Compare commits
4 Commits
fa5a44bcbf
...
master
| Author | SHA1 | Date | |
|---|---|---|---|
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57d3bc4912 | ||
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62d49d4dc8 | ||
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2a4d3516ca | ||
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947e52854d |
@@ -13,30 +13,40 @@ BIN_DIR = binary/$(CONFIG_DIR)
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||||
OBJ_DIR = object/$(CONFIG_DIR)
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BIN_PATH = $(BIN_DIR)/$(BIN_FILE)
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||||
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||||
# Qt 工具路径
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||||
MOC = /usr/lib/aarch64-linux-gnu/qt5/bin/moc
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UIC = /usr/lib/aarch64-linux-gnu/qt5/bin/uic
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RCC = /usr/lib/aarch64-linux-gnu/qt5/bin/rcc
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|
||||
# 使用 pkg-config 获取 Qt 编译标志
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QT_CFLAGS := $(shell pkg-config --cflags Qt5Core Qt5Gui Qt5Widgets)
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QT_LIBS := $(shell pkg-config --libs Qt5Core Qt5Gui Qt5Widgets)
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all: $(BIN_PATH)
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|
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include $(MAKE_INCLUDE_DIR)/VimbaCPP.mk
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include $(MAKE_INCLUDE_DIR)/VimbaImageTransform.mk
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include $(MAKE_INCLUDE_DIR)/Qt.mk
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SOURCE_DIR = $(PROJECT_DIR)/Source
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INCLUDE_DIRS = -I$(SOURCE_DIR) \
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||||
-I$(EXAMPLES_DIR) \
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-I$(OBJ_DIR)
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-I$(OBJ_DIR) \
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||||
-I/usr/include/aarch64-linux-gnu/qt5 \
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-I/usr/include/aarch64-linux-gnu/qt5/QtCore \
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-I/usr/include/aarch64-linux-gnu/qt5/QtGui \
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-I/usr/include/aarch64-linux-gnu/qt5/QtWidgets
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||||
|
||||
LIBS = $(VIMBACPP_LIBS) \
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$(VIMBAIMAGETRANSFORM_LIBS) \
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$(QTCORE_LIBS) \
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$(QTGUI_LIBS)
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$(QT_LIBS)
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DEFINES =
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CFLAGS = $(COMMON_CFLAGS) \
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$(VIMBACPP_CFLAGS) \
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$(VIMBAIMAGETRANSFORM_CFLAGS) \
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$(QTCORE_CFLAGS) \
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$(QTGUI_CFLAGS)
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$(QT_CFLAGS)
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OBJ_FILES = $(OBJ_DIR)/ApiController.o \
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$(OBJ_DIR)/AsynchronousGrab.o \
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@@ -51,9 +61,7 @@ OBJ_FILES = $(OBJ_DIR)/ApiController.o \
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GEN_HEADERS = $(OBJ_DIR)/ui_AsynchronousGrab.h
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DEPENDENCIES = VimbaCPP \
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VimbaImageTransform \
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QtCore \
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QtGui
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VimbaImageTransform
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$(OBJ_DIR)/moc_%.cpp: $(SOURCE_DIR)/%.h $(OBJ_DIR)
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$(MOC) -o $@ $<
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@@ -82,3 +90,5 @@ $(OBJ_DIR):
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|
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$(BIN_DIR):
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$(MKDIR) -p $(BIN_DIR)
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.PHONY: all clean
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@@ -0,0 +1,94 @@
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PROJECT_NAME = AsynchronousGrabQt
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PROJECT_DIR = ../..
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EXAMPLES_DIR = $(PROJECT_DIR)/../..
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VIMBASDK_DIR = $(EXAMPLES_DIR)/../..
