我正在尝试使用立体声摄像机的实时数据制作两个左右帧缓冲队列。按键时，清空帧缓冲区，然后在左右摄像机继续以相同速率继续推入两个队列之前，可以选择在左侧或右侧填充多个黑框，并且两个队列的前面以相等的速度读取并弹出。这应该导致，当队列到达黑帧的末尾时，左缓冲区和右缓冲区的黑帧数量将不同步。
但是，在我的实现中，尽管队列大小适当增加，并且黑框正确填充，但是当黑框结束时，两个缓冲区都显示同一时间点的帧（如我所看到的那样）帧号）。确实，在那一点上，较大（延迟）缓冲区中的每个帧似乎都是相同的。我在执行过程中做错了什么？
// Standard includes
#include <stdio.h>
#include <string.h>
// ZED include
#include <sl/Camera.hpp>
// OpenCV include (for display)
#include <opencv2/opencv.hpp>
// Using std and sl namespaces
using namespace std;
using namespace sl;
// Sample functions
void updateCameraSettings(char key, sl::Camera &zed);
void switchCameraSettings();
void printHelp();
// Sample variables
CAMERA_SETTINGS camera_settings_ = CAMERA_SETTINGS_BRIGHTNESS;
string str_camera_settings = "BRIGHTNESS";
int step_camera_setting = 1;
//
//Create bias counters
int currentBias = 0;
int prevBias = 0;
bool change = false;
int main(int argc, char **argv) {
InitParameters init_params;
init_params.camera_resolution = RESOLUTION_VGA; // Use HD1080 video mode
init_params.camera_fps = 0; // Set fps at 30
init_params.depth_mode = DEPTH_MODE_NONE;
// Create a ZED Camera object
Camera zed;
// Open the camera
ERROR_CODE err = zed.open(init_params);
if (err != SUCCESS) {
cout << toString(err) << endl;
zed.close();
return 1; // Quit if an error occurred
}
// Print help in console
printHelp();
// Print camera information
printf("ZED Model : %s\n", toString(zed.getCameraInformation().camera_model).c_str());
printf("ZED Serial Number : %d\n", zed.getCameraInformation().serial_number);
printf("ZED Firmware : %d\n", zed.getCameraInformation().firmware_version);
printf("ZED Camera Resolution : %dx%d\n", (int)zed.getResolution().width, (int)zed.getResolution().height);
printf("ZED Camera FPS : %d\n", (int)zed.getCameraFPS());
// Create a Mat to store images
cv::Mat stitchImage;
Mat imageL;
Mat imageR;
cv::Mat tempL;
cv::Mat tempR;
cv::Mat blackScr;
//Create framebuffer
std::queue<cv::Mat> LeftQueue;
std::queue<cv::Mat> RightQueue;
std::queue<cv::Mat> emptyQueue;
int height = 0;
int width = 0;
int frameInc = 0;
// Capture new images until 'q' is pressed
char key = ' ';
while (key != 'q') {
// Check that grab() is successful
if (zed.grab() == SUCCESS) {
// Retrieve left image
zed.retrieveImage(imageL, VIEW_LEFT);
zed.retrieveImage(imageR, VIEW_RIGHT);
height = (int)imageL.getHeight();
width = (int)imageL.getWidth();
tempL = cv::Mat(height, width, CV_8UC4, imageL.getPtr<sl::uchar1>(sl::MEM_CPU));
tempR = cv::Mat(height, width, CV_8UC4, imageR.getPtr<sl::uchar1>(sl::MEM_CPU));
blackScr = cv::Mat(height, width, CV_8UC4, cv::Scalar(0, 0, 0));
cv::putText(tempL, std::to_string(frameInc), cv::Point(30, 30), cv::FONT_ITALIC, .5, cv::Scalar(180, 180, 180), 1, CV_AA);
cv::putText(tempR, std::to_string(frameInc), cv::Point(30, 30), cv::FONT_ITALIC, .5, cv::Scalar(180, 180, 180), 1, CV_AA);
frameInc++;
if (currentBias != prevBias) {
std::cout << "Change detected! Making new framebuffers" << std::endl;
LeftQueue = std::queue<cv::Mat>();
RightQueue = std::queue<cv::Mat>();
if (currentBias < 0) {
std::cout << "Biasing Left Eye!" << std::endl;
for (int i = 1; i <= abs(currentBias); i++) {
LeftQueue.push(blackScr);
std::cout << "LeftQueue: " << LeftQueue.size() << std::endl;
}
std::cout << "Current Bias is: " << currentBias << std::endl;
std::cout << "LeftQueue: " << LeftQueue.size() << std::endl;
std::cout << "RightQueue: " << RightQueue.size() << std::endl;
}
else if (currentBias > 0) {
std::cout << "Biasing Right Eye!" << std::endl;
for (int i = 1; i <= abs(currentBias); i++) {
RightQueue.push(blackScr);
std::cout << "RightQueue: " << RightQueue.size() << std::endl;
}
std::cout << "Current Bias is: " << currentBias << std::endl;
std::cout << "LeftQueue: " << LeftQueue.size() << std::endl;
std::cout << "RightQueue: " << RightQueue.size() << std::endl;
}
else {
std::cout << "Resetting to no delay!" << std::endl;
std::cout << "Current Bias is: " << currentBias << std::endl;
std::cout << "LeftQueue: " << LeftQueue.size() << std::endl;
std::cout << "RightQueue: " << RightQueue.size() << std::endl;
}
prevBias = currentBias;
}
