Jetson TX1使用usb camera采集图像 (2)

╰半夏微凉° 2021-12-14 11:17 283阅读 0赞

该方法只启动usb摄像头

import cv2
    import numpy
    import matplotlib.pyplot as plot
    
    class Camera:
        cap = cv2.VideoCapture(0)
    
        @staticmethod
        def getCamera():
            ret, frame = Camera.cap.read()
            return ret, frame
    
        @staticmethod
        def getCap():
            return Camera.cap
    
    
    def main():
        camera = Camera()
        while(1):
            ret, frame = camera.getCamera()
    
            cv2.imshow("capture", frame)
            if cv2.waitKey(1) & 0xFF == ord('q'):
                break
    
        camera.cap.release()
        # cv2.destroyAllWindows()
    
    if __name__ == '__main__':
        main()

C++ start onboard camera

#include <stdio.h>  
    #include <opencv2/opencv.hpp>  
    
    using namespace cv;  
    using namespace std;  
    
    int main(int argc, char** argv)  
    {  
        VideoCapture cap("nvcamerasrc ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720,format=(string)I420, framerate=(fraction)24/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink");  
        if (!cap.isOpened())  
        {  
            cout << "Failed to open camera." << endl;  
            return -1;  
        }  
    
        for(;;)  
        {  
            Mat frame;  
            cap >> frame;  
            imshow("original", frame);  
            //waitKey(1);  
            if(waitKey(30) >= 0)  
            break;  
        }  
        return 0;  
    }

C++ start usb camera

/*
    Author:Jack-Cui
    Blog:http://blog.csdn.net/c406495762
    Time:25 May 2017
    */
    #include <unistd.h>
    #include <error.h>
    #include <errno.h>
    #include <fcntl.h>
    #include <sys/ioctl.h>
    #include <sys/types.h>
    #include <pthread.h>
    #include <linux/videodev2.h>
    #include <sys/mman.h>
    #include <opencv2/core/core.hpp>
    #include <opencv2/highgui/highgui.hpp>
    #include <stdio.h>
    #include <stdlib.h>
    #include <string.h>
    
    #include <iostream>
    #include <iomanip>
    #include <string>
    
    using namespace std;
    
    #define CLEAR(x) memset(&(x), 0, sizeof(x))
    
    #define IMAGEWIDTH 3264
    #define IMAGEHEIGHT 2448
    
    class V4L2Capture {
    public:
        V4L2Capture(char *devName, int width, int height);
        virtual ~V4L2Capture();
    
        int openDevice();
        int closeDevice();
        int initDevice();
        int startCapture();
        int stopCapture();
        int freeBuffers();
        int getFrame(void **,size_t *);
        int backFrame();
        static void test();
    
    private:
        int initBuffers();
    
        struct cam_buffer
        {
            void* start;
            unsigned int length;
        };
        char *devName;
        int capW;
        int capH;
        int fd_cam;
        cam_buffer *buffers;
        unsigned int n_buffers;
        int frameIndex;
    };
    
    V4L2Capture::V4L2Capture(char *devName, int width, int height) {
        // TODO Auto-generated constructor stub
        this->devName = devName;
        this->fd_cam = -1;
        this->buffers = NULL;
        this->n_buffers = 0;
        this->frameIndex = -1;
        this->capW=width;
        this->capH=height;
    }
    
    V4L2Capture::~V4L2Capture() {
        // TODO Auto-generated destructor stub
    }
    
    int V4L2Capture::openDevice() {
        /*设备的打开*/
        printf("video dev : %s\n", devName);
        fd_cam = open(devName, O_RDWR);
        if (fd_cam < 0) {
            perror("Can't open video device");
        }
        return 0;
    }
    
    int V4L2Capture::closeDevice() {
        if (fd_cam > 0) {
            int ret = 0;
            if ((ret = close(fd_cam)) < 0) {
                perror("Can't close video device");
            }
            return 0;
        } else {
            return -1;
        }
    }
    
    int V4L2Capture::initDevice() {
        int ret;
        struct v4l2_capability cam_cap;        //显示设备信息
        struct v4l2_cropcap cam_cropcap;    //设置摄像头的捕捉能力
        struct v4l2_fmtdesc cam_fmtdesc;    //查询所有支持的格式：VIDIOC_ENUM_FMT
        struct v4l2_crop cam_crop;            //图像的缩放
        struct v4l2_format cam_format;        //设置摄像头的视频制式、帧格式等
    