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MAKE_INCLUDE_DIR = $(CURDIR)/$(EXAMPLES_DIR)/Build/Make
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include $(MAKE_INCLUDE_DIR)/Common.mk
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|
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CONFIG_DIR = $(ARCH)_$(WORDSIZE)bit
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BIN_FILE = $(PROJECT_NAME)
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BIN_DIR = binary/$(CONFIG_DIR)
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OBJ_DIR = object/$(CONFIG_DIR)
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BIN_PATH = $(BIN_DIR)/$(BIN_FILE)
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|
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# Qt 工具路径
|
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MOC = /usr/lib/aarch64-linux-gnu/qt5/bin/moc
|
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UIC = /usr/lib/aarch64-linux-gnu/qt5/bin/uic
|
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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)
|
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QT_LIBS := $(shell pkg-config --libs Qt5Core Qt5Gui Qt5Widgets)
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|
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all: $(BIN_PATH)
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|
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include $(MAKE_INCLUDE_DIR)/VimbaCPP.mk
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include $(MAKE_INCLUDE_DIR)/VimbaImageTransform.mk
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|
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SOURCE_DIR = $(PROJECT_DIR)/Source
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|
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INCLUDE_DIRS = -I$(SOURCE_DIR) \
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-I$(EXAMPLES_DIR) \
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-I$(OBJ_DIR) \
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-I/usr/include/aarch64-linux-gnu/qt5 \
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-I/usr/include/aarch64-linux-gnu/qt5/QtCore \
|
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-I/usr/include/aarch64-linux-gnu/qt5/QtGui \
|
||||
-I/usr/include/aarch64-linux-gnu/qt5/QtWidgets
|
||||
|
||||
LIBS = $(VIMBACPP_LIBS) \
|
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$(VIMBAIMAGETRANSFORM_LIBS) \
|
||||
$(QT_LIBS)
|
||||
|
||||
DEFINES =
|
||||
|
||||
CFLAGS = $(COMMON_CFLAGS) \
|
||||
$(VIMBACPP_CFLAGS) \
|
||||
$(VIMBAIMAGETRANSFORM_CFLAGS) \
|
||||
$(QT_CFLAGS)
|
||||
|
||||
OBJ_FILES = $(OBJ_DIR)/ApiController.o \
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$(OBJ_DIR)/AsynchronousGrab.o \
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$(OBJ_DIR)/CameraObserver.o \
|
||||
$(OBJ_DIR)/FrameObserver.o \
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$(OBJ_DIR)/main.o \
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$(OBJ_DIR)/moc_AsynchronousGrab.o \
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$(OBJ_DIR)/moc_CameraObserver.o \
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$(OBJ_DIR)/moc_FrameObserver.o \
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$(OBJ_DIR)/qrc_AsynchronousGrab.o
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|
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GEN_HEADERS = $(OBJ_DIR)/ui_AsynchronousGrab.h
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|
||||
DEPENDENCIES = VimbaCPP \
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VimbaImageTransform
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|
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$(OBJ_DIR)/moc_%.cpp: $(SOURCE_DIR)/%.h $(OBJ_DIR)
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$(MOC) -o $@ $<
|
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|
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$(OBJ_DIR)/ui_%.h: $(SOURCE_DIR)/res/%.ui $(OBJ_DIR)
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$(UIC) -o $@ $<
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|
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$(OBJ_DIR)/qrc_%.cpp: $(SOURCE_DIR)/res/%.qrc $(OBJ_DIR)
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$(RCC) -o $@ $<
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|
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$(OBJ_DIR)/%.o: $(SOURCE_DIR)/%.cpp $(OBJ_DIR) $(GEN_HEADERS)
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$(CXX) -c $(INCLUDE_DIRS) $(DEFINES) $(CFLAGS) -o $@ $<
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|
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$(OBJ_DIR)/%.o: $(OBJ_DIR)/%.cpp $(OBJ_DIR) $(GEN_HEADERS)
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$(CXX) -c $(INCLUDE_DIRS) $(DEFINES) $(CFLAGS) -o $@ $<
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|
||||
$(BIN_PATH): $(DEPENDENCIES) $(OBJ_FILES) $(BIN_DIR)
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$(CXX) $(ARCH_CFLAGS) -o $(BIN_PATH) $(OBJ_FILES) $(LIBS) -Wl,-rpath,'$$ORIGIN'
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|
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clean:
|
||||
$(RM) binary -r -f
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||||
$(RM) object -r -f
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|
||||
$(OBJ_DIR):
|
||||
$(MKDIR) -p $(OBJ_DIR)
|
||||
|
||||
$(BIN_DIR):
|
||||
$(MKDIR) -p $(BIN_DIR)
|
||||
|
||||
.PHONY: all clean
|
||||
@@ -0,0 +1,60 @@
|
||||
PROJECT_NAME = mako2v4l
|
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|
||||
PROJECT_DIR = ../..
