update uvc_camera

CMakeLists.txt

@@ -82,7 +82,6 @@ install(TARGETS proto LIBRARY DESTINATION lib)
 # include
 ############################################################
 include_directories(
-        /usr/include/opencv4
         /usr/local/include/
         ${PROTO_BINARY_DIR}
         ${PROJECT_SOURCE_DIR}/include

cmvr-es/common/config/camera_config/camera_config.pb.txt

@@ -1,16 +1,16 @@
 realsense_cameras {
   id: "cam2"
-  serialNumber: "123456789012"
+  serialNumber: "243122074587"
-  width: 1280
+  width: 640
-  height: 720
+  height: 480
   fps: 30
   codec: "H265"
   camera_mode: CAMERA_MODE_VIDEO
   stream_mode: STREAM_MODE_RGBD
   align_mode: ALIGN_MODE_COLOR
   buffer_size: 30
-  sync: true
+  sync: false
-  enable: false
+  enable: true
 }
 
 uvc_cameras {
@@ -23,5 +23,5 @@ uvc_cameras {
   camera_mode: CAMERA_MODE_VIDEO
   stream_mode: STREAM_MODE_RGB
   buffer_size: 30
-  enable: true
+  enable: false
 }

cmvr-es/devices/camera/realsense_camera/CMakeLists.txt

@@ -1,5 +1,3 @@
-
-find_package(OpenCV REQUIRED)
 add_library(realsense_camera SHARED src/realsense_camera.cpp)
 
 target_include_directories(realsense_camera PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -7,7 +5,7 @@ target_include_directories(realsense_camera PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 add_library(cmvr_es::device::realsense_camera ALIAS realsense_camera) # ✅ 命名空间别名 OK
 
 # 链接 librealsense2
-target_link_libraries(realsense_camera PRIVATE realsense2 ${OpenCV_LIBS} )
+target_link_libraries(realsense_camera PRIVATE realsense2 opencv_core opencv_imgproc opencv_videoio)
 
 install(TARGETS realsense_camera LIBRARY DESTINATION lib)
 # --------------------------------------------------------

cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h

@@ -9,47 +9,9 @@
 #include <librealsense2/rs.hpp>
 #include <librealsense2/hpp/rs_internal.hpp>
 
-
 namespace cmvr::device{
     enum StreamMode {RGBD_MODE, COLOR_MODE,DEPTH_MODE};
-    struct FfmpegEncoderInfo {
-        std::string codec_name;                 // 编码器名称（如"h264"、"hevc"）
-        int width = 0;                          // 图像宽度
-        int height = 0;                         // 图像高度
-        int fps = 0;                            // 帧率
-        int64_t frame_pts = 0;
-        bool bRunning = false; // 是否进行编码
-        AVCodecContext* codec_context = nullptr; // 编码器上下文
-        AVFrame* frame = nullptr; // 输入帧
-        AVPacket* packet = nullptr; // 输出包
-        SwsContext* sws_context = nullptr; // 图像转换上下文（如果需要格式转换）
 
-        // 析构函数：释放FFmpeg资源（核心！避免内存泄漏）
-        ~FfmpegEncoderInfo() {
-            // 释放编码帧
-            if (frame) {
-                av_frame_free(&frame);
-                frame = nullptr;
-            }
-            // 释放编码包
-            if (packet) {
-                av_packet_free(&packet);
-                packet = nullptr;
-            }
-            // 释放编码器上下文
-            if (codec_context) {
-                avcodec_close(codec_context);    // 关闭编码器
-                avcodec_free_context(&codec_context);  // 释放上下文
-                codec_context = nullptr;
-            }
-            // 释放格式转换上下文
-            if (sws_context) {
-                sws_freeContext(sws_context);
-                sws_context = nullptr;
-            }
-            //std::cout << "FfmpegEncoderInfo resources released." << std::endl;
-        }
-    };
 
     class RealsenseCamera final : public AbstractCamera {
     public:

cmvr-es/devices/camera/uvc_camera/CMakeLists.txt

@@ -1,10 +1,8 @@
-find_package(OpenCV REQUIRED)
-
 add_library(uvc_camera SHARED src/uvc_camera.cpp)
 
 target_include_directories(uvc_camera PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
-target_link_libraries(uvc_camera PUBLIC ${OpenCV_LIBS} glog)
+target_link_libraries(uvc_camera PUBLIC glog opencv_core opencv_imgproc)
 
 add_library(cmvr_es::device::uvc_camera ALIAS uvc_camera)
 install(TARGETS uvc_camera LIBRARY DESTINATION lib)

cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h

@@ -1,24 +1,71 @@
-// uvc_camera.h
+//
+// Created by xtkuang on 2025/5/30.
+//
+
 #ifndef CMVR_ES_UVC_CAMERA_H
 #define CMVR_ES_UVC_CAMERA_H
 
 #include "utils/base/include/ring_buffer.h"
 #include "camera/abstract_camera.h"
 
-// 使用新的FFmpeg封装类
+//使用ffmpeg来编码保存视频文件
-#include "common/utils/ffmpeg/include/CameraCapture.h"
+#define USE_FFMPEG_ENCODER 1
-#include "common/utils/ffmpeg/include/VideoFrameEncoder.h"
+
-#include "common/utils/ffmpeg/include/VideoWriter.h"
+#if USE_FFMPEG_ENCODER
+#include "speaker/ffmpeg_speaker/include/ffmpeg_ptr.h"
+#endif
 
 namespace cmvr::device {
     enum CameraMode {PHOTO_MODE, VIDEO_MODE};
 
