参考自：
https://www.cnblogs.com/surpassal/archive/2012/12/19/zed_webcam_lab1.html
https://www.cnblogs.com/liusiluandzhangkun/p/8690604.html
https://blog.csdn.net/wr132/article/details/54428144
这里默认安装了基本的环境，比如v4l2 qt opencv等其他所需依赖
一、zbar编译安装
打开zbar的官网，
http://zbar.sourceforge.net/
点击download后
下载源码
下载回来是zbar-0.10.tar.bz2
解压到随便一个地方
tar -xzvf zbar-0.10.tar.bz2 ./然后切换到zbar-0.10的目录里面
cd zbar-0.10如果直接运行./configure会报错找不到构建目标平台，这里指定目标平台，加速编译去掉不要的组件
./configure --build=arm --without-gtk --without-qt --without-imagemagick --without-python --disable-video
还能用–prefix来指定安目录，这里默认安装路径
配置完成后
make -j4
sudo make install这样就安装完成了
二、工程构建
这里先配置好qt的zed_YUV_camera_prj.pro文件
######################################################################
# Automatically generated by qmake (3.1) Mon Jun 22 15:37:04 2020
######################################################################
QT += core gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
TEMPLATE = app
TARGET = zed_YUV_camera_prj
INCLUDEPATH += .
# The following define makes your compiler warn you if you use any
# feature of Qt which has been marked as deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS
# You can also make your code fail to compile if you use deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
# Input
HEADERS += common.h videodevice.h widget.h ui_widget.h
SOURCES += main.cpp videodevice.cpp widget.cpp
INCLUDEPATH+= ./ \
/usr/local/include \
/usr/local/include/opencv \
/usr/local/include/opencv2
LIBS+= /usr/local/lib/libopencv_highgui.so \
/usr/local/lib/libopencv_core.so \
/usr/local/lib/libopencv_imgproc.so \
/usr/local/lib/libopencv_imgcodecs.so \
/usr/local/lib/libopencv_shape.so \
/usr/lib/aarch64-linux-gnu/libzbar.so
这里包含了头文件的目录，和动态库的路径，根据自己的更改即可
然后是头文件 common.h 一些宏定义
#ifndef COMMON_H
#define COMMON_H
// definitions
#define BYTE unsigned char
#define SBYTE signed char
#define SWORD signed short int
#define WORD unsigned short int
#define DWORD unsigned long int
#define SDWORD signed long int
#define IMG_WIDTH 640
#define IMG_HEIGTH 480
#endif // COMMON_H
main.cpp文件
#include <QApplication>
#include "widget.h"
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
Widget w;
w.show();
return a.exec();
}
v4l2相机操作的类 头文件 videodevice.h
#ifndef VIDEODEVICE_H
#define VIDEODEVICE_H
//#include <errno.h>
#include <QString>
#include <QObject>
#include <QTextCodec>
#define CLEAR(x) memset(&(x), 0, sizeof(x))
class VideoDevice : public QObject
{
Q_OBJECT
public:
VideoDevice(QString dev_name);
~VideoDevice();
int get_frame(unsigned char ** yuv_buffer_pointer, unsigned int * len);
int unget_frame();
void setExposureAbs(int exposureAbs);// unit per 100us
void getExposureAbs();
void setExposureLevel(int exposurelevel);
void getExposureLevel();
void setExposureMode(int exposureMode);// 1 手动曝光模式 0 auto曝光模式
void getExposureMode();
int stop_capturing();
int start_capturing();
private:
int open_device();
int init_device();
int init_mmap();
int uninit_device();
int close_device();
struct buffer
{
void * start;
unsigned int length;
