输出YUYV格式的视频流

.vscode/settings.json

@@ -60,6 +60,7 @@
         "stop_token": "cpp",
         "streambuf": "cpp",
         "thread": "cpp",
-        "typeinfo": "cpp"
+        "typeinfo": "cpp",
+        "chrono": "cpp"
     }
 }

Vimba_6_0/VimbaCPP/Examples/AsynchronousGrab/VirtualCameraColor/Build/Make/Makefile

@@ -34,7 +34,8 @@ DEFINES             =
 
 CFLAGS              = $(COMMON_CFLAGS) \
                       $(VIMBACPP_CFLAGS) \
-                      $(VIMBAIMAGETRANSFORM_CFLAGS)
+                      $(VIMBAIMAGETRANSFORM_CFLAGS) \
+                      
 
 OBJ_FILES           = $(OBJ_DIR)/ApiController.o \
                       $(OBJ_DIR)/FrameObserver.o \

Vimba_6_0/VimbaCPP/Examples/AsynchronousGrab/VirtualCameraColor/Source/FrameObserver.cpp

@@ -4,6 +4,8 @@
 #include <sys/ioctl.h>
 #include <unistd.h>
 #include <chrono>
+#include <vector>
+#include <iostream> 
 
 namespace AVT {
 namespace VmbAPI {
@@ -36,8 +38,9 @@ bool FrameObserver::SetupVideoDevice()
     
     m_vfmt.fmt.pix.width = 640;
     m_vfmt.fmt.pix.height = 480;
-    m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
+    m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;  // 改为RGB24格式
     m_vfmt.fmt.pix.field = V4L2_FIELD_NONE;
+    m_vfmt.fmt.pix.sizeimage = 640 * 480 * 3;  // RGB24是3字节/像素
     
     if (ioctl(m_videoFd, VIDIOC_S_FMT, &m_vfmt) < 0) {
         perror("Set video format");
@@ -76,8 +79,8 @@ bool FrameObserver::UpdateVideoFormat(VmbUint32_t width, VmbUint32_t height, Vmb
             m_vfmt.fmt.pix.sizeimage = width * height;
             break;
         case VmbPixelFormatBayerRG8:
-            m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_SRGGB8;
+            m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;  // We convert Bayer to YUYV
-            m_vfmt.fmt.pix.sizeimage = width * height;
+            m_vfmt.fmt.pix.sizeimage = width * height * 2;
             break;
         default:
             m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
@@ -92,10 +95,64 @@ bool FrameObserver::UpdateVideoFormat(VmbUint32_t width, VmbUint32_t height, Vmb
     return true;
 }
 
-void FrameObserver::FrameReceived(const FramePtr pFrame) 
+// Convert Bayer RGGB to RGB (simplified demosaicing)
-{
+void FrameObserver::ConvertBayerRGGBToRGB(const VmbUchar_t* bayerData, VmbUchar_t* rgbData, VmbUint32_t width, VmbUint32_t height) {
+    // 只处理中心像素（避免边界越界）
+    for (VmbUint32_t y = 1; y < height - 1; y++) {
+        for (VmbUint32_t x = 1; x < width - 1; x++) {
+            VmbUint32_t idx = y * width + x;
+            VmbUchar_t r, g, b;
+
+            if (y % 2 == 0) {  // Even row (RGRG...)
+                if (x % 2 == 0) {  // R
+                    r = bayerData[idx];
+                    g = (bayerData[idx - 1] + bayerData[idx + 1] + bayerData[idx - width] + bayerData[idx + width]) / 4;
+                    b = (bayerData[idx - width - 1] + bayerData[idx - width + 1] + bayerData[idx + width - 1] + bayerData[idx + width + 1]) / 4;
+                } else {  // G
+                    r = (bayerData[idx - 1] + bayerData[idx + 1]) / 2;
+                    g = bayerData[idx];
+                    b = (bayerData[idx - width] + bayerData[idx + width]) / 2;
+                }
+            } else {  // Odd row (GBGB...)
+                if (x % 2 == 0) {  // G
+                    r = (bayerData[idx - width] + bayerData[idx + width]) / 2;
+                    g = bayerData[idx];
+                    b = (bayerData[idx - 1] + bayerData[idx + 1]) / 2;
+                } else {  // B
+                    r = (bayerData[idx - width - 1] + bayerData[idx - width + 1] + bayerData[idx + width - 1] + bayerData[idx + width + 1]) / 4;
+                    g = (bayerData[idx - 1] + bayerData[idx + 1] + bayerData[idx - width] + bayerData[idx + width]) / 4;
+                    b = bayerData[idx];
+                }
+            }
+
+            rgbData[idx * 3] = r;
+            rgbData[idx * 3 + 1] = g;
+            rgbData[idx * 3 + 2] = b;
+        }
+    }
+}
+// Convert RGB to YUYV (4:2:2)
+void FrameObserver::ConvertRGBToYUYV(const VmbUchar_t* rgbData, VmbUchar_t* yuyvData, VmbUint32_t width, VmbUint32_t height) {
+    for (VmbUint32_t i = 0; i < width * height; i += 2) {
+        VmbUchar_t r1 = rgbData[i * 3], g1 = rgbData[i * 3 + 1], b1 = rgbData[i * 3 + 2];
+        VmbUchar_t r2 = rgbData[(i + 1) * 3], g2 = rgbData[(i + 1) * 3 + 1], b2 = rgbData[(i + 1) * 3 + 2];
+
+        // YUV转换（简化版BT.601）
+        VmbUchar_t y1 = 0.299f * r1 + 0.587f * g1 + 0.114f * b1;
+        VmbUchar_t u1 = -0.147f * r1 - 0.289f * g1 + 0.436f * b1 + 128;
+        VmbUchar_t v1 = 0.615f * r1 - 0.515f * g1 - 0.100f * b1 + 128;
+        VmbUchar_t y2 = 0.299f * r2 + 0.587f * g2 + 0.114f * b2;
+
+        yuyvData[i * 2] = y1;
+        yuyvData[i * 2 + 1] = u1;
+        yuyvData[i * 2 + 2] = y2;
+        yuyvData[i * 2 + 3] = v1;
+    }
+}
+void FrameObserver::FrameReceived(const FramePtr pFrame) {
     auto startTime = std::chrono::high_resolution_clock::now();
     
