code done

include/sv_camera.h

@@ -11,8 +11,8 @@ enum class CameraType : int
   // 未知相机
   NONE = 0X00001000,
   // 标准opencv框架下的相机
-  WEBCAM = 0X00001001,
+  V4L2CAM = 0X00001001,  
-  V4L2CAM = 0X00001002,
+  WEBCAM = 0X00001002,
   // 视频文件
   VIDEOFILE = 0X00002001,
   // 普通流媒体相机

video_io/driver/sv_camera_G1.cpp

@@ -1,32 +1,29 @@
 /*
- * @Description:
+ * @Description: G1相机的具体功能实现
  * @Author: L LC @amov
  * @Date: 2023-12-19 18:30:17
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-20 19:05:13
+ * @LastEditTime: 2023-12-21 11:42:40
  * @FilePath: /SpireCV/video_io/driver/sv_camera_G1.cpp
  */
 #include "../sv_camera_privately.h"
 #include <fstream>
-#include <map>
-#include <iterator>
 
 class sv_camera_G1 : public sv_p::CameraBase
 {
 private:
   std::string _ip;
-  uint16_t _port = 554;
 
+public:
   bool setStream(const std::string &ip, uint16_t port);
   sv::CameraType getType(void) { return sv::CameraType::G1; }
   std::string getName(void) { return _ip; }
   bool open(void);
 
-public:
   sv_camera_G1(int timeOut);
   ~sv_camera_G1();
 
-  static CameraBase* creat(int timeOut)
+  static CameraBase *creat(int timeOut)
   {
     return new sv_camera_G1(timeOut);
   }
@@ -34,7 +31,6 @@ public:
 
 sv_camera_G1::sv_camera_G1(int timeOut) : sv_p::CameraBase(timeOut)
 {
-  
 }
 
 bool sv_camera_G1::setStream(const std::string &ip, uint16_t port)
@@ -61,10 +57,10 @@ const static uint32_t imageWList[3] = {2704, 1920, 1280};
 // 无论如何都用gst打开 因此安装的时候必须安装gst
 bool sv_camera_G1::open(void)
 {
+  bool ret = false;
   std::ostringstream pipeline;
 
-  pipeline << "rtspsrc location = rtsp://" << this->_ip << ":"
+  pipeline << "rtspsrc location = rtsp://" << this->_ip << ":554/H264?W=";
-           << this->_port << "/H264?W=";
 
   // 判断尺寸是否合法 不合法则找最高画质进行缩放
   uint8_t i;
@@ -104,10 +100,14 @@ bool sv_camera_G1::open(void)
 #endif
   pipeline << " ! videoconvert ! video/x-raw,format=(string)BGR ! appsink sync=false";
 
-  this->cap.open(pipeline.str(), cv::CAP_GSTREAMER);
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
 
-  // 开启读取线程
+  return ret;
-  std::thread readLoop(&CameraBase::readThread, this);
-  this->readThreadHandle = readLoop.native_handle();
-  readLoop.detach();
 }

video_io/driver/sv_camera_GX40.cpp

@@ -0,0 +1,85 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:27:22
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_GX40.cpp
+ */
+#include "../sv_camera_privately.h"
+#include <fstream>
+
+class sv_camera_GX40 : public sv_p::CameraBase
+{
+private:
+  std::string _ip;
+  uint16_t _port = 554;
+
+public:
+  bool setStream(const std::string &ip, uint16_t port);
+  sv::CameraType getType(void) { return sv::CameraType::GX40; }
+  std::string getName(void) { return _ip; }
+  bool open(void);
+
+  sv_camera_GX40(int timeOut);
+  ~sv_camera_GX40();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_GX40(timeOut);
+  }
+};
+
+sv_camera_GX40::sv_camera_GX40(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_GX40::setStream(const std::string &ip, uint16_t port)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_ip = ip;
+    this->_port = port;
+    ret = true;
+  }
+  return ret;
+}
+
+// 无论如何都用gst打开 因此安装的时候必须安装gst
+bool sv_camera_GX40::open(void)
+{
+  bool ret = false;
+  std::ostringstream pipeline;
+
+  pipeline << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port
+           << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! application/x-rtp,media=video ! "
+           << "rtph265depay ! parsebin ! ";
+
+#ifdef PLATFORM_JETSON
+  pipeline << "nvv4l2decoder ! nvvidconv flip-method=4 ! ";
+#else
+  pipeline << "avdec_h265 ! videoscale ! ";
+#endif
+  pipeline << "video/x-raw,format=(string)BGRx"
+           << ",width=(int)" << this->getW()
+           << ",height=(int)" << this->getH()
+           << " ";
+
+#ifndef PLATFORM_JETSON
+  pipeline << "! videoflip video-direction=4 ";
+#endif
+
+  pipeline << " ! videoconvert ! video/x-raw,format=(string)BGR ! appsink sync=false";
+
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
+
+  return ret;
+}

