ROS+OpenCV分段保存缓存视频

Sixpence

于 2023-10-30 18:47:56 发布

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文章标签： opencv 缓存音视频 c++

本文链接：https://blog.csdn.net/2302_77392686/article/details/134125380

版权

项目需要，写了一个ros节点，订阅相机发布的topic(usb_cam包），通过Opencv分段缓存相机拍摄的最新的视频（avi格式），一个视频缓存固定的帧数。需要安装好opencv库。本人是ros新手，之前也没接触过opencv,希望能帮到有同样需求的同学，如果前辈有更好的方案，欢迎指导。

save_video_pkg_node.cpp

#include <ros/ros.h>  
#include <image_transport/image_transport.h>  
#include <opencv2/highgui/highgui.hpp>  
#include <cv_bridge/cv_bridge.h>  
  
int max_frame = 30*10;//一个视频中的最大帧数
int count = 0;//调用回调函数次数
int videoID = 1;//第几个分段
int max_video_num = 5;//分几段保存

int frame_width = 640;
int frame_height = 480;
double fps = 30;//写入视频fps
std::string savepath = "/home/lx/camera_demo/video/";
//cv::Mat frame;
//cv::VideoWriter wri (savepath+std::to_string(videoID)+".avi", cv::VideoWriter::fourcc('X', 'V', 'I', 'D'), fps, cv::Size(frame_width, frame_height), true);
cv::VideoWriter * wri_ptr;

void imageCallback(const sensor_msgs::ImageConstPtr& msg)  
{  
//sensor_msgs::Image ROS中image传递的消息形式

if (count==0)
{
  wri_ptr = new cv::VideoWriter (savepath+std::to_string(videoID)+".avi", 
  cv::VideoWriter::fourcc('X', 'V', 'I', 'D'), 
  fps, 
  cv::Size(frame_width, frame_height), true);
}

  try  
  {  
    //显示测试
    // cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);  
    // cv::waitKey(1);  
    //将帧写入
   wri_ptr -> write(cv_bridge::toCvShare(msg, "bgr8")->image);
  }  
  catch (cv_bridge::Exception& e)  
  {  
    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());  
  }  

  if( videoID == max_video_num)
  {
    videoID = 1 ;
  }

  if(count == max_frame){
    wri_ptr -> release();
    delete wri_ptr;
    videoID++;
    count = 0;
   wri_ptr = new cv::VideoWriter (savepath+std::to_string(videoID)+".avi", 
  cv::VideoWriter::fourcc('X', 'V', 'I', 'D'), 
  fps, 
  cv::Size(frame_width, frame_height), true);
  }

  count++;
}  
  
int main(int argc, char **argv)  
{  
  ros::init(argc, argv, "save_video_node");  
  ros::NodeHandle nh;  
  //显示窗口
  // cv::namedWindow("view");  
  // cv::startWindowThread();  
  image_transport::ImageTransport it(nh);  
  image_transport::Subscriber sub = it.subscribe("/usb_cam/image_raw", 1, imageCallback);  
  ros::spin();  
  // cv::destroyWindow("view");  //窗口
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(save_video_pkg)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  sensor_msgs
  std_msgs
  OpenCV
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   sensor_msgs#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES save_video_pkg
#  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/save_video_pkg.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/save_video_pkg_node.cpp)
add_executable(save_video_node src/save_video_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )
target_link_libraries(save_video_node
  ${catkin_LIBRARIES}
)
#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_save_video_pkg.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

参考

【精选】ROS学习笔记七：在ROS中使用USB摄像头_ros打开usb摄像头-CSDN博客