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update uvc_camera

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This commit is contained in:
linbo 2026-02-24 14:30:09 +08:00
parent d671729e1c
commit d79f493131
7 changed files with 671 additions and 345 deletions
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1
CMakeLists.txt
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@ -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

12
cmvr-es/common/config/camera_config/camera_config.pb.txt
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@ -1,16 +1,16 @@
realsense_cameras {
id: "cam2"
serialNumber: "123456789012"
width: 1280
height: 720
serialNumber: "243122074587"
width: 640
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
enable: false
sync: 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
}

4
cmvr-es/devices/camera/realsense_camera/CMakeLists.txt
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@ -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)
# --------------------------------------------------------

38
cmvr-es/devices/camera/realsense_camera/include/realsense_camera.h
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@ -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:

4
cmvr-es/devices/camera/uvc_camera/CMakeLists.txt
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@ -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)

98
cmvr-es/devices/camera/uvc_camera/include/uvc_camera.h
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@ -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
#include "common/utils/ffmpeg/include/CameraCapture.h"
#include "common/utils/ffmpeg/include/VideoFrameEncoder.h"
#include "common/utils/ffmpeg/include/VideoWriter.h"
//使用ffmpeg来编码保存视频文件
#define USE_FFMPEG_ENCODER 1
#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_();
// 辅助函数
static bool convertAVFrameToMat(AVFrame* frame, cv::Mat& mat);
void recording_worker_();
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
std::mutex latest_frame_mutex_;
cv::Mat latest_rgb_frame_;
bool latest_frame_valid_ = false;
cv::Mat latest_frame_; // 存储最新帧
std::mutex frame_mutex_; // 保护最新帧的访问
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

827
cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp
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