48、Linux共享内存传递cv::Mat

基本思想：最近在研究RoboMater源码，学习了如何使用共享内存传递cv::Mat 所以记录一下；

send.cpp 读取了一张576*768*3通道的图片

#include <iostream>
#include <sys/shm.h>
#include "opencv2/core.hpp"
#include "opencv2/highgui.hpp"#define image_size_max 576*768*3
struct shareMemory {int pixel_rows;int pixel_cols;int pixel_channels;char pixel[image_size_max];
};using namespace cv;
using namespace std;struct shareMemory *get_shared_memory() {int shmid = shmget((key_t) 2232, sizeof(struct shareMemory), 0666 | IPC_CREAT);if (shmid == -1) {fprintf(stderr, "shmget failed\n");exit(EXIT_FAILURE);}//将共享内存连接到当前进程的地址空间void *shm = shmat(shmid, NULL, 0);if (shm == (void *) -1) {fprintf(stderr, "shmat failed\n");exit(EXIT_FAILURE);}struct shareMemory *shared = (struct shareMemory *) shm;return shared;}char *Mat_to_array(Mat Image) {char *pBuffet = new char[Image.cols * Image.rows * 3];if (Image.isContinuous()) {memcpy(pBuffet, Image.data, Image.cols * Image.rows * 3);} else {for (int i = 0; i < Image.rows; ++i) {memcpy(pBuffet, Image.ptr<uchar>(i), Image.cols * 3);}}return pBuffet;
}int main() {Mat Image = imread("/home/ubuntu/Downloads/dog.jpg");struct shareMemory *shareMemory = get_shared_memory();char *image=(char*)Image.data;shareMemory->pixel_rows = Image.rows;shareMemory->pixel_cols = Image.cols;shareMemory->pixel_channels = Image.channels();memcpy(shareMemory->pixel,image,Image.rows*Image.cols*3);std::cout << "width=" << Image.rows << endl<< "height=" << Image.cols << endl<< "channel=" << Image.channels() << endl;return 0;
}

接收端接收到了共享内存的图片了

rec.cpp

#include <iostream>
#include <sys/shm.h>
#include "opencv2/core.hpp"
#include "opencv2/highgui.hpp"#define image_size_max 576*768*3
struct shareMemory {int pixel_rows;int pixel_cols;int pixel_channels;char pixel[image_size_max];
};using namespace cv;
using namespace std;
struct shareMemory *get_shared_memory()
{int shmid = shmget((key_t)2232, sizeof(struct shareMemory), 0666|IPC_CREAT);if(shmid == -1){fprintf(stderr, "shmget failed\n");exit(EXIT_FAILURE);}//将共享内存连接到当前进程的地址空间void *shm = shmat(shmid, NULL, 0);if(shm == (void*)-1){fprintf(stderr, "shmat failed\n");exit(EXIT_FAILURE);}struct shareMemory *shared = (struct shareMemory*)shm;return shared;}
int main() {struct shareMemory *shareMemory=get_shared_memory();cv::Mat cvoutImg = cv::Mat(shareMemory->pixel_rows,shareMemory->pixel_cols,CV_8UC3,cv::Scalar(255, 255, 255));//bufHight,bufWidthstd::cout << "width=" << shareMemory->pixel_rows<< endl<< "height=" << shareMemory->pixel_cols << endl<< "channel=" << shareMemory->pixel_channels << endl;memcpy((char*)cvoutImg.data, shareMemory->pixel,shareMemory->pixel_rows*shareMemory->pixel_cols*shareMemory->pixel_channels);cv::imshow("xx",cvoutImg);cv::waitKey(0);return 0;
}

来吧让我看看这只狗

我们愉快的上段视频流吧

send.cpp

#include <iostream>
#include <sys/shm.h>
#include "opencv2/core.hpp"
#include "opencv2/highgui.hpp"#define image_size_max 720*1280*3
struct shareMemory {int pixel_rows;int pixel_cols;int pixel_channels;char pixel[image_size_max];
};using namespace cv;
using namespace std;struct shareMemory *get_shared_memory() {int shmid = shmget((key_t) 2332, sizeof(struct shareMemory), 0666 | IPC_CREAT);if (shmid == -1) {fprintf(stderr, "shmget failed\n");exit(EXIT_FAILURE);}//将共享内存连接到当前进程的地址空间void *shm = shmat(shmid, NULL, 0);if (shm == (void *) -1) {fprintf(stderr, "shmat failed\n");exit(EXIT_FAILURE);}struct shareMemory *shared = (struct shareMemory *) shm;return shared;}char *Mat_to_array(Mat Image) {char *pBuffet = new char[Image.cols * Image.rows * 3];if (Image.isContinuous()) {memcpy(pBuffet, Image.data, Image.cols * Image.rows * 3);} else {for (int i = 0; i < Image.rows; ++i) {memcpy(pBuffet, Image.ptr<uchar>(i), Image.cols * 3);}}return pBuffet;
}int main() {VideoCapture cap;cap.open(0); //打开视频,以上两句等价于VideoCapture cap("E://2.avi");Mat frame;while(1){cap>>frame;//等价于cap.read(frame);if(frame.empty())//如果某帧为空则退出循环break;struct shareMemory *shareMemory = get_shared_memory();char *image=(char*)frame.data;shareMemory->pixel_rows = frame.rows;shareMemory->pixel_cols = frame.cols;shareMemory->pixel_channels = frame.channels();memcpy(shareMemory->pixel,image,frame.rows*frame.cols*3);std::cout << "width=" << frame.rows << endl<< "height=" << frame.cols << endl<< "channel=" << frame.channels() << endl;}cap.release();//释放资源return 0;
}

rec.cpp

#include <iostream>
#include <sys/shm.h>
#include "opencv2/core.hpp"
#include "opencv2/highgui.hpp"#define image_size_max 720*1280*3
struct shareMemory {int pixel_rows;int pixel_cols;int pixel_channels;char pixel[image_size_max];
};using namespace cv;
using namespace std;
struct shareMemory *get_shared_memory()
{int shmid = shmget((key_t)2332, sizeof(struct shareMemory), 0666|IPC_CREAT);if(shmid == -1){fprintf(stderr, "shmget failed\n");exit(EXIT_FAILURE);}//将共享内存连接到当前进程的地址空间void *shm = shmat(shmid, NULL, 0);if(shm == (void*)-1){fprintf(stderr, "shmat failed\n");exit(EXIT_FAILURE);}struct shareMemory *shared = (struct shareMemory*)shm;return shared;}
int main() {while(1){struct shareMemory *shareMemory=get_shared_memory();cv::Mat cvoutImg = cv::Mat(shareMemory->pixel_rows,shareMemory->pixel_cols,CV_8UC3,cv::Scalar(255, 255, 255));//bufHight,bufWidthstd::cout << "width=" << shareMemory->pixel_rows<< endl<< "height=" << shareMemory->pixel_cols << endl<< "channel=" << shareMemory->pixel_channels << endl;memcpy((char*)cvoutImg.data, shareMemory->pixel,shareMemory->pixel_rows*shareMemory->pixel_cols*shareMemory->pixel_channels);if(!cvoutImg.data)break;cv::imshow("xx",cvoutImg);cv::waitKey(1);}return 0;
}

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