python - Raspberry Pi 4 的相机与 OpenCV 集成

Question

我在 Raspberry Pi 4 model B 上运行 openCV 进行一些车辆检测。我购买了 IDS 摄像头:https://en.ids-imaging.com/download-ueye-emb-hardfloat.html但是将它集成到我的代码中证明太麻烦了，因为 OpenCV.VideoCapture 无法检测到任何设备，并且 ueye python 库不能即插即用，在网上找到的任何示例代码都可以将它集成到 OpenCV 中，在我的 Win PC 上运行良好但导致内存Pi 上的泄漏和段错误。

有没有关于在 Rasberry Pi 4 上与 OpenCV 良好集成的相机的建议，而无需经历分配内存等的麻烦？

添加集成尝试:

from pyueye import ueye
import numpy as np
import cv2
import sys

class Rect:
    def __init__(self, x=0, y=0, width=0, height=0):
        self.x = x
        self.y = y
        self.width = width
        self.height = height


#---------------------------------------------------------------------------------------------------------------------------------------
class UeyeCamSetup():
    #Variables
    hCam = ueye.HIDS(0)             #0: first available camera;  1-254: The camera with the specified camera ID
    sInfo = ueye.SENSORINFO()
    cInfo = ueye.CAMINFO()
    pcImageMemory = ueye.c_mem_p()
    MemID = ueye.int()
    rectAOI = ueye.IS_RECT()
    pitch = ueye.INT()
    nBitsPerPixel = ueye.INT(24)    #24: bits per pixel for color mode; take 8 bits per pixel for monochrome
    channels = 3                    #3: channels for color mode(RGB); take 1 channel for monochrome
    m_nColorMode = ueye.INT()       # Y8/RGB16/RGB24/REG32
    bytes_per_pixel = int(nBitsPerPixel / 8)
    nRet = None
    width = None
    height = None
    #---------------------------------------------------------------------------------------------------------------------------------------
    def startUeye(self):

        # Starts the driver and establishes the connection to the camera
        nRet = ueye.is_InitCamera(self.hCam, None)
        if nRet != ueye.IS_SUCCESS:
            print("is_InitCamera ERROR")

        # Reads out the data hard-coded in the non-volatile camera memory and writes it to the data structure that cInfo points to
        nRet = ueye.is_GetCameraInfo(self.hCam, self.cInfo)
        if nRet != ueye.IS_SUCCESS:
            print("is_GetCameraInfo ERROR")

        # You can query additional information about the sensor type used in the camera
        nRet = ueye.is_GetSensorInfo(self.hCam, self.sInfo)
        if nRet != ueye.IS_SUCCESS:
            print("is_GetSensorInfo ERROR")

        nRet = ueye.is_ResetToDefault(self.hCam)
        if nRet != ueye.IS_SUCCESS:
            print("is_ResetToDefault ERROR")

        # Set display mode to DIB
        nRet = ueye.is_SetDisplayMode(self.hCam, ueye.IS_SET_DM_DIB)

        # Set the right color mode
        if int.from_bytes(self.sInfo.nColorMode.value, byteorder='big') == ueye.IS_COLORMODE_BAYER:
            # setup the color depth to the current windows setting
            ueye.is_GetColorDepth(self.hCam, self.nBitsPerPixel, self.m_nColorMode)
            self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
            print("IS_COLORMODE_BAYER: ", )
            print("\tm_nColorMode: \t\t", self.m_nColorMode)
            print("\tnBitsPerPixel: \t\t", self.nBitsPerPixel)
            print("\tbytes_per_pixel: \t", self.bytes_per_pixel)
            print()

        elif int.from_bytes(self.sInfo.nColorMode.value, byteorder='big') == ueye.IS_COLORMODE_CBYCRY:
            # for color camera models use RGB32 mode
            self.m_nColorMode = ueye.IS_CM_BGRA8_PACKED
            self.nBitsPerPixel = ueye.INT(32)
            self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
            print("IS_COLORMODE_CBYCRY: ", )
            print("\tm_nColorMode: \t\t", self.m_nColorMode)
            print("\tnBitsPerPixel: \t\t", self.nBitsPerPixel)
            print("\tbytes_per_pixel: \t\t", self.bytes_per_pixel)
            print()

        elif int.from_bytes(self.sInfo.nColorMode.value, byteorder='big') == ueye.IS_COLORMODE_MONOCHROME:
            # for color camera models use RGB32 mode
            self.m_nColorMode = ueye.IS_CM_MONO8
            self.nBitsPerPixel = ueye.INT(8)
            self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
            print("IS_COLORMODE_MONOCHROME: ", )
            print("\tm_nColorMode: \t\t", self.m_nColorMode)
            print("\tnBitsPerPixel: \t\t", self.nBitsPerPixel)
            print("\tbytes_per_pixel: \t\t", self.bytes_per_pixel)
            print()

        else:
            # for monochrome camera models use Y8 mode
            self.m_nColorMode = ueye.IS_CM_MONO8
            self.nBitsPerPixel = ueye.INT(8)
            self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
            print("else")

