我有两个摄像头(使用OpenNI,每个摄像头有两个流,由驱动程序API的同一个实例处理),并希望有两个线程,每个线程独立地从每个摄像头捕获数据,即一个实例驱动程序API,比如cam_handler
,每个相机我有两个流depth
和rgb
,比如说cam_handler.RGB1_stream
和cam_handler.DEPTH1_stream
以下是相同的代码:
import threading
def capture_and_save(cam_handle, cam_id, dir_to_write, log_writer, rgb_stream,
depth_stream, io):
t = threading.currentThread()
shot_idx = 0
rgb_window = 'RGB' + str(cam_id)
depth_window = 'DEPTH' + str(cam_id)
while getattr(t, "do_run", True):
if rgb_stream is not None:
rgb_array = cam_handle.get_rgb(rgb_stream)
rgb_array_disp = cv2.cvtColor(rgb_array, cv2.COLOR_BGR2RGB)
cv2.imshow(rgb_window, rgb_array_disp)
cam_handle.save_frame('rgb', rgb_array, shot_idx, dir_to_write + str(cam_id + 1))
io.write_log(log_writer[cam_id], shot_idx, None)
if depth_stream is not None:
depth_array = cam_handle.get_depth(depth_stream)
depth_array_disp = ((depth_array / 10000.) * 255).astype(np.uint8)
cv2.imshow(depth_window, np.uint8(depth_array_disp))
cam_handle.save_frame('depth', depth_array, shot_idx, dir_to_write + str(cam_id + 1))
shot_idx = shot_idx + 1
key = cv2.waitKey(1)
if key == 27: # exit on ESC
break
print "Stopping camera %d thread..." % (cam_id + 1)
return
def main():
''' Setup camera threads '''
cam_threads = []
dir_to_write = "some/save/path"
for cam in range(cam_count):
cam = (cam + 1) % cam_count
cv2.namedWindow('RGB' + str(cam))
cv2.namedWindow('DEPTH' + str(cam))
one_thread = threading.Thread(target=capture_and_save,
name="CamThread" + str(cam + 1),
args=(cam_cap, cam, dir_to_write,
log_writer,
rgb_stream[cam], depth_stream[cam], io,))
cam_threads.append(one_thread)
one_thread.daemon = True
one_thread.start()
try:
while True:
pass
# cv2.waitKey(1)
except KeyboardInterrupt:
''' Stop everything '''
for each_thread in cam_threads:
each_thread.do_run = False
each_thread.join(1)
cam_cap.stop_rgb(rgb_stream)
cam_cap.stop_depth(depth_stream)
''' Stop and quit '''
openni2.unload()
cv2.destroyAllWindows()
if __name__ == '__main__':
main()
所以,我的问题是,如果我从代码中删除cv2.imshow()
行,一切都按预期运行,我将两个摄像头输出保存到文件中。但是,对于cv2.imshow()
行,只有"空白"窗口被创建,线程似乎被卡住了#34;根本没有输出。
我尝试了几个建议,包括将namedWindow
创建移动到主线程以及capture_and_save
线程。我也试过移动waitKey()
,因为据说OpenCV只允许主线程中的waitKey()
。然而,没有区别。
答案 0 :(得分:0)
我通过使用mutables,将字典cam_disp = {}
传递给线程并读取主线程中的值来解决了这个问题。保留在主线程中时,cv2.imshow()
效果最好,因此效果很好。我不确定这是否是“正确”的方式,所以欢迎所有的建议。
答案 1 :(得分:0)
尝试在线程目标cv2.namedWindow('RGB' + str(cam))
内移动capture_and_save