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28 files changed, 1664 insertions, 0 deletions
diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..601fd64 --- /dev/null +++ b/.gitignore @@ -0,0 +1,8 @@ +*.pro.* +.*.sw* +.qmake.* +app/config.log +package/*.wgt +package/root/ +build +.vscode
\ No newline at end of file diff --git a/.gitreview b/.gitreview new file mode 100644 index 0000000..15b944a --- /dev/null +++ b/.gitreview @@ -0,0 +1,5 @@ +[gerrit] +host=gerrit.automotivelinux.org +port=29418 +project=apps/aroundview +defaultbranch=master @@ -0,0 +1,54 @@ +Apache License + +Version 2.0, January 2004 + +http://www.apache.org/licenses/ + +TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + +1. Definitions. + +"License" shall mean the terms and conditions for use, reproduction, and distribution as defined by Sections 1 through 9 of this document. + +"Licensor" shall mean the copyright owner or entity authorized by the copyright owner that is granting the License. + +"Legal Entity" shall mean the union of the acting entity and all other entities that control, are controlled by, or are under common control with that entity. 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The contents of the NOTICE file are for informational purposes only and do not modify the License. You may add Your own attribution notices within Derivative Works that You distribute, alongside or as an addendum to the NOTICE text from the Work, provided that such additional attribution notices cannot be construed as modifying the License. + + You may add Your own copyright statement to Your modifications and may provide additional or different license terms and conditions for use, reproduction, or distribution of Your modifications, or for any such Derivative Works as a whole, provided Your use, reproduction, and distribution of the Work otherwise complies with the conditions stated in this License. + +5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. + +6. Trademarks. This License does not grant permission to use the trade names, trademarks, service marks, or product names of the Licensor, except as required for reasonable and customary use in describing the origin of the Work and reproducing the content of the NOTICE file. + +7. Disclaimer of Warranty. Unless required by applicable law or agreed to in writing, Licensor provides the Work (and each Contributor provides its Contributions) on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied, including, without limitation, any warranties or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for determining the appropriateness of using or redistributing the Work and assume any risks associated with Your exercise of permissions under this License. + +8. Limitation of Liability. In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, shall any Contributor be liable to You for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this License or out of the use or inability to use the Work (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if such Contributor has been advised of the possibility of such damages. + +9. Accepting Warranty or Additional Liability. While redistributing the Work or Derivative Works thereof, You may choose to offer, and charge a fee for, acceptance of support, warranty, indemnity, or other liability obligations and/or rights consistent with this License. However, in accepting such obligations, You may act only on Your own behalf and on Your sole responsibility, not on behalf of any other Contributor, and only if You agree to indemnify, defend, and hold each Contributor harmless for any liability incurred by, or claims asserted against, such Contributor by reason of your accepting any such warranty or additional liability. + +END OF TERMS AND CONDITIONS diff --git a/README.md b/README.md new file mode 100644 index 0000000..648377e --- /dev/null +++ b/README.md @@ -0,0 +1,53 @@ +# Overview
+
+Aroundview application is a sample application.
+It's a simple application that takes into the camera input and draws them like all around view using v4l2 technology.
+
+The follow image is the screenshot of this application.
+
+
+
+
+## Compile
+
+- Execute the following command on the host PC.
+ >$source <path to sdk>/environment-setup-aarch64-agl-linux (e.g. /opt/agl-sdk/m3ulcb/environtment-setup-aarch64-agl-linux)
+ >
+ >$mkdir build
+ >
+ >$cd build
+ >
+ >$qmake ../
+ >
+ >$make
+
+- Wiget file will be genarated in the following directory.
+ > aroundview/build/package/aroundview.wgt
+
+## Operating procedure
+
+- Hardware
+ - Target board : R-Car M3 + Kingfisher
+ - GMSL Camera Board : SBEV-RCAR-KF-GMSL02 from company SIMAFUJI
+ - Camera : four cameras from company IMI
+ (※Discontinued product)
+
+- Constitution
+ - AGL image version is halibut 7.99.1.
+
+ 
+
+- Install
+ - Copy aroundview.wgt from hostPC to target.
+ - Execute following command.
+ >#afm-util install aroundview.wgt
+
+- Startup
+Click the "A" icon on the Homescreen.
+
+ 
+
+## Note
+
+- In this application, the images can't be composite like they are concatenationed.