+
     struct ImageData
     {
+        //原始图像数据
         cv::Mat rgbImage;
+        //深度图原始数据
         cv::Mat depthImage;
     };
 
+    struct FfmpegEncoderInfo {
+        std::string codec_name;                 // 编码器名称（如"h264"、"hevc"）
+        int width = 0;                          // 图像宽度
+        int height = 0;                         // 图像高度
+        int fps = 0;                            // 帧率
+        int64_t frame_pts = 0;
+        bool bRunning = false; // 是否进行编码
+        AVCodecContext* codec_context = nullptr; // 编码器上下文
+        AVFrame* frame = nullptr; // 输入帧
+        AVPacket* packet = nullptr; // 输出包
+        SwsContext* sws_context = nullptr; // 图像转换上下文（如果需要格式转换）
+
+        // 析构函数：释放FFmpeg资源（核心！避免内存泄漏）
+        ~FfmpegEncoderInfo() {
+            // 释放编码帧
+            if (frame) {
+                av_frame_free(&frame);
+                frame = nullptr;
+            }
+            // 释放编码包
+            if (packet) {
+                av_packet_free(&packet);
+                packet = nullptr;
+            }
+            // 释放编码器上下文
+            if (codec_context) {
+                avcodec_close(codec_context);    // 关闭编码器
+                avcodec_free_context(&codec_context);  // 释放上下文
+                codec_context = nullptr;
+            }
+            // 释放格式转换上下文
+            if (sws_context) {
+                sws_freeContext(sws_context);
+                sws_context = nullptr;
+            }
+            //std::cout << "FfmpegEncoderInfo resources released." << std::endl;
+        }
+    };
+
     //USB摄像机
     class UVCCamera final : public AbstractCamera {
     public:
@@ -35,41 +82,56 @@ namespace cmvr::device {
         void updateParams(const std::pair<std::string, std::string>& param) override;
         void startRecording(const std::string &video_path) override;
         void stopRecording() override;
+        void pauseRecording() override;
+        void resumeRecording() override;
+        // 初始化单个编码器的通用函数（复用逻辑，避免重复代码）
+        static bool initSingleEncoder(std::shared_ptr<FfmpegEncoderInfo>& encoder,
+                              const std::string& codec_name,
+                              int width, int height, int fps);
+        static bool encodeFrameWithEncoder(std::shared_ptr<FfmpegEncoderInfo>& encoder,const cv::Mat& frame,std::vector<uint8_t>& encoded_frame,bool& is_key);
         void getEncodedFrame(StreamFrameData& frame_data, size_t& index) override;
 
         bool startStreaming() override;
         void stopStreaming() override;
-
     private:
         void streaming_worker_();
-
+        void recording_worker_();
-        // 辅助函数
-        static bool convertAVFrameToMat(AVFrame* frame, cv::Mat& mat);
 
         int fps_;
         int width_;
         int height_;
         std::string serial_;
+        cv::VideoCapture cap_;
         size_t buffer_size_;
         std::string codec_;
         CameraMode mode_;
 
+        // std::shared_ptr<cv::Mat> current_image_;
         std::shared_ptr<SPMCRingBuffer<StreamFrameData>> stream_frame_buffer_;
         std::string current_video_path_;
 
         std::mutex ctrl_mtx_{};
+        std::unique_ptr<cv::VideoWriter> video_writer_;
         std::shared_ptr<std::thread> stream_thread_;
+        std::shared_ptr<std::thread> recording_thread_;
 
-        // 新的FFmpeg封装类实例
-        std::unique_ptr<ffmpeg::CameraCapture> camera_capture_;
-        std::unique_ptr<ffmpeg::VideoFrameEncoder> video_encoder_;
-        std::unique_ptr<ffmpeg::VideoWriter> video_writer_;
 
-        // 用于临时存储最新帧
+        cv::Mat latest_frame_;  // 存储最新帧
-        std::mutex latest_frame_mutex_;
+        std::mutex frame_mutex_;  // 保护最新帧的访问
-        cv::Mat latest_rgb_frame_;
-        bool latest_frame_valid_ = false;
 
+        std::string output_path_;
+        bool is_recording_ = false;
+        // ffmpeg录像
+        AVFormatContext* format_context_ = nullptr;
+        AVCodecContext* codec_context_ = nullptr;
+        AVStream* stream_ = nullptr;
+        AVFrame* frame_ = nullptr;
+        AVPacket* packet_ = nullptr;
+        SwsContext* sws_context_ = nullptr;
+        int frame_count_ = 0;
+
+        std::shared_ptr<FfmpegEncoderInfo> rgbEncoder_;//rgb图像编码
+        std::shared_ptr<FfmpegEncoderInfo> depthEncoder_;//深度图编码
         size_t streamIndex_ = 0;
         size_t recordingIndex_ = 0;
         size_t getImageIndex_ = 0;
@@ -83,4 +145,6 @@ namespace cmvr::device {
     };
 }
 
+
+
 #endif //CMVR_ES_UVC_CAMERA_H