diff --git a/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h b/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h index 4b5a76a4..3c5323a0 100644 --- a/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h +++ b/cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h @@ -5,8 +5,6 @@ #ifndef CMVR_ES_UVC_CAMERA_H #define CMVR_ES_UVC_CAMERA_H -#include - #include "common/base/ring_buffer.h" #include "camera/abstract_camera.h" #include "devices/camera/common/include/camera_stream_encoder.h" @@ -70,10 +68,7 @@ namespace cmvr::device { std::shared_ptr recording_thread_; - cv::Mat latest_frame_; - std::mutex frame_mutex_; - std::condition_variable frame_condition_; - uint64_t latest_frame_sequence_{0}; + std::mutex capture_mutex_; std::string output_path_; bool is_recording_ = false; diff --git a/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp b/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp index 2d417dae..bd550303 100644 --- a/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp +++ b/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp @@ -68,12 +68,6 @@ bool UVCCamera::init() { clear_error_(); state_.is_initialized = false; - { - std::lock_guard frame_lock(frame_mutex_); - latest_frame_.release(); - latest_frame_sequence_ = 0; - } - stream_frame_buffer_ = std::make_shared>(buffer_size_); stream_frame_buffer_->clear(); if (cap_.isOpened()) { @@ -142,12 +136,6 @@ bool UVCCamera::start() { return true; } - { - std::lock_guard frame_lock(frame_mutex_); - latest_frame_.release(); - latest_frame_sequence_ = 0; - } - cap_.open(serial_, cv::CAP_V4L2); this_thread::sleep_for(chrono::milliseconds(100)); @@ -211,11 +199,6 @@ bool UVCCamera::stop() { if (cap_.isOpened()) { cap_.release(); } - { - std::lock_guard frame_lock(frame_mutex_); - latest_frame_.release(); - latest_frame_sequence_ = 0; - } state_.is_opened = false; return true; } @@ -232,15 +215,16 @@ void UVCCamera::getRGBImage(cv::Mat& color, Rs2Intrinsics& intrinsics) std::lock_guard lock(ctrl_mtx_); clear_error_(); color.release(); - if (mode_ == PHOTO_MODE) { - if (!state_.is_opened) { - state_.is_error = true; - state_.error_message = "camera not opened"; - CMVR_LOG(ERROR) << "[UVCCamera] (getRGBImage): " << state_.error_message; - color.release(); - return; - } - if (!cap_.read(color)) { + if (!state_.is_opened) { + state_.is_error = true; + state_.error_message = "camera not opened"; + CMVR_LOG(ERROR) << "[UVCCamera] (getRGBImage): " << state_.error_message; + return; + } + + { + std::lock_guard capture_lock(capture_mutex_); + if (!cap_.read(color) || color.empty()) { state_.is_error = true; state_.error_message = "read color image failed"; CMVR_LOG(ERROR) << "[UVCCamera] (getRGBImage): " << state_.error_message; @@ -248,60 +232,6 @@ void UVCCamera::getRGBImage(cv::Mat& color, Rs2Intrinsics& intrinsics) return; } } - else if (mode_ == VIDEO_MODE) - { - if (!state_.is_opened) { - state_.is_error = true; - state_.error_message = "camera not opened"; - CMVR_LOG(ERROR) << "[UVCCamera] (getRGBImage): " << state_.error_message; - color.release(); - return; - } - - const bool capture_worker_requested = state_.is_streaming || state_.is_recording; - bool snapshot_timed_out = false; - if (capture_worker_requested) { - std::unique_lock frame_lock(frame_mutex_); - const uint64_t requested_after_sequence = latest_frame_sequence_; - const bool received_new_frame = frame_condition_.wait_for( - frame_lock, - std::chrono::seconds(2), - [this, requested_after_sequence]() { - return latest_frame_sequence_ != requested_after_sequence; - }); - - if (received_new_frame && !latest_frame_.empty()) { - latest_frame_.copyTo(color); - } - snapshot_timed_out = !received_new_frame; - } - else { - if (stream_thread_) { - if (stream_thread_->joinable()) { - stream_thread_->join(); - } - stream_thread_.reset(); - is_streaming_running = false; - } - - if (!cap_.read(color) || color.empty()) { - state_.is_error = true; - state_.error_message = "read color image failed"; - CMVR_LOG(ERROR) << "[UVCCamera] (getRGBImage): " << state_.error_message; - color.release(); - return; - } - } - - if (color.empty()) { - state_.is_error = true; - state_.error_message = snapshot_timed_out - ? "timed out waiting for a new video frame" - : "no video frame available"; - CMVR_LOG(ERROR) << "[UVCCamera] (getRGBImage): " << state_.error_message; - return; - } - } } void UVCCamera::getDepthImage(cv::Mat& depth, Rs2Intrinsics& intrinsics) { @@ -567,7 +497,12 @@ void UVCCamera::streaming_worker_() { while (state_.is_streaming || state_.is_recording) { // 记录当前帧处理开始时间 const auto frame_start_time = std::chrono::steady_clock::now(); - if (!cap_.read(frame) || frame.empty()) { + bool frame_read = false; + { + std::lock_guard capture_lock(capture_mutex_); + frame_read = cap_.read(frame); + } + if (!frame_read || frame.empty()) { state_.is_error = true; state_.error_message = "failed to read frame"; CMVR_LOG(ERROR) << "[UVCCamera]streaming_worker_: " << state_.error_message; @@ -575,13 +510,6 @@ void UVCCamera::streaming_worker_() { } const auto capture_end_time = std::chrono::steady_clock::now(); - { - std::lock_guard frame_lock(frame_mutex_); - frame.copyTo(latest_frame_); - ++latest_frame_sequence_; - } - frame_condition_.notify_all(); - // 以下为编码部分，用于流模式 StreamFrameData frame_data; // 保存图像数据 @@ -694,10 +622,6 @@ void UVCCamera::streaming_worker_() { } is_streaming_running = false; - { - std::lock_guard frame_lock(frame_mutex_); - latest_frame_.release(); - } // 线程结束时清空队列 stream_frame_buffer_->clear(); recordingIndex_ = 0; @@ -709,10 +633,6 @@ void UVCCamera::streaming_worker_() { stream_frame_buffer_->clear(); // 确保线程状态正确更新 is_streaming_running = false; - { - std::lock_guard frame_lock(frame_mutex_); - latest_frame_.release(); - } state_.is_error = true; state_.error_message = e.what(); CMVR_LOG(ERROR) << "[UVCCamera]streaming_worker_ error:" << state_.error_message;