YUYV格式推流

.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/Qt/Build/Make/Makefile

@@ -2,7 +2,7 @@ PROJECT_NAME            = AsynchronousGrabQt
 
 PROJECT_DIR             = ../..
 EXAMPLES_DIR            = $(PROJECT_DIR)/../..
-VIMBASDK_DIR            = $(EXAMPLES_DIR)/../..
+VIMBASDK_DIR			= $(EXAMPLES_DIR)/../..
 MAKE_INCLUDE_DIR        = $(CURDIR)/$(EXAMPLES_DIR)/Build/Make
 
 include $(MAKE_INCLUDE_DIR)/Common.mk
@@ -13,55 +13,47 @@ BIN_DIR             = binary/$(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$(EXAMPLES_DIR)  \
-                      -I$(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
 
 LIBS                = $(VIMBACPP_LIBS) \
                       $(VIMBAIMAGETRANSFORM_LIBS) \
-                      $(QT_LIBS)
+		      $(QTCORE_LIBS) \
+		      $(QTGUI_LIBS)
 
 DEFINES             =
 
 CFLAGS              = $(COMMON_CFLAGS) \
                       $(VIMBACPP_CFLAGS) \
                       $(VIMBAIMAGETRANSFORM_CFLAGS) \
-                      $(QT_CFLAGS)
+                      $(QTCORE_CFLAGS) \
+                      $(QTGUI_CFLAGS)
 
 OBJ_FILES           = $(OBJ_DIR)/ApiController.o \
-                      $(OBJ_DIR)/AsynchronousGrab.o \
+					  $(OBJ_DIR)/AsynchronousGrab.o \
-                      $(OBJ_DIR)/CameraObserver.o \
+					  $(OBJ_DIR)/CameraObserver.o \
-                      $(OBJ_DIR)/FrameObserver.o \
+					  $(OBJ_DIR)/FrameObserver.o \
-                      $(OBJ_DIR)/main.o \
+					  $(OBJ_DIR)/main.o \
-                      $(OBJ_DIR)/moc_AsynchronousGrab.o \
+					  $(OBJ_DIR)/moc_AsynchronousGrab.o \
-                      $(OBJ_DIR)/moc_CameraObserver.o \
+					  $(OBJ_DIR)/moc_CameraObserver.o \
-                      $(OBJ_DIR)/moc_FrameObserver.o \
+					  $(OBJ_DIR)/moc_FrameObserver.o \
-                      $(OBJ_DIR)/qrc_AsynchronousGrab.o
+					  $(OBJ_DIR)/qrc_AsynchronousGrab.o
 
-GEN_HEADERS         = $(OBJ_DIR)/ui_AsynchronousGrab.h
+GEN_HEADERS			= $(OBJ_DIR)/ui_AsynchronousGrab.h
 
 DEPENDENCIES        = VimbaCPP \
-                      VimbaImageTransform
+                      VimbaImageTransform \
+		      QtCore \
+		      QtGui
 
 $(OBJ_DIR)/moc_%.cpp: $(SOURCE_DIR)/%.h $(OBJ_DIR)
 	$(MOC) -o $@ $<
@@ -89,6 +81,4 @@ $(OBJ_DIR):
 	$(MKDIR) -p $(OBJ_DIR)
 
 $(BIN_DIR):
-	$(MKDIR) -p $(BIN_DIR)
+	$(MKDIR) -p $(BIN_DIR)
-
-.PHONY: all clean

Vimba_6_0/VimbaCPP/Examples/AsynchronousGrab/Qt/Build/Make/Makefile (1)

