我需要通过一个名为FIFO的管道从python进程向c++进程发送一个数组(表示图像),然后以另一种方式返回(在Linux系统上)。在
当在两个Python进程之间使用命名管道时,下面的代码非常有用。它使用numpy的tostring()和fromstring()函数:
通过命名管道(Python)发送帧
在import cv2
import numpy as np
from time import sleep
##########################################################
FIFO_Images = "./../pipes/images.fifo"
videoName = "./../../videos/videoName.avi"
delim = "break"
##########################################################
def sendImage(h, w, d, pixelarray):
imageString = pixelarray.tostring()
with open(FIFO_Images, "w") as f:
f.write(str(h)+ delim + str(w)+ delim + str(d) + delim + imageString)
sleep(.01)
return
##########################################################
cap = cv2.VideoCapture(videoName)
while(cap.isOpened()):
ret, frame_rgb = cap.read()
h, w, d = frame_rgb.shape
sendImage(h, w, d, frame_rgb)
cap.release()
cv2.destroyAllWindows()
通过命名管道(Python)读取帧
在
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但是,我无法从cpp端的管道中读取整个图像,因为它将“\n”作为自动读取的分隔符。在
我的解决方法是对“tostring()”图像进行base64编码,然后通过管道发送。这是可行的,但是另一张幻灯片上的base64解码对于实时应用程序来说太慢了(每帧大约0.2秒)。代码:
通过命名管道(Python)发送base64编码的图像
在import cv2
import numpy as np
from time import time
from time import sleep
import base64
##########################################################
FIFO_Images = "./../pipes/images.fifo"
videoName = "./../../videos/videoName.avi"
delim = ";;"
##########################################################
def sendImage(h, w, d, pixelarray):
flat = pixelarray.flatten()
imageString = base64.b64encode(pixelarray.tostring())
fullString = str(h)+ delim + str(w)+ delim + str(d)+ delim + imageString + delim + "\n"
with open(FIFO_Images, "w") as f:
f.write(fullString)
return
##########################################################
cap = cv2.VideoCapture(videoName)
count = 0
while(cap.isOpened()):
ret, frame_rgb = cap.read()
h, w, d = frame_rgb.shape
frame_gbr = cv2.cvtColor(frame_rgb, cv2.COLOR_RGB2BGR)
sendImage(h, w, d, frame_rgb)
cap.release()
cv2.destroyAllWindows()
读取命名管道(C++)上的Base64编码图像
在#include "opencv2/opencv.hpp"
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
using namespace std;
using namespace cv;
#define FIFO_FILE "./../../../pipes/images.fifo"
#define MAX_BUF 10000000
FILE *fp;
char readbuf[MAX_BUF + 1]; //add 1 to the expected size to accomodate the mysterious "extra byte", which I think signals the end of the line.
