finanl

VideoProsessing/src/main.cpp

@@ -9,6 +9,7 @@
 #include <iostream>
 #include <opencv4/opencv2/opencv.hpp>
 #include <mqtt/async_client.h>
+#include <nlohmann/json.hpp>
 
 using namespace std;
 using namespace cv;
@@ -16,8 +17,16 @@ using namespace chrono_literals;
 
 // 全局变量
 VideoCapture cap(0);
+Mat handleFrame;
+const string mqtt_url = "tcp://192.168.12.1:1883";
+const string clientId = "video_subData";
+const string Topic = "/video/Data";
+const int Qos = 1;
+mqtt::async_client client(mqtt_url, clientId);
 
 // 函数声明
+// mqtt初始化
+void MqttInit();
 // 摄像头管道初始化
 bool videoInit(VideoCapture &cap);
 // ffmpeg管道初始化
@@ -28,6 +37,10 @@ bool processFrame(VideoCapture &cap, FILE* pipe, Mat &frame, int64 &count, chron
 void cleanup(FILE *pipe, VideoCapture &cap);
 // 主循环
 void mainLoop(VideoCapture &cap, FILE *pipe);
+// mqtt接收订阅消息的回调
+void getMsgCallback(mqtt::const_message_ptr msg);
+// 绘制矩形方框和深度信息
+void drawRect(int x, int y, int w, int h, double distance);
 
 int main()
 {
@@ -53,6 +66,34 @@ int main()
     return 0;
 }
 
+// 绘制矩形方框和深度信息
+void drawRect(int x, int y, int w, int h, double distance)
+{
+    Rect r(x, y, w, h);
+    rectangle(handleFrame, r, Scalar(0, 255, 0), 2);
+}
+
+// mqtt初始化
+void MqttInit()
+{
+    // 设置回调
+    client.set_connected_handler([](const string &cause)
+                                 { cout << "连接成功" << endl; });
+
+    client.set_message_callback(getMsgCallback);
+
+    client.connect()->wait();
+    client.subscribe(Topic, Qos)->wait();
+}
+
+// mqtt接收订阅消息的回调
+void getMsgCallback(mqtt::const_message_ptr msg)
+{
+    string payload = msg->to_string();
+
+    cout << payload << endl;
+}
+
 // 摄像头初始化
 bool videoInit(VideoCapture &cap)
 {
@@ -112,6 +153,9 @@ bool processFrame(VideoCapture &cap, FILE* pipe, Mat &frame, int64 &count, chron
         return false;
     }
 
+    // 拷贝视频帧
+    handleFrame = frame;
+
     // 添加提示文本
     putText(frame, "press 'q' to quit", Point(0, 20),
             FONT_HERSHEY_SIMPLEX, 1.0, Scalar(0, 255, 0), 2, LINE_8);
@@ -142,9 +186,19 @@ void mainLoop(VideoCapture &cap, FILE* pipe)
     int64 count = 0;
     auto t0 = chrono::steady_clock::now();
     Mat frame;
-
     cout << "开始视频处理循环..." << endl;
 
+    // 创建全屏窗口
+    namedWindow("处理后的画面", WINDOW_NORMAL);
+    setWindowProperty("处理后的画面", WND_PROP_FULLSCREEN, WINDOW_FULLSCREEN);
+    
+    // 获取屏幕尺寸（通过获取全屏窗口的实际大小）
+    cv::Rect windowRect = getWindowImageRect("处理后的画面");
+    int screenWidth = windowRect.width > 0 ? windowRect.width : 1920;
+    int screenHeight = windowRect.height > 0 ? windowRect.height : 1080;
+    
+    Mat displayFrame;  // 用于存储缩放后的画面
+
     while (true)
     {
         if (!processFrame(cap, pipe, frame, count, t0))
@@ -152,6 +206,9 @@ void mainLoop(VideoCapture &cap, FILE* pipe)
             break;
         }
         
+        // 将 handleFrame 缩放到全屏尺寸
+        resize(handleFrame, displayFrame, Size(screenWidth, screenHeight));
+        imshow("处理后的画面", displayFrame);
         // 检测退出键
         if (cv::waitKey(1) == 'q')
         {