@@ -1,94 +0,0 @@
-PROJECT_NAME            = AsynchronousGrabQt
-
-PROJECT_DIR             = ../..
-EXAMPLES_DIR            = $(PROJECT_DIR)/../..
-VIMBASDK_DIR            = $(EXAMPLES_DIR)/../..
-MAKE_INCLUDE_DIR        = $(CURDIR)/$(EXAMPLES_DIR)/Build/Make
-
-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)
-
-# 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
-
-SOURCE_DIR          = $(PROJECT_DIR)/Source
-
-INCLUDE_DIRS        = -I$(SOURCE_DIR) \
-                      -I$(EXAMPLES_DIR) \
-                      -I$(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
-
-LIBS                = $(VIMBACPP_LIBS) \
-                      $(VIMBAIMAGETRANSFORM_LIBS) \
-                      $(QT_LIBS)
-
-DEFINES             =
-
-CFLAGS              = $(COMMON_CFLAGS) \
-                      $(VIMBACPP_CFLAGS) \
-                      $(VIMBAIMAGETRANSFORM_CFLAGS) \
-                      $(QT_CFLAGS)
-
-OBJ_FILES           = $(OBJ_DIR)/ApiController.o \
-                      $(OBJ_DIR)/AsynchronousGrab.o \
-                      $(OBJ_DIR)/CameraObserver.o \
-                      $(OBJ_DIR)/FrameObserver.o \
-                      $(OBJ_DIR)/main.o \
-                      $(OBJ_DIR)/moc_AsynchronousGrab.o \
-                      $(OBJ_DIR)/moc_CameraObserver.o \
-                      $(OBJ_DIR)/moc_FrameObserver.o \
-                      $(OBJ_DIR)/qrc_AsynchronousGrab.o
-
-GEN_HEADERS         = $(OBJ_DIR)/ui_AsynchronousGrab.h
-
-DEPENDENCIES        = VimbaCPP \
-                      VimbaImageTransform
-
-$(OBJ_DIR)/moc_%.cpp: $(SOURCE_DIR)/%.h $(OBJ_DIR)
-	$(MOC) -o $@ $<
-
-$(OBJ_DIR)/ui_%.h: $(SOURCE_DIR)/res/%.ui $(OBJ_DIR)
-	$(UIC) -o $@ $<
-
-$(OBJ_DIR)/qrc_%.cpp: $(SOURCE_DIR)/res/%.qrc $(OBJ_DIR)
-	$(RCC) -o $@ $<
-
-$(OBJ_DIR)/%.o: $(SOURCE_DIR)/%.cpp $(OBJ_DIR) $(GEN_HEADERS)
-	$(CXX) -c $(INCLUDE_DIRS) $(DEFINES) $(CFLAGS) -o $@ $<
-
-$(OBJ_DIR)/%.o: $(OBJ_DIR)/%.cpp $(OBJ_DIR) $(GEN_HEADERS)
-	$(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'
-
-clean:
-	$(RM) binary -r -f
-	$(RM) object -r -f
-
-$(OBJ_DIR):
-	$(MKDIR) -p $(OBJ_DIR)
-
-$(BIN_DIR):
-	$(MKDIR) -p $(BIN_DIR)
-
-.PHONY: all clean

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;
@@ -92,40 +95,125 @@ 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;
     VmbPixelFormatType pixelFormat;
-    
+
     if (pFrame->GetImage(pBuffer) != VmbErrorSuccess ||
         pFrame->GetImageSize(nSize) != VmbErrorSuccess ||
         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;
     }
 
-    ssize_t written = write(m_videoFd, pBuffer, nSize);
+    // 4. 处理Bayer RGGB格式（转换为YUYV）
-    if (written != (ssize_t)nSize) {
+    if (pixelFormat == VmbPixelFormatBayerRG8) {
-        perror("Write to video device");
+        // 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 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;

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

@@ -12,50 +12,40 @@ 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$(EXAMPLES_DIR)  \
-                      -I$(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_CFLAGS       = $(shell $(PKGCFG) --cflags opencv4)
+OPENCV_LIBS         = $(shell $(PKGCFG) --libs opencv)
-
-OPENCV_LIBS         = $(shell $(PKGCFG) --libs opencv4)
 