video_io/driver/sv_camera_MC1.cpp

@@ -0,0 +1,78 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 17:10:30
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_MC1.cpp
+ */
+#include "../sv_camera_privately.h"
+#include <fstream>
+
+class sv_camera_MC1 : public sv_p::CameraBase
+{
+private:
+  int _index = -2;
+
+public:
+  bool setIndex(int index);
+
+  sv::CameraType getType(void) { return sv::CameraType::MC1; }
+
+  bool open(void);
+
+  sv_camera_MC1(int timeOut);
+  ~sv_camera_MC1();
+
+  static CameraBase *creat(int timeOut)
+  {
+#ifdef PLATFORM_JETSON
+    return new sv_camera_MC1(timeOut);
+#else
+    throw std::runtime_error("SpireCV (101) Camera not supported except allspark");
+    return nullptr;
+#endif
+  }
+};
+
+sv_camera_MC1::sv_camera_MC1(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_MC1::setIndex(int index)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_index = index;
+    ret = true;
+  }
+  return ret;
+}
+
+// 普通的mipi相机 采用 v4l2 框架打开
+bool sv_camera_MC1::open(void)
+{
+  bool ret = false;
+  std::ostringstream pipeline;
+
+  pipeline << "nvarguscamerasrc sensor-id=" << this->_index;
+
+  pipeline << " ! video/x-raw,video/x-raw(memory:NVMM),"
+           << "width=(int)" << this->getW()
+           << "height=(int)" << this->getH()
+           << "framerate=" << this->getExpectFps() << "/1 !"
+           << " nvvidconv flip-method=0 ! video/x-raw,format=(string)BGRx !"
+           << " videoconvert ! video/x-raw, format=(string)BGR ! appsink";
+
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
+
+  return ret;
+}

video_io/driver/sv_camera_V4L2s.cpp

@@ -0,0 +1,149 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-21 10:45:50
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 11:26:43
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_V4L2s.cpp
+ */
+#include "../sv_camera_privately.h"
+
+class sv_camera_V4L2 : public sv_p::CameraBase
+{
+private:
+  int _index = -1;
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+  bool setIndex(int index);
+
+  virtual sv::CameraType getType(void) { return sv::CameraType::V4L2CAM; }
+  std::string getName(void) { return this->_name; }
+
+  bool open(void);
+
+  sv_camera_V4L2(int timeOut);
+  ~sv_camera_V4L2();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_V4L2(timeOut);
+  }
+};
+
+sv_camera_V4L2::sv_camera_V4L2(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_V4L2::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_V4L2::setIndex(int index)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_index = index;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_V4L2::open(void)
+{
+  bool ret = false;
+
+  if (this->_index >= 0)
+  {
+    ret = this->cap.open(this->_index, cv::CAP_V4L2);
+  }
+
+  if (!ret)
+  {
+    if (this->_name != "\0")
+    {
+      ret = this->cap.open(this->_name, cv::CAP_V4L2);
+    }
+  }
+
+  if (ret)
+  {
+    // 设置属性
+    this->setFps(this->getExpectFps());
+    this->setBrightness(this->getBrightness());
+    this->setContrast(this->getContrast());
+    this->setSaturation(this->getSaturation());
+    this->setHue(this->getHue());
+    this->setExposure(this->getExposure());
+
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+  }
+
+  return ret;
+}
+
+class sv_camera_WEBCAM : public sv_camera_V4L2
+{
+public:
+  sv::CameraType getType(void) { return sv::CameraType::WEBCAM; }
+
+  sv_camera_WEBCAM(int timeOut);
+  ~sv_camera_WEBCAM();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_WEBCAM(timeOut);
+  }
+};
+
+sv_camera_WEBCAM::sv_camera_WEBCAM(int timeOut) : sv_camera_V4L2(timeOut)
+{
+}
+
+class sv_camera_Q10 : public sv_camera_V4L2
+{
+public:
+  sv::CameraType getType(void) { return sv::CameraType::Q10; }
+
+  sv_camera_Q10(int timeOut);
+  ~sv_camera_Q10();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_Q10(timeOut);
+  }
+};
+
+sv_camera_Q10::sv_camera_Q10(int timeOut) : sv_camera_V4L2(timeOut)
+{
+}
+
+class sv_camera_NONE : public sv_camera_V4L2
+{
+public:
+  sv::CameraType getType(void) { return sv::CameraType::NONE; }
+
+  sv_camera_NONE(int timeOut);
+  ~sv_camera_NONE();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_NONE(timeOut);
+  }
+};
+
+sv_camera_NONE::sv_camera_NONE(int timeOut) : sv_camera_V4L2(timeOut)
+{
+}

