summaryrefslogtreecommitdiffstats
path: root/app/camera.cpp
blob: 3ae1e4a1d78f174e07948f47435c8769965817d6 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
/*
 * Copyright (c) 2019 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 = maxID; idx > 2; 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();
}

void Camera::start(int no, int fps, QString res) {
    int retryCount = 0;
    while(!capture->open(no)){
        if(retryCount++==5){
            qDebug()<< "Try to open camera for 5 times failed, give up.";
            return;
        }else{
            qDebug()<< "open camera failed, retry " << retryCount;
            usleep(200000);
        }
    }

    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);
    }
}

void Camera::stop() {
    if (timer->isActive())
        timer->stop();
    if (capture->isOpened()){
        qDebug()<< "release camera.";
        capture->release();
    }
    image = QImage();
    update();
    running = false;
    emit isrunningChanged(running);
}

QVariantList Camera::camranum() const{
    return cam_arr;
}

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();
        }
    }
}