取消引用指向 cv::Mat 的“cv::Mat*”指针以接收 Gstreamer 视频并在 OpenCV 中使用

Question

I'm working on receiving video stream from source. (Gazebo Simulation) First of all, I'm succesful to receive on python side, but I want to move code C++. This is python code: Python code Also I can easily add tracker to python by using:

video = Video()
frame = video.frame()
bbox = (287, 23, 86, 320)
ok = tracker.init(frame, bbox)

But when I tried to same thing on C++ it's not possible to pass easily these steps. I used this code and this is working fine: C++ Code Gstream

But I couldn't be able to use like opencv. Key code lines are:

        // Main loop
    while(1) {
        g_main_iteration(false);

        cv::Mat* frame = atomicFrame.load();

        if(frame) {
            cv::imshow("Frame", frame[0]);
            cv::waitKey(30);
        }
    }

When I tried to add basic text like:

putText(frame[0], " Hello", Point(100,20), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(50,170,50),2);

I'm getting hard "Segmentation fault".

I tried also use single line to receive video normal way:

VideoCapture video("udpsrc port=5600 ! application/x-rtp, payload=96 ! rtph264depay ! h264parse ! avdec_h264! decodebin ! videoconvert ! video/x-raw,format=(string)BGR ! videoconvert! appsink name=sink emit-signals=true sync=false max-buffers=1 drop=true",CAP_GSTREAMER);

But video couldn't be open.

Answer 1

It is not necessary anymore to convert cv::Mat* to cv::Mat. Furthermore, it's not logical.

Here is current pipeline that working without error in Gazebo Simulation:

VideoCapture video("udpsrc port=5600 ! application/x-rtp,payload=96,encoding-name=H264 ! rtpjitterbuffer mode=1 ! rtph264depay ! h264parse ! decodebin ! videoco