//#define V4L2
//https://arcoresearchgroup.wordpress.com/2020/06/02/virtual-camera-for-opencv-using-v4l2loopback/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <termio.h>
#ifdef V4L2
#include <linux/videodev2.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#endif
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "../../../../CqUsbCam_Linux/CqUsbCam/CqUsbCam.h"
#include "../../../../CqUsbCam_Linux/CqUsbCam/SensorCapbablity.h"
#define MAIN_RESOLU_SELECT 'a'
#define MAIN_RESOLU_752_480 '0'
#define MAIN_RESOLU_640_480 '1'
#define MAIN_RESOLU_640_480SKIP '2'
#define MAIN_RESOLU_640_480BIN '3'
#define MAIN_RESOLU_1280_1024 '4'
#define MAIN_BITDEPTH_SELECT 'b'
#define MAIN_BITDEPTH_8 '0'
#define MAIN_BITDEPTH_16 '1'
#define MAIN_BITDEPTH_L8 '2'
#define MAIN_PROCTYPE_SELECT 'c'
#define MAIN_PROCTYPE_N '0'
#define MAIN_PROCTYPE_X '1'
#define MAIN_PROCTYPE_Y '2'
#define MAIN_PROCTYPE_XY '3'
#define MAIN_CHECK_SPEED 'd'
#define MAIN_TRIGMODE_SELECT 'e'
#define MAIN_TRIGMODE_AUTO '0'
#define MAIN_TRIGMODE_FPGA '1'
#define MAIN_TRIGMODE_SOFT '2'
#define MAIN_TRIGMODE_SIGNAL '3'
#define MAIN_FPGA_TRIG_FREQ_SELECT 'g'
#define MAIN_EXPO_VALUE_SELECT 'h'
#define MAIN_GAIN_VALUE_SELECT 'i'
#define MAIN_AUTO_GAIN_EXPO_SELECT 'j'
#define MAIN_ROI 'k'
#define MAIN_CAPTURE 'l'
#define MAIN_ROI_BOX 'm'
#define MAIN_ANALOG_GAIN_AUTO_TRIG 'n'
#define MAIN_ANALOG_GAIN_FPGA_TRIG 'o'
#define MAIN_ANALOG_GAIN_1X '1'
#define MAIN_ANALOG_GAIN_2X '2'
#define MAIN_ANALOG_GAIN_4X '4'
#define MAIN_ANALOG_GAIN_8X '8'
#define MAIN_ROI_X1 'p'
#define MAIN_ROI_X2 'q'
#define MAIN_ROI_X3 'r'
#define MAIN_ROI_X4 's'
#define MAIN_ROI_X5 't'
#define MAIN_ROI_Y1 'u'
#define MAIN_ROI_Y2 'v'
#define MAIN_ROI_Y3 'w'
#define MAIN_ROI_Y4 'x'
#define MAIN_ROI_Y5 'y'
#define MAIN_ROI_WIDTH 'A'
#define MAIN_ROI_HEIGHT 'B'
#define MAIN_SAVE_VEDIO 'D'
#define MAIN_SAVE_ALL 'E'
#define MAIN_WRITE_SENSOR_REG 'F'
#define MAIN_READ_SENSOR_REG 'G'
#define MAIN_WRITE_FPGA_REG 'H'
#define MAIN_READ_FPGA_REG 'I'
#define MAIN_SELECT_SENSOR 'J'
#define MAIN_EXIT_NORMAL 'z'
string sensor = "MT9P031";
unsigned int g_width=2592;
unsigned int g_height=1944;
pthread_mutex_t mutexDisp;
pthread_mutex_t mutexCam;
int output=-1;
void Disp(void* frameData)
{
pthread_mutex_lock(&mutexDisp);
CImgFrame* m_frame=(CImgFrame*)frameData;
printf("trig source:%d",m_frame->m_imgHead[2]);
cv::Mat frame(g_height, g_width, CV_8UC1, (unsigned char*)m_frame->m_imgBuf);
#ifdef V4L2
size_t written = write(output, frame.data, g_height*g_width);
if (written < 0) {
printf( "ERROR: could not write to output device!\n");
close(output);
}
#else
cv::resize(frame,frame,cv::Size(800,600));
cv::imshow("disp",frame);
cv::waitKey(10);
#endif
pthread_mutex_unlock(&mutexDisp);
}
CCqUsbCam cam0, *pCamInUse;
unsigned short hex2dec(char *hex)
{
unsigned short number=0;
char *p=hex;
for(p=hex;*p;++p)
{
if((hex[p-hex]<='z')&&(hex[p-hex]>='a'))
hex[p-hex]=hex[p-hex]-32;
number=number*16+(hex[p-hex]>='A'?hex[p-hex]-'A'+10:hex[p-hex]-'0');
}
return number;
}
void checkspeed()