//Typical queue push
LeftQueue.push(tempL);
RightQueue.push(tempR);
//Make OpenCV output
cv::hconcat(LeftQueue.front(), RightQueue.front(), stitchImage);
std::cout << "LeftFront: " << &LeftQueue.front() << std::endl;
std::cout << "LeftBack: " << &LeftQueue.back() << std::endl;
// Display image with OpenCV
cv::imshow("VIEW", stitchImage);
LeftQueue.pop();
RightQueue.pop();
key = cv::waitKey(5);
// Change camera settings with keyboard
updateCameraSettings(key, zed);
}
else
key = cv::waitKey(5);
}
// Exit
zed.close();
return EXIT_SUCCESS;
}
/**
This function updates camera settings
**/
void updateCameraSettings(char key, sl::Camera &zed) {
int current_value;
// Keyboard shortcuts
switch (key) {
case 'l':
currentBias = currentBias - 10;
std::cout << "Bias Delay Left by 10 Frames" << std::endl;
std::cout << "Current Bias is: " << currentBias << std::endl;
break;
case 'r':
currentBias = currentBias + 10;
std::cout << "Bias Delay Right by 10 Frames" << std::endl;
std::cout << "Current Bias is: " << currentBias << std::endl;
break;
// Switch to the next camera parameter
case 's':
switchCameraSettings();
break;
// Increase camera settings value ('+' key)
case '+':
current_value = zed.getCameraSettings(camera_settings_);
zed.setCameraSettings(camera_settings_, current_value + step_camera_setting);
std::cout << str_camera_settings << ": " << current_value + step_camera_setting << std::endl;
break;
// Decrease camera settings value ('-' key)
case '-':
current_value = zed.getCameraSettings(camera_settings_);
if (current_value >= 1) {
zed.setCameraSettings(camera_settings_, current_value - step_camera_setting);
std::cout << str_camera_settings << ": " << current_value - step_camera_setting << std::endl;
}
break;
// Reset to default parameters
case 'x':
currentBias = 0;
std::cout << "Reset all settings to default" << std::endl;
zed.setCameraSettings(sl::CAMERA_SETTINGS_BRIGHTNESS, -1, true);
zed.setCameraSettings(sl::CAMERA_SETTINGS_CONTRAST, -1, true);
zed.setCameraSettings(sl::CAMERA_SETTINGS_HUE, -1, true);
zed.setCameraSettings(sl::CAMERA_SETTINGS_SATURATION, -1, true);
zed.setCameraSettings(sl::CAMERA_SETTINGS_GAIN, -1, true);
zed.setCameraSettings(sl::CAMERA_SETTINGS_EXPOSURE, -1, true);
zed.setCameraSettings(sl::CAMERA_SETTINGS_WHITEBALANCE, -1, true);
break;
}
}
/**
This function toggles between camera settings
**/
void switchCameraSettings() {
step_camera_setting = 1;
switch (camera_settings_) {
case CAMERA_SETTINGS_BRIGHTNESS:
camera_settings_ = CAMERA_SETTINGS_CONTRAST;
str_camera_settings = "Contrast";
std::cout << "Camera Settings: CONTRAST" << std::endl;
break;
case CAMERA_SETTINGS_CONTRAST:
camera_settings_ = CAMERA_SETTINGS_HUE;
str_camera_settings = "Hue";
std::cout << "Camera Settings: HUE" << std::endl;
break;
case CAMERA_SETTINGS_HUE:
camera_settings_ = CAMERA_SETTINGS_SATURATION;
str_camera_settings = "Saturation";
std::cout << "Camera Settings: SATURATION" << std::endl;
break;
case CAMERA_SETTINGS_SATURATION:
camera_settings_ = CAMERA_SETTINGS_GAIN;
str_camera_settings = "Gain";
std::cout << "Camera Settings: GAIN" << std::endl;
break;
case CAMERA_SETTINGS_GAIN:
camera_settings_ = CAMERA_SETTINGS_EXPOSURE;
str_camera_settings = "Exposure";
std::cout << "Camera Settings: EXPOSURE" << std::endl;
break;
case CAMERA_SETTINGS_EXPOSURE:
camera_settings_ = CAMERA_SETTINGS_WHITEBALANCE;
str_camera_settings = "White Balance";
step_camera_setting = 100;
std::cout << "Camera Settings: WHITE BALANCE" << std::endl;
break;
case CAMERA_SETTINGS_WHITEBALANCE:
camera_settings_ = CAMERA_SETTINGS_BRIGHTNESS;
str_camera_settings = "Brightness";
std::cout << "Camera Settings: BRIGHTNESS" << std::endl;
break;
}
}
/**
This function displays help
**/
void printHelp() {
cout << endl;
cout << endl;
cout << "Camera controls hotkeys: " << endl;
cout << " Increase camera settings value: '+'" << endl;
cout << " Decrease camera settings value: '-'" << endl;
cout << " Toggle camera settings: 's'" << endl;
cout << " Reset all parameters: 'r'" << endl;
cout << endl;
cout << "Exit : 'q'" << endl;
cout << endl;
cout << endl;
cout << endl;
}