实现opencv

Vimba_6_0/VimbaCPP/Examples/AsynchronousOpenCVRecorder/Qt/Build/Make/Makefile

@@ -12,40 +12,50 @@ BIN_FILE            = $(PROJECT_NAME)
 BIN_DIR             = binary/$(CONFIG_DIR)
 OBJ_DIR             = object/$(CONFIG_DIR)
 BIN_PATH            = $(BIN_DIR)/$(BIN_FILE)
+# Qt 工具路径
+MOC = /usr/lib/aarch64-linux-gnu/qt5/bin/moc
+UIC = /usr/lib/aarch64-linux-gnu/qt5/bin/uic
+RCC = /usr/lib/aarch64-linux-gnu/qt5/bin/rcc
+
+# 使用 pkg-config 获取 Qt 编译标志
+QT_CFLAGS := $(shell pkg-config --cflags Qt5Core Qt5Gui Qt5Widgets)
+QT_LIBS := $(shell pkg-config --libs Qt5Core Qt5Gui Qt5Widgets)
 
 all: $(BIN_PATH)
 
 include $(MAKE_INCLUDE_DIR)/VimbaCPP.mk
 include $(MAKE_INCLUDE_DIR)/VimbaImageTransform.mk
-include $(MAKE_INCLUDE_DIR)/Qt.mk
+
 
 SOURCE_DIR          = $(PROJECT_DIR)/Source
 
 INCLUDE_DIRS        = -I$(SOURCE_DIR) \
                       -I$(EXAMPLES_DIR) \
-		      -I$(OBJ_DIR)
+                      -I$(OBJ_DIR) \
+                      -I/usr/include/aarch64-linux-gnu/qt5 \
+                      -I/usr/include/aarch64-linux-gnu/qt5/QtCore \
+                      -I/usr/include/aarch64-linux-gnu/qt5/QtGui \
+                      -I/usr/include/aarch64-linux-gnu/qt5/QtWidgets
 
 
-OPENCV_CFLAGS       = $(shell $(PKGCFG) --cflags opencv)
 
-OPENCV_LIBS         = $(shell $(PKGCFG) --libs opencv)
+OPENCV_CFLAGS       = $(shell $(PKGCFG) --cflags opencv4)
+
+OPENCV_LIBS         = $(shell $(PKGCFG) --libs opencv4)
 
 
 
 LIBS                = $(VIMBACPP_LIBS) \
                       $(VIMBAIMAGETRANSFORM_LIBS) \
-                      $(QTCORE_LIBS) \
-                      $(QTGUI_LIBS) \
+                      $(QT_LIBS) \
                       $(OPENCV_LIBS)
 
 DEFINES             =
 
-
 CFLAGS              = $(COMMON_CFLAGS) \
                       $(VIMBACPP_CFLAGS) \
                       $(VIMBAIMAGETRANSFORM_CFLAGS) \
-                      $(QTCORE_CFLAGS) \
-                      $(QTGUI_CFLAGS) \
+                      $(QT_CFLAGS) \
                       $(OPENCV_CFLAGS)
 
 OBJ_FILES           = $(OBJ_DIR)/ApiController.o \
@@ -62,9 +72,7 @@ OBJ_FILES           = $(OBJ_DIR)/ApiController.o \
 GEN_HEADERS			= $(OBJ_DIR)/ui_AsynchronousOpenCVRecorder.h
 
 DEPENDENCIES        = VimbaCPP \
-                      VimbaImageTransform \
-                      QtCore \
-                      QtGui
+                      VimbaImageTransform
 
 $(OBJ_DIR)/moc_%.cpp: $(SOURCE_DIR)/%.h $(OBJ_DIR)
 	$(MOC) -o $@ $<

Vimba_6_0/VimbaCPP/Examples/AsynchronousOpenCVRecorder/Qt/Source/OpenCVVideoRecorder.h

@@ -90,7 +90,18 @@ the use of this software, even if advised of the possibility of such damage.
 #include "VmbTransform.h"
 #include <VimbaCPP/Include/VimbaCPP.h>
 