video_io/driver/sv_camera_file.cpp

@@ -0,0 +1,79 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-21 11:30:40
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 11:43:08
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_file.cpp
+ */
+#include "../sv_camera_privately.h"
+
+class sv_camera_FILE : public sv_p::CameraBase
+{
+private:
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+
+  virtual sv::CameraType getType(void) { return sv::CameraType::VIDEOFILE; }
+  std::string getName(void) { return this->_name; }
+
+  bool open(void);
+  bool read(cv::Mat &image)
+  {
+    return this->cap.read(image);
+  }
+  bool readNoBlock(cv::Mat &image)
+  {
+    return this->read(image);
+  }
+
+  sv_camera_FILE(int timeOut);
+  ~sv_camera_FILE();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_FILE(timeOut);
+  }
+};
+
+sv_camera_FILE::sv_camera_FILE(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_FILE::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_FILE::open(void)
+{
+  bool ret = false;
+
+  if (this->_name != "\0")
+  {
+    ret = this->cap.open(this->_name);
+  }
+
+  if (ret)
+  {
+    // 设置属性
+    this->setFps(this->getExpectFps());
+    this->setBrightness(this->getBrightness());
+    this->setContrast(this->getContrast());
+    this->setSaturation(this->getSaturation());
+    this->setHue(this->getHue());
+    this->setExposure(this->getExposure());
+  }
+
+  return ret;
+}
+
+

video_io/driver/sv_camera_mipi.cpp

@@ -0,0 +1,95 @@
+/*
+ * @Description: G1相机的具体功能实现
+ * @Author: L LC @amov
+ * @Date: 2023-12-19 18:30:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 14:40:30
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_mipi.cpp
+ */
+#include "../sv_camera_privately.h"
+#include <fstream>
+
+class sv_camera_MIPI : public sv_p::CameraBase
+{
+private:
+  int _index = -2;
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+  bool setIndex(int index);
+
+  sv::CameraType getType(void) { return sv::CameraType::MIPI; }
+  std::string getName(void) { return _name; }
+
+  bool open(void);
+
+  sv_camera_MIPI(int timeOut);
+  ~sv_camera_MIPI();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_MIPI(timeOut);
+  }
+};
+
+sv_camera_MIPI::sv_camera_MIPI(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_MIPI::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_MIPI::setIndex(int index)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_index = index;
+    ret = true;
+  }
+  return ret;
+}
+
+// 普通的mipi相机 采用 v4l2 框架打开
+bool sv_camera_MIPI::open(void)
+{
+  bool ret = false;
+  std::ostringstream pipeline;
+
+  pipeline << "v4l2src ";
+
+  if (this->_name != "\0")
+  {
+    pipeline << "device=" << this->_name << " !";
+  }
+  else if (this->_index != -2)
+  {
+    pipeline << "device-fd=" << this->_index << " !";
+  }
+
+  pipeline << " video/x-raw,format=(string)NV12,"
+           << "width=(int)" << this->getW()
+           << "height=(int)" << this->getH()
+           << "framerate=" << this->getExpectFps() << "/1 !"
+           << " videoconvert ! video/x-raw, format=(string)BGR ! appsink";
+
+  if (this->cap.open(pipeline.str(), cv::CAP_GSTREAMER))
+  {
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+    ret = true;
+  }
+
+  return ret;
+}