/************************BASE64 Decoding*********************************************/
std::string base64_encode(unsigned char const* , unsigned int len);
std::string base64_decode(std::string const& s);
static const std::string base64_chars =
"ABCDEFGHIJKLMNOPQRSTUVWXYZ"
"abcdefghijklmnopqrstuvwxyz"
"0123456789+/";
static inline bool is_base64(unsigned char c) {
return (isalnum(c) || (c == '+') || (c == '/'));
}
std::string base64_encode(unsigned char const* bytes_to_encode, unsigned int in_len) {
std::string ret;
int i = 0;
int j = 0;
unsigned char char_array_3[3];
unsigned char char_array_4[4];
while (in_len--) {
char_array_3[i++] = *(bytes_to_encode++);
if (i == 3) {
char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
char_array_4[3] = char_array_3[2] & 0x3f;
for(i = 0; (i <4) ; i++)
ret += base64_chars[char_array_4[i]];
i = 0;
}
}
if (i)
{
for(j = i; j < 3; j++)
char_array_3[j] = '\0';
char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
char_array_4[3] = char_array_3[2] & 0x3f;
for (j = 0; (j < i + 1); j++)
ret += base64_chars[char_array_4[j]];
while((i++ < 3))
ret += '=';
}
return ret;
}
std::string base64_decode(std::string const& encoded_string) {
int in_len = encoded_string.size();
int i = 0;
int j = 0;
int in_ = 0;
unsigned char char_array_4[4], char_array_3[3];
std::string ret;
while (in_len-- && ( encoded_string[in_] != '=') && is_base64(encoded_string[in_])) {
char_array_4[i++] = encoded_string[in_]; in_++;
if (i ==4) {
for (i = 0; i <4; i++)
char_array_4[i] = base64_chars.find(char_array_4[i]);
char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
for (i = 0; (i < 3); i++)
ret += char_array_3[i];
i = 0;
}
}
if (i) {
for (j = i; j <4; j++)
char_array_4[j] = 0;
for (j = 0; j <4; j++)
char_array_4[j] = base64_chars.find(char_array_4[j]);
char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
for (j = 0; (j < i - 1); j++) ret += char_array_3[j];
}
return ret;
}
/*********************************************************************/
int stringToInt(string str)
{
int num;
if (!(istringstream(str) >> num)) num = 0;
return num;
}
/*********************************************************************/
bool timerOn = 0;
clock_t timerStart;
void Timer(string process)
{
if (!timerOn)
{
timerStart = clock();
timerOn = true;
}
else if (timerOn)
{
double duration = (clock() - timerStart) / (double) CLOCKS_PER_SEC;
cout << "Time to complete: ";
printf("%.2f", duration);
cout << ": " << process << endl;
timerOn = false;
}
}
/*********************************************************************/
void getFrame()
{
string fullString;
string delimiter = ";;";
size_t pos = 0;
string token;
int h;
int w;
int d;
string imgString;
int fifo;
bool cont(true);
/***************************
Read from the pipe
www.tldp.org/LDP/lpg/node18.html
***************************/
Timer("Read from pipe");
fp = fopen(FIFO_FILE, "r");
fgets(readbuf, MAX_BUF + 1, fp); // Stops when MAX_BUF characters are read, the newline character ("\n") is read, or the EOF (end of file) is reached
string line(readbuf);
fclose(fp);
Timer("Read from pipe");
//parse the string into components
Timer("Parse string");
int counter = 0;
while ((pos = line.find(delimiter)) != string::npos)
{
token = line.substr(0,pos);
if (counter == 0)
{
h = stringToInt(token);
}
else if (counter == 1)
{
w = stringToInt(token);
}
else if (counter == 2)
{
d = stringToInt(token);
}
else if (counter == 3)
{
imgString = token;
//cout << imgString[0] << endl;
}
else
{
cout << "ERROR: Too many paramaters passed" << endl;
return;
}
line.erase(0, pos + delimiter.length());
counter ++;
}
if (counter == 3)
{
imgString = token;
}
if (counter < 3)
{
cout << "ERROR: Not enough paramaters passed: " << counter << endl;
//return;
}
Timer("Parse string");
/***************************
Convert from Base64
***************************/
Timer("Decode Base64");
std::string decoded = base64_decode(imgString);
Timer("Decode Base64");
/***************************
Convert to vector of ints
***************************/
Timer("Convert to vector of ints");
std::vector imgVector;
for (int i = 0; i < decoded.length(); i = i+1) // + 4)
{
int temp = (char(decoded[i]));
imgVector.push_back(temp);
}
Timer("Convert to vector of ints");
//convert the vector into a matrix
Mat frame = Mat(imgVector).reshape(d, h);
namedWindow("Frame", WINDOW_AUTOSIZE);
imshow("Frame", frame);
waitKey(1);
}
int main()
{
/* Create the FIFO if it does not exist */
umask(0);
mknod(FIFO_FILE, S_IFIFO|0666, 0);
while(1)
{
getFrame();
}
return 0;
}
必须有更有效的方法来实现这一点。有人能推荐吗?虽然我很高兴听到其他方法的建议,但目前我只能使用命名管道。在