Я использую openCV для обнаружения некоторых транспортных средств на Raspberry Pi 4 модели B. Я купил камеру IDS: https://en.ids-imaging.com/download-ueye-emb-hardfloat.html Но интеграция ее в мой код оказалась слишком большой проблемой, поскольку OpenCV.VideoCapture могла не обнаружил никаких устройств, и библиотеки ueye python не подключались и работали, любой пример кода, найденный в сети для его интеграции в OpenCV, работал нормально на моем Win P C, но вызывал утечки памяти и ошибки сегментации на Pi.
Любые советы по камерам, которые хорошо интегрируются с OpenCV на Rasberry Pi 4 без необходимости go из-за проблем с выделением памяти и тому подобного?
Добавление попытки интеграции:
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")
Попробовал эти библиотеки с открытым исходным кодом безрезультатно: https://en.ids-imaging.com/techtipps-detail/en_techtip-embedded-vision-kit.html https://en.ids-imaging.com/store/customer/account/login/referer/aHR0cHM6Ly9lbi5pZHMtaW1hZ2luZy5jb20vcHJvZ3JhbW1pbmctZXhhbXBsZXMuaHRtbA ,,