2020.12.29 更新另一种方法
一般的海康摄像头是25fps,opencv在while循环中取流播放的话,完全没有问题。但是,如果加入一些目标检测等等图像操作会增加处理时间,由于硬件水平的限制,可能就达不到25fps了,这样就会堆积一部分帧,导致了延迟和花屏的现象。
解决办法:我们自己定义一个缓冲区(用vector模拟),由两个线程取维护它。read线程每次从缓冲区中取最新的帧,write线程每次取流将帧压入缓冲区。但是缓冲区数据入的速度大于出的速度,这样就需要清一下,清的时候不能全清也不能不清,隔帧抽取清理,保证画面的顺序。上代码 :
#include <iostream>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <thread>
#include <queue>
#include <chrono>
#include <unistd.h>
#include <X11/Xlib.h>
using namespace cv;
using namespace std;
using namespace std::chrono; // calc fps
std::mutex mtx;
vector<Mat> frame_buffer;
void frame_write(){
cout << "this is write" << endl;
Mat input, blob;
VideoCapture capture;
capture.open(0);
if(capture.isOpened())
{
cout << "Capture is opened" << endl;
for(;;)
{
capture >> input;
if(input.empty())
continue;
mtx.lock();
if(frame_buffer.size() < 100){
frame_buffer.push_back(input);
if (frame_buffer.size() > 10){ // 隔帧抽取一半删除
auto iter = frame_buffer.begin();
for(int inde = 0; inde < frame_buffer.size()/2 ; inde++)
frame_buffer.erase(iter++);
}
}
else{
cout << "thread ==============> after read stop, frame_buffer.size() > 100 , write stop";
return;
}
mtx.unlock();
}
} else{
cout << "open camera failed" << endl;
}
}
void frame_read(){
cout << "this is read" << endl;
Mat frame;
while(true){
if (!frame_buffer.empty()){
frame = frame_buffer.front();
/// 在这里加上目标检测算法
/*
*
*/
imshow("Thread Sample", frame);
if(waitKey(10) == 27) // ’q‘ ASCII == 113
break;
}
}
cout << "thread ==============> read stop" <<endl;
}
int main(int argc, char** argv)
{
XInitThreads();
std::thread tw(frame_write); // pass by value
std::thread tr(frame_read); // pass by value
tw.detach();
tr.join();
return 0;
}
20200613重新修改了代码相比上次新增了一个互斥锁,但是还有个隐患,至今没有找到原因
what(): OpenCV(4.2.0) ../modules/core/src/array.cpp:2395: error: (-27:Null pointer) The matrix has NULL data pointer in function 'cvGetMat'
程序运行一段时间后还是会崩溃,经过vector后出现了空指针
参考darknet的官方代码,换了一种实现思路采取两个线程异步收发的思路,详见代码注释。
demo如下:
#include <iostream>
#include <thread>
#include <queue>
#include <chrono>
#include <atomic>
#include <unistd.h>
#include <condition_variable>
using namespace std;
using namespace std::chrono;
template<typename T>
class send_receive_one_object {
std::atomic<T *> a_ptr;
condition_variable cv_;
mutex lock_;
public:
void send(T const& _obj) {
T *new_ptr = new T;
*new_ptr = _obj;
std::unique_ptr<T> old_ptr(a_ptr.exchange(new_ptr));
cv_.notify_one();
}
T receive() {
std::unique_ptr<T> ptr;
do {
std::unique_lock<mutex> l(lock_);
cv_.wait(l, [&]{return a_ptr != NULL;});
ptr.reset(a_ptr.exchange(NULL));
} while (!ptr);
T obj = *ptr;
return obj;
}
send_receive_one_object() : a_ptr(NULL)
{
cout << "================> init send_receive_one_object" << endl;
}
};
struct Job{
int id;
}; // 收发数据结构体,可以写视频帧或者其他有用的数据
const bool sync_ = true;
static send_receive_one_object<Job> read_write;
void frame_write(){
cout << "this is frame_write !!!" << endl;
sleep(3);
Job jj;
int cnt = 30;
while(cnt --){
jj.id = 30-cnt;
read_write.send(jj);
usleep(10000); // 模拟取流30帧,并设置时间间隔
}
}
void frame_read(){
cout << "this is frame_read !!!" << endl;
Job jj;
int cnt = 200;
while(cnt --){
jj = read_write.receive();
cout << jj.id << endl;
usleep(30000); // 模拟算法处理速度是取流速度的1/3
}
}
int main(int argc, char** argv)
{
std::thread tw(frame_write);
std::thread tr(frame_read);
tw.join();
tr.join();
return 0;
}