+- In this application, the images can't be combined as they are connected.
diff --git a/app/AroundView.qml b/app/AroundView.qml new file mode 100644 index 0000000..1967610 --- /dev/null +++ b/app/AroundView.qml @@ -0,0 +1,194 @@ +/* + * Copyright (C) 2019 DENSO TEN Limited + * + * 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. + */ + +import QtQuick 2.6 +import QtQuick.Controls 2.0 +import OpenCV 1.0 +import QtGraphicalEffects 1.0 + +ApplicationWindow { + visible: true + width: 1280 + height: 720 + title: qsTr("around view!") + + + //Car image + Image { + id: car + anchors.centerIn: parent + source: './images/HMI_Radiocontrol_Car.png' + z: 3 + } + + //border + Rectangle { + width: 5 + height: 1550 + anchors.bottom: back_rec.bottom + anchors.bottomMargin:371 + visible: true + color: "blue" + + transformOrigin: Rectangle.BottomLeft + rotation: 45 + + z: 2 + } + Rectangle { + width: 5 + height: 1550 + anchors.right: parent.right + anchors.bottom: back_rec.bottom + anchors.bottomMargin:371 + visible: true + color: "blue" + + transformOrigin: Rectangle.BottomLeft + rotation: -45 + z: 2 + } + + //front + Rectangle { + id: front_rec + width: 1080 + height: 910 + anchors.bottom: car.verticalCenter + anchors.horizontalCenter: parent.horizontalCenter + visible: false + + Camera1 { + id: camera1 + property int ret: 0 + anchors.fill: parent + } + } + + //mask + Image { + id:front_mask + source: "images/triangle_front_full.png" + sourceSize: Qt.size(1080, 540) + smooth: true + visible: false + } + + OpacityMask { + anchors.fill: front_rec + source: front_rec + maskSource: front_mask + z: 1 + } + + + //back + Rectangle { + id: back_rec + width: 1080 + height: 910 + anchors.top: car.verticalCenter + // anchors.topMargin : -100 + anchors.horizontalCenter: parent.horizontalCenter + visible: false + + Camera0 { + id: camera0 + property int ret: 0 + anchors.fill: parent + } + } + + //mask + Image { + id:back_mask + source: "images/triangle_back_full.png" + sourceSize: Qt.size(back_rec.width, back_rec.height) + smooth: true + visible: false + } + + OpacityMask { + anchors.fill: back_rec + source: back_rec + maskSource: back_mask + z: 1 + } + + + //left + Rectangle { + id: left_rec + width: 1080 + height: 540 + anchors.top: parent.top + anchors.topMargin: (parent.height/2)+(width/2) + anchors.left: parent.left + transformOrigin: Rectangle.TopLeft + rotation: 270 + + visible: true + + Camera2 { + id: camera2 + property int ret: 0 + anchors.fill: parent + } + } + + + //right + Rectangle { + id: right_rec + width: 1080 + height: 540 + anchors.top: parent.top + anchors.topMargin: (parent.height/2)+(width/2) + anchors.right: parent.right + transformOrigin: Rectangle.TopRight + rotation: 90 + + visible: true + + Camera3 { + id: camera3 + property int ret: 0 + anchors.fill: parent + } + } + + Timer { + id: timer + property int frameRate: 30 + interval: 1000 / timer.frameRate + running: true + repeat: true + + onTriggered: { + camera0.update(); + camera1.update(); + camera2.update(); + camera3.update(); + } + } + + Component.onCompleted: { + camera0.ret=camera0.init(0,100) + camera1.ret=camera1.init(1,-100) + camera2.ret=camera2.init(2,0) + camera3.ret=camera3.init(3,0) + } +} diff --git a/app/AroundView.qrc b/app/AroundView.qrc new file mode 100644 index 0000000..244cec5 --- /dev/null +++ b/app/AroundView.qrc @@ -0,0 +1,5 @@ +<RCC> + <qresource prefix="/"> + <file>AroundView.qml</file> + </qresource> +</RCC>
