initial commit

capture.cc

@@ -0,0 +1,104 @@
+#include "capture.h"
+
+#include <vector>
+#include <thread>
+#include <opencv2/highgui.hpp>
+#include <zmq.hpp>
+#include "logc/log.h"
+
+capture::capture(int camera_index, int zmq_port, int width_set, int height_set, int fps_set)
+{
+    index = camera_index;
+    port = zmq_port;
+    width = width_set;
+    height = height_set;
+    fps = fps_set;
+
+    log_info("trying open camera %d", index);
+
+    cap = new cv::VideoCapture(index, cv::CAP_V4L2);
+    cap->set(cv::CAP_PROP_FRAME_WIDTH, width);
+    cap->set(cv::CAP_PROP_FRAME_HEIGHT, height);
+    cap->set(cv::CAP_PROP_FPS, fps);
+
+    if (!cap->isOpened())
+    {
+        log_error("Error opening video stream in %d", index);
+        status = false;
+    }
+    else
+    {
+        log_info("Successful opening video stream in %d", index);
+        status = true;
+    }
+
+    context = new zmq::context_t(1);
+    socket = new zmq::socket_t(*context, ZMQ_PUB);
+
+    char zmq_bind_port[10] = {0};
+    sprintf(zmq_bind_port, "%d", port);
+    strcat(zmq_bind_addr, zmq_bind_port);
+    log_info("set camera %d zmq address %s", index, zmq_bind_addr);
+    socket->bind(zmq_bind_addr);
+}
+
+void capture::start(void)
+{
+    if (this->is_open())
+    {
+        log_info("start camera %d capture thread", index);
+        thread = new std::thread(&capture::run, this);
+    }
+    else
+    {
+        log_error("camera %d have not been inited, exit", index);
+    }
+}
+
+void capture::run(void)
+{
+    while (1)
+    {
+        *cap >> frame;
+        if (frame.empty())
+        {
+            log_error("empty frame");
+            break;
+        }
+
+        // 确保图像是连续的
+        if (!frame.isContinuous())
+        {
+            frame = frame.clone().reshape(1, frame.total());
+        }
+
+        // cv::imshow(zmq_bind_addr, frame);
+
+        // 将帧编码后发送
+        std::vector<uchar> buff;
+        cv::imencode(".jpg", frame, buff);
+        zmq::message_t message(buff.size());
+        memcpy(message.data(), buff.data(), buff.size());
+        socket->send(message, zmq::send_flags::none);
+
+        // 发送帧的元数据（宽度、高度、类型等）
+        // 这里简单起见，只发送宽度和高度（假设类型为 CV_8UC3）
+        // zmq::message_t header_msg(sizeof(int) * 2);
+        // int *header_data = static_cast<int *>(header_msg.data());
+        // header_data[0] = frame.cols;
+        // header_data[1] = frame.rows;
+        // socket.send(header_msg, zmq::send_flags::sndmore);
+
+        // 发送帧数据
+        // zmq::message_t frame_msg((size_t)frame.total() * frame.elemSize());
+        // memcpy(frame_msg.data(), frame.data, frame.total() * frame.elemSize());
+        // socket->send(frame_msg, zmq::send_flags::none);
+        // 在这里添加一些延迟，以控制帧率
+        cv::waitKey(1);
+    }
+}
+
+bool capture::is_open(void)
+{
+    return status;
+}