108 lines
3.0 KiB
C++
108 lines
3.0 KiB
C++
#include "FrameObserver.h"
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#include <string.h>
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#include <stdio.h>
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#include <sys/ioctl.h>
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#include <unistd.h>
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namespace AVT {
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namespace VmbAPI {
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namespace Examples {
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FrameObserver::FrameObserver(const CameraPtr& pCamera)
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: IFrameObserver(pCamera), m_videoFd(-1)
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{
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if (!SetupVideoDevice()) {
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fprintf(stderr, "Failed to setup video device\n");
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}
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}
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FrameObserver::~FrameObserver()
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{
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CloseVideoDevice();
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}
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bool FrameObserver::SetupVideoDevice()
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{
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m_videoFd = open("/dev/video61", O_RDWR);
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if (m_videoFd >= 0) {
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// 初始化视频格式
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memset(&m_vfmt, 0, sizeof(m_vfmt));
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m_vfmt.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
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// 设置默认格式（实际分辨率将在收到第一帧时更新）
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m_vfmt.fmt.pix.width = 640;
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m_vfmt.fmt.pix.height = 480;
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m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
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m_vfmt.fmt.pix.field = V4L2_FIELD_NONE;
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if (ioctl(m_videoFd, VIDIOC_S_FMT, &m_vfmt) < 0) {
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perror("Set video format");
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close(m_videoFd);
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m_videoFd = -1;
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}
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return true;
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}
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return false;
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}
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void FrameObserver::CloseVideoDevice()
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{
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if (m_videoFd >= 0) {
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close(m_videoFd);
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m_videoFd = -1;
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}
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}
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void FrameObserver::FrameReceived(const FramePtr pFrame)
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{
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std::lock_guard<std::mutex> lock(m_deviceMutex);
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if (m_videoFd < 0) return;
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// 获取帧信息和数据
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VmbUchar_t* pBuffer = nullptr;
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VmbUint32_t nSize = 0;
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VmbUint32_t width = 0, height = 0;
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VmbPixelFormatType pixelFormat;
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if (pFrame->GetImage(pBuffer) != VmbErrorSuccess ||
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pFrame->GetImageSize(nSize) != VmbErrorSuccess ||
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pFrame->GetWidth(width) != VmbErrorSuccess ||
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pFrame->GetHeight(height) != VmbErrorSuccess ||
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pFrame->GetPixelFormat(pixelFormat) != VmbErrorSuccess) {
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return;
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}
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// 根据相机实际格式设置V4L2格式
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m_vfmt.fmt.pix.width = width;
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m_vfmt.fmt.pix.height = height;
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switch (pixelFormat) {
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case VmbPixelFormatMono8:
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m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_GREY; // 单色8位
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m_vfmt.fmt.pix.sizeimage = width * height;
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break;
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case VmbPixelFormatBayerRG8:
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m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_SRGGB8; // Bayer格式
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m_vfmt.fmt.pix.sizeimage = width * height;
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break;
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default: // 默认按YUYV处理
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m_vfmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
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m_vfmt.fmt.pix.sizeimage = width * height * 2;
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}
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// 更新V4L2设备格式
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if (ioctl(m_videoFd, VIDIOC_S_FMT, &m_vfmt) < 0) {
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perror("Update video format");
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return;
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}
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// 写入数据
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ssize_t written = write(m_videoFd, pBuffer, nSize);
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if (written != (ssize_t)nSize) {
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perror("Write to video device");
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}
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m_pCamera->QueueFrame(pFrame);
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}
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}}} // namespace AVT::VmbAPI::Examples
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