video_io/driver/sv_camera_streaming.cpp

@@ -0,0 +1,74 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-12-21 11:30:40
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-12-21 11:43:16
+ * @FilePath: /SpireCV/video_io/driver/sv_camera_streaming.cpp
+ */
+#include "../sv_camera_privately.h"
+
+class sv_camera_Streaming : public sv_p::CameraBase
+{
+private:
+  std::string _name = "\0";
+
+public:
+  bool setName(const std::string &name);
+
+  virtual sv::CameraType getType(void) { return sv::CameraType::STREAMING; }
+  std::string getName(void) { return this->_name; }
+
+  bool open(void);
+
+  sv_camera_Streaming(int timeOut);
+  ~sv_camera_Streaming();
+
+  static CameraBase *creat(int timeOut)
+  {
+    return new sv_camera_Streaming(timeOut);
+  }
+};
+
+sv_camera_Streaming::sv_camera_Streaming(int timeOut) : sv_p::CameraBase(timeOut)
+{
+}
+
+bool sv_camera_Streaming::setName(const std::string &name)
+{
+  bool ret = false;
+  if (!this->cap.isOpened())
+  {
+    this->_name = name;
+    ret = true;
+  }
+  return ret;
+}
+
+bool sv_camera_Streaming::open(void)
+{
+  bool ret = false;
+
+  if (this->_name != "\0")
+  {
+    ret = this->cap.open(this->_name);
+  }
+
+  if (ret)
+  {
+    // 设置属性
+    this->setFps(this->getExpectFps());
+    this->setBrightness(this->getBrightness());
+    this->setContrast(this->getContrast());
+    this->setSaturation(this->getSaturation());
+    this->setHue(this->getHue());
+    this->setExposure(this->getExposure());
+
+    // 开启读取线程
+    std::thread readLoop(&CameraBase::readThread, this);
+    this->readThreadHandle = readLoop.native_handle();
+    readLoop.detach();
+  }
+
+  return ret;
+}

video_io/sv_camera.cpp

@@ -1,23 +1,36 @@
 #include "sv_camera_privately.h"
 #include "sv_camera.h"
+#include "driver/sv_camera_G1.cpp"
+#include "driver/sv_camera_V4L2s.cpp"
+#include "driver/sv_camera_file.cpp"
+#include "driver/sv_camera_streaming.cpp"
+#include "driver/sv_camera_mipi.cpp"
+#include "driver/sv_camera_MC1.cpp"
+#include "driver/sv_camera_GX40.cpp"
 
 #include <map>
 #include <iterator>
 
+sv_p::CameraBase *cameraCreatEmpty(int timeOut)
+{
+  throw std::runtime_error("SpireCV (101) Camera not supported");
+  return nullptr;
+}
+
 typedef sv_p::CameraBase *(*cameraCreat)(int timeOut);
 static std::map<sv::CameraType, cameraCreat> svCameraList =
     {
-        {sv::CameraType::NONE, nullptr},
+        {sv::CameraType::NONE, sv_camera_NONE::creat},
-        {sv::CameraType::WEBCAM, nullptr},
+        {sv::CameraType::WEBCAM, sv_camera_WEBCAM::creat},
-        {sv::CameraType::V4L2CAM, nullptr},
+        {sv::CameraType::V4L2CAM, sv_camera_V4L2::creat},
-        {sv::CameraType::VIDEOFILE, nullptr},
+        {sv::CameraType::VIDEOFILE, sv_camera_FILE::creat},
-        {sv::CameraType::STREAMING, nullptr},
+        {sv::CameraType::STREAMING, sv_camera_Streaming::creat},
-        {sv::CameraType::MIPI, nullptr},
+        {sv::CameraType::MIPI, sv_camera_MIPI::creat},
-        {sv::CameraType::G1, nullptr},
+        {sv::CameraType::G1, sv_camera_G1::creat},
-        {sv::CameraType::Q10, nullptr},
+        {sv::CameraType::Q10, sv_camera_Q10::creat},
-        {sv::CameraType::GX40, nullptr},
+        {sv::CameraType::GX40, sv_camera_GX40::creat},
-        {sv::CameraType::MC1, nullptr},
+        {sv::CameraType::MC1, sv_camera_MC1::creat},
-        {sv::CameraType::VIRTUAL, nullptr}};
+        {sv::CameraType::VIRTUAL, cameraCreatEmpty}};
 
