264 lines
7.2 KiB
C++
264 lines
7.2 KiB
C++
// CameraCapture.cpp
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#include "common/media/ffmpeg/camera_capture.h"
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#include "common/base/logging/logger.h"
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#include <thread>
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#include <chrono>
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namespace ffmpeg {
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CameraCapture::CameraCapture() {
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packet_ = av_packet_alloc();
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frame_ = av_frame_alloc();
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rgb_frame_ = av_frame_alloc();
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}
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CameraCapture::~CameraCapture() {
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stop_capture();
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cleanup();
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if (packet_) av_packet_free(&packet_);
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if (frame_) av_frame_free(&frame_);
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if (rgb_frame_) av_frame_free(&rgb_frame_);
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if (sws_ctx_) sws_freeContext(sws_ctx_);
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}
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int CameraCapture::initialize(const Config& config) {
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config_ = config;
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// 初始化设备
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int ret = init_device();
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if (ret < 0) {
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CMVR_LOG(ERROR) << "初始化设备失败";
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return ret;
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}
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// 初始化解码器
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ret = init_decoder();
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if (ret < 0) {
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CMVR_LOG(ERROR) << "初始化解码器失败";
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return ret;
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}
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// 初始化SWS上下文
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ret = init_sws_context();
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if (ret < 0) {
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CMVR_LOG(ERROR) << "初始化SWS上下文失败";
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return ret;
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}
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// 分配RGB帧缓冲区（用于转换）
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rgb_frame_->width = config_.width;
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rgb_frame_->height = config_.height;
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rgb_frame_->format = AV_PIX_FMT_BGR24; // OpenCV使用BGR格式
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ret = av_frame_get_buffer(rgb_frame_, 0);
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if (ret < 0) {
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CMVR_LOG(ERROR) << "分配RGB帧缓冲区失败";
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return ret;
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}
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CMVR_LOG(INFO) << "摄像头初始化成功: " << config_.width << "x" << config_.height
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<< "@" << config_.fps << "fps";
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return 0;
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}
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int CameraCapture::init_device() {
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// AVInputFormat* input_fmt = nullptr;
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std::string device_path;
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#ifdef _WIN32
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auto input_fmt = av_find_input_format("dshow");
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device_path = "video=" + config_.device_name;
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#else
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auto input_fmt = av_find_input_format("v4l2");
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device_path = config_.device_name;
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#endif
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if (!input_fmt) {
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CMVR_LOG(ERROR) << "找不到输入格式";
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return -1;
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}
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// 设置摄像头参数
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AVDictionary* options = nullptr;
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av_dict_set(&options, "framerate", std::to_string(config_.fps).c_str(), 0);
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av_dict_set(&options, "video_size", (std::to_string(config_.width) + "x" + std::to_string(config_.height)).c_str(), 0);
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// 打开摄像头
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int ret = avformat_open_input(&fmt_ctx_, device_path.c_str(), input_fmt, &options);
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av_dict_free(&options);
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if (ret < 0) {
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char err_buf[1024];
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av_strerror(ret, err_buf, sizeof(err_buf));
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CMVR_LOG(ERROR) << "打开摄像头失败: " << err_buf;
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return ret;
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}
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// 查找流信息
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ret = avformat_find_stream_info(fmt_ctx_, nullptr);
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if (ret < 0) {
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CMVR_LOG(ERROR) << "查找流信息失败";
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return ret;
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}
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// 查找视频流
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video_stream_index_ = av_find_best_stream(fmt_ctx_, AVMEDIA_TYPE_VIDEO, -1, -1, nullptr, 0);
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if (video_stream_index_ < 0) {
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CMVR_LOG(ERROR) << "找不到视频流";
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return video_stream_index_;
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}
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return 0;
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}
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int CameraCapture::init_decoder() {
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AVStream* stream = fmt_ctx_->streams[video_stream_index_];
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const AVCodec* decoder = avcodec_find_decoder(stream->codecpar->codec_id);
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if (!decoder) {
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CMVR_LOG(ERROR) << "找不到解码器";
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return -1;
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}
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decoder_ctx_ = avcodec_alloc_context3(decoder);
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if (!decoder_ctx_) {
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CMVR_LOG(ERROR) << "分配解码器上下文失败";
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return -1;
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}
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// 复制参数到解码器上下文