 
 
 LIBS                = $(VIMBACPP_LIBS) \
                       $(VIMBAIMAGETRANSFORM_LIBS) \
-                      $(QT_LIBS) \
+                      $(QTCORE_LIBS) \
+                      $(QTGUI_LIBS) \
                       $(OPENCV_LIBS)
 
 DEFINES             =
 
+
 CFLAGS              = $(COMMON_CFLAGS) \
                       $(VIMBACPP_CFLAGS) \
                       $(VIMBAIMAGETRANSFORM_CFLAGS) \
-                      $(QT_CFLAGS) \
+                      $(QTCORE_CFLAGS) \
+                      $(QTGUI_CFLAGS) \
                       $(OPENCV_CFLAGS)
 
 OBJ_FILES           = $(OBJ_DIR)/ApiController.o \
@@ -72,7 +62,9 @@ OBJ_FILES           = $(OBJ_DIR)/ApiController.o \
 GEN_HEADERS			= $(OBJ_DIR)/ui_AsynchronousOpenCVRecorder.h
 
 DEPENDENCIES        = VimbaCPP \
-                      VimbaImageTransform
+                      VimbaImageTransform \
+                      QtCore \
+                      QtGui
 
 $(OBJ_DIR)/moc_%.cpp: $(SOURCE_DIR)/%.h $(OBJ_DIR)
 	$(MOC) -o $@ $<

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

@@ -90,18 +90,7 @@ 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
 //
@@ -141,6 +130,17 @@ 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
     //
@@ -305,10 +305,10 @@ class OpenCVRecorder: public QThread
 public:
     OpenCVRecorder(const QString &fileName, VmbFloat_t fps, VmbUint32_t Width, VmbUint32_t Height)
         : m_StopThread( false )
-#ifdef _MSC_VER  // Windows 下支持手动选择编码器
+#ifdef _MSC_VER // codec selection only supported by Windows
-    , m_VideoWriter(fileName.toStdString(), FOURCC_USER_SELECT, fps, cv::Size(Width, Height), true)
+        , 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)
+        , m_VideoWriter(fileName.toStdString(), FOURCC_X264, fps, cv::Size(Width,Height),true )
 #endif
         , m_ConvertImage( Height, Width, CV_8UC3)
     {
@@ -398,20 +398,4 @@ 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

@@ -1,104 +0,0 @@
-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();
-}

rknn_usb_rtsp-master/src/usb_to_rtsp.cpp

@@ -18,243 +18,194 @@
 
 #include "mk_mediakit.h"
 
-typedef struct
+typedef struct {
-{
     MppEncoder *encoder;
     mk_media media;
     mk_pusher pusher;
     const char *push_url;
 
-    int video_type=264;
+    int video_type = 264;
-
     int push_rtsp_port;
     std::string push_path_first;
     std::string push_path_second;
-
-
 } rknn_app_context_t;
 
-void release_media(mk_media *ptr)
+void release_media(mk_media *ptr) {
-{
+    if (ptr && *ptr) {
-    if (ptr && *ptr)
-    {
         mk_media_release(*ptr);
         *ptr = NULL;
     }
 }
 
-void release_pusher(mk_pusher *ptr)
+void release_pusher(mk_pusher *ptr) {
-{
+    if (ptr && *ptr) {
-    if (ptr && *ptr)
-    {
         mk_pusher_release(*ptr);
         *ptr = NULL;
     }
 }
 
-void release_track(mk_track *ptr)
+void release_track(mk_track *ptr) {
-{
+    if (ptr && *ptr) {
-    if (ptr && *ptr)
-    {
         mk_track_unref(*ptr);
         *ptr = NULL;
     }
 }
 
