complete driver_camera_rk3399. it's ok.

src/driver/driver_camera_rk3399/main.cpp

@@ -1,5 +1,6 @@
 #include <QCoreApplication>
 #include <thread>
+#include <QMutex>
 
 #include <opencv2/opencv.hpp>
 #include <opencv2/core.hpp>
@@ -13,12 +14,26 @@
 
 #include <QTime>
 
+
+#include <stdio.h>
+#include <unistd.h>
+
+#include <sys/types.h>                      // 下面四个头文件是linux系统编程特有的
+#include <sys/stat.h>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <fcntl.h>
+
+#include <linux/videodev2.h>                // 操作摄像头设备
+
 #include "modulecomm.h"
 #include "rawpic.pb.h"
 #include "xmlparam.h"
 
 #include "ivversion.h"
 
+#define   COUNT   8                       // 缓冲区个数
+
 void * gpa;
 
 int gindex = 0;
@@ -32,7 +47,17 @@ std::string gstrcamera = "";
 
 std::string gmsgname = "usbpic";
 
-std::string gstrdevname = "video0";
+std::string gstrdevname = "/dev/video5";
+
+
+QMutex gMutexRawData;
+char * gRawData;
+int gnLenRaw;
+bool gbUpdate = false;
+
+QMutex gMutexCompress;
+cv::Mat gMatPic;
+bool gbUpdateMat = false;
 
 
 #ifndef CV_CAP_PROP_FRAME_WIDTH
@@ -186,7 +211,126 @@ void VideoThread(int n)
     }
 }
 
-int test()
+void threadCompress()
+{
+    cv::Mat mat1;
+
+    int nserbufsize = 20000000;
+
+    char * strser = new char[nserbufsize];
+
+    while(1)
+    {
+        if(gbUpdateMat == false)
+        {
+            std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        }
+        else
+        {
+            gMutexCompress.lock();
+            gMatPic.copyTo(mat1);
+            gbUpdateMat = false;
+            gMutexCompress.unlock();
+
+            iv::vision::rawpic pic;
+
+            qint64 time = QDateTime::currentMSecsSinceEpoch();
+            QTime xg;
+            xg.start();
+            pic.set_time(time);
+            pic.set_index(gindex);gindex++;
+
+
+            pic.set_elemsize(mat1.elemSize());
+            pic.set_width(mat1.cols);
+            pic.set_height(mat1.rows);
+            pic.set_mattype(mat1.type());
+
+//            cv::Mat matcompress;
+//            cv::resize(mat1,matcompress,cv::Size(640,360));
+
+
+            std::vector<int> param = std::vector<int>(2);
+            param[0] = CV_IMWRITE_JPEG_QUALITY;
+            param[1] = gcompquality; // default(95) 0-100
+            std::vector<unsigned char> buff;
+            if(gcompress == 1)
+            {
+                cv::imencode(".jpg", mat1, buff, param);
+//                cv::imencode(".jpg", matcompress, buff, param);
+                pic.set_picdata(buff.data(),buff.size());
+                buff.clear();
+                pic.set_type(2);
+            }
+            else
+            {
+                pic.set_picdata(mat1.data,mat1.rows*mat1.cols*mat1.elemSize());
+//                pic.set_picdata(matcompress.data,matcompress.rows*matcompress.cols*matcompress.elemSize());
+                pic.set_type(1);
+            }
+
+            int nSize = pic.ByteSize();
+
+  //          char * strser = new char[nSize];
+            bool bser = pic.SerializeToArray(strser,nSize);
+            qDebug("pac time is %d size is %d",xg.elapsed(),nSize);
+
+    //        iv::modulecomm::ModuleSendMsg(gpa,str.data(),str.length());
+            if(bser)iv::modulecomm::ModuleSendMsg(gpa,strser,nSize);
+            else
+            {
+                std::cout<<"usbcamera "<< "serialize error. "<<std::endl;
+            }
+        }
+    }
+}
+
+void threadConvert()
+{
+    char * strRawData = new char[gwidth*gheight*4];
+    int nlen = 0;
+    IplImage *srcImg;
+
+
+    srcImg = cvCreateImage(cvSize(gwidth, gheight), 8, 3);
+    cvZero(srcImg);
+    cv::Mat mat1(cvSize(gwidth, gheight), CV_8UC3,srcImg->imageData) ;//(cvSize(WIDTH, HEIGHT), CV_8UC3);//, frame.imageData);;
+    while(1)
+    {
+        if(gbUpdate == false)
+        {
+            std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        }
+        else
+        {
+            gMutexRawData.lock();
+            nlen = gnLenRaw;
+            memcpy(strRawData,gRawData,gnLenRaw);
+            gbUpdate = false;
+            gMutexRawData.unlock();
+
+            if(nlen > 0)
+            {
+                QTime x;
+                x.start();
+                cv::cvtColor(cv::Mat(gheight * 3 / 2, gwidth, CV_8U,strRawData), mat1,
+                             cv::COLOR_YUV2BGR_NV12);
+                qDebug(" 2rgb tims is %d",x.elapsed());
+
+
+                gMutexCompress.lock();
+                mat1.copyTo(gMatPic);
+                gbUpdateMat = true;
+                gMutexCompress.unlock();
+
+
+
+            }
+        }
+    }
+}
+
+int threadcapture()
 {
     unsigned char *datas[COUNT];            // 缓冲区数据地址
     int ret, i;
@@ -203,9 +347,9 @@ int test()
     /* 第二步：设置捕捉图片帧格式 */
     struct v4l2_format format;
     format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE; //V4L2_BUF_TYPE_VIDEO_CAPTURE;  // 操作类型为获取图片
-    format.fmt.pix.width = WIDTH;               // 图片的宽度
-    format.fmt.pix.height = HEIGHT;             // 图片的高度
-    format.fmt.pix.pixelformat = FMT;           // 图片格式
+    format.fmt.pix.width = gwidth;               // 图片的宽度
+    format.fmt.pix.height = gheight;             // 图片的高度
+    format.fmt.pix.pixelformat = V4L2_PIX_FMT_NV12;           // 图片格式
     format.fmt.pix_mp.field = V4L2_FIELD_NONE; // 逐行扫描
     ret = ioctl(fd, VIDIOC_S_FMT, &format);     // 进行设置(Set)
     if (-1 == ret)
@@ -223,7 +367,7 @@ int test()
         close(fd);
         return -3;
     }
-    if (format.fmt.pix.pixelformat == FMT)
+    if (format.fmt.pix.pixelformat == V4L2_PIX_FMT_NV12)
     {
         printf("ioctl VIDIOC_S_FMT sucessful\n");
     }
@@ -321,14 +465,15 @@ int test()
 