};
QString dev_name;
int fd;//video0 file
buffer* buffers;
unsigned int n_buffers;
int index;
signals:
//void display_error(QString);
};
#endif // VIDEODEVICE_H
v4l2相机操作的类 videodevice.cpp
#include "videodevice.h"
#include "common.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <asm/types.h>
#include <linux/videodev2.h>
#include "unistd.h"
#define FILE_VIDEO "/dev/video0"
#define TRUE 1
#define FALSE 0
VideoDevice::VideoDevice(QString dev_name)
{
this->dev_name = dev_name;
this->fd = -1;
this->buffers = NULL;
this->n_buffers = 0;
this->index = -1;
if(open_device() == FALSE)
{
close_device();
}
if(init_device() == FALSE)
{
close_device();
}
if(start_capturing() == FALSE)
{
stop_capturing();
close_device();
printf("start capturing is faile!\n");
}
}
VideoDevice::~VideoDevice()
{
if(stop_capturing() == FALSE)
{
}
if(uninit_device() == FALSE)
{
}
if(close_device() == FALSE)
{
}
}
int VideoDevice::open_device()
{
fd = open(FILE_VIDEO,O_RDWR);
if(fd == -1)
{
printf("Error opening V4L interface\n");
return FALSE;
}
return TRUE;
}
int VideoDevice::close_device()
{
if( close(fd) == FALSE)
{
printf("Error closing V4L interface\n");
return FALSE;
}
return TRUE;
}
int VideoDevice::init_device()
{
v4l2_capability cap;
v4l2_format fmt;
v4l2_streamparm setfps;
if(ioctl(fd, VIDIOC_QUERYCAP, &cap) == -1)
{
printf("Error opening device %s: unable to query device.\n",FILE_VIDEO);
return FALSE;
}
else
{
printf("driver:\t\t%s\n",cap.driver);
printf("card:\t\t%s\n",cap.card);
printf("bus_info:\t%s\n",cap.bus_info);
printf("version:\t%d\n",cap.version);
printf("capabili ties:\t%x\n",cap.capabilities);
if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == V4L2_CAP_VIDEO_CAPTURE)
{
printf("Device %s: supports capture.\n",FILE_VIDEO);
}
if ((cap.capabilities & V4L2_CAP_STREAMING) == V4L2_CAP_STREAMING)
{
printf("Device %s: supports streaming.\n",FILE_VIDEO);
}
}
//set fmt
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
//fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG;
fmt.fmt.pix.height = 240;
fmt.fmt.pix.width = 320;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
if(ioctl(fd, VIDIOC_S_FMT, &fmt) == -1)
{
printf("Unable to set format\n");
return FALSE;
}
if(ioctl(fd, VIDIOC_G_FMT, &fmt) == -1)
{
printf("Unable to get format\n");
return FALSE;
}
printf("fmt.type:\t\t%d\n",fmt.type);
printf("pix.pixelformat:\t%c%c%c%c\n",fmt.fmt.pix.pixelformat & 0xFF, (fmt.fmt.pix.pixelformat >> 8) & 0xFF,(fmt.fmt.pix.pixelformat >> 16) & 0xFF, (fmt.fmt.pix.pixelformat >> 24) & 0xFF);
printf("pix.height:\t\t%d\n",fmt.fmt.pix.height);
printf("pix.width:\t\t%d\n",fmt.fmt.pix.width);
printf("pix.field:\t\t%d\n",fmt.fmt.pix.field);
//set fps
setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
setfps.parm.capture.timeperframe.numerator = 1;
setfps.parm.capture.timeperframe.denominator = 60;
if(ioctl(fd, VIDIOC_S_PARM, &setfps) == -1)
{
printf("Unable to set frame rate\n");
return FALSE;
}
else
{
printf("set fps OK!\n");
}
if(ioctl(fd, VIDIOC_G_PARM, &setfps) == -1)