|
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EXAMPLES_DIR = $(PROJECT_DIR)/../..
|
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VIMBASDK_DIR = $(EXAMPLES_DIR)/../..
|
||||
MAKE_INCLUDE_DIR = $(CURDIR)/$(EXAMPLES_DIR)/Build/Make
|
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|
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include $(MAKE_INCLUDE_DIR)/Common.mk
|
||||
|
||||
CONFIG_DIR = $(ARCH)_$(WORDSIZE)bit
|
||||
BIN_FILE = $(PROJECT_NAME)
|
||||
BIN_DIR = binary/$(CONFIG_DIR)
|
||||
OBJ_DIR = object/$(CONFIG_DIR)
|
||||
BIN_PATH = $(BIN_DIR)/$(BIN_FILE)
|
||||
|
||||
all: $(BIN_PATH)
|
||||
|
||||
include $(MAKE_INCLUDE_DIR)/VimbaCPP.mk
|
||||
include $(MAKE_INCLUDE_DIR)/VimbaImageTransform.mk
|
||||
|
||||
SOURCE_DIR = $(PROJECT_DIR)/Source
|
||||
|
||||
INCLUDE_DIRS = -I$(SOURCE_DIR) \
|
||||
-I$(EXAMPLES_DIR) \
|
||||
-I$(OBJ_DIR) \
|
||||
-I$(VIMBASDK_DIR)/VimbaCPP/Include \
|
||||
-I$(VIMBASDK_DIR)/VimbaImageTransform/Include
|
||||
|
||||
LIBS = $(VIMBACPP_LIBS) \
|
||||
$(VIMBAIMAGETRANSFORM_LIBS) \
|
||||
-lv4l2
|
||||
|
||||
DEFINES =
|
||||
|
||||
CFLAGS = $(COMMON_CFLAGS) \
|
||||
$(VIMBACPP_CFLAGS) \
|
||||
$(VIMBAIMAGETRANSFORM_CFLAGS)
|
||||
|
||||
OBJ_FILES = $(OBJ_DIR)/ApiController.o \
|
||||
$(OBJ_DIR)/FrameObserver.o \
|
||||
$(OBJ_DIR)/main.o
|
||||
|
||||
DEPENDENCIES = VimbaCPP \
|
||||
VimbaImageTransform
|
||||
|
||||
$(OBJ_DIR)/%.o: $(SOURCE_DIR)/%.cpp $(OBJ_DIR)
|
||||
$(CXX) -c $(INCLUDE_DIRS) $(DEFINES) $(CFLAGS) -o $@ $<
|
||||
|
||||
$(BIN_PATH): $(DEPENDENCIES) $(OBJ_FILES) $(BIN_DIR)
|
||||
$(CXX) $(ARCH_CFLAGS) -o $(BIN_PATH) $(OBJ_FILES) $(LIBS) -Wl,-rpath,'$ORIGIN'
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|
||||
clean:
|
||||
$(RM) binary -r -f
|
||||
$(RM) object -r -f
|
||||
|
||||
$(OBJ_DIR):
|
||||
$(MKDIR) -p $(OBJ_DIR)
|
||||
|
||||
$(BIN_DIR):
|
||||
$(MKDIR) -p $(BIN_DIR)
|
||||
@@ -0,0 +1,173 @@
|
||||
#include "ApiController.h"
|
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#include "FrameObserver.h"
|
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#include <sstream>
|
||||
#include <iostream>
|
||||
#include <memory>
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|
||||
namespace AVT {
|
||||
namespace VmbAPI {
|
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namespace Examples {
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|
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ApiController::ApiController()
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: m_system(VimbaSystem::GetInstance()),
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m_nWidth(0),
|
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m_nHeight(0),
|
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m_nPixelFormat(0)
|
||||
{
|
||||
}
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||||
|
||||
ApiController::~ApiController()
|
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{
|
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if (m_pCamera) {
|
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StopContinuousImageAcquisition();