\ No newline at end of file diff --git a/app/app.pri b/app/app.pri new file mode 100644 index 0000000..ce5fb04 --- /dev/null +++ b/app/app.pri @@ -0,0 +1,12 @@ +TEMPLATE = app + +load(configure) +qtCompileTest(libhomescreen) + +config_libhomescreen { + CONFIG += link_pkgconfig + PKGCONFIG += homescreen + DEFINES += HAVE_LIBHOMESCREEN +} + +DESTDIR = $${OUT_PWD}/../package/root/bin diff --git a/app/app.pro b/app/app.pro new file mode 100644 index 0000000..dcdb1aa --- /dev/null +++ b/app/app.pro @@ -0,0 +1,23 @@ +TARGET = aroundview +QT = quickcontrols2 +QT += widgets +QT += quick gui aglextras + + +SOURCES = main.cpp \ + camera.cpp \ + capturing.cpp \ + + +HEADERS += camera.h \ + capturing.h \ + +RESOURCES += AroundView.qrc\ + images/images.qrc + +INCLUDEPATH += /usr/include/opencv2 +DEPENDPATH += /usr/include/opencv2 + +LIBS += `pkg-config opencv --libs` + +include(app.pri) diff --git a/app/camera.cpp b/app/camera.cpp new file mode 100644 index 0000000..964cc8c --- /dev/null +++ b/app/camera.cpp @@ -0,0 +1,88 @@ +/* + * Copyright (C) 2019 DENSO TEN Limited + * + * 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 "capturing.h" +#include <QDebug> + + + + +CameraItem::CameraItem(QQuickItem *parent) + : QQuickPaintedItem(parent), _device(-1), _offset(0) +{ +} + +CameraItem::~CameraItem() +{ + if(_device != -1) { + p_cap_item->close_device(); + } + if(p_cap_item) + delete p_cap_item; +} + + +int CameraItem::init(int device, int offset) +{ + p_cap_item = new CapturingItem(); + + int ret = p_cap_item->open_device(device); + + if(ret != 0) { + qDebug() << "device " << device << " failed to open"; + return -1; + } + + ret = p_cap_item->init_device(); + if(ret != 0) { + qDebug() << "device " << device << " failed to initialize"; + return -1; + } + p_cap_item->start_capturing(); + _device = device; + _offset = offset; + + return ret; +} + +void CameraItem::paint(QPainter *painter) +{ + if(_device != -1){ + unsigned char* data = NULL; + cv::Mat src(p_cap_item->height(), p_cap_item->width(), CV_8UC4); + cv::Mat dst; + data = p_cap_item->snap_frame(); + if(data) { + memcpy(src.data, data, src.step * src.rows); + + cv::cvtColor(src, dst, CV_BGRA2RGB); + + QImage output_img(dst.data, dst.cols, dst.rows, QImage::Format_RGB888); + + output_img = output_img.scaled(1080, 911); + + painter->drawImage(0,0, + output_img, + 0,((output_img.size().height() / 2) - (height() / 2) + _offset)); + } + else { + qDebug() << "null image"; + } + } + +} + diff --git a/app/camera.h b/app/camera.h new file mode 100644 index 0000000..3b0d6cd --- /dev/null +++ b/app/camera.h @@ -0,0 +1,41 @@ +/* + * Copyright (C) 2019 DENSO TEN Limited + * + * 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. + */ + +#ifndef CAMERA_H +#define CAMERA_H +#include <QtQuick/QQuickPaintedItem> +#include <QPainter> +#include <QImage> +#include <opencv2/opencv.hpp> +#include <QString> + +class CapturingItem; + +class CameraItem : public QQuickPaintedItem +{ + Q_OBJECT +public: + CameraItem(QQuickItem *parent = 0); + ~CameraItem(); + void paint(QPainter *painter); + Q_INVOKABLE int init(int device,int offset); + +private: + int _device; + int _offset; + CapturingItem *p_cap_item; +}; +#endif diff --git a/app/capturing.cpp b/app/capturing.cpp new file mode 100644 index 0000000..fd2a6c5 --- /dev/null +++ b/app/capturing.cpp @@ -0,0 +1,404 @@ +/* + * Copyright (C) 2019 DENSO TEN Limited + * + * 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 <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <assert.h> +#include <string> +#include <sstream> +#include <getopt.h> +#include <fcntl.h> +#include <unistd.h> +#include <errno.h> +#include <sys/stat.h> +#include <sys/types.h> +#include <sys/time.h> +#include <sys/mman.h> +#include <sys/ioctl.h> + +#include <linux/videodev2.h> +#include <linux/fb.h> + +#include <pthread.h> +#include "capturing.h" + +#define CLEAR(x) memset(&(x), 0, sizeof(x)) + +#define FIELD V4L2_FIELD_NONE + +using std::istringstream; + +CapturingItem::CapturingItem() + : _dev_name(""), + _fd(-1), _fps_count(0), _framerate(0), _timeout(60), + _left(0), _top(0), _width(1280), _height(1080) +{ +} + +CapturingItem::~CapturingItem() +{ +} + +int CapturingItem::open_device(int dev) +{ + struct stat st; + std::stringstream ss; + ss << "/dev/video"; + ss << dev; + ss >> _dev_name; + + if (-1 == stat(_dev_name.c_str(), &st)) { + fprintf(stderr, "Cannot identify '%s': %d, %s\n", + _dev_name.c_str(), errno, strerror(errno)); + return -1; + } + + if (!S_ISCHR(st.st_mode)) { + fprintf(stderr, "%s is no device\n", _dev_name.c_str()); + return -1; + } + + _fd = open(_dev_name.c_str(), O_RDWR /* Required */ | O_NONBLOCK, 0); + + if (-1 == _fd) { + fprintf(stderr, "Cannot open '%s': %d, %s\n", + _dev_name.c_str(), errno, strerror(errno)); + return -1; + } + return 0; +} + +int CapturingItem::init_device(void) +{ + struct v4l2_capability cap; + struct v4l2_cropcap cropcap; + struct v4l2_crop crop; + struct v4l2_format fmt; + + if (-1 == xioctl(_fd, VIDIOC_QUERYCAP, &cap)) { + if (EINVAL == errno) { + fprintf(stderr, "%s is no V4L2 device\n", _dev_name.c_str()); + exit(EXIT_FAILURE); + } else { + errno_exit("VIDIOC_QUERYCAP"); + } + } + + if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) { + fprintf(stderr, "%s is no video capture device\n", _dev_name.c_str()); + exit(EXIT_FAILURE); + } + + + /* Select video input, video standard and adjust. */ + CLEAR(cropcap); + cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (0 == xioctl(_fd, VIDIOC_CROPCAP, &cropcap)) { + crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + crop.c = cropcap.defrect; /* reset to default */ + + crop.c.left = _left; + crop.c.top = _top; + crop.c.width = _width; + crop.c.height = _height; + + if (-1 == xioctl(_fd, VIDIOC_S_CROP, &crop)) { + switch (errno) { + case EINVAL: + /* Trimming is not supported. */ + break; + default: + /* The error is ignored. */ + break; + } + } + } else { + /* The error is ignored. */ + } + + if (_framerate) { + struct v4l2_streamparm parm; + + parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == xioctl(_fd, VIDIOC_G_PARM, &parm)) + errno_exit("VIDIOC_G_PARM"); + + parm.parm.capture.timeperframe.numerator = 1; + parm.parm.capture.timeperframe.denominator = _framerate; + if (-1 == xioctl(_fd, VIDIOC_S_PARM, &parm)) + errno_exit("VIDIOC_S_PARM"); + } + + CLEAR(fmt); + + fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + fmt.fmt.pix.width = _width; + fmt.fmt.pix.height = _height; + fmt.fmt.pix.field = V4L2_FIELD_NONE; + fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_XBGR32; + + if (-1 == xioctl(_fd, VIDIOC_S_FMT, &fmt)) + errno_exit("VIDIOC_S_FMT"); + + init_mmap(); + + return 0; +} + +void CapturingItem::start_capturing(void) +{ + unsigned int i; + enum v4l2_buf_type type; + + for (i = 0; i < n_buffers; ++i) { + struct v4l2_buffer buf; + + CLEAR(buf); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + + if (-1 == xioctl(_fd, VIDIOC_QBUF, &buf)) + errno_exit("VIDIOC_QBUF"); + } + type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == xioctl(_fd, VIDIOC_STREAMON, &type)) + errno_exit("VIDIOC_STREAMON"); +} + +unsigned char* CapturingItem::snap_frame(void) +{ + int index = 0; + for (;;) + { + fd_set fds; + struct timeval tv; + int r; + + FD_ZERO(&fds); + FD_SET(_fd, &fds); + + /* Timeout. */ + tv.tv_sec = 2; + tv.tv_usec = 0; + + r = select(_fd + 1, &fds, NULL, NULL, &tv); + + if (-1 == r) + { + if (EINTR == errno) + continue; + errno_exit("select"); + } + + if (0 == r) + { + fprintf(stderr, "select timeout!