-
+int padToMultipleOf16(int number) {
-
+    if (number % 16 == 0) {
-// 函数定义  
+        return number;
-int padToMultipleOf16(int number) {  
+    }
-    // 如果number已经是16的倍数，则直接返回  
+    int extra = 16 - (number % 16);
-    if (number % 16 == 0) {  
+    return number + extra;
-        return number;  
-    }  
-    // 否则，计算需要添加的额外量（即16 - (number % 16)）  
-    // 这等价于找到比number大的最小16的倍数，并减去number  
-    int extra = 16 - (number % 16);  
-    // 返回扩充后的数  
-    return number + extra;  
 }
 
-
+void API_CALL on_mk_push_event_func(void *user_data, int err_code, const char *err_msg) {
-void API_CALL on_mk_push_event_func(void *user_data, int err_code, const char *err_msg)
-{
     rknn_app_context_t *ctx = (rknn_app_context_t *)user_data;
-    if (err_code == 0)
+    if (err_code == 0) {
-    {
-        // push success
         log_info("push %s success!", ctx->push_url);
         printf("push %s success!\n", ctx->push_url);
-    }
+    } else {
-    else
-    {
         log_warn("push %s failed:%d %s", ctx->push_url, err_code, err_msg);
         printf("push %s failed:%d %s\n", ctx->push_url, err_code, err_msg);
         release_pusher(&(ctx->pusher));
     }
 }
 
-void API_CALL on_mk_media_source_regist_func(void *user_data, mk_media_source sender, int regist)
+void API_CALL on_mk_media_source_regist_func(void *user_data, mk_media_source sender, int regist) {
-{
     rknn_app_context_t *ctx = (rknn_app_context_t *)user_data;
     const char *schema = mk_media_source_get_schema(sender);
-    if (strncmp(schema, ctx->push_url, strlen(schema)) == 0)
+    if (strncmp(schema, ctx->push_url, strlen(schema)) == 0) {
-    {
         release_pusher(&(ctx->pusher));
-        if (regist)
+        if (regist) {
-        {
             ctx->pusher = mk_pusher_create_src(sender);
             mk_pusher_set_on_result(ctx->pusher, on_mk_push_event_func, ctx);
             mk_pusher_set_on_shutdown(ctx->pusher, on_mk_push_event_func, ctx);
             log_info("push started!");
             printf("push started!\n");
-        }
+        } else {
-        else
-        {
             log_info("push stoped!");
             printf("push stoped!\n");
         }
         printf("push_url:%s\n", ctx->push_url);
-    }
+    } else {
-    else
-    {
         printf("unknown schema:%s\n", schema);
     }
 }
 
-void API_CALL on_mk_shutdown_func(void *user_data, int err_code, const char *err_msg, mk_track tracks[], int track_count)
+int process_camera_stream(rknn_app_context_t *ctx) {
-{
+    // Open camera device
-    printf("play interrupted: %d %s", err_code, err_msg);
+    cv::VideoCapture cap("/dev/video61");
-}
+    if (!cap.isOpened()) {
-
+        printf("Failed to open camera device: /dev/video61\n");
-int process_video_file(rknn_app_context_t *ctx, const char *video_path)
+        return -1;
-{
-    // 读取视频
-    cv::VideoCapture cap(video_path);
-    if (!cap.isOpened())
-    {
-        printf("Failed to open video file: %s", video_path);
     }
-    // 使用前需要使用v4l2-ctl --device=/dev/video0 --list-formats-ext检查一下设备支持范围
+
-    cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'));
+    // Set camera parameters based on v4l2-ctl output
-    // set width
+    cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('Y', 'U', 'Y', 'V'));
-    cap.set(cv::CAP_PROP_FRAME_WIDTH, 1920);
+    cap.set(cv::CAP_PROP_FRAME_WIDTH, 2452);
-    // set height
+    cap.set(cv::CAP_PROP_FRAME_HEIGHT, 2056);
-    cap.set(cv::CAP_PROP_FRAME_HEIGHT, 1080);
+    cap.set(cv::CAP_PROP_FPS, 30);
-    // set fps
+
-    cap.set(cv::CAP_PROP_FPS,30);
+    // Get actual parameters
-    // 获取视频尺寸、帧率
     int cap_width = cap.get(cv::CAP_PROP_FRAME_WIDTH);
     int cap_height = cap.get(cv::CAP_PROP_FRAME_HEIGHT);
     int fps = cap.get(cv::CAP_PROP_FPS);
+    
+    printf("Camera opened with resolution: %dx%d, FPS: %d\n", cap_width, cap_height, fps);
 
