vision/mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"
#include "YOLOPv2.h"
#include <string>
#include <QFile>
#include <QLoggingCategory>


string gstreamer_pipeline (int capture_width, int capture_height, int display_width, int display_height, int framerate, int flip_method)
{
    return "nvarguscamerasrc ! video/x-raw(memory:NVMM), width=(int)" + to_string(capture_width) + ", height=(int)" +
           to_string(capture_height) + ", format=(string)NV12, framerate=(fraction)" + to_string(framerate) +
           "/1 ! nvvidconv flip-method=" + to_string(flip_method) + " ! video/x-raw, width=(int)" + to_string(display_width) + ", height=(int)" +
           to_string(display_height) + ", format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink";
}


MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    //ShowImage();
    ShowVideo();
    //OpenCSICamera();

}


MainWindow::~MainWindow()
{
    delete ui;
}


void MainWindow::ShowImage()
{
    Net_config YOLOPv2_nets = { 0.5, 0.5, "/home/wuxianfu/Projects/Fast-YolopV2/build/onnx/yolopv2_192x320.onnx" };   ////choices = onnx文件夹里的文件
    YOLOPv2 net(YOLOPv2_nets);
    string imgpath = "/home/wuxianfu/Projects/Fast-YolopV2/build/images/3c0e7240-96e390d2.jpg";
    static const string kWinName = "Deep learning object detection in ONNXRuntime";
    namedWindow(kWinName, WINDOW_NORMAL);

    Mat srcimg = imread(imgpath);
    imshow(kWinName, srcimg);


    Mat outimg = net.detect(srcimg);

    imshow(kWinName, outimg);
    waitKey(0);
    destroyAllWindows();
}

void MainWindow::ShowVideo()
{
    Net_config YOLOPv2_nets = { 0.5, 0.5, "/home/wuxianfu/Projects/Fast-YolopV2/build/onnx/yolopv2_736x1280.onnx" };   ////choices = onnx文件夹里的文件
    YOLOPv2 net(YOLOPv2_nets);
    static const string kWinName = "Deep learning object detection in ONNXRuntime";
    namedWindow(kWinName, WINDOW_NORMAL);

    cv::VideoCapture cap("/home/wuxianfu/Projects/Fast-YolopV2/build/videos/566a351c29c00924a337e91e85fa7dec.mp4");
    if (!cap.isOpened()) {
        std::cerr << "Error opening video stream" << std::endl;
        return;
    }

    cv::Mat frame;
    while (true) {
        cap >> frame; // 读取一帧
        if (frame.empty()) {
            std::cerr << "Error reading frame" << std::endl;
            break;
        }
        auto start = std::chrono::steady_clock::now();
        Mat outimg = net.detect(frame);
        auto end = std::chrono::steady_clock::now();
        std::chrono::duration<double> spent = end - start;
        qDebug()<< " Time: " << spent.count() << " sec \n";

        imshow(kWinName, outimg);
        if (cv::waitKey(5) >= 0) break; // 按任意键退出循环
    }
    cap.release(); // 释放资源
    cv::destroyAllWindows(); // 关闭所有OpenCV窗口
}


void MainWindow::OpenUSBCamera() {

    Net_config YOLOPv2_nets = { 0.5, 0.5, "/home/wuxianfu/Projects/Fast-YolopV2/build/onnx/yolopv2_192x320.onnx" };   ////choices = onnx文件夹里的文件
    YOLOPv2 net(YOLOPv2_nets);
    cv::VideoCapture cap(1); // 使用默认的摄像头索引（通常是0）
    if (!cap.isOpened()) {
        std::cerr << "Error opening video stream" << std::endl;
        return;
    }

    cv::Mat frame;
    while (true) {
        cap >> frame; // 读取一帧
        if (frame.empty()) {
            std::cerr << "Error reading frame" << std::endl;
            break;
        }


        Mat outimg = net.detect(frame);
        cv::imshow("USB Camera", outimg); // 显示帧
        if (cv::waitKey(10) >= 0) break; // 按任意键退出循环
    }
    cap.release(); // 释放资源
    cv::destroyAllWindows(); // 关闭所有OpenCV窗口

}

void MainWindow::OpenCSICamera() {


    Net_config YOLOPv2_nets = { 0.5, 0.5, "/home/wuxianfu/Projects/Fast-YolopV2/build/onnx/yolopv2_736x1280.onnx" };   ////choices = onnx文件夹里的文件
    YOLOPv2 net(YOLOPv2_nets);
    string imgpath = "/home/wuxianfu/Projects/Fast-YolopV2/build/images/0ace96c3-48481887.jpg";
    Mat srcimg = imread(imgpath);


    int capture_width  = 3280 ;
    int capture_height = 1848 ;
    int display_width  = 3280 ;
    int display_height = 1848 ;

    //3280*2464最大支持21帧
    //3280*1848最大支持28帧
    //1920*1080最大支持29帧
    //1640*1232最大支持29帧
    //1280*720 最大支持59帧
    int framerate      = 10;
    int flip_method    = 0;

    //创建管道
    string pipeline = gstreamer_pipeline(capture_width,
    capture_height,
    display_width,
    display_height,
    framerate,
    flip_method);
    std::cout << "使用gstreamer管道: \n\t" << pipeline << "\n";

    //管道与视频流绑定
    VideoCapture cap(pipeline, CAP_GSTREAMER);
    if(!cap.isOpened())
    {
        std::cout<<"打开摄像头失败."<<std::endl;
        return ;
    }

    qDebug()<<"打开摄像头成功.";

    //创建显示窗口
    namedWindow("CSI Camera", WINDOW_AUTOSIZE);
    Mat img;

    //逐帧显示
    while(true)
    {
        qDebug()<<"开始捕获摄像头.";
        auto start = std::chrono::steady_clock::now();
        if (!cap.read(img))
        {
            std::cout<<"捕获失败"<<std::endl;
            break;
        }

        int new_width,new_height,width,height;
        width=img.cols;
        height=img.rows;

        //调整图像大小
        new_width=1000;
        if(width>800)
        {
            new_height=int(new_width*1.0/width*height);
        }
        cv::resize(img, img, cv::Size(new_width, new_height));

        Mat outimg = net.detect(img);
        auto end = std::chrono::steady_clock::now();
        std::chrono::duration<double> spent = end - start;
        qDebug()<< " Time: " << spent.count() << " sec \n";

        imshow("CSI Camera",outimg);

        int keycode = cv::waitKey(2) & 0xff ; //ESC键退出
        if (keycode == 27) break ;
    }

    cap.release();
    destroyAllWindows() ;

}