\n"); + exit(EXIT_FAILURE); + } + + index = read_frame(); + if (-1 != index) + break; + /* EAGAIN (continue select loop). */ + } + + return (unsigned char*)(p_buffers)[index].start; +} + +int CapturingItem::read_frame(void) +{ + struct v4l2_buffer buf; + + CLEAR(buf); + + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + if (-1 == xioctl(_fd, VIDIOC_DQBUF, &buf)) + { + switch (errno) + { + case EAGAIN: + return -1; + + case EIO: + /* Could ignore EIO. */ + default: + errno_exit("VIDIOC_DQBUF"); + } + } + + assert(buf.index < n_buffers); + + + + if (-1 == xioctl(_fd, VIDIOC_QBUF, &buf)) + errno_exit("VIDIOC_QBUF"); + + return buf.index; +} + +void CapturingItem::errno_exit(const char *s) +{ + fprintf(stderr, "%s error %d, %s\n", s, errno, strerror(errno)); + exit(EXIT_FAILURE); +} + +int CapturingItem::xioctl(int fh, int request, void *arg) +{ + int r; + + do { + r = ioctl(fh, request, arg); + } while (-1 == r && EINTR == errno); + + return r; +} + +void CapturingItem::uninit_device(void) +{ + unsigned int i; + + for (i = 0; i < n_buffers; ++i) + if (-1 == munmap((p_buffers)[i].start, (p_buffers)[i].length)) + errno_exit("munmap"); + + free(p_buffers); +} + +void CapturingItem::init_read(unsigned int buffer_size) +{ + p_buffers = (struct buffer*)(calloc(1, sizeof(*p_buffers))); + + if (!p_buffers) { + fprintf(stderr, "Out of memory\n"); + exit(EXIT_FAILURE); + } + + (p_buffers)[0].length = buffer_size; + (p_buffers)[0].start = malloc(buffer_size); + + if (!(p_buffers)[0].start) { + fprintf(stderr, "Out of memory\n"); + exit(EXIT_FAILURE); + } +} + +void CapturingItem::init_mmap(void) +{ + struct v4l2_requestbuffers req; + + CLEAR(req); + + req.count = 4; + req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + req.memory = V4L2_MEMORY_MMAP; + + if (-1 == xioctl(_fd, VIDIOC_REQBUFS, &req)) { + if (EINVAL == errno) { + fprintf(stderr, "%s does not support " + "memory mapping\n", _dev_name.c_str()); + exit(EXIT_FAILURE); + } else { + errno_exit("VIDIOC_REQBUFS"); + } + } + + if (req.count < 2) { + fprintf(stderr, "Insufficient buffer memory on %s\n", + _dev_name.c_str()); + exit(EXIT_FAILURE); + } + + p_buffers = (struct buffer*)(calloc(req.count, sizeof(*p_buffers))); + + if (!p_buffers) { + fprintf(stderr, "Out of memory\n"); + exit(EXIT_FAILURE); + } + + for (n_buffers = 0; n_buffers < req.count; ++n_buffers) { + struct v4l2_buffer buf; + + CLEAR(buf); + + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = n_buffers; + + if (-1 == xioctl(_fd, VIDIOC_QUERYBUF, &buf)) + errno_exit("VIDIOC_QUERYBUF"); + + (p_buffers)[n_buffers].length = buf.length; + (p_buffers)[n_buffers].start = + mmap(NULL /* Start from anywhere */, + buf.length, + PROT_READ | PROT_WRITE /* Required */, + MAP_SHARED /* Recommended */, + _fd, buf.m.offset); + + if (MAP_FAILED == (p_buffers)[n_buffers].start) + errno_exit("mmap"); + } +} + +void CapturingItem::init_userp(unsigned int buffer_size) +{ + struct v4l2_requestbuffers req; + + CLEAR(req); + + req.count = 4; + req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + req.memory = V4L2_MEMORY_USERPTR; + + if (-1 == xioctl(_fd, VIDIOC_REQBUFS, &req)) { + if (EINVAL == errno) { + fprintf(stderr, "%s does not support " + "user pointer i/o\n", _dev_name.c_str()); + exit(EXIT_FAILURE); + } else { + errno_exit("VIDIOC_REQBUFS"); + } + } + + p_buffers = (struct buffer*)(calloc(4, sizeof(*p_buffers))); + + if (!p_buffers) { + fprintf(stderr, "Out of memory\n"); + exit(EXIT_FAILURE); + } + + for (n_buffers = 0; n_buffers < 4; ++n_buffers) { + (p_buffers)[n_buffers].length = buffer_size; + (p_buffers)[n_buffers].start = malloc(buffer_size); + + if (!