+    // RTSP stream setup
     ctx->push_url = "rtsp://localhost/live/stream";
-
+    ctx->media = mk_media_create("__defaultVhost__", ctx->push_path_first.c_str(), 
-    ctx->media = mk_media_create("__defaultVhost__", ctx->push_path_first.c_str(), ctx->push_path_second.c_str(), 0, 0, 0);
+                                ctx->push_path_second.c_str(), 0, 0, 0);
 
     codec_args v_args = {0};
     mk_track v_track = mk_track_create(MKCodecH264, &v_args);
     mk_media_init_track(ctx->media, v_track);
-
     mk_media_init_complete(ctx->media);
     mk_media_set_on_regist(ctx->media, on_mk_media_source_regist_func, ctx);
 
-    // 初始化编码器
+    // Initialize encoder
     MppEncoder *mpp_encoder = new MppEncoder();
     MppEncoderParams enc_params;
     memset(&enc_params, 0, sizeof(MppEncoderParams));
     enc_params.width = cap_width;
     enc_params.height = cap_height;
-    enc_params.fmt = MPP_FMT_YUV420SP;
+    enc_params.fmt = MPP_FMT_YUV420SP;  // We'll convert from YUYV to YUV420SP
     enc_params.type = MPP_VIDEO_CodingAVC;
     mpp_encoder->Init(enc_params, ctx);
     ctx->encoder = mpp_encoder;
 
-    // mpp编码配置
+    // Variables for frame processing
     void *mpp_frame = NULL;
     int mpp_frame_fd = 0;
     void *mpp_frame_addr = NULL;
     int enc_data_size;
-    
+    cv::Mat frame, yuv_frame;
-    int frame_index = 0;
-    int ret = 0;
 
-    // 画面
+    while (true) {
-    cv::Mat img;
+        // Read frame from camera
-
+        if (!cap.read(frame)) {
-    while (true)
+            printf("Failed to read frame from camera\n");
-    {
-        // 读取视频帧
-        cap >> img;
-        if (img.empty())
-        {
-            printf("Video end.");
             break;
         }
 
-        frame_index++;
+        if (frame.empty()) {
-        // 结束计时
+            printf("Empty frame received\n");
-        auto end_time = std::chrono::high_resolution_clock::now();
+            continue;
-        // 将当前时间点转换为毫秒级别的时间戳
+        }
-        auto millis = std::chrono::time_point_cast<std::chrono::milliseconds>(end_time).time_since_epoch().count();
 
-        // 获取解码后的帧
+        // Get current timestamp
+        auto millis = std::chrono::duration_cast<std::chrono::milliseconds>(
+            std::chrono::system_clock::now().time_since_epoch()).count();
+
+        // Get encoder input buffer
         mpp_frame = ctx->encoder->GetInputFrameBuffer();
-        // 获取解码后的帧fd
         mpp_frame_fd = ctx->encoder->GetInputFrameBufferFd(mpp_frame);
-        // 获取解码后的帧地址
         mpp_frame_addr = ctx->encoder->GetInputFrameBufferAddr(mpp_frame);
 