|
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}
|
||||
}
|
||||
|
||||
VmbErrorType ApiController::StartUp()
|
||||
{
|
||||
return m_system.Startup();
|
||||
}
|
||||
|
||||
void ApiController::ShutDown()
|
||||
{
|
||||
m_system.Shutdown();
|
||||
}
|
||||
|
||||
VmbErrorType ApiController::StartContinuousImageAcquisition(const std::string &rStrCameraID)
|
||||
{
|
||||
VmbErrorType res = m_system.OpenCameraByID(rStrCameraID.c_str(),
|
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VmbAccessModeFull,
|
||||
m_pCamera);
|
||||
if (VmbErrorSuccess != res) {
|
||||
return res;
|
||||
}
|
||||
|
||||
// Adjust packet size for GigE cameras
|
||||
FeaturePtr pCommandFeature;
|
||||
if (VmbErrorSuccess == m_pCamera->GetFeatureByName("GVSPAdjustPacketSize", pCommandFeature)) {
|
||||
res = pCommandFeature->RunCommand();
|
||||
if (VmbErrorSuccess == res) {
|
||||
bool isDone = false;
|
||||
do {
|
||||
res = pCommandFeature->IsCommandDone(isDone);
|
||||
if (VmbErrorSuccess != res) {
|
||||
break;
|
||||
}
|
||||
} while (!isDone);
|
||||
}
|
||||
}
|
||||
|
||||
// Set camera parameters
|
||||
res = SetValueIntMod2(m_pCamera, "Width", m_nWidth);
|
||||
if (VmbErrorSuccess == res) {
|
||||
res = SetValueIntMod2(m_pCamera, "Height", m_nHeight);
|
||||
}
|
||||
if (VmbErrorSuccess == res) {
|
||||
FeaturePtr pFormatFeature;
|
||||
res = m_pCamera->GetFeatureByName("PixelFormat", pFormatFeature);
|
||||
if (VmbErrorSuccess == res) {
|
||||
res = pFormatFeature->GetValue(m_nPixelFormat);
|
||||
}
|
||||
}
|
||||
|
||||
// Create frame observer
|
||||
m_pFrameObserver = IFrameObserverPtr(new FrameObserver(m_pCamera));
|
||||
|
||||
// Start acquisition
|
||||
if (VmbErrorSuccess == res) {
|
||||
res = m_pCamera->StartContinuousImageAcquisition(3, m_pFrameObserver);
|
||||
}
|
||||
|
||||
if (VmbErrorSuccess != res && m_pCamera) {
|
||||
m_pCamera->Close();
|
||||
}
|
||||
|
||||
return res;
|
||||
}
|
||||
|
||||
VmbErrorType ApiController::StopContinuousImageAcquisition()
|
||||
{
|
||||
if (m_pCamera) {
|
||||
m_pCamera->StopContinuousImageAcquisition();
|
||||
return m_pCamera->Close();
|
||||
}
|
||||
return VmbErrorSuccess;
|
||||
}
|
||||
|
||||
ApiController::CameraPtrVector ApiController::GetCameraList()
|
||||
{
|
||||
CameraPtrVector cameras;
|
||||
m_system.GetCameras(cameras);
|
||||
return cameras;
|
||||
}
|
||||
|
||||
ApiController::FramePtr ApiController::GetFrame()
|
||||
{
|
||||
return FramePtr();
|
||||
}
|
||||
|
||||
VmbErrorType ApiController::QueueFrame(FramePtr pFrame)
|
||||
{
|
||||
if (!m_pCamera) {
|
||||
return VmbErrorDeviceNotOpen;
|
||||
}
|
||||
return m_pCamera->QueueFrame(pFrame);
|
||||
}
|
||||
|
||||
void ApiController::ClearFrameQueue()
|
||||
{
|
||||
// No operation needed as frames are directly streamed to V4L2
|
||||
}
|
||||
|
||||
int ApiController::GetWidth() const {
|
||||
return static_cast<int>(m_nWidth);
|
||||
}
|
||||
|
||||
int ApiController::GetHeight() const {
|
||||
return static_cast<int>(m_nHeight);
|
||||
}
|
||||
|
||||
VmbPixelFormatType ApiController::GetPixelFormat() const {
|
||||