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int ret = avcodec_parameters_to_context(decoder_ctx_, stream->codecpar);
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if (ret < 0) {
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CMVR_LOG(ERROR) << "复制解码器参数失败";
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return ret;
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}
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// 打开解码器
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ret = avcodec_open2(decoder_ctx_, decoder, nullptr);
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if (ret < 0) {
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CMVR_LOG(ERROR) << "打开解码器失败";
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return ret;
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}
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return 0;
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}
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int CameraCapture::init_sws_context() {
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// 获取解码器输出的像素格式
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AVPixelFormat src_format = decoder_ctx_->pix_fmt;
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sws_ctx_ = sws_getContext(
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decoder_ctx_->width, decoder_ctx_->height, src_format,
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config_.width, config_.height, AV_PIX_FMT_BGR24, // 转换为BGR24给OpenCV
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SWS_BILINEAR, nullptr, nullptr, nullptr
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);
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if (!sws_ctx_) {
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CMVR_LOG(ERROR) << "创建SWS上下文失败";
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return -1;
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}
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return 0;
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}
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cv::Mat CameraCapture::avframe_to_cvmat(AVFrame* frame) {
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// 确保RGB帧可写
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av_frame_make_writable(rgb_frame_);
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// 转换到BGR24
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sws_scale(sws_ctx_,
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frame->data, frame->linesize, 0, frame->height,
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rgb_frame_->data, rgb_frame_->linesize);
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// 创建cv::Mat（BGR格式）
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cv::Mat image(config_.height, config_.width, CV_8UC3);
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// 复制数据（由于linesize可能不等于width*3，需要逐行复制）
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for (int i = 0; i < config_.height; i++) {
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memcpy(image.data + i * image.step,
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rgb_frame_->data[0] + i * rgb_frame_->linesize[0],
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config_.width * 3);
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}
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return image;
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}
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int CameraCapture::start_capture(FrameCallback callback) {
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if (!callback || !fmt_ctx_ || !decoder_ctx_) {
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CMVR_LOG(ERROR) << "参数无效或未初始化";
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return -1;
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}
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is_capturing_ = true;
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frame_count_ = 0;
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CMVR_LOG(INFO) << "开始采集...";
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while (is_capturing_) {
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// 读取数据包
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int ret = av_read_frame(fmt_ctx_, packet_);
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if (ret < 0) {
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if (ret == AVERROR(EAGAIN)) {
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std::this_thread::sleep_for(std::chrono::milliseconds(1));
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continue;
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}
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CMVR_LOG(ERROR) << "读取帧失败: " << ret;
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break;
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}
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// 只处理视频流
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if (packet_->stream_index == video_stream_index_) {
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// 发送数据包到解码器
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ret = avcodec_send_packet(decoder_ctx_, packet_);
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if (ret < 0 && ret != AVERROR(EAGAIN)) {
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CMVR_LOG(ERROR) << "发送数据包到解码器失败: " << ret;
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av_packet_unref(packet_);
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continue;
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}
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// 接收解码后的帧
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while (ret >= 0) {
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ret = avcodec_receive_frame(decoder_ctx_, frame_);
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if (ret == AVERROR(EAGAIN) || ret == AVERROR_EOF) {
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break;
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} else if (ret < 0) {
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CMVR_LOG(ERROR) << "接收解码帧失败: " << ret;
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break;
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}
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// 设置PTS
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frame_->pts = frame_count_;
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// 转换为cv::Mat（用于显示或OpenCV处理）
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cv::Mat rgb_image = avframe_to_cvmat(frame_);
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// 回调：同时返回AVFrame和cv::Mat
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callback(frame_, rgb_image, frame_count_++);
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}
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}
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av_packet_unref(packet_);
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}
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return 0;
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}
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void CameraCapture::stop_capture() {
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is_capturing_ = false;
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}
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void CameraCapture::cleanup() {
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if (decoder_ctx_) {
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avcodec_close(decoder_ctx_);
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avcodec_free_context(&decoder_ctx_);
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}
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if (fmt_ctx_) {
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avformat_close_input(&fmt_ctx_);
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avformat_free_context(fmt_ctx_);
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fmt_ctx_ = nullptr;
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}
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}
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} // namespace ffmpeg
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