
+extern std::condition_variable queue_cv;  
+extern bool stop_thread;  
+
+int init_virtual_device(const std::string& device_path, int width, int height);  
+void write_to_virtual_device(int fd, const cv::Mat& frame);  
+void virtual_device_writer(int fd);  
+
+#endif // VIRTUAL_DEVICE_H  

hdmiIn/rk3588_hdmi_in_out-in_and_out/main.cpp

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+#include "fps_counter.h"  
+#include "video_saver.h"  
+#include "virtual_device.h"  
+#include "framebuffer.h"  
+#include "hdmi_in.h"  
+#include "kaylordut/log/logger.h"  
+#include <opencv2/opencv.hpp>  
+#include <thread>  
+#include <unistd.h>  
+#include <cstdlib>  // 为了使用系统函数  
+#include <sys/stat.h>  // 为了使用 access 函数  
+
+int main(int argc, char **argv) {  
+    // 执行 framebuffer 设置命令  
+    int result = system("sudo fbset -xres 1280 -yres 720");  
+    if (result != 0) {  
+        KAYLORDUT_LOG_ERROR("Failed to set framebuffer resolution");  
+        return -1;  
+    }  
+
+    std::string virtual_device = "/dev/video10";  
+    
+    // 检查虚拟设备是否存在  
+    if (access(virtual_device.c_str(), F_OK) == -1) {  
+        // 如果不存在，创建虚拟设备  
+        result = system("sudo modprobe v4l2loopback video_nr=10 card_label=\"HDMI_Capture\" exclusive_caps=1");  
+        if (result != 0) {  
+            KAYLORDUT_LOG_ERROR("Failed to load v4l2loopback module");  
+            return -1;  
+        }  
+    }  
+
+    std::stringstream ss;  
+    for (int i = 0; i < argc; ++i) {  
+        ss << argv[i] << " ";  
+    }  
+    KAYLORDUT_LOG_ERROR("Command: {}", ss.str());  
+
+    std::string device = "/dev/video0";  
+    HdmiIn hdmi_in(device);  
+    std::string fb = "/dev/fb0";  
+    FrameBuffer frame_buffer(fb);  
+
+    int vd_fd = init_virtual_device(virtual_device, 1280, 720);  
+    if (vd_fd == -1) {  
+        KAYLORDUT_LOG_ERROR("Failed to initialize virtual device");  
+        return -1;  
+    }  
+
+    cv::Mat frame;  
+    FPSCounter fps_counter;  
+
+    const std::chrono::milliseconds frame_duration(1000 / 25);  
+    auto next_frame_time = std::chrono::steady_clock::now();  
+
+    frame = hdmi_in.get_next_frame();  
+    if (frame.empty()) {  
+        KAYLORDUT_LOG_ERROR("Failed to get initial frame to determine video size");  
+        return -1;  
+    }  
+
+    VideoSaver video_saver(25, frame.cols, frame.rows);  
+
+    std::thread writer_thread(virtual_device_writer, vd_fd);  
+    std::thread deleter_thread(VideoSaver::file_deleter);  
+
+    while (true) {  
+        auto start_time = std::chrono::steady_clock::now();  
+
+        frame = hdmi_in.get_next_frame();  
+
+        if (!frame.empty()) {  
+            double current_fps = fps_counter.update();  
+            std::string fps_text = cv::format("FPS: %.1f", current_fps);  
+            cv::putText(frame, fps_text, cv::Point(20, 40), cv::FONT_HERSHEY_SIMPLEX, 1.2, CV_RGB(0, 255, 0), 2);  
+
+            frame_buffer.WriteFrameBuffer(frame);  
+            video_saver.write_frame(frame);  
+
+            {  
+                std::lock_guard<std::mutex> lock(queue_mutex);  
+                frame_queue.push(frame.clone());  
+                queue_cv.notify_one();  
+            }  
+        }  
+
+        auto process_time = std::chrono::steady_clock::now() - start_time;  
+        next_frame_time += frame_duration;  
+        std::this_thread::sleep_until(next_frame_time);  
+
+        if (process_time > frame_duration) {  
+            // KAYLORDUT_LOG_ERROR("Frame processing took too long: {}ms", std::chrono::duration_cast<std::chrono::milliseconds>(process_time).count());  
+        }  
+    }  
+
+    {  
+        std::lock_guard<std::mutex> lock(queue_mutex);  
+        stop_thread = true;  
+        queue_cv.notify_one();  
+    }  
+    writer_thread.join();  
+
+    VideoSaver::stop_file_deleter();  
+    deleter_thread.join();  
+
+    if (vd_fd != -1) {  
+        close(vd_fd);  
+    }  
+
+    return 0;
+}  