return static_cast<VmbPixelFormatType>(m_nPixelFormat);
|
||||
}
|
||||
|
||||
double ApiController::GetAverageLatency() const {
|
||||
if (m_pFrameObserver) {
|
||||
FrameObserver* observer = static_cast<FrameObserver*>(m_pFrameObserver.get());
|
||||
if (observer) {
|
||||
return observer->GetAverageLatency();
|
||||
}
|
||||
}
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
size_t ApiController::GetFrameCount() const {
|
||||
if (m_pFrameObserver) {
|
||||
FrameObserver* observer = static_cast<FrameObserver*>(m_pFrameObserver.get());
|
||||
if (observer) {
|
||||
return observer->GetFrameCount();
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
VmbErrorType ApiController::SetValueIntMod2(const AVT::VmbAPI::CameraPtr &camera,
|
||||
const std::string &featureName,
|
||||
VmbInt64_t &storage)
|
||||
{
|
||||
AVT::VmbAPI::FeaturePtr pFeature;
|
||||
VmbInt64_t min = 0, max = 0, inc = 0;
|
||||
|
||||
VmbErrorType res = camera->GetFeatureByName(featureName.c_str(), pFeature);
|
||||
if (VmbErrorSuccess == res) res = pFeature->GetRange(min, max);
|
||||
if (VmbErrorSuccess == res) res = pFeature->GetIncrement(inc);
|
||||
if (VmbErrorSuccess == res) {
|
||||
max = max - (max % inc);
|
||||
if (max % 2 != 0) max -= inc;
|
||||
res = pFeature->SetValue(max);
|
||||
storage = max;
|
||||
}
|
||||
return res;
|
||||
}
|
||||
|
||||
}}} // namespace AVT::VmbAPI::Examples
|
||||
@@ -0,0 +1,55 @@
|
||||
#ifndef APICONTROLLER_H
|
||||
#define APICONTROLLER_H
|
||||
|
||||
#include <string>
|
||||
#include <VimbaCPP/Include/VimbaCPP.h>
|
||||
#include <chrono>
|
||||
|
||||
namespace AVT {
|
||||
namespace VmbAPI {
|
||||
namespace Examples {
|
||||
|
||||
class FrameObserver;
|
||||
|
||||
class ApiController
|
||||
{
|
||||
public:
|
||||
typedef AVT::VmbAPI::CameraPtrVector CameraPtrVector;
|
||||
typedef AVT::VmbAPI::FramePtr FramePtr;
|
||||
|
||||
ApiController();
|
||||
~ApiController();
|
||||
|
||||
VmbErrorType StartUp();
|
||||
void ShutDown();
|
||||
VmbErrorType StartContinuousImageAcquisition(const std::string& cameraID);
|
||||
VmbErrorType StopContinuousImageAcquisition();
|
||||
CameraPtrVector GetCameraList();
|
||||
FramePtr GetFrame();
|
||||
VmbErrorType QueueFrame(FramePtr pFrame);
|
||||
void ClearFrameQueue();
|
||||
|
||||
int GetWidth() const;
|
||||
int GetHeight() const;
|
||||
VmbPixelFormatType GetPixelFormat() const;
|
||||
|
||||
// 新增性能统计方法
|
||||
double GetAverageLatency() const;
|
||||
size_t GetFrameCount() const;
|
||||
|
||||
private:
|
||||
AVT::VmbAPI::VimbaSystem& m_system;
|
||||
AVT::VmbAPI::CameraPtr m_pCamera;
|
||||
AVT::VmbAPI::IFrameObserverPtr m_pFrameObserver;
|
||||
VmbInt64_t m_nPixelFormat;
|
||||
VmbInt64_t m_nWidth;
|
||||
VmbInt64_t m_nHeight;
|
||||
|
||||
VmbErrorType SetValueIntMod2(const AVT::VmbAPI::CameraPtr &camera,
|
||||
const std::string &featureName,
|
||||
VmbInt64_t &storage);
|
||||
};
|
||||
|
||||
}}} // namespace AVT::VmbAPI::Examples
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,137 @@
|
||||
#include "FrameObserver.h"
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <unistd.h>