 static sv_p::CameraBase *svCreatCamera(sv::CameraType type, int timeOut)
 {
@@ -31,7 +44,7 @@ static sv_p::CameraBase *svCreatCamera(sv::CameraType type, int timeOut)
 
 sv::Camera::Camera(CameraType type, int timeOut)
 {
-  this->dev = svCreatCamera(type,timeOut);
+  this->dev = svCreatCamera(type, timeOut);
 }
 
 sv::Camera::~Camera()

video_io/sv_camera_def.cpp

@@ -1,4 +1,5 @@
 #include "sv_camera_privately.h"
+#include "iostream"
 
 sv_p::CameraBase::CameraBase(int timeOut)
 {
@@ -8,94 +9,33 @@ sv_p::CameraBase::CameraBase(int timeOut)
 void sv_p::CameraBase::readThread(void)
 {
   int count = 0;
+
   while (this->cap.isOpened())
   {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
     if (this->cap.grab())
     {
       std::lock_guard<std::mutex> locker(this->frameMutex);
       this->cap.retrieve(this->imageBuff);
       this->frameEmpty.notify_all();
-      count = 0;
       isGot = true;
+
+      // 统计输入的瞬时帧率
+      this->fpsCurr = 1000.0f / count;
+      count = 0;
     }
     else
     {
       count++;
       if (count > this->_timeOut)
       {
+        // 超时则主动关闭相机
         this->cap.release();
-        // 抛出异常 并返回
-        // throw std::runtime_error("SpireCV (101) Camera has offline, check CAMERA!");
-        return;
       }
     }
-    std::this_thread::sleep_for(std::chrono::milliseconds(1));
-  }
-}
-
-#define PARAM_SET_CHECK(param, value) param = (value > 0 ? value : param)
-
-void sv_p::CameraBase::setWH(int width, int height)
-{
-  if (!this->cap.isOpened())
-  {
-    PARAM_SET_CHECK(this->_width, width);
-    PARAM_SET_CHECK(this->_height, height);
-  }
-}
-
-void sv_p::CameraBase::setFps(int fps)
-{
-  PARAM_SET_CHECK(this->_fps, fps);
-  if (this->cap.isOpened())
-  {
-    this->cap.set(cv::CAP_PROP_FPS, fps);
-  }
-}
-
-void sv_p::CameraBase::setBrightness(double brightness)
-{
-  PARAM_SET_CHECK(this->_brightness, brightness);
-  if (this->cap.isOpened())
-  {
-    this->cap.set(cv::CAP_PROP_BRIGHTNESS, brightness);
-  }
-}
-
-void sv_p::CameraBase::setContrast(double contrast)
-{
-  PARAM_SET_CHECK(this->_contrast, contrast);
-  if (this->cap.isOpened())
-  {
-    this->cap.set(cv::CAP_PROP_CONTRAST, contrast);
-  }
-}
-
-void sv_p::CameraBase::setSaturation(double saturation)
-{
-  PARAM_SET_CHECK(this->_saturation, saturation);
-  if (this->cap.isOpened())
-  {
-    this->cap.set(cv::CAP_PROP_SATURATION, saturation);
-  }
-}
-
-void sv_p::CameraBase::setHue(double hue)
-{
-  PARAM_SET_CHECK(this->_hue, hue);
-  if (this->cap.isOpened())
-  {
-    this->cap.set(cv::CAP_PROP_HUE, hue);
-  }
-}
-
-void sv_p::CameraBase::setExposure(double exposure)
-{
-  PARAM_SET_CHECK(this->_exposure, exposure);
-  if (this->cap.isOpened())
-  {
-    this->cap.set(cv::CAP_PROP_EXPOSURE, exposure);
   }
+  // 相机断开连接 记录事件后 退出线程
+  std::cout << "SpireCV (101) Camera has offline, check CAMERA!" << std::endl;
 }
 
 bool sv_p::CameraBase::read(cv::Mat &image)
@@ -118,12 +58,77 @@ bool sv_p::CameraBase::readNoBlock(cv::Mat &image)
   std::lock_guard<std::mutex> locker(this->frameMutex);
   if (this->isGot)
   {
-    this->imageBuff.copyTo(image);
+    // 该情况下read()不会阻塞
-    isGot = false;
+    ret = this->read(image);
   }
   return ret;
 }
 