+#include <opencv2/videoio.hpp>  // 必须包含 videoio 以使用 VideoWriter
+#include <opencv2/opencv.hpp>
 
+// 替换原有的 enum 定义
+static const int FOURCC_USER_SELECT  = -1;  // 替代 CV_FOURCC_PROMPT
+static const int FOURCC_DEFAULT      = cv::VideoWriter::fourcc('I','Y','U','V');
+static const int FOURCC_MPEG1        = cv::VideoWriter::fourcc('P','I','M','1');
+static const int FOURCC_MJPEG        = cv::VideoWriter::fourcc('M','J','P','G');
+static const int FOURCC_MPEG42       = cv::VideoWriter::fourcc('M','P','4','2');
+static const int FOURCC_MPEG43       = cv::VideoWriter::fourcc('M','P','4','3');
+static const int FOURCC_DIVX         = cv::VideoWriter::fourcc('D','I','V','X');
+static const int FOURCC_X264         = cv::VideoWriter::fourcc('X','2','6','4');
 //
 // Base exception
 //
@@ -130,17 +141,6 @@ class OpenCVRecorder: public QThread
     //  Example FOURCC codes that can be used with the OpenCVRecorder
     //
     VmbUint32_t maxQueueElements() const { return 3; }
-    enum
-    {
-        FOURCC_USER_SELECT  = CV_FOURCC_PROMPT,
-        FOURCC_DEFAULT      = CV_FOURCC_MACRO('I','Y','U','V'),
-        FOURCC_MPEG1        = CV_FOURCC_MACRO('P','I','M','1'),
-        FOURCC_MJPEG        = CV_FOURCC_MACRO('M','J','P','G'),
-        FOURCC_MPEG42       = CV_FOURCC_MACRO('M','P','4','2'),
-        FOURCC_MPEG43       = CV_FOURCC_MACRO('M','P','4','3'),
-        FOURCC_DIVX         = CV_FOURCC_MACRO('D','I','V','X'),
-        FOURCC_X264         = CV_FOURCC_MACRO('X','2','6','4'),
-    };
     //
     // frame data temporary storage
     //
@@ -305,7 +305,7 @@ class OpenCVRecorder: public QThread
 public:
     OpenCVRecorder(const QString &fileName, VmbFloat_t fps, VmbUint32_t Width, VmbUint32_t Height)
         : m_StopThread( false )
-#ifdef _MSC_VER // codec selection only supported by Windows
+#ifdef _MSC_VER  // Windows 下支持手动选择编码器
     , m_VideoWriter(fileName.toStdString(), FOURCC_USER_SELECT, fps, cv::Size(Width, Height), true)
 #else
     , m_VideoWriter(fileName.toStdString(), FOURCC_X264, fps, cv::Size(Width, Height), true)
@@ -398,4 +398,20 @@ public:
     }
 };
 
+class RTSPStreamer {
+public:
+    RTSPStreamer(const std::string& rtsp_url, int width, int height, int fps);
+    ~RTSPStreamer();
+    bool pushFrame(const cv::Mat& frame);
+    bool isConnected() const { return m_connected; }
+
+private:
+    std::string m_rtspUrl;
+    AVFormatContext* m_fmtCtx = nullptr;
+    AVCodecContext* m_codecCtx = nullptr;
+    AVStream* m_stream = nullptr;
+    SwsContext* m_swsCtx = nullptr;
+    std::atomic<bool> m_connected{false};
+    int m_width, m_height, m_fps;
+};
 #endif

Vimba_6_0/VimbaCPP/Examples/AsynchronousOpenCVRecorder/Qt/Source/RTSPStreamer.cpp

