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/*
* Copyright (c) 2017 TOYOTA MOTOR CORPORATION
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "camera.h"
#include <QPainter>
#include <opencv2/imgproc.hpp>
#include <linux/videodev2.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
using namespace cv;
Camera::Camera() {
running = false;
timer = new QTimer(this);
capture = new VideoCapture();
connect(timer, SIGNAL(timeout()), this, SLOT(grab()));
}
Camera::~Camera() {
if (timer->isActive())
timer->stop();
if (capture && capture->isOpened())
capture->release();
delete timer;
delete capture;
}
void Camera::paint(QPainter *painter) {
painter->drawImage(0, 0, image);
}
void Camera::enumerateCameras() {
int maxID = 20;
for (int idx = 0; idx <maxID; idx++){
std::stringstream no;
no << "/dev/video" << idx;
qDebug() << idx;
int fd = open(no.str().c_str(), O_RDWR);
if (fd != -1){
struct v4l2_capability cap;
if (ioctl(fd,VIDIOC_QUERYCAP,&cap) != -1){
if ((cap.capabilities & (V4L2_CAP_VIDEO_CAPTURE | V4L2_CAP_STREAMING)) == (V4L2_CAP_VIDEO_CAPTURE | V4L2_CAP_STREAMING)){
qDebug()<< (char*)(cap.driver) << ">" << (char*)(cap.card) << ">" << (char*)(cap.bus_info);// << (cap.version>>16)&0xFF << (cap.version>>8)&0XFF << cap.version&0xFF;
cam_arr.push_back(idx); // vector of all available cameras
}
}
close(fd);
}
}
camcnt = cam_arr.length();
cam_arr_bak = cam_arr;
}
void Camera::start(int no, int fps, QString res) {
try{
for (QVariantList::iterator iter = cam_arr_bak.begin(); iter != cam_arr_bak.end(); ++iter){
if (*iter == no){
cam_arr_bak.erase(iter);
break;
}
}
if (capture && capture->open(no)){
capture->set(CAP_PROP_FRAME_WIDTH, res.section("*", 0, 0).toInt());
capture->set(CAP_PROP_FRAME_HEIGHT, res.section("*", 1, 1).toInt());
if (fps > 0){
timer->start(1000/fps);
running = true;
emit isrunningChanged(running);
emit camraCntChanged(cam_arr_bak);
}
camnumbackup = no;
}
}
catch(cv::Exception & e) {
qDebug() << "als-meter-demo open device error: " << e.msg.c_str();
}
}
void Camera::stop() {
cam_arr_bak.push_back(camnumbackup);
if (timer->isActive())
timer->stop();
if (capture && capture->isOpened())
capture->release();
image = QImage();
update();
running = false;
emit isrunningChanged(running);
emit camraCntChanged(cam_arr_bak);
}
QVariantList Camera::camranum() const{
return cam_arr_bak;
}
int Camera::cameraCnt() {
return camcnt;
}
bool Camera::isrunning() const{
return running;
}
void Camera::grab() {
if (capture && capture->isOpened()){
Mat frame;
capture->read(frame);
if (!frame.empty()){
image = QImage((const uchar*)(frame.data), frame.cols, frame.rows, frame.step, QImage::Format_RGB888).rgbSwapped();
image = image.scaled(this->width(), this->height(), Qt::IgnoreAspectRatio, Qt::SmoothTransformation);
update();
}
}
}
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