|
||||
#include <chrono>
|
||||
|
||||
namespace AVT {
|
||||
namespace VmbAPI {
|
||||
namespace Examples {
|
||||
|
||||
FrameObserver::FrameObserver(const CameraPtr& pCamera)
|
||||
: IFrameObserver(pCamera), m_videoFd(-1)
|
||||
{
|
||||
if (!SetupVideoDevice()) {
|
||||
fprintf(stderr, "Failed to setup video device\n");
|
||||
}
|
||||
m_lastFrameTime = std::chrono::high_resolution_clock::now();
|
||||
}
|
||||
|
||||
FrameObserver::~FrameObserver()
|
||||
{
|
||||
CloseVideoDevice();
|
||||
}
|
||||
|
||||
bool FrameObserver::SetupVideoDevice()
|
||||
{
|
||||
m_videoFd = open("/dev/video61", O_RDWR | O_NONBLOCK);
|
||||
if (m_videoFd < 0) {
|
||||
perror("Failed to open video device");
|
||||
return false;
|
||||
}
|
||||
|
||||
memset(&m_vfmt, 0, sizeof(m_vfmt));
|
||||
m_vfmt.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
|
||||
|
||||
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.field = V4L2_FIELD_NONE;
|
||||
|
||||
if (ioctl(m_videoFd, VIDIOC_S_FMT, &m_vfmt) < 0) {
|
||||
perror("Set video format");
|
||||
close(m_videoFd);
|
||||
m_videoFd = -1;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void FrameObserver::CloseVideoDevice()
|
||||
{
|
||||
if (m_videoFd >= 0) {
|
||||
close(m_videoFd);
|
||||
m_videoFd = -1;
|
||||
}
|
||||
}
|
||||
|
||||
bool FrameObserver::UpdateVideoFormat(VmbUint32_t width, VmbUint32_t height, VmbPixelFormatType pixelFormat)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(m_deviceMutex);
|
||||
|
||||
if (m_vfmt.fmt.pix.width == width &&
|
||||
m_vfmt.fmt.pix.height == height &&
|
||||
m_vfmt.fmt.pix.pixelformat == (pixelFormat == VmbPixelFormatMono8 ? V4L2_PIX_FMT_GREY : V4L2_PIX_FMT_YUYV)) {
|
||||
return true;
|
||||
}
|
||||
|
||||
m_vfmt.fmt.pix.width = width;
|
||||
m_vfmt.fmt.pix.height = height;
|
||||
|
||||
switch (pixelFormat) {
|
||||
case VmbPixelFormatMono8:
|
||||
m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_GREY;
|
||||
m_vfmt.fmt.pix.sizeimage = width * height;
|
||||
break;
|
||||
case VmbPixelFormatBayerRG8:
|
||||
m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_SRGGB8;
|
||||
m_vfmt.fmt.pix.sizeimage = width * height;
|
||||
break;
|
||||
default:
|
||||
m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
|
||||
m_vfmt.fmt.pix.sizeimage = width * height * 2;
|
||||
}
|
||||
|
||||
if (ioctl(m_videoFd, VIDIOC_S_FMT, &m_vfmt) < 0) {
|
||||
perror("Update video format");
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void FrameObserver::FrameReceived(const FramePtr pFrame)
|
||||
{
|
||||
auto startTime = std::chrono::high_resolution_clock::now();
|
||||
|
||||
VmbUchar_t* pBuffer = nullptr;
|
||||
VmbUint32_t nSize = 0;
|
||||
VmbUint32_t width = 0, height = 0;
|
||||
VmbPixelFormatType pixelFormat;
|
||||
|
||||
if (pFrame->GetImage(pBuffer) != VmbErrorSuccess ||
|
||||
pFrame->GetImageSize(nSize) != VmbErrorSuccess ||
|
||||
pFrame->GetWidth(width) != VmbErrorSuccess ||
|
||||
pFrame->GetHeight(height) != VmbErrorSuccess ||
|
||||
pFrame->GetPixelFormat(pixelFormat) != VmbErrorSuccess) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (!UpdateVideoFormat(width, height, pixelFormat)) {