@@ -0,0 +1,104 @@
+RTSPStreamer::RTSPStreamer(const std::string& rtsp_url, int width, int height, int fps) 
+    : m_rtspUrl(rtsp_url), m_width(width), m_height(height), m_fps(fps) {
+    
+    // 初始化 FFmpeg
+    avformat_network_init();
+
+    // 创建输出上下文 (RTSP)
+    avformat_alloc_output_context2(&m_fmtCtx, nullptr, "rtsp", rtsp_url.c_str());
+    if (!m_fmtCtx) {
+        std::cerr << "Failed to create RTSP output context" << std::endl;
+        return;
+    }
+
+    // 查找 H.264 编码器
+    const AVCodec* codec = avcodec_find_encoder(AV_CODEC_ID_H264);
+    if (!codec) {
+        std::cerr << "H.264 encoder not found" << std::endl;
+        return;
+    }
+
+    // 创建编码器上下文
+    m_codecCtx = avcodec_alloc_context3(codec);
+    m_codecCtx->width = width;
+    m_codecCtx->height = height;
+    m_codecCtx->time_base = {1, fps};
+    m_codecCtx->pix_fmt = AV_PIX_FMT_YUV420P;
+
+    // 打开编码器
+    if (avcodec_open2(m_codecCtx, codec, nullptr) < 0) {
+        std::cerr << "Failed to open H.264 encoder" << std::endl;
+        return;
+    }
+
+    // 创建视频流
+    m_stream = avformat_new_stream(m_fmtCtx, codec);
+    avcodec_parameters_from_context(m_stream->codecpar, m_codecCtx);
+
+    // 打开 RTSP 输出
+    if (avio_open(&m_fmtCtx->pb, rtsp_url.c_str(), AVIO_FLAG_WRITE) < 0) {
+        std::cerr << "Failed to open RTSP output" << std::endl;
+        return;
+    }
+
+    // 写文件头
+    if (avformat_write_header(m_fmtCtx, nullptr) < 0) {
+        std::cerr << "Failed to write RTSP header" << std::endl;
+        return;
+    }
+
+    m_connected = true;
+}
+
+bool RTSPStreamer::pushFrame(const cv::Mat& frame) {
+    if (!m_connected) return false;
+
+    // 转换 BGR 到 YUV420
+    AVFrame* avFrame = av_frame_alloc();
+    avFrame->format = AV_PIX_FMT_YUV420P;
+    avFrame->width = m_width;
+    avFrame->height = m_height;
+    av_frame_get_buffer(avFrame, 0);
+
+    SwsContext* swsCtx = sws_getContext(
+        frame.cols, frame.rows, AV_PIX_FMT_BGR24,
+        m_width, m_height, AV_PIX_FMT_YUV420P,
+        SWS_BILINEAR, nullptr, nullptr, nullptr);
+    
+    const uint8_t* srcData[1] = {frame.data};
+    int srcLinesize[1] = {frame.step};
+    sws_scale(swsCtx, srcData, srcLinesize, 0, frame.rows, 
+              avFrame->data, avFrame->linesize);
+    sws_freeContext(swsCtx);
+
+    // 编码并发送
+    AVPacket pkt;
+    av_init_packet(&pkt);
+    pkt.data = nullptr;
+    pkt.size = 0;
+
+    if (avcodec_send_frame(m_codecCtx, avFrame) < 0) {
+        av_frame_free(&avFrame);
+        return false;
+    }
+
+    while (avcodec_receive_packet(m_codecCtx, &pkt) == 0) {
+        av_packet_rescale_ts(&pkt, m_codecCtx->time_base, m_stream->time_base);
+        pkt.stream_index = m_stream->index;
+        av_interleaved_write_frame(m_fmtCtx, &pkt);
+        av_packet_unref(&pkt);
+    }
+
+    av_frame_free(&avFrame);
+    return true;
+}
+
+RTSPStreamer::~RTSPStreamer() {
+    if (m_fmtCtx) {
+        av_write_trailer(m_fmtCtx);
+        avio_close(m_fmtCtx->pb);
+        avformat_free_context(m_fmtCtx);
+    }
+    if (m_codecCtx) avcodec_free_context(&m_codecCtx);
+    avformat_network_deinit();
+}