+    // 1. 获取帧数据
     VmbUchar_t* pBuffer = nullptr;
     VmbUint32_t nSize = 0;
     VmbUint32_t width = 0, height = 0;
@@ -106,26 +163,57 @@ void FrameObserver::FrameReceived(const FramePtr pFrame)
         pFrame->GetWidth(width) != VmbErrorSuccess ||
         pFrame->GetHeight(height) != VmbErrorSuccess ||
         pFrame->GetPixelFormat(pixelFormat) != VmbErrorSuccess) {
+        std::cerr << "Failed to get frame data!" << std::endl;
         return;
     }
 
+    // 2. 检查数据有效性
+    if (!pBuffer || width == 0 || height == 0) {
+        std::cerr << "Invalid frame data: width=" << width << ", height=" << height << std::endl;
+        return;
+    }
+
+    // 3. 更新V4L2设备格式（确保支持当前分辨率/PixelFormat）
     if (!UpdateVideoFormat(width, height, pixelFormat)) {
+        std::cerr << "Failed to update video format!" << std::endl;
         return;
     }
 
+    // 4. 处理Bayer RGGB格式（转换为YUYV）
+    if (pixelFormat == VmbPixelFormatBayerRG8) {
+        // 4.1 分配缓冲区
+        std::vector<VmbUchar_t> rgbData(width * height * 3);  // RGB24: width * height * 3
+        std::vector<VmbUchar_t> yuyvData(width * height * 2); // YUYV: width * height * 2
+
+        // 4.2 Bayer RGGB -> RGB
+        ConvertBayerRGGBToRGB(pBuffer, rgbData.data(), width, height);
+
+        // 4.3 RGB -> YUYV
+        ConvertRGBToYUYV(rgbData.data(), yuyvData.data(), width, height);
+
+        // 4.4 写入V4L2设备
+        ssize_t written = write(m_videoFd, yuyvData.data(), yuyvData.size());
+        if (written != (ssize_t)yuyvData.size()) {
+            perror("Write YUYV to video device failed");
+        }
+    } 
+    // 5. 处理非Bayer格式（直接写入）
+    else {
         ssize_t written = write(m_videoFd, pBuffer, nSize);
         if (written != (ssize_t)nSize) {
-        perror("Write to video device");
+            perror("Write raw data to video device failed");
+        }
     }
 
+    // 6. 统计性能
     auto endTime = std::chrono::high_resolution_clock::now();
     double latency = std::chrono::duration<double, std::milli>(endTime - startTime).count();
     m_totalLatency.store(m_totalLatency.load() + latency);
     m_frameCount++;
 
+    // 7. 重新排队帧
     m_pCamera->QueueFrame(pFrame);
 }
-
 double FrameObserver::GetAverageLatency() const {
     return m_frameCount > 0 ? m_totalLatency.load() / m_frameCount : 0.0;
 }

Vimba_6_0/VimbaCPP/Examples/AsynchronousGrab/VirtualCameraColor/Source/FrameObserver.h

@@ -8,6 +8,7 @@
 #include <mutex>
 #include <chrono>
 #include <atomic>
+#include <vector>  // Add for buffer storage
 
 namespace AVT {
 namespace VmbAPI {
@@ -29,6 +30,11 @@ private:
     void CloseVideoDevice();
     bool UpdateVideoFormat(VmbUint32_t width, VmbUint32_t height, VmbPixelFormatType pixelFormat);
 
+    // Bayer to RGB conversion
+    void ConvertBayerRGGBToRGB(const VmbUchar_t* bayerData, VmbUchar_t* rgbData, VmbUint32_t width, VmbUint32_t height);
+    // RGB to YUYV conversion
+    void ConvertRGBToYUYV(const VmbUchar_t* rgbData, VmbUchar_t* yuyvData, VmbUint32_t width, VmbUint32_t height);
+
     int m_videoFd;
     struct v4l2_format m_vfmt;
     std::mutex m_deviceMutex;