|
||||
return;
|
||||
}
|
||||
|
||||
ssize_t written = write(m_videoFd, pBuffer, nSize);
|
||||
if (written != (ssize_t)nSize) {
|
||||
perror("Write to video device");
|
||||
}
|
||||
|
||||
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++;
|
||||
|
||||
m_pCamera->QueueFrame(pFrame);
|
||||
}
|
||||
|
||||
double FrameObserver::GetAverageLatency() const {
|
||||
return m_frameCount > 0 ? m_totalLatency.load() / m_frameCount : 0.0;
|
||||
}
|
||||
|
||||
size_t FrameObserver::GetFrameCount() const {
|
||||
return m_frameCount;
|
||||
}
|
||||
|
||||
}}} // namespace AVT::VmbAPI::Examples
|
||||
@@ -0,0 +1,43 @@
|
||||
#ifndef FRAMEOBSERVER_H
|
||||
#define FRAMEOBSERVER_H
|
||||
|
||||
#include <linux/videodev2.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <VimbaCPP/Include/VimbaCPP.h>
|
||||
#include <mutex>
|
||||
#include <chrono>
|
||||
#include <atomic>
|
||||
|
||||
namespace AVT {
|
||||
namespace VmbAPI {
|
||||
namespace Examples {
|
||||
|
||||
class FrameObserver : public IFrameObserver
|
||||
{
|
||||
public:
|
||||
FrameObserver(const CameraPtr& pCamera);
|
||||
virtual ~FrameObserver();
|
||||
|
||||
void FrameReceived(const FramePtr pFrame) override;
|
||||
|
||||
double GetAverageLatency() const;
|
||||
size_t GetFrameCount() const;
|
||||
|
||||
private:
|
||||
bool SetupVideoDevice();
|
||||
void CloseVideoDevice();
|
||||
bool UpdateVideoFormat(VmbUint32_t width, VmbUint32_t height, VmbPixelFormatType pixelFormat);
|
||||
|
||||
int m_videoFd;
|
||||
struct v4l2_format m_vfmt;
|
||||
std::mutex m_deviceMutex;
|
||||
|
||||
std::atomic<size_t> m_frameCount{0};
|
||||
std::atomic<double> m_totalLatency{0.0};
|
||||
std::chrono::high_resolution_clock::time_point m_lastFrameTime;
|
||||
};
|
||||
|
||||
}}} // namespace AVT::VmbAPI::Examples
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,52 @@
|
||||
#include "ApiController.h"
|
||||
#include <iostream>
|
||||
#include <cstdlib>
|
||||
#include <chrono>
|
||||
#include <thread>
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
AVT::VmbAPI::Examples::ApiController controller;
|
||||
|
||||
if (VmbErrorSuccess != controller.StartUp()) {
|
||||
std::cerr << "Failed to start Vimba system" << std::endl;
|
||||
return EXIT_FAILURE;
|
||||
}
|
||||
|
||||
auto cameras = controller.GetCameraList();
|
||||
if (cameras.empty()) {
|
||||
std::cerr << "No cameras found" << std::endl;
|
||||
controller.ShutDown();
|
||||
return EXIT_FAILURE;
|
||||
}
|
||||
|
||||
std::string cameraId;
|
||||
cameras[0]->GetID(cameraId);
|
||||
std::cout << "Using camera: " << cameraId << std::endl;
|
||||
|
||||
if (VmbErrorSuccess != controller.StartContinuousImageAcquisition(cameraId)) {
|
||||
std::cerr << "Failed to start image acquisition" << std::endl;
|
||||
controller.ShutDown();
|
||||
return EXIT_FAILURE;
|
||||
}
|
||||
|
||||
std::cout << "Streaming to V4L2 device. Press Enter to stop..." << std::endl;
|
||||
|
||||
// 定期打印性能统计
|
||||
while (true) {
|
||||
std::this_thread::sleep_for(std::chrono::seconds(1));
|
||||