hdmiIn/rk3588_hdmi_in_out-in_and_out/readme.md

@@ -0,0 +1,9 @@
+
+```bash
+> v4l2-ctl -d /dev/video11 -V -D
+
+#设置framebuffer缓冲区的显示尺寸和输入视频流的尺寸一致，可以降低CPU占用
+sudo fbset -xres 1280 -yres 720
+
+#虚拟一个video10设备
+sudo modprobe v4l2loopback video_nr=10 card_label="HDMI_Capture" exclusive_caps=1

hdmiIn/rk3588_hdmi_in_out-in_and_out/src/fps_counter.cpp

@@ -0,0 +1,25 @@
+#include "fps_counter.h"  
+
+FPSCounter::FPSCounter(size_t window_size) : window_size_(window_size) {}  
+
+double FPSCounter::update() {  
+    auto now = std::chrono::steady_clock::now();  
+    if (!time_points_.empty()) {  
+        double fps = 1.0 / std::chrono::duration<double>(now - time_points_.back()).count();  
+        fps_values_.push_back(fps);  
+        if (fps_values_.size() > window_size_) {  
+            fps_values_.pop_front();  
+        }  
+    }  
+    time_points_.push_back(now);  
+    if (time_points_.size() > window_size_) {  
+        time_points_.pop_front();  
+    }  
+
+    if (fps_values_.empty()) return 0.0;  
+    double sum = 0.0;  
+    for (double fps : fps_values_) {  
+        sum += fps;  
+    }  
+    return sum / fps_values_.size();  
+}  

hdmiIn/rk3588_hdmi_in_out-in_and_out/src/framebuffer.cpp

@@ -0,0 +1,81 @@
+//
+// Created by kaylor on 1/9/25.
+//
+
+#include "framebuffer.h"
+
+#include <unistd.h>
+
+#include "kaylordut/log/logger.h"
+#include "sys/file.h"
+#include "sys/ioctl.h"
+#include "sys/mman.h"
+
+FrameBuffer::FrameBuffer(std::string device) {
+  device_ = device;
+  fd_ = open(device_.c_str(), O_RDWR);
+  if (fd_ == -1) {
+    KAYLORDUT_LOG_ERROR("cannot open {}", device_);
+    exit(EXIT_FAILURE);
+  }
+  // 尝试独占锁定帧缓冲设备
+  if (flock(fd_, LOCK_EX | LOCK_NB) == -1) {
+    KAYLORDUT_LOG_ERROR("Error locking framebuffer device");
+    close(fd_);
+    exit(EXIT_FAILURE);
+  }
+
+  if (ioctl(fd_, FBIOGET_FSCREENINFO, &fix_screeninfo_)) {
+    KAYLORDUT_LOG_ERROR("cannot get fix screen info");
+    flock(fd_, LOCK_UN);
+    close(fd_);
+    exit(EXIT_FAILURE);
+  }
+  KAYLORDUT_LOG_ERROR("fix screen info: smem_len: {}, line_len: {}",
+                     fix_screeninfo_.smem_len, fix_screeninfo_.line_length);
+  if (ioctl(fd_, FBIOGET_VSCREENINFO, &var_screeninfo_)) {
+    KAYLORDUT_LOG_ERROR("cannot var fix screen info");
+    flock(fd_, LOCK_UN);
+    close(fd_);
+    exit(EXIT_FAILURE);
+  }
+  KAYLORDUT_LOG_INFO("var screen info: {}x{}", var_screeninfo_.xres,
+                     var_screeninfo_.yres);
+  fb_ptr_ = (char *)mmap(0, fix_screeninfo_.smem_len, PROT_READ | PROT_WRITE,
+                         MAP_SHARED, fd_, 0);
+  if ((long)fb_ptr_ == -1) {
+    KAYLORDUT_LOG_ERROR("map mem error");
+    flock(fd_, LOCK_UN);
+    close(fd_);
+    exit(EXIT_FAILURE);
+  }
+}
+
+FrameBuffer::~FrameBuffer() {
+  if (fb_ptr_ != nullptr) {
+    munmap(fb_ptr_, fix_screeninfo_.smem_len);
+    if (fd_) {
+      flock(fd_, LOCK_UN);
+      close(fd_);
+    }
+    fb_ptr_ = nullptr;
+  }
+}
+
+bool FrameBuffer::WriteFrameBuffer(const cv::Mat image) {
+  cv::Mat result;
+  cv::resize(image, result,
+             cv::Size(var_screeninfo_.xres, var_screeninfo_.yres));
+  if (image.channels() != 4) {
+    // KAYLORDUT_TIME_COST_INFO("BGR2BGRA",
+    //                          cv::cvtColor(result, result, cv::COLOR_BGR2BGRA));
+  }
+  auto dst = fb_ptr_;
+  auto src = result.data;
+  for (int i = 0; i < result.rows; ++i) {
+    std::memcpy(dst, src, result.cols * result.elemSize());
+    dst += fix_screeninfo_.line_length;
+    src += result.cols * result.elemSize();
+  }
+  return true;
+}