{
printf("Unable to get frame rate\n");
return FALSE;
}
else
{
printf("get fps OK!\n");
printf("timeperframe.numerator:\t%d\n",setfps.parm.capture.timeperframe.numerator);
printf("timeperframe.denominator:\t%d\n",setfps.parm.capture.timeperframe.denominator);
}
//setExposureMode(1);
//setExposureAbs(85);
//setExposureMode(1);
//setExposureMode(0);
//setExposureAbs(1);
//mmap
if(init_mmap() == FALSE )
{
printf("cannot mmap!\n");
return FALSE;
}
return TRUE;
}
int VideoDevice::init_mmap()
{
v4l2_requestbuffers req;
//2
req.count = 4;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
//printf("1\n");
if(ioctl(fd, VIDIOC_REQBUFS, &req) == -1)
{
printf("request for buffers error\n");
return FALSE;
}
//printf("2\n");
if(req.count < 2)
{
return FALSE;
}
//printf("3\n");
buffers = (buffer*)calloc(req.count, sizeof(*buffers));
if(!buffers)
{
return FALSE;
}
//printf("4\n");
for(n_buffers = 0; n_buffers < req.count; n_buffers++)
{
v4l2_buffer buf;
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
if(ioctl(fd, VIDIOC_QUERYBUF, &buf) == -1)
{
return FALSE;
}
//printf("5\n");
buffers[n_buffers].length = buf.length;
buffers[n_buffers].start =
mmap(NULL, // start anywhere// allocate RAM*4
buf.length,
PROT_READ | PROT_WRITE,
MAP_SHARED,
fd, buf.m.offset);
if(MAP_FAILED == buffers[n_buffers].start)
{
printf("buffer map error\n");
return FALSE;
}
}
//printf("6\n");
return TRUE;
}
int VideoDevice::start_capturing()
{
unsigned int i;
for(i = 0; i < 4; i++)
{
v4l2_buffer buf;
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory =V4L2_MEMORY_MMAP;
buf.index = i;
if(-1 == ioctl(fd, VIDIOC_QBUF, &buf))
{
return FALSE;
}
}
v4l2_buf_type type;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if(-1 == ioctl(fd, VIDIOC_STREAMON, &type))
{
return FALSE;
}
return TRUE;
}
int VideoDevice::stop_capturing()
{
v4l2_buf_type type;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if(ioctl(fd, VIDIOC_STREAMOFF, &type) == -1)
{
return FALSE;
}
/*
if(fd != -1)
{
close(fd);
return (TRUE);
}
*/
return TRUE;
}
int VideoDevice::uninit_device()
{
unsigned int i;
for(i = 0; i < n_buffers; ++i)
{
if(-1 == munmap(buffers[i].start, buffers[i].length))
{
printf("munmap error\n");
return FALSE;
}
}
delete buffers;
return TRUE;
}
int VideoDevice::get_frame(unsigned char ** yuv_buffer_pointer, unsigned int * len)
{
v4l2_buffer queue_buf;
//printf("get frame 1\n");
queue_buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
queue_buf.memory = V4L2_MEMORY_MMAP;
if(ioctl(fd, VIDIOC_DQBUF, &queue_buf) == -1)
{
return FALSE;
}
*yuv_buffer_pointer = (unsigned char *)buffers[queue_buf.index].start;
*len = buffers[queue_buf.index].length;
index = queue_buf.index;
//printf("get frame 2\n");
return TRUE;
}
int VideoDevice::unget_frame()
{
if(index != -1)
{
v4l2_buffer queue_buf;
queue_buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
queue_buf.memory = V4L2_MEMORY_MMAP;
queue_buf.index = index;
if(ioctl(fd, VIDIOC_QBUF, &queue_buf) == -1)
{
return FALSE;
}
return TRUE;
}
return FALSE;
}