-        rga_buffer_t src = wrapbuffer_fd(mpp_frame_fd, cap_width, cap_height, RK_FORMAT_YCbCr_420_SP,padToMultipleOf16(cap_width),padToMultipleOf16(cap_height));
+        // Convert YUYV to YUV420SP (NV12) using RGA
+        rga_buffer_t src = wrapbuffer_virtualaddr((void *)frame.data, 
+                                                 cap_width, cap_height, 
+                                                 RK_FORMAT_YUYV_422);
+        rga_buffer_t dst = wrapbuffer_fd(mpp_frame_fd, 
+                                       cap_width, cap_height, 
+                                       RK_FORMAT_YCbCr_420_SP,
+                                       padToMultipleOf16(cap_width),
+                                       padToMultipleOf16(cap_height));
 
+        // Perform color space conversion
+        imcvtcolor(src, dst, RK_FORMAT_YUYV_422, RK_FORMAT_YCbCr_420_SP);
+
+        // Encode frame
         int enc_buf_size = ctx->encoder->GetFrameSize();
-
         char *enc_data = (char *)malloc(enc_buf_size);
-
-        rga_buffer_t rgb_img = wrapbuffer_virtualaddr((void *)img.data, cap_width, cap_height, RK_FORMAT_BGR_888);
-        // 将RGB图像复制到src中
-        imcopy(rgb_img, src);
-
-        if (frame_index == 1)
-        {
-            enc_data_size = ctx->encoder->GetHeader(enc_data, enc_buf_size);
-        }
-        // 内存初始化
         memset(enc_data, 0, enc_buf_size);
         
         enc_data_size = ctx->encoder->Encode(mpp_frame, enc_data, enc_buf_size);
 
-        ret = mk_media_input_h264(ctx->media, enc_data, enc_data_size, millis, millis);
+        // Push to RTSP
-        if (ret != 1)
+        int ret = mk_media_input_h264(ctx->media, enc_data, enc_data_size, millis, millis);
-        {
+        if (ret != 1) {
             printf("mk_media_input_frame failed\n");
         }
-        if (enc_data != nullptr)
+
-        {
+        if (enc_data != nullptr) {
             free(enc_data);
         }
+
+        // Small delay to maintain frame rate
+        usleep(1000000 / fps);
     }
-    // 释放资源
+
+    // Release resources
     cap.release();
     release_track(&v_track);
     release_media(&ctx->media);
-
+    return 0;
 }
 
-int main(int argc, char **argv)
+int main(int argc, char **argv) {
-{
+    // Initialize media kit
-    int status = 0;
-    int ret;
-
-    if (argc != 2)
-    {
-        printf("Usage: %s<video_path>\n", argv[0]);
-        return -1;
-    }
-    char *stream_url = argv[1];               // 视频流地址
-    int video_type = 264;
-
-    // 初始化流媒体
     mk_config config;
     memset(&config, 0, sizeof(mk_config));
     config.log_mask = LOG_CONSOLE;
@@ -262,19 +213,20 @@ int main(int argc, char **argv)
     mk_env_init(&config);
     mk_rtsp_server_start(3554, 0);
 
-    rknn_app_context_t app_ctx;                      // 创建上下文
+    // Initialize application context
-    memset(&app_ctx, 0, sizeof(rknn_app_context_t)); // 初始化上下文
+    rknn_app_context_t app_ctx;
-    app_ctx.video_type = video_type;
+    memset(&app_ctx, 0, sizeof(rknn_app_context_t));
-    app_ctx.push_path_first = "yunyan-live";
+    app_ctx.video_type = 264;  // H.264
-    app_ctx.push_path_second = "test";
+    app_ctx.push_path_first = "live";
+    app_ctx.push_path_second = "stream";
 
-    process_video_file(&app_ctx, stream_url);
+    // Start processing camera stream
+    process_camera_stream(&app_ctx);
 
-    printf("waiting finish\n");
+    printf("Streaming finished\n");
     usleep(3 * 1000 * 1000);
 
-    if (app_ctx.encoder != nullptr)
+    if (app_ctx.encoder != nullptr) {
-    {
         delete (app_ctx.encoder);
         app_ctx.encoder = nullptr;
     }