        /* 使用IOCTL命令VIDIOC_QUERYCAP，获取摄像头的基本信息*/
        ret = ioctl(fd_cam, VIDIOC_QUERYCAP, &cam_cap);
        if (ret < 0) {
            perror("Can't get device information: VIDIOCGCAP");
        }
        printf(
                "Driver Name:%s\nCard Name:%s\nBus info:%s\nDriver Version:%u.%u.%u\n",
                cam_cap.driver, cam_cap.card, cam_cap.bus_info,
                (cam_cap.version >> 16) & 0XFF, (cam_cap.version >> 8) & 0XFF,
                cam_cap.version & 0XFF);
    
        /* 使用IOCTL命令VIDIOC_ENUM_FMT，获取摄像头所有支持的格式*/
        cam_fmtdesc.index = 0;
        cam_fmtdesc.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        printf("Support format:\n");
        while (ioctl(fd_cam, VIDIOC_ENUM_FMT, &cam_fmtdesc) != -1) {
            printf("\t%d.%s\n", cam_fmtdesc.index + 1, cam_fmtdesc.description);
            cam_fmtdesc.index++;
        }
    
        /* 使用IOCTL命令VIDIOC_CROPCAP，获取摄像头的捕捉能力*/
        cam_cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        if (0 == ioctl(fd_cam, VIDIOC_CROPCAP, &cam_cropcap)) {
            printf("Default rec:\n\tleft:%d\n\ttop:%d\n\twidth:%d\n\theight:%d\n",
                    cam_cropcap.defrect.left, cam_cropcap.defrect.top,
                    cam_cropcap.defrect.width, cam_cropcap.defrect.height);
            /* 使用IOCTL命令VIDIOC_S_CROP，获取摄像头的窗口取景参数*/
            cam_crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
            cam_crop.c = cam_cropcap.defrect;        //默认取景窗口大小
            if (-1 == ioctl(fd_cam, VIDIOC_S_CROP, &cam_crop)) {
                //printf("Can't set crop para\n");
            }
        } else {
            printf("Can't set cropcap para\n");
        }
    
        /* 使用IOCTL命令VIDIOC_S_FMT，设置摄像头帧信息*/
        cam_format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        cam_format.fmt.pix.width = capW;
        cam_format.fmt.pix.height = capH;
        cam_format.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG;        //要和摄像头支持的类型对应
        cam_format.fmt.pix.field = V4L2_FIELD_INTERLACED;
        ret = ioctl(fd_cam, VIDIOC_S_FMT, &cam_format);
        if (ret < 0) {
            perror("Can't set frame information");
        }
        /* 使用IOCTL命令VIDIOC_G_FMT，获取摄像头帧信息*/
        cam_format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        ret = ioctl(fd_cam, VIDIOC_G_FMT, &cam_format);
        if (ret < 0) {
            perror("Can't get frame information");
        }
        printf("Current data format information:\n\twidth:%d\n\theight:%d\n",
                cam_format.fmt.pix.width, cam_format.fmt.pix.height);
        ret = initBuffers();
        if (ret < 0) {
            perror("Buffers init error");
            //exit(-1);
        }
        return 0;
    }
    
    int V4L2Capture::initBuffers() {
        int ret;
        /* 使用IOCTL命令VIDIOC_REQBUFS，申请帧缓冲*/
        struct v4l2_requestbuffers req;
        CLEAR(req);
        req.count = 4;
        req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        req.memory = V4L2_MEMORY_MMAP;
        ret = ioctl(fd_cam, VIDIOC_REQBUFS, &req);
        if (ret < 0) {
            perror("Request frame buffers failed");
        }
        if (req.count < 2) {
            perror("Request frame buffers while insufficient buffer memory");
        }
        buffers = (struct cam_buffer*) calloc(req.count, sizeof(*buffers));
        if (!buffers) {
            perror("Out of memory");
        }
        for (n_buffers = 0; n_buffers < req.count; n_buffers++) {
            struct v4l2_buffer buf;
            CLEAR(buf);
            // 查询序号为n_buffers 的缓冲区，得到其起始物理地址和大小
            buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
            buf.memory = V4L2_MEMORY_MMAP;
            buf.index = n_buffers;
            ret = ioctl(fd_cam, VIDIOC_QUERYBUF, &buf);
            if (ret < 0) {
                printf("VIDIOC_QUERYBUF %d failed\n", n_buffers);
                return -1;
            }
            buffers[n_buffers].length = buf.length;
            //printf("buf.length= %d\n",buf.length);
            // 映射内存
            buffers[n_buffers].start = mmap(
                    NULL, // start anywhere
                    buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, fd_cam,
                    buf.m.offset);
            if (MAP_FAILED == buffers[n_buffers].start) {
                printf("mmap buffer%d failed\n", n_buffers);
                return -1;
            }
        }
        return 0;
    }
    