{
unsigned int speed = 0;
cam0.GetUsbSpeed(speed);
if(speed==LIBUSB_SPEED_SUPER)
{
printf("USB 3.0 device found on cam0!\n");
cam0.SendUsbSpeed2Fpga(LIBUSB_SPEED_SUPER);
}
else if(speed==LIBUSB_SPEED_HIGH)
{
printf("USB 2.0 device found on cam0!\n");
cam0.SendUsbSpeed2Fpga(LIBUSB_SPEED_HIGH);
}
else
{
printf("Device speed unknown on cam0!\n");
}
}
void timerFunction(int sig)
{
unsigned long iByteCntPerSec=0;
unsigned long iFrameCntPerSec=0;
pthread_mutex_lock(&mutexCam);
cam0.GetRecvByteCnt(iByteCntPerSec);
cam0.ClearRecvByteCnt();
cam0.GetRecvFrameCnt(iFrameCntPerSec);
cam0.ClearRecvFrameCnt();
printf("cam0: %ld Fps %0.4f MBs\n", iFrameCntPerSec, float(iByteCntPerSec)/1024.0/1024.0);
alarm(1);
pthread_mutex_unlock(&mutexCam);
}
int main(int argc, char *argv[])
{
cq_int32_t ret;
ret =pthread_mutex_init(&mutexDisp, NULL);
if(ret!=0)
printf("pthread_mutex_init failed");
ret =pthread_mutex_init(&mutexCam, NULL);
if(ret!=0)
printf("pthread_mutex_init failed");
cam0.SelectSensor(sensor);
int usbCnt=CCqUsbCam::OpenUSB();
printf("%d usb device(s) found!\n", usbCnt);
if(usbCnt<=0)
{
printf("exiting ...\n");
return -1;
}
cam0.ClaimInterface(0);
cam0.InitSensor();
checkspeed();
pCamInUse=&cam0;
while(1)
{
printf("Please input your choice ...\n");
printf("\
\'b\': Fpga Trig 0 or 1 sensor\n\
\'c\': Select proc type\n\
\'d\': Check speed\n\
\'e\': Select trig mode\n\
\'g\': Set fpga trig frequency\n\
\'h\': Set expo value\n\
\'i\': Set gain value\n\
\n\
\'l\': Start capture\n\
\n\
\'F\': Write sensor\n\
\'G\': Read sensor\n\
\'H\': Write FPGA\n\
\'I\': Read FPGA\n\
\n\
\'z\': Exit\n"\
);
char ch=getchar();
getchar();
printf("Your choice is %c\n", ch);
switch(ch)
{
#if 0
case MAIN_RESOLU_SELECT:
{
printf("Please input your choice ...\n");
printf("\
\'0\': 752x480\n\
\'1\': 640x480\n\
"\
);
char ch=getchar();
getchar();
printf("Your choice is %c\n", ch);
switch(ch)
{
case MAIN_RESOLU_752_480:
pCamInUse->SetResolution(RESOLU_752_480);
if(pCamInUse==&cam0)
{
g_width=752;
g_height=480;
}
break;
case MAIN_RESOLU_640_480:
pCamInUse->SetResolution(RESOLU_640_480);
if(pCamInUse==&cam0)
{
g_width=640;
g_height=480;
}
break;
default:
printf("Bad inut ...");
}
break;
}
#endif
case MAIN_PROCTYPE_SELECT:
{
printf("Please input your choice ...\n");
printf("\
\'0\': Normal\n\
\'1\': X mirror\n\
\'2\': Y mirror\n\
\'3\': XY mirror\n"\
);
char ch=getchar();
getchar();
printf("Your choice is %c", ch);
switch(ch)
{
case MAIN_PROCTYPE_N:
pCamInUse->SetMirrorType(MIRROR_NORMAL);
break;
case MAIN_PROCTYPE_X:
pCamInUse->SetMirrorType(MIRROR_X);
break;
case MAIN_PROCTYPE_Y:
pCamInUse->SetMirrorType(MIRROR_Y);
break;
case MAIN_PROCTYPE_XY:
pCamInUse->SetMirrorType(MIRROR_XY);
break;
default:
printf("Bad inut ...\n");
}
break;
}
case MAIN_CHECK_SPEED:
{
unsigned int speed = 0;
pCamInUse->GetUsbSpeed(speed);
if(speed==LIBUSB_SPEED_SUPER)
{
printf("USB 3.0 device found!\n");
pCamInUse->SendUsbSpeed2Fpga(USB_SPEED_SUPER);
}
else if(speed==LIBUSB_SPEED_HIGH)
{
printf("USB 2.0 device found!\n");