(p_buffers)[n_buffers].start) { + fprintf(stderr, "Out of memory\n"); + exit(EXIT_FAILURE); + } + } +} + +void CapturingItem::close_device(void) +{ + if (-1 == close(_fd)) + errno_exit("close"); + + _fd = -1; +} diff --git a/app/capturing.h b/app/capturing.h new file mode 100644 index 0000000..599cd5c --- /dev/null +++ b/app/capturing.h @@ -0,0 +1,70 @@ +/* + * Copyright (C) 2019 DENSO TEN Limited + * + * 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. + */ + + +#ifndef CAPTURING_H +#define CAPTURING_H + + +class CapturingItem +{ + +public: + CapturingItem(); + ~CapturingItem(); + int open_device(int dev); + int init_device(void); + void start_capturing(void); + void close_device(void); + unsigned char* snap_frame(void); + int width(void) const + { + return _width; + } + + int height(void) const + { + return _height; + } + + +private: + struct buffer { + void *start; + size_t length; + }; + + std::string _dev_name; + int _fd; + struct buffer *p_buffers; + unsigned int n_buffers; + int _fps_count; + int _framerate; + int _timeout; /* secs */ + int _left; + int _top; + int _width; + int _height; + + void errno_exit(const char *s); + int xioctl(int fh, int request, void *arg); + void uninit_device(void); + void init_read(unsigned int buffer_size); + void init_mmap(void); + void init_userp(unsigned int buffer_size); + int read_frame(void); +}; +#endif /* CAPTURING_H */ diff --git a/app/config.tests/libhomescreen/libhomescreen.cpp b/app/config.tests/libhomescreen/libhomescreen.cpp new file mode 100755 index 0000000..d698b05 --- /dev/null +++ b/app/config.tests/libhomescreen/libhomescreen.cpp @@ -0,0 +1,8 @@ +#include <libhomescreen.hpp> + +int main(int argc,char **argv) +{ + LibHomeScreen libHomeScreen; + return 0; +} + diff --git a/app/config.tests/libhomescreen/libhomescreen.pro b/app/config.tests/libhomescreen/libhomescreen.pro new file mode 100755 index 0000000..eb4e8f3 --- /dev/null +++ b/app/config.tests/libhomescreen/libhomescreen.pro @@ -0,0 +1,5 @@ +SOURCES = libhomescreen.cpp + +CONFIG -= qt +CONFIG += link_pkgconfig +PKGCONFIG += homescreen diff --git a/app/images/HMI_Radiocontrol_Car.png b/app/images/HMI_Radiocontrol_Car.png Binary files differnew file mode 100644 index 0000000..b868dd6 --- /dev/null +++ b/app/images/HMI_Radiocontrol_Car.png diff --git a/app/images/images.qrc b/app/images/images.qrc new file mode 100644 index 0000000..9cce024 --- /dev/null +++ b/app/images/images.qrc @@ -0,0 +1,7 @@ +<RCC> + <qresource prefix="/images"> + <file>HMI_Radiocontrol_Car.png</file> + <file>triangle_front_full.png</file> + <file>triangle_back_full.png</file> + </qresource> +</RCC> diff --git a/app/images/triangle_back_full.png b/app/images/triangle_back_full.png Binary files differnew file mode 100644 index 0000000..bd49f65 --- /dev/null +++ b/app/images/triangle_back_full.png diff --git a/app/images/triangle_front_full.png b/app/images/triangle_front_full.png Binary files differnew file mode 100644 index 0000000..87ef5d3 --- /dev/null +++ b/app/images/triangle_front_full.png diff --git a/app/main.cpp b/app/main.cpp new file