+#define PARAM_SET_CHECK(param, value) param = (value > 0 ? value : param)
+
+void sv_p::CameraBase::setWH(int width, int height)
+{
+  if (!this->cap.isOpened())
+  {
+    PARAM_SET_CHECK(this->_width, width);
+    PARAM_SET_CHECK(this->_height, height);
+  }
+}
+
+void sv_p::CameraBase::setFps(int fps)
+{
+  PARAM_SET_CHECK(this->_fps, fps);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_FPS, fps);
+  }
+}
+
+void sv_p::CameraBase::setBrightness(float brightness)
+{
+  PARAM_SET_CHECK(this->_brightness, brightness);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_BRIGHTNESS, brightness);
+  }
+}
+
+void sv_p::CameraBase::setContrast(float contrast)
+{
+  PARAM_SET_CHECK(this->_contrast, contrast);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_CONTRAST, contrast);
+  }
+}
+
+void sv_p::CameraBase::setSaturation(float saturation)
+{
+  PARAM_SET_CHECK(this->_saturation, saturation);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_SATURATION, saturation);
+  }
+}
+
+void sv_p::CameraBase::setHue(float hue)
+{
+  PARAM_SET_CHECK(this->_hue, hue);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_HUE, hue);
+  }
+}
+
+void sv_p::CameraBase::setExposure(float exposure)
+{
+  PARAM_SET_CHECK(this->_exposure, exposure);
+  if (this->cap.isOpened())
+  {
+    this->cap.set(cv::CAP_PROP_EXPOSURE, exposure);
+  }
+}
+
 void sv_p::CameraBase::release(void)
 {
   if (this->cap.isOpened())

video_io/sv_camera_privately.h

@@ -13,24 +13,24 @@ namespace sv_p
 
 class CameraBase
 {
-private:
+public:
   // 图像的属性
   int _width = 1280;
   int _height = 720;
   int _fps = 30;
 
-  double _brightness = -1;
+  float _brightness = -1;
-  double _contrast = -1;
+  float _contrast = -1;
-  double _saturation = -1;
+  float _saturation = -1;
-  double _hue = -1;
+  float _hue = -1;
-  double _exposure = -1;
+  float _exposure = -1;
 
-  int _timeOut = 500;
+  int _timeOut;
-  // 内部状态
-  double fpsCurr = -1;
-  bool isGot = false;
   
-public:
+  // 内部状态
+  float fpsCurr = -1;
+  bool isGot = false;
+
   // 内部变量
   cv::Mat imageBuff;
   std::mutex frameMutex;
@@ -48,11 +48,11 @@ public:
 
   // 扩展属性设置 默认调用opencv的实现
   virtual void setFps(int fps);
-  virtual void setBrightness(double brightness);
+  virtual void setBrightness(float brightness);
-  virtual void setContrast(double contrast);
+  virtual void setContrast(float contrast);
-  virtual void setSaturation(double saturation);
+  virtual void setSaturation(float saturation);
-  virtual void setHue(double hue);
+  virtual void setHue(float hue);
-  virtual void setExposure(double exposure);
+  virtual void setExposure(float exposure);
 
   // 属性获取的接口
   virtual sv::CameraType getType(void) { return sv::CameraType::NONE; }
@@ -62,12 +62,12 @@ public:
   int getW(void) { return _width; }
   int getH(void) { return _height; }
   int getExpectFps(void) { return _fps; }
-  double getFps(void) { return fpsCurr; }
+  float getFps(void) { return fpsCurr; }
-  double getBrightness(void) { return _brightness; }
+  float getBrightness(void) { return _brightness; }
-  double getContrast(void) { return _contrast; }
+  float getContrast(void) { return _contrast; }
-  double getSaturation(void) { return _saturation; }
+  float getSaturation(void) { return _saturation; }
-  double getHue(void) { return _hue; }
+  float getHue(void) { return _hue; }
-  double getExposure(void) { return _exposure; }
+  float getExposure(void) { return _exposure; }
 
   // 功能接口函数
   virtual bool open(void) = 0;
@@ -75,7 +75,7 @@ public:
   virtual bool readNoBlock(cv::Mat &image);
   virtual void release(void);
 
-  CameraBase(int timeOut);
+  CameraBase(int timeOut = 500);
   ~CameraBase();
 };