hdmiIn/rk3588_hdmi_in_out-in_and_out/src/hdmi_in.cpp

@@ -0,0 +1,35 @@
+//
+// Created by kaylor on 1/8/25.
+//
+
+#include "hdmi_in.h"
+
+#include "kaylordut/log/logger.h"
+
+HdmiIn::HdmiIn(std::string device_name) {
+  device_name_ = device_name;
+  capture_ = cv::VideoCapture(
+      "v4l2src device=" + device_name_ +
+          " ! videoconvert ! video/x-raw, format=BGR ! appsink",
+      cv::CAP_GSTREAMER);
+  if (!capture_.isOpened()) {
+    KAYLORDUT_LOG_ERROR("cannot open {}", device_name_);
+    exit(EXIT_FAILURE);
+  }
+}
+
+HdmiIn::~HdmiIn() {
+  if (capture_.isOpened()) {
+    capture_.release();
+  }
+}
+
+cv::Mat HdmiIn::get_next_frame() {
+  cv::Mat frame;
+  capture_ >> frame;
+  if (frame.empty()) {
+    KAYLORDUT_LOG_WARN("cannot read a new frame");
+    // return cv::Mat();
+  }
+  return frame;
+}

hdmiIn/rk3588_hdmi_in_out-in_and_out/src/video_saver.cpp

@@ -0,0 +1,109 @@
+#include "video_saver.h"  
+#include "kaylordut/log/logger.h"  
+
+std::mutex VideoSaver::delete_mutex;  
+std::condition_variable VideoSaver::delete_cv;  
+std::queue<std::string> VideoSaver::files_to_delete_queue;  
+bool VideoSaver::stop_delete_thread = false;  
+
+VideoSaver::VideoSaver(int fps, int width, int height, size_t max_total_size_gb)  
+    : fps_(fps), width_(width), height_(height), frame_count_(0), max_total_size_bytes_(max_total_size_gb * 1024 * 1024 * 1024) {  
+    fs::create_directory("./video_output");  
+    start_new_file();  
+}  
+
+VideoSaver::~VideoSaver() {  
+    if (writer_.isOpened()) {  
+        writer_.release();  
+    }  
+}  
+
+void VideoSaver::write_frame(const cv::Mat& frame) {  
+    if (!writer_.isOpened()) {  
+        KAYLORDUT_LOG_ERROR("Video writer is not opened!");  
+        return;  
+    }  
+
+    writer_.write(frame);  
+    frame_count_++;  
+
+    if (frame_count_ >= fps_) {  
+        writer_.release();  
+        frame_count_ = 0;  
+        start_new_file();  
+    }  
+}  
+
+void VideoSaver::file_deleter() {  
+    while (true) {  
+        std::string file_path;  
+        {  
+            std::unique_lock<std::mutex> lock(delete_mutex);  
+            delete_cv.wait(lock, [] { return !files_to_delete_queue.empty() || stop_delete_thread; });  
+            if (stop_delete_thread && files_to_delete_queue.empty()) break;  
+            file_path = files_to_delete_queue.front();  
+            files_to_delete_queue.pop();  
+        }  
+        fs::remove(file_path);  
+        KAYLORDUT_LOG_INFO("Deleted old file: {}", file_path);  
+    }  
+}  
+
+void VideoSaver::stop_file_deleter() {  
+    {  
+        std::lock_guard<std::mutex> lock(delete_mutex);  
+        stop_delete_thread = true;  
+        delete_cv.notify_one();  
+    }  
+}  
+
+void VideoSaver::start_new_file() {  
+    auto now = std::chrono::system_clock::now();  
+    auto in_time_t = std::chrono::system_clock::to_time_t(now);  
+
+    std::stringstream ss;  
+    ss << std::put_time(std::localtime(&in_time_t), "%Y%m%d_%H%M%S");  
+    std::string timestamp = ss.str();  
+
+    std::string filename = "./video_output/video_" + timestamp + ".mp4";  
+    int fourcc = cv::VideoWriter::fourcc('m', 'p', '4', 'v');  
+    writer_.open(filename, fourcc, fps_, cv::Size(width_, height_));  
+
+    if (!writer_.isOpened()) {  
+        KAYLORDUT_LOG_ERROR("Could not open video file for writing: {}", filename);  
+        return;  
+    }  
+
+    check_and_cleanup_files();  
+}  
+
+void VideoSaver::check_and_cleanup_files() {  
+    std::vector<fs::path> files;  
+    size_t total_size = 0;  
+
+    for (const auto& entry : fs::directory_iterator("./video_output")) {  
+        if (entry.is_regular_file() && entry.path().extension() == ".mp4") {  
+            files.push_back(entry.path());  
+            total_size += fs::file_size(entry.path());  
+        }  
+    }  
+
+    std::sort(files.begin(), files.end(), [](const fs::path& a, const fs::path& b) {  
+        return fs::last_write_time(a) < fs::last_write_time(b);  
+    });  
+
+    size_t files_to_delete = 0;  
+    while (total_size > max_total_size_bytes_ && !files.empty() && files_to_delete < 5) {  
+        total_size -= fs::file_size(files.front());  
+        {  
+            std::lock_guard<std::mutex> lock(delete_mutex);  
+            files_to_delete_queue.push(files.front().string());  
+        }  
+        files.erase(files.begin());  
+        files_to_delete++;  
+    }  
+
+    if (files_to_delete > 0) {  
+        delete_cv.notify_one();  
+    }  
+}  