mode 100644 index 0000000..5f50323 --- /dev/null +++ b/app/main.cpp @@ -0,0 +1,37 @@ +/* + * Copyright (C) 2019 DENSO TEN Limited + * + * 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 <QtAGLExtras/AGLApplication> +#include <QtQml/QQmlApplicationEngine> +#include "camera.h" + + +int main(int argc, char *argv[]) +{ + AGLApplication app(argc, argv); + app.setApplicationName("AROUNDVIEW"); + app.setupApplicationRole("aroundview"); // fall into "fallback" in windowmanager + + /* Registrate generated class */ + qmlRegisterType<CameraItem>("OpenCV", 1, 0, "Camera0"); + qmlRegisterType<CameraItem>("OpenCV", 1, 0, "Camera1"); + qmlRegisterType<CameraItem>("OpenCV", 1, 0, "Camera2"); + qmlRegisterType<CameraItem>("OpenCV", 1, 0, "Camera3"); + + app.load(QUrl(QStringLiteral("qrc:/AroundView.qml"))); + return app.exec(); + +} diff --git a/aroundview.pro b/aroundview.pro new file mode 100644 index 0000000..579a952 --- /dev/null +++ b/aroundview.pro @@ -0,0 +1,3 @@ +TEMPLATE = subdirs +SUBDIRS = app package +package.depends += app diff --git a/autobuild/agl/autobuild b/autobuild/agl/autobuild new file mode 100755 index 0000000..a14fd78 --- /dev/null +++ b/autobuild/agl/autobuild @@ -0,0 +1,59 @@ +#!/usr/bin/make -f +# Copyright (C) 2015 - 2018 "IoT.bzh" +# Author "Romain Forlot" <romain.forlot@iot.bzh> +# +# 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. + +THISFILE := $(lastword $(MAKEFILE_LIST)) +BUILD_DIR := $(abspath $(dir $(THISFILE))/../../build) +DEST := ${BUILD_DIR} + +.PHONY: all clean distclean configure build package help + +all: help + +help: + @echo "List of targets available:" + @echo "" + @echo "- all" + @echo "- clean" + @echo "- distclean" + @echo "- configure" + @echo "- build: compilation, link and prepare files for package into a widget" + @echo "- package: output a widget file '*.wgt'" + @echo "- install: install in the path specified by the qmake project files" + @echo "" + @echo "Usage: ./autobuild/agl/autobuild package DEST=${HOME}/opt" + @echo "Don't use your build dir as DEST as wgt file is generated at this location" + +clean: + @([ -d ${BUILD_DIR} ] && make -C ${BUILD_DIR} ${CLEAN_ARGS} clean) || echo Nothing to clean + +distclean: + @([ -d ${BUILD_DIR} ] && make -C ${BUILD_DIR} distclean) || echo Nothing to distclean + +configure: + @[ -d ${BUILD_DIR} ] || mkdir -p ${BUILD_DIR} + @[ -f ${BUILD_DIR}/Makefile ] || (cd ${BUILD_DIR} && qmake ${CONFIGURE_ARGS} ..) + +build: configure + @make -C ${BUILD_DIR} ${BUILD_ARGS} all + +package: build + @mkdir -p ${DEST} + @if [ "${DEST}" != "${BUILD_DIR}/$@" ]; then \ + cp ${BUILD_DIR}/$@/*.wgt ${DEST}; \ + fi + +install: build + @make -C ${BUILD_DIR} ${INSTALL_ARGS} install diff --git a/autobuild/linux/autobuild b/autobuild/linux/autobuild new file mode 100755 index 0000000..569d692 --- /dev/null +++ b/autobuild/linux/autobuild @@ -0,0 +1,62 @@ +#!/usr/bin/make -f +# Copyright (C) 2015 - 2018 "IoT.bzh" +# Author "Romain Forlot" <romain.forlot@iot.bzh> +# +# 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. + +THISFILE := $(lastword $(MAKEFILE_LIST)) +BUILD_DIR := $(abspath $(dir $(THISFILE))/../../build) +DEST := ${BUILD_DIR} + +.PHONY: all clean distclean configure build package help update + +all: help + +help: + @echo "List of targets available:" + @echo "" + @echo "- all + @echo "- clean" + @echo "- distclean" + @echo "- configure" + @echo "- build: compilation, link and prepare files for package into a widget" + @echo "- package: output a widget file '*.wgt'" + @echo "- install: install in your defined