 
 
-        srcImg = cvCreateImage(cvSize(WIDTH, HEIGHT), 8, 3);
+        srcImg = cvCreateImage(cvSize(gwidth, gheight), 8, 3);
         cvZero(srcImg);
-        cv::Mat destination(cvSize(WIDTH, HEIGHT), CV_8UC3,srcImg->imageData) ;//(cvSize(WIDTH, HEIGHT), CV_8UC3);//, frame.imageData);;
+        cv::Mat destination(cvSize(gwidth, gheight), CV_8UC3,srcImg->imageData) ;//(cvSize(WIDTH, HEIGHT), CV_8UC3);//, frame.imageData);;
 
     int k;
-    int nlen = WIDTH * HEIGHT *3;
-    char * strRGB = new char[nlen];
-    for(k=0;k<100000;k++)
+    int nlen = gwidth * gheight *3;
+
+//    for(k=0;k<100000;k++)
+    while(1)
     {
         struct v4l2_buffer buf;
         memset(&buf, 0, sizeof(buf));
@@ -348,44 +493,26 @@ int test()
             return -8;
         }
 
-        qDebug("index is %d",buff.index);
-        QTime x;
-        x.start();
-  //      nv122rgb((char *)datas[buff.index],strRGB,nlen/3);
-
- //       nv122rgb((char *)datas[buff.index],(unsigned char *)srcImg->imageData,nlen/3);
+        gMutexRawData.lock();
+        memcpy(gRawData,(char *)datas[buff.index],gheight*gwidth*3/2);
+        gbUpdate = true;
+        gnLenRaw = gheight * gwidth *3/2;
+        gMutexRawData.unlock();
 