pCamInUse->SendUsbSpeed2Fpga(USB_SPEED_HIGH);
}
else
{
printf("Device speed unknown!\n");
}
break;
}
case MAIN_TRIGMODE_SELECT:
{
printf("Please input your choice ...\n");
printf("\
\'0\': Auto\n\
\'1\': FPGA\n\
\'2\': Soft\n\
\'3\': Signal\n"\
);
char ch=getchar();
getchar();
printf("Your choice is %c", ch);
switch(ch)
{
case MAIN_TRIGMODE_AUTO:
pCamInUse->SetTrigMode(TRIGMODE_AUTO);
break;
case MAIN_TRIGMODE_FPGA:
pCamInUse->SetTrigMode(TRIGMODE_FPGA);
break;
case MAIN_TRIGMODE_SOFT:
pCamInUse->SetTrigMode(TRIGMODE_SOFT);
break;
case MAIN_TRIGMODE_SIGNAL:
pCamInUse->SetTrigMode(TRIGMODE_SIGNAL);
break;
default:
printf("Bad inut ...\n");
}
break;
}
case MAIN_BITDEPTH_SELECT:
{
printf("FPGA trig 0 or 1 sensor?\n");
char str[10];
memset(str,0,sizeof(str));
fgets(str, 9,stdin);
unsigned int s=atoi(str);
printf("Your input is %d \n", s);
if(s==0||s==1)
{
pCamInUse->SetBitDepth(s);
}
else
{
printf("input error\n");
}
break;
}
case MAIN_FPGA_TRIG_FREQ_SELECT:
{
printf("Please input the trig frequency (Dec, 0~45), make sure the device is in FPGA trig mode\n");
char str[10];
memset(str,0,sizeof(str));
//gets(str);
fgets(str, 9,stdin);
unsigned int freq=atoi(str);
printf("Your input is %d \n", freq);
pCamInUse->SetFpgaTrigFreq(freq);
break;
}
#if 0
case MAIN_AUTO_GAIN_EXPO_SELECT:
{
printf("Please input your choice ...\n");
printf("\
\'0\': Manual gain, Manual expo\n\
\'1\': Manual gain, Auto expo\n\
\'2\': Auto gain, Manual expo\n\
\'3\': Auto gain, Auto expo\n"\
);
char ch=getchar();
getchar();
printf("Your choice is %c\n", ch);
switch(ch)
{
case '0':
pCamInUse->SetAutoGainExpo(false, false);
break;
case '1':
pCamInUse->SetAutoGainExpo(false, true);
break;
case '2':
pCamInUse->SetAutoGainExpo(true, false);
break;
case '3':
pCamInUse->SetAutoGainExpo(true, true);
break;
default:
printf("Bad inut ...\n");
}
break;
}
#endif
case MAIN_EXPO_VALUE_SELECT:
{
printf("Please input the expo value (Dec, 0~65536)\n");
char str[10];
memset(str,0,sizeof(str));
fgets(str, 9,stdin);
unsigned int expoValue=atoi(str);
printf("Your input is %d \n", expoValue);
pCamInUse->SetExpoValue(expoValue);
break;
}
case MAIN_GAIN_VALUE_SELECT:
{
printf("Please input the gain value (Dec, 0~64)\n");
char str[10];
memset(str,0,sizeof(str));
fgets(str, 9,stdin);
unsigned int gainValue=atoi(str);
printf("Your input is %d \n", gainValue);
pCamInUse->SetGainValue(gainValue);
break;
}
case MAIN_CAPTURE:
{
//cv::namedWindow("disp",CV_WINDOW_AUTOSIZE | CV_GUI_NORMAL);
cv::namedWindow("disp",0);
#ifdef V4L2
output = open("/dev/video6", O_RDWR);
if(output < 0) {
printf("ERROR: could not open output device!\n" );
return -2;
}
// configure params for output device
struct v4l2_format vid_format;
memset(&vid_format, 0, sizeof(vid_format));
vid_format.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
if (ioctl(output, VIDIOC_G_FMT, &vid_format) < 0) {
printf("ERROR: unable to set video format!\n");
return -1;
}
vid_format.fmt.pix.width = g_width;
vid_format.fmt.pix.height = g_height;
// NOTE: change this according to below filters...