    int V4L2Capture::startCapture() {
        unsigned int i;
        for (i = 0; i < n_buffers; i++) {
            struct v4l2_buffer buf;
            CLEAR(buf);
            buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
            buf.memory = V4L2_MEMORY_MMAP;
            buf.index = i;
            if (-1 == ioctl(fd_cam, VIDIOC_QBUF, &buf)) {
                printf("VIDIOC_QBUF buffer%d failed\n", i);
                return -1;
            }
        }
        enum v4l2_buf_type type;
        type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        if (-1 == ioctl(fd_cam, VIDIOC_STREAMON, &type)) {
            printf("VIDIOC_STREAMON error");
            return -1;
        }
        return 0;
    }
    
    int V4L2Capture::stopCapture() {
        enum v4l2_buf_type type;
        type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        if (-1 == ioctl(fd_cam, VIDIOC_STREAMOFF, &type)) {
            printf("VIDIOC_STREAMOFF error\n");
            return -1;
        }
        return 0;
    }
    
    int V4L2Capture::freeBuffers() {
        unsigned int i;
        for (i = 0; i < n_buffers; ++i) {
            if (-1 == munmap(buffers[i].start, buffers[i].length)) {
                printf("munmap buffer%d failed\n", i);
                return -1;
            }
        }
        free(buffers);
        return 0;
    }
    
    int V4L2Capture::getFrame(void **frame_buf, size_t* len) {
        struct v4l2_buffer queue_buf;
        CLEAR(queue_buf);
        queue_buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        queue_buf.memory = V4L2_MEMORY_MMAP;
        if (-1 == ioctl(fd_cam, VIDIOC_DQBUF, &queue_buf)) {
            printf("VIDIOC_DQBUF error\n");
            return -1;
        }
        *frame_buf = buffers[queue_buf.index].start;
        *len = buffers[queue_buf.index].length;
        frameIndex = queue_buf.index;
        return 0;
    }
    
    int V4L2Capture::backFrame() {
        if (frameIndex != -1) {
            struct v4l2_buffer queue_buf;
            CLEAR(queue_buf);
            queue_buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
            queue_buf.memory = V4L2_MEMORY_MMAP;
            queue_buf.index = frameIndex;
            if (-1 == ioctl(fd_cam, VIDIOC_QBUF, &queue_buf)) {
                printf("VIDIOC_QBUF error\n");
                return -1;
            }
            return 0;
        }
        return -1;
    }
    
    void V4L2Capture::test() {
        unsigned char *yuv422frame = NULL;
        unsigned long yuvframeSize = 0;
    
        string videoDev="/dev/video0";
        V4L2Capture *vcap = new V4L2Capture(const_cast<char*>(videoDev.c_str()),
                1920, 1080);
        vcap->openDevice();
        vcap->initDevice();
        vcap->startCapture();
        vcap->getFrame((void **) &yuv422frame, (size_t *)&yuvframeSize);
    
        vcap->backFrame();
        vcap->freeBuffers();
        vcap->closeDevice();
    }
    
    void VideoPlayer() {
        unsigned char *yuv422frame = NULL;
        unsigned long yuvframeSize = 0;
    
        string videoDev = "/dev/video0";
        V4L2Capture *vcap = new V4L2Capture(const_cast<char*>(videoDev.c_str()), 1920, 1080);
        vcap->openDevice();
        vcap->initDevice();
        vcap->startCapture();
    
        cvNamedWindow("Capture",CV_WINDOW_AUTOSIZE);
        IplImage* img;
        CvMat cvmat;
        double t;
        while(1){
            t = (double)cvGetTickCount();
            vcap->getFrame((void **) &yuv422frame, (size_t *)&yuvframeSize);
            cvmat = cvMat(IMAGEHEIGHT,IMAGEWIDTH,CV_8UC3,(void*)yuv422frame);        //CV_8UC3
    
            //解码
            img = cvDecodeImage(&cvmat,1);
            if(!img){
                printf("DecodeImage error!\n");
            }
    
            cvShowImage("Capture",img);
            cvReleaseImage(&img);
    
            vcap->backFrame();
            if((cvWaitKey(1)&255) == 27){
                exit(0);
            }
            t = (double)cvGetTickCount() - t;
            printf("Used time is %g ms\n",( t / (cvGetTickFrequency()*1000)));
        }        
        vcap->stopCapture();
        vcap->freeBuffers();
        vcap->closeDevice();
    
    }
    
    int main() {
        VideoPlayer();
        return 0;
    }

转载于:https://www.cnblogs.com/haiyang21/p/10708241.html