DEST directory" + @echo "" + @echo "Usage: ./autobuild/agl/autobuild package DEST=${HOME}/opt" + @echo "Don't use your build dir as DEST as wgt file is generated at this location" + + clean: + @([ -d ${BUILD_DIR} ] && make -C ${BUILD_DIR} ${CLEAN_ARGS} clean) || echo Nothing to clean + +distclean: + @[ -d ${DEST} ] && find ${DEST} -name "*.wgt" -delete + @([ -d ${BUILD_DIR} ] && make -C ${BUILD_DIR} distclean) || echo Nothing to distclean + +configure: + @[ -d ${BUILD_DIR} ] || mkdir -p ${BUILD_DIR} + @[ -f ${BUILD_DIR}/Makefile ] || (cd ${BUILD_DIR} && qmake ${CONFIGURE_ARGS} ..) + +build: configure + @make -C ${BUILD_DIR} ${BUILD_ARGS} all + +package: build + @if [ "${DEST}" != "${BUILD_DIR}/$@" ]; then \ + mkdir -p ${DEST} && cp ${BUILD_DIR}/$@/*.wgt ${DEST}; \ + fi + +install: build + @if [ "${DEST}" != "${BUILD_DIR}" ]; then \ + mkdir -p ${DEST} && cp -rf ${BUILD_DIR}/package/root/* ${DEST}; \ + fi + diff --git a/img/aroundview_constitution.png b/img/aroundview_constitution.png Binary files differnew file mode 100644 index 0000000..94333a2 --- /dev/null +++ b/img/aroundview_constitution.png diff --git a/img/aroundview_screenshot.png b/img/aroundview_screenshot.png Binary files differnew file mode 100644 index 0000000..f93c73f --- /dev/null +++ b/img/aroundview_screenshot.png diff --git a/img/icon.png b/img/icon.png Binary files differnew file mode 100644 index 0000000..f4a0cd2 --- /dev/null +++ b/img/icon.png diff --git a/package/config.xml b/package/config.xml new file mode 100644 index 0000000..07e019d --- /dev/null +++ b/package/config.xml @@ -0,0 +1,18 @@ +<?xml version="1.0" encoding="UTF-8"?> +<widget xmlns="http://www.w3.org/ns/widgets" id="aroundview" version="0.1"> + <name>AROUNDVIEW</name> + <icon src="icon.svg"/> + <content src="bin/aroundview" type="application/vnd.agl.native"/> + <description>This is a demo application using openCV</description> + <author>Minori Yasumura</author> + <license>APL 2.0</license> + <feature name="urn:AGL:widget:required-api"> + <param name="windowmanager" value="ws" /> + <param name="homescreen" value="ws" /> + </feature> + <feature name="urn:AGL:widget:required-permission"> + <param name="urn:AGL:permission::public:no-htdocs" value="required" /> + </feature> +</widget> + + diff --git a/package/icon.svg b/package/icon.svg new file mode 100644 index 0000000..411d130 --- /dev/null +++ b/package/icon.svg @@ -0,0 +1,489 @@ +<?xml version="1.0" encoding="UTF-8" standalone="no"?> +<!-- Generator: Adobe Illustrator 21.0.0, SVG Export Plug-In . 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\ No newline at end of file diff --git a/package/package.pro b/package/package.pro new file mode 100644 index 0000000..e378b48 --- /dev/null +++ b/package/package.pro @@ -0,0 +1,19 @@ + +DISTFILES = icon.svg config.xml + +copy_icon.target = $$OUT_PWD/root/icon.svg +copy_icon.depends = $$_PRO_FILE_PWD_/icon.svg +copy_icon.commands = $(COPY_FILE) \"$$replace(copy_icon.depends, /, $$QMAKE_DIR_SEP)\" \"$$replace(copy_icon.target, /, $$QMAKE_DIR_SEP)\" +QMAKE_EXTRA_TARGETS += copy_icon +PRE_TARGETDEPS += $$copy_icon.target + +copy_config.target = $$OUT_PWD/root/config.xml +copy_config.depends = $$_PRO_FILE_PWD_/config.xml +copy_config.commands = $(COPY_FILE) \"$$replace(copy_config.depends, /, $$QMAKE_DIR_SEP)\" \"$$replace(copy_config.target, /, $$QMAKE_DIR_SEP)\" +QMAKE_EXTRA_TARGETS += copy_config +PRE_TARGETDEPS += $$copy_config.target + +wgt.target = package +wgt.commands = wgtpkg-pack -f -o aroundview.wgt root + +QMAKE_EXTRA_TARGETS += wgt |