-
-        cv::cvtColor(cv::Mat(HEIGHT * 3 / 2, WIDTH, CV_8U,(char *)datas[buff.index]), destination,
-                     cv::COLOR_YUV2BGR_NV12);
- //       clipNv12ToJpgFile("/home/linaro/code/common/testv4l2/1.jpg",datas[buff.index],WIDTH,HEIGHT);
- //       NV12_To_RGB(WIDTH,HEIGHT,datas[buff.index],(unsigned char *)srcImg->imageData);
-        qDebug(" 2rgb tims is %d",x.elapsed());
+        qDebug("index is %d",buff.index);
+//        QTime x;
+//        x.start();
+//        cv::cvtColor(cv::Mat(gheight * 3 / 2, gwidth, CV_8U,(char *)datas[buff.index]), destination,
+//                     cv::COLOR_YUV2BGR_NV12);
+//        qDebug(" 2rgb tims is %d",x.elapsed());
         ioctl(fd, VIDIOC_QBUF, &buff);
         qDebug("%d:%ld",k,QDateTime::currentMSecsSinceEpoch());
 
-        cvNamedWindow("YUV2RGB", 1);
-        IplImage * img;
-//        *img = destination;
- //       *img = IplImage(destination);
-
-//        cvShowImage("YUV2RGB", img);
-  //      cvShowImage("YUV2RGB", &destination);
-        cvShowImage("YUV2RGB", srcImg);
-        cvWaitKey(1);
+//        cvNamedWindow("YUV2RGB", 1);
+//        cvShowImage("YUV2RGB", srcImg);
+//        cvWaitKey(1);
     }
 
-    /* 第八步：从退出队列的缓冲区中获取数据并保存到文件中 */
-    FILE *fl;
-    fl = fopen("./my.yuyv", "w");
-    if (NULL == fl)
-    {
-        fprintf(stderr, "open write file failed.");
-    }
-    fwrite(datas[buff.index], buff.bytesused, 1, fl);
-
-    fclose(fl);                                 // 记得关闭已打开的文件
-    close(fd);                                  // 记得关闭已打开的设备
     return 0;
 }
 
@@ -393,19 +520,20 @@ int test()
 
 int main(int argc, char *argv[])
 {
-    showversion("driver_camera_usb");
+    showversion("driver_camera_rk3399");
     QCoreApplication a(argc, argv);
 
+    gRawData = new char[20000000];
     QString strpath = QCoreApplication::applicationDirPath();
 //    QString apppath = strpath;
     if(argc < 2)
-        strpath = strpath + "/driver_camera_usb.xml";
+        strpath = strpath + "/driver_camera_rk3399.xml";
     else
         strpath = argv[1];
     std::cout<<strpath.toStdString()<<std::endl;
     iv::xmlparam::Xmlparam xp(strpath.toStdString());
 
-    std::string xmlmsgname = xp.GetParam("msgname","compresspic");
+    std::string xmlmsgname = xp.GetParam("msgname","image00");
     gmsgname = xmlmsgname;
     std::string strwidth = xp.GetParam("width","1280");
     std::string strheight = xp.GetParam("height","720");
@@ -414,7 +542,7 @@ int main(int argc, char *argv[])
     std::string strcompquality = xp.GetParam("compquality","95");
     gcompquality = atoi(strcompquality.data());
 
-    gstrcamera = xp.GetParam("cameraname","video0");
+    gstrcamera = xp.GetParam("cameraname","/dev/video5");
 
     gwidth = atoi(strwidth.data());
     gheight = atoi(strheight.data());
@@ -422,7 +550,15 @@ int main(int argc, char *argv[])
     gcompress = atoi(strcompress.data());
 
     gpa = iv::modulecomm::RegisterSend(gmsgname.data(),20000000,1);
-    std::thread * mthread = new std::thread(VideoThread,0);
+    std::thread * mthread =  new  std::thread(threadcapture) ;//new std::thread(VideoThread,0);
+
+    std::thread * conthread = new std::thread(threadConvert);
+
+    std::thread * compressthread = new std::thread(threadCompress);
+
+    (void)mthread;
+    (void)conthread;
+    (void)compressthread;
 
     return a.exec();
 }

src/tool/picview/mainwindow.cpp

@@ -5,7 +5,7 @@
 
 #include <opencv2/imgproc.hpp>
 
-#include "opencv2/imgcodecs/legacy/constants_c.h"
+//#include "opencv2/imgcodecs/legacy/constants_c.h"
 #include <opencv2/imgproc/types_c.h>
 
 #include "xmlparam.h"

src/tool/picview/picview.pro

@@ -70,3 +70,5 @@ contains(QMAKE_HOST.arch, aarch64){
     error( "Couldn't find the ivpcl.pri file!" )
 }
 
+INCLUDEPATH += /home/linaro/opencv3
+