std::cout << "Frames: " << controller.GetFrameCount()
|
||||
<< ", Avg Latency: " << controller.GetAverageLatency() << "ms"
|
||||
<< std::endl;
|
||||
|
||||
// 检查用户输入
|
||||
if (std::cin.rdbuf()->in_avail() > 0) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
controller.StopContinuousImageAcquisition();
|
||||
controller.ShutDown();
|
||||
|
||||
return EXIT_SUCCESS;
|
||||
}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 16 KiB |
@@ -0,0 +1,5 @@
|
||||
<RCC>
|
||||
<qresource prefix="/AsynchronousGrabQt">
|
||||
<file>AsynchronousGrab.png</file>
|
||||
</qresource>
|
||||
</RCC>
|
||||
@@ -0,0 +1,111 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ui version="4.0">
|
||||
<class>AsynchronousGrabClass</class>
|
||||
<widget class="QMainWindow" name="AsynchronousGrabClass">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1040</width>
|
||||
<height>780</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>1040</width>
|
||||
<height>780</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>1040</width>
|
||||
<height>780</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>AsynchronousGrab (Qt version)</string>
|
||||
</property>
|
||||
<property name="windowIcon">
|
||||
<iconset resource="AsynchronousGrab.qrc">
|
||||
<normaloff>:/AsynchronousGrabQt/AsynchronousGrab.png</normaloff>:/AsynchronousGrabQt/AsynchronousGrab.png</iconset>
|
||||
</property>
|
||||
<widget class="QWidget" name="centralWidget">
|
||||
<widget class="QListWidget" name="m_ListBoxCameras">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>10</y>
|
||||
<width>261</width>
|
||||
<height>491</height>
|
||||
</rect>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QListWidget" name="m_ListLog">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>580</y>
|
||||
<width>1041</width>
|
||||
<height>191</height>
|
||||
</rect>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QPushButton" name="m_ButtonStartStop">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>540</y>
|
||||
<width>261</width>
|
||||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Start Image Acquisition</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="m_LabelStream">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>270</x>
|
||||
<y>10</y>
|
||||
<width>771</width>
|
||||
<height>561</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QCheckBox" name="m_ColorProcessingCheckBox">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>140</x>
|
||||
<y>510</y>
|
||||
<width>121</width>
|
||||
<height>20</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>ColorProcessing</string>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
</widget>
|
||||
<layoutdefault spacing="6" margin="11"/>
|
||||
<resources>
|
||||
<include location="AsynchronousGrab.qrc"/>
|
||||
</resources>
|
||||
<connections/>
|
||||
</ui>
|
||||
@@ -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 $@ $<
|
||||
|
||||
@@ -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
|
||||
@@ -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();
|
||||
}
|
||||
Reference in New Issue
Block a user