// Chose one from the supported formats on Chrome:
// - V4L2_PIX_FMT_YUV420,
// - V4L2_PIX_FMT_Y16,
// - V4L2_PIX_FMT_Z16,
// - V4L2_PIX_FMT_INVZ,
// - V4L2_PIX_FMT_YUYV,
// - V4L2_PIX_FMT_RGB24,
// - V4L2_PIX_FMT_MJPEG,
// - V4L2_PIX_FMT_JPEG
vid_format.fmt.pix.pixelformat = V4L2_PIX_FMT_GREY;
vid_format.fmt.pix.sizeimage = g_width*g_height;
vid_format.fmt.pix.field = V4L2_FIELD_NONE;
if (ioctl(output, VIDIOC_S_FMT, &vid_format) < 0) {
printf("ERROR: unable to set video format!\n");
//std::cerr << "ERROR: unable to set video format!\n" << strerror(errno);
return -1;
}
#endif
cam0.StartCap(g_height, g_width, Disp);
signal(SIGALRM, timerFunction);
alarm(1);
printf("Press any key to stop capturing\n");
getchar();
pthread_mutex_lock(&mutexCam);
alarm(0);
cam0.StopCap();
pthread_mutex_unlock(&mutexCam);
pthread_mutex_lock(&mutexDisp);
cv::destroyWindow("disp");
cv::waitKey(1);
cv::waitKey(1);
cv::waitKey(1);
cv::waitKey(1);
pthread_mutex_unlock(&mutexDisp);
break;
}
case MAIN_WRITE_SENSOR_REG:
{
printf("Please input the reg address (Hex. Just number, no \'0x\' needed))\n");
char str[10];
memset(str,0,sizeof(str));
fgets(str, 9,stdin);
unsigned int iDecRegAddr=hex2dec(str);
printf("Your input is %x \n", iDecRegAddr);
printf("Please input the reg value (Hex. Just number, no \'0x\' needed))\n");
memset(str,0,sizeof(str));
fgets(str, 9,stdin);
unsigned int iDecRegValue=hex2dec(str);
printf("Your input is %x \n", iDecRegValue);
pCamInUse->WrSensorReg(iDecRegAddr, iDecRegValue);
//goto Badinput;
break;
}
case MAIN_READ_SENSOR_REG:
{
printf("Please input the reg address (Hex. Just number, no \'0x\' needed))\n");
char str[10];
memset(str,0,sizeof(str));
fgets(str, 9,stdin);
unsigned int iDecRegAddr=hex2dec(str);
printf("Your input is %x \n", iDecRegAddr);
unsigned int iValue=0;
pCamInUse->RdSensorReg(iDecRegAddr, iValue);
printf("reg value is %04x\n", iValue&0xffff);
break;
}
case MAIN_WRITE_FPGA_REG:
{
printf("Please input the reg address (int)\n");
char str[10];
memset(str,0,sizeof(str));
fgets(str, 9,stdin);
unsigned char iDecRegAddr=atoi(str);//hex2dec(str);
printf("Your input is %x \n", iDecRegAddr);
printf("Please input the reg value (int)\n");
memset(str,0,sizeof(str));
fgets(str, 9,stdin);
unsigned char iDecRegValue=atoi(str);//hex2dec(str);
printf("Your input is %x \n", iDecRegValue);
pCamInUse->WrFpgaReg(iDecRegAddr, iDecRegValue);
break;
}
case MAIN_READ_FPGA_REG:
{
printf("Please input the reg address (Hex. Just number, no \'0x\' needed))\n");
char str[10];
memset(str,0,sizeof(str));
fgets(str, 9,stdin);
unsigned int iDecRegAddr=hex2dec(str);
printf("Your input is %x \n", iDecRegAddr);