        # Can be used to set the size and position of an "area of interest"(AOI) within an image
        nRet = ueye.is_AOI(self.hCam, ueye.IS_AOI_IMAGE_GET_AOI, self.rectAOI, ueye.sizeof(self.rectAOI))
        if nRet != ueye.IS_SUCCESS:
            print("is_AOI ERROR")

        self.width = self.rectAOI.s32Width
        self.height = self.rectAOI.s32Height

        # Prints out some information about the camera and the sensor
        print("Camera model:\t\t", self.sInfo.strSensorName.decode('utf-8'))
        print("Camera serial no.:\t", self.cInfo.SerNo.decode('utf-8'))
        print("Maximum image width:\t", self.width)
        print("Maximum image height:\t", self.height)
        print()

        #---------------------------------------------------------------------------------------------------------------------------------------

        # Allocates an image memory for an image having its dimensions defined by width and height and its color depth defined by nBitsPerPixel
        nRet = ueye.is_AllocImageMem(self.hCam, self.width, self.height, self.nBitsPerPixel, self.pcImageMemory, self.MemID)
        if nRet != ueye.IS_SUCCESS:
            print("is_AllocImageMem ERROR")
        else:
            # Makes the specified image memory the active memory
            nRet = ueye.is_SetImageMem(self.hCam, self.pcImageMemory, self.MemID)
            if nRet != ueye.IS_SUCCESS:
                print("is_SetImageMem ERROR")
            else:
                # Set the desired color mode
                nRet = ueye.is_SetColorMode(self.hCam, self.m_nColorMode)



        # Activates the camera's live video mode (free run mode)
        nRet = ueye.is_CaptureVideo(self.hCam, ueye.IS_DONT_WAIT)
        if nRet != ueye.IS_SUCCESS:
            print("is_CaptureVideo ERROR")

        # Enables the queue mode for existing image memory sequences
        # nRet = ueye.is_InquireImageMem(self.hCam, self.pcImageMemory, self.MemID, self.width, self.height, self.nBitsPerPixel, self.pitch)
        # if nRet != ueye.IS_SUCCESS:
        #     print("is_InquireImageMem ERROR")
        # else:
        #     print("Press ESC to leave the programm")
        self.nRet = nRet

    def readOpenCVImg(self):
        if(self.nRet == ueye.IS_SUCCESS):

            # In order to display the image in an OpenCV window we need to...
            # ...extract the data of our image memory
            array = ueye.get_data(self.pcImageMemory, self.width, self.height, self.nBitsPerPixel, self.pitch, copy=False)

            # bytes_per_pixel = int(nBitsPerPixel / 8)

            # ...reshape it in an numpy array...
            frame = np.reshape(array,(self.height.value, self.width.value, self.bytes_per_pixel))

            # ...resize the image by a half
            return cv2.resize(frame,(0,0),fx=0.5, fy=0.5)
        #---------------------------------------------------------------------------------------------------------------------------------------

    def releaseCam(self):
        # Releases an image memory that was allocated using is_AllocImageMem() and removes it from the driver management
        ueye.is_FreeImageMem(self.hCam, self.pcImageMemory, self.MemID)

        # Disables the hCam camera handle and releases the data structures and memory areas taken up by the uEye camera
        ueye.is_ExitCamera(self.hCam)

        print()
        print("END")

尝试了这些开源库无济于事: https://en.ids-imaging.com/techtipps-detail/en_techtip-embedded-vision-kit.html https://en.ids-imaging.com/store/customer/account/login/referer/aHR0cHM6Ly9lbi5pZHMtaW1hZ2luZy5jb20vcHJvZ3JhbW1pbmctZXhhbXBsZXMuaHRtbA ,,

Answer 1

调用ueye.get_data时pitch为0。因此，numpy 数组的大小为 0。您可以通过调用 ueye.is_InquireImageMem 来获取间距。

x = ueye.int()
y = ueye.int()
bits = ueye.int()
pitch = ueye.int()
ueye.is_InquireImageMem(self.hCam, self.pcImageMemory, self.MemID, x, y, bits, pitch)

array = ueye.get_data(self.pcImageMemory, self.width, self.height, self.nBitsPerPixel, pitch, copy=False)

我用 ueye 4.95 试过这段代码，它有效。