Jetson TX1使用usb camera采集图像 (2)

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 -;
    }  

    for(;;)
    {
        Mat frame;
        cap >> frame;
        imshow("original", frame);
        //waitKey(1);
        if(waitKey() >= )
        break;
    }
    return ;
}

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 = -;
    this->buffers = NULL;
    this->n_buffers = ;
    this->frameIndex = -;
    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 < ) {
        perror("Can't open video device");
    }
    return ;
}

int V4L2Capture::closeDevice() {
    if (fd_cam > ) {
        int ret = ;
        if ((ret = close(fd_cam)) < ) {
            perror("Can't close video device");
        }
        return ;
    } else {
        return -;
    }
}

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 < ) {
        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 >> ) & 0XFF, (cam_cap.version >> ) & 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 = ;
    cam_fmtdesc.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    printf("Support format:\n");
    while (ioctl(fd_cam, VIDIOC_ENUM_FMT, &cam_fmtdesc) != -) {
        printf("\t%d.%s\n", cam_fmtdesc.index + , 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 ( == 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 (- == 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 < ) {
        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 < ) {
        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 < ) {
        perror("Buffers init error");
        //exit(-1);
    }
    return ;
}

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 = ;
    req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    req.memory = V4L2_MEMORY_MMAP;
    ret = ioctl(fd_cam, VIDIOC_REQBUFS, &req);
    if (ret < ) {
        perror("Request frame buffers failed");
    }
    if (req.count < ) {
        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 = ; 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 < ) {
            printf("VIDIOC_QUERYBUF %d failed\n", n_buffers);
            return -;
        }
        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 -;
        }
    }
    return ;
}

int V4L2Capture::startCapture() {
    unsigned int i;
    for (i = ; 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 (- == ioctl(fd_cam, VIDIOC_QBUF, &buf)) {
            printf("VIDIOC_QBUF buffer%d failed\n", i);
            return -;
        }
    }
    enum v4l2_buf_type type;
    type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (- == ioctl(fd_cam, VIDIOC_STREAMON, &type)) {
        printf("VIDIOC_STREAMON error");
        return -;
    }
    return ;
}

int V4L2Capture::stopCapture() {
    enum v4l2_buf_type type;
    type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (- == ioctl(fd_cam, VIDIOC_STREAMOFF, &type)) {
        printf("VIDIOC_STREAMOFF error\n");
        return -;
    }
    return ;
}

int V4L2Capture::freeBuffers() {
    unsigned int i;
    for (i = ; i < n_buffers; ++i) {
        if (- == munmap(buffers[i].start, buffers[i].length)) {
            printf("munmap buffer%d failed\n", i);
            return -;
        }
    }
    free(buffers);
    return ;
}

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 (- == ioctl(fd_cam, VIDIOC_DQBUF, &queue_buf)) {
        printf("VIDIOC_DQBUF error\n");
        return -;
    }
    *frame_buf = buffers[queue_buf.index].start;
    *len = buffers[queue_buf.index].length;
    frameIndex = queue_buf.index;
    return ;
}

int V4L2Capture::backFrame() {
    if (frameIndex != -) {
        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 (- == ioctl(fd_cam, VIDIOC_QBUF, &queue_buf)) {
            printf("VIDIOC_QBUF error\n");
            return -;
        }
        return ;
    }
    return -;
}

void V4L2Capture::test() {
    unsigned char *yuv422frame = NULL;
    unsigned long yuvframeSize = ;

    string videoDev="/dev/video0";
    V4L2Capture *vcap = new V4L2Capture(const_cast<char*>(videoDev.c_str()),
            , );
    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 = ;

    string videoDev = "/dev/video0";
    V4L2Capture *vcap = new V4L2Capture(const_cast<char*>(videoDev.c_str()), , );
    vcap->openDevice();
    vcap->initDevice();
    vcap->startCapture();

    cvNamedWindow("Capture",CV_WINDOW_AUTOSIZE);
    IplImage* img;
    CvMat cvmat;
    double t;
    while(){
        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,);
        if(!img){
            printf("DecodeImage error!\n");
        }

        cvShowImage("Capture",img);
        cvReleaseImage(&img);

        vcap->backFrame();
        if((cvWaitKey()&) == ){
            exit();
        }
        t = (double)cvGetTickCount() - t;
        printf("Used time is %g ms\n",( t / (cvGetTickFrequency()*)));
    }
    vcap->stopCapture();
    vcap->freeBuffers();
    vcap->closeDevice();

}

int main() {
    VideoPlayer();
    return ;
}