hdmiIn/rk3588_hdmi_in_out-in_and_out/src/virtual_device.cpp

@@ -0,0 +1,65 @@
+#include "virtual_device.h"  
+#include <fcntl.h>          // 包含 open、O_RDWR 等  
+#include <unistd.h>         // 包含 close、write 等  
+#include <linux/videodev2.h> // 包含 Video4Linux2 相关定义  
+#include "kaylordut/log/logger.h" // 包含日志宏  
+#include <sys/ioctl.h> // 包含 ioctl 函数  
+
+// 定义全局变量  
+std::queue<cv::Mat> frame_queue;  
+std::mutex queue_mutex;  
+std::condition_variable queue_cv;  
+bool stop_thread = false;  
+
+int init_virtual_device(const std::string& device_path, int width, int height) {  
+    int fd = open(device_path.c_str(), O_RDWR);  
+    if (fd == -1) {  
+        KAYLORDUT_LOG_ERROR("Failed to open virtual video device: {}", device_path);  
+        return -1;  
+    }  
+
+    struct v4l2_format fmt = {};  
+    fmt.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;  
+    fmt.fmt.pix.width = width;  
+    fmt.fmt.pix.height = height;  
+    fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_BGR24;  
+    fmt.fmt.pix.field = V4L2_FIELD_NONE;  
+
+    if (ioctl(fd, VIDIOC_S_FMT, &fmt) == -1) {  
+        KAYLORDUT_LOG_ERROR("Failed to set video format");  
+        close(fd);  
+        return -1;  
+    }  
+
+    return fd;  
+}  
+
+void write_to_virtual_device(int fd, const cv::Mat& frame) {  
+    if (fd == -1 || frame.empty()) return;  
+
+    cv::Mat continuous_frame;  
+    if (!frame.isContinuous()) {  
+        continuous_frame = frame.clone();  
+    } else {  
+        continuous_frame = frame;  
+    }  
+
+    ssize_t written = write(fd, continuous_frame.data, continuous_frame.total() * continuous_frame.elemSize());  
+    if (written == -1) {  
+        KAYLORDUT_LOG_ERROR("Failed to write to virtual device");  
+    }  
+}  
+
+void virtual_device_writer(int fd) {  
+    while (true) {  
+        cv::Mat frame;  
+        {  
+            std::unique_lock<std::mutex> lock(queue_mutex);  
+            queue_cv.wait(lock, [] { return !frame_queue.empty() || stop_thread; });  
+            if (stop_thread && frame_queue.empty()) break;  
+            frame = frame_queue.front();  
+            frame_queue.pop();  
+        }  
+        write_to_virtual_device(fd, frame);  
+    }  
+}