利用opencv与Socket实现树莓派获取摄像头视频和灰度重心发送到电脑

本文主要是介绍利用opencv与Socket实现树莓派获取摄像头视频和灰度重心发送到电脑，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

使用树莓派原装CSI摄像头录制视频并利用灰度重心法获取重心，将图像和重心数据通过Socket实时传输到电脑上

因为需要实现程序一启动便打开摄像头计算数据，同时启动Socket服务器等待客户端连接，所以利用C++11中的thread库通过多线程实现程序

树莓派-服务端

#include <iostream>
#include <unistd.h>
#include <cstring>
#include <string>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <thread>
#include <opencv2/opencv.hpp>
using namespace cv; 
using namespace std; 
#define USEPORT 1234
#define T 20
Mat FRAME; 
Point PCENTER; //灰度重心法函数
Point gray_center(Mat& img)
{Mat img_gray; cvtColor(img, img_gray, COLOR_BGR2GRAY, 0); Point Center; double sumval = 0; MatIterator_<uchar> it, end; for (int i = 0; i < img_gray.cols; i++){for (int j = 0; j < img_gray.rows; j++){double s = img_gray.at<uchar>(j, i); if (s < T)s = 0; sumval += s; }}Center.x = Center.y = 0;double x = 0, y = 0;for (int i = 0; i < img_gray.cols; i++){for (int j = 0; j < img_gray.rows; j++){double s = img_gray.at<uchar>(j, i); if (s < T)s = 0; x += i * s / sumval;y += j * s / sumval;}}Center.x = cvRound(x);Center.y = cvRound(y);return Center;
}//摄像头图像处理
void cam_stand_by()
{VideoCapture capture; if (!capture.isOpened()){cout << "fail to open camera!" << endl; exit(-1); }while (1){capture >> FRAME; PCENTER = gray_center(FRAME); if (waitKey(30) >= 0)break; }
}int main()
{
//开启一个线程，并将其分离,使不阻塞主程序thread cam_th(cam_stand_by); cam_th.detach(); 
//启动服务端int serverSock = socket(AF_INET, SOCK_STREAM, 0); if (serverSock < 0){cout << "socket creation failed" << endl; exit(-1); }cout << "socket creation successfully" << endl; struct sockaddr_in serverAddr; memset(&serverAddr, 0, sizeof(serverAddr)); serverAddr.sin_family = AF_INET; serverAddr.sin_port = htons(USEPORT); serverAddr.sin_addr.s_addr = htonl(INADDR_ANY); if (bind(serverSock, (struct sockaddr*)&serverAddr, sizeof(struct sockaddr)) == -1){cout << "Bind error, Port["<< USEPORT << "]" << endl; exit(-1); }cout << "Bind successfully" << endl; if (listen(serverSock, 10) == -1){cout << "Listen error!" << endl; }cout << "Listening on port[" << USEPORT << "]" << endl; while (1){struct sockaddr clientAddr; int size = sizeof(struct sockaddr); int clientSock = accept(serverSock, (struct sockaddr*)&clientAddr, (socklen_t*)&size); cout << "\n****NEW client touched****" << endl; while (1){if (send(clientSock, FRAME.data, FRAME.total()*FRAME.elemSize(), 0) < 0)break;  send(clientSock, &PCENTER, sizeof(Point), 0); }cout << "\n==== CLIENT BREAK ====" << endl; close(clientSock); }close(serverSock); return 0; 
}

PC-客户端

#include <iostream>
#include <string>
#include <opencv2/opencv.hpp> //包含opencv
#include <WinSock2.h> //包含WinSock2.h头文件
using namespace std;
using namespace cv; 
#pragma comment(lib, "ws2_32.lib") //加载 ws2_32.dll 
#pragma warning(disable:4996)
#define imgSize 640*480*3 
//图像大小，由于传输三通道彩色图，所以*3
//有尝试过每次由树莓派先传输图像大小到客户端，但出现了一些问题，所以直接在这里定义宏
constexpr auto RASPI_IP = "192.168.1.119";int main()
{//****初始化WSADATA wsaData;WSAStartup(MAKEWORD(2, 2), &wsaData);//****创建套接字SOCKET sock = socket(PF_INET, SOCK_STREAM, 0);//****创建sockAddr结构体sockaddr_in sockAddr;memset(&sockAddr, 0, sizeof(sockAddr));sockAddr.sin_family = PF_INET;sockAddr.sin_port = htons(1234);sockAddr.sin_addr.s_addr = inet_addr(RASPI_IP); //树莓派的局域网IP//****建立连接connect(sock, (SOCKADDR*)& sockAddr, sizeof(SOCKADDR));cout << "客户端发送链接请求" << endl;int bytes = 0;//****接收服务器传回的数据	while (1){cout << "等待服务端发送信息.." << endl;char* imgdata = new char[imgSize];char* pointdata = new char[MAXBYTE];//recv(sock, imgdata, imgSize, NULL);//若直接使用recv接收，会有丢包情况出现，图片不完整for (int i = 0; i < imgSize; i += bytes) //循环接收图片信息，防止没接收完{if ((bytes = recv(sock, imgdata + i, imgSize - i, 0)) == -1){cout << "Fail to recive" << endl;exit(-1);}}recv(sock, pointdata, sizeof(Point), NULL); //接收重心Point信息Point* tack = (Point*)pointdata; Point center(tack->x, tack->y);cout << tack->x << " " << tack->y << endl; Mat img(Size(640, 480), CV_8UC3, imgdata); circle(img, center, 6, Scalar(0, 255, 0), -1);imshow("Gray_Center", img);waitKey(1);}//关闭套接字、终止使用 DLLclosesocket(sock);WSACleanup();return 0;
}