unsigned int iValue=0;
pCamInUse->RdFpgaReg(iDecRegAddr, iValue);
printf("reg value is %02x\n", iValue&0xff);
break;
}
case MAIN_EXIT_NORMAL:
cam0.ReleaseInterface();
CCqUsbCam::CloseUSB();
printf("Exiting ...\n");
exit(0);
break;
default:
printf("Bad inut ...\n");
}
}
return 0;
}
调用：
import time
import cv2
import os.path
#https://arcoresearchgroup.wordpress.com/2020/06/02/virtual-camera-for-opencv-using-v4l2loopback/
def savefile(f):
fileidx=0
while(True):
basefilename="./snap/img"+str(fileidx)
filename=basefilename+".jpg"
cannyfilename=basefilename+"_edge.jpg"
if not os.path.exists(filename):
break
fileidx=fileidx+1
cv2.imwrite(filename,frame)
cv2.imwrite(cannyfilename,canny)
#print(cv2.getBuildInformation())
vid=cv2.VideoCapture("/dev/video0")
print(vid.set(3, 3200))
print(vid.set(4, 2464))
print(vid.set(5, 15))
#print(vid.get(cv2.CAP_PROP_FRAME_WIDTH ))
#print(vid.get(cv2.CAP_PROP_FRAME_HEIGHT ))
cv2.namedWindow("disp1")
print(cv2.getBuildInformation())
while(vid.isOpened()):
start=time.time()
ret,frame=vid.read()
orgframe=frame;
print("readtime",time.time()-start)#0.22
frame=cv2.cvtColor(frame,cv2.COLOR_RGB2GRAY)
frame=cv2.resize(frame,(800,600))
h, w = frame.shape[:2]
center = (w // 2, h // 2)
M = cv2.getRotationMatrix2D(center, 0, 1)
frame = cv2.warpAffine(frame, M, (w, h))
cv2.imshow("rotated",frame)
frame = cv2.GaussianBlur(frame, (3,3),0)
#frame = cv2.medianBlur(frame, 3)#0.33
print("medianBlur",time.time()-start)#1.12
_, thresh = cv2.threshold(frame, 100, 255, cv2.THRESH_BINARY+cv2.THRESH_OTSU)
#thresh=cv2.adaptiveThreshold(frame,255,cv2.ADAPTIVE_THRESH_GAUSSIAN_C,cv2.THRESH_BINARY,11,2)
print("threshold",time.time()-start)#1.17
canny = cv2.Canny(thresh, 120, 255, 1)
print("Canny",time.time()-start)#1.24
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (5,5))
opening = cv2.morphologyEx(canny, cv2.MORPH_CLOSE, kernel)
dilate = cv2.dilate(opening, kernel, iterations=3)
dilate = cv2.erode(dilate, kernel, iterations=3)
cnts = cv2.findContours(dilate, cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE)# cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if len(cnts) == 2 else cnts[1]
min_area = 3000
for c in cnts:
area = cv2.contourArea(c)
if area > min_area:
cv2.drawContours(frame, [c], -1, (36, 255, 12), 2)
cv2.imshow("canny",canny)
cv2.imshow("drawContours",frame)
endtime=time.time()
fps=1/(endtime-start)
print(fps)
tempkey=cv2.waitKey(1)
if tempkey==ord('q'):
break
if tempkey==ord('c'):
savefile(orgframe)
#print(frame.row)
#print(frame.col)
print("open camera error")
vid.release()
cv2.destroyAllWindows()
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