void VideoDevice::getExposureMode()
{
int ret;
struct v4l2_control ctrl;
//得到曝光模式
ctrl.id = V4L2_CID_EXPOSURE_AUTO;
ret = ioctl(fd, VIDIOC_G_CTRL, &ctrl);
if (ret < 0)
{
printf("Get exposure Mode failed\n");
//return V4L2_UTILS_GET_EXPSURE_AUTO_TYPE_ERR;
}
else
{
printf("\nGet Exposure Mode:[%d]\n", ctrl.value);
}
}
// 1 手动曝光模式 0 auto曝光模式
void VideoDevice::setExposureMode(int exposureMode)
{
int ret;
struct v4l2_control ctrl;
ctrl.id = V4L2_CID_EXPOSURE_AUTO;
if(exposureMode == 0)
{
ctrl.value = V4L2_EXPOSURE_APERTURE_PRIORITY; //V4L2_EXPOSURE_AUTO;//auto曝光模式
}
else
{
ctrl.value = V4L2_EXPOSURE_MANUAL;//手动曝光模式
}
ret = ioctl(fd, VIDIOC_S_CTRL, &ctrl);
if (ret < 0)
{
printf("Set exposure Mode failed\n");
//return V4L2_UTILS_SET_EXPSURE_AUTO_TYPE_ERR;
}
else
{
printf("\nSet Exposure Mode Success :[%d]\n", ctrl.value);
}
}
void VideoDevice::getExposureLevel()
{
int ret;
struct v4l2_control ctrl;
ctrl.id = V4L2_CID_EXPOSURE;//得到曝光档次，A20接受从 -4到4 共9个档次
ret = ioctl(fd, VIDIOC_G_CTRL, &ctrl);
if (ret < 0)
{
printf("Get exposure Level failed (%d)\n", ret);
//return V4L2_UTILS_GET_EXPSURE_ERR;
}
else
{
printf("\nGet Exposure Level :[%d]\n", ctrl.value);
}
}
void VideoDevice::setExposureLevel(int exposurelevel)
{
int ret;
struct v4l2_control ctrl;
//设置曝光档次
ctrl.id = V4L2_CID_EXPOSURE;
ctrl.value = exposurelevel;
ret = ioctl(fd, VIDIOC_S_CTRL, &ctrl);
if (ret < 0)
{
printf("Set exposure level failed (%d)\n", ret);
//return V4L2_UTILS_SET_EXPSURE_ERR;
}
else
{
printf("\nSet exposure level Success:[%d]\n", ctrl.value);
}
}
void VideoDevice::getExposureAbs()
{
int ret;
struct v4l2_control ctrl;
ctrl.id = V4L2_CID_EXPOSURE_ABSOLUTE;
ret = ioctl(fd, VIDIOC_G_CTRL, &ctrl);
if (ret < 0)
{
printf("Get exposure Abs failed (%d)\n", ret);
//return V4L2_UTILS_SET_EXPSURE_ERR;
}
else
{
printf("\nGet exposure ABS Success:[%d]\n", ctrl.value);
}
}
void VideoDevice::setExposureAbs(int exposureAbs)
{
int ret;
struct v4l2_control ctrl;
//设置曝光绝对值
ctrl.id = V4L2_CID_EXPOSURE_ABSOLUTE;
ctrl.value = exposureAbs; //单位100us
ret = ioctl(fd, VIDIOC_S_CTRL, &ctrl);
if (ret < 0)
{
printf("Set exposure Abs failed (%d)\n", ret);
//return V4L2_UTILS_SET_EXPSURE_ERR;
}
else
{
printf("\nSet exposure Abs Success:[%d]\n", ctrl.value);
}
}
这里分辨根据自己相机支持的分辨率来设置，我的相机选320*240能够上到120fps，具体是这几个参数，实际支持参数可以通过v4l2的命令行查看，注意-d2这个参数，2是指设备/dev/video2,按你自己的相机设备号来。
v4l2-ctl -d2 --list-formats-ext高帧数的话只能用mjpeg模式
//fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG;
fmt.fmt.pix.height = 240;
fmt.fmt.pix.width = 320;qt窗口类 具体实现 头文件 widget.h
#ifndef WIDGET_H
#define WIDGET_H
#include <QWidget>
#include <QLabel>
#include <QTime>
#include <QPainter>
#include <QLineEdit>
#include "videodevice.h"
#include <string>
#include <exception>
#include <zbar.h>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
using namespace cv;
using namespace zbar;
using namespace std;
//定义一个结构体用于存储每个码
typedef struct
{
string type;
string data;
vector <Point> location;
}decodedObject;
namespace Ui {
class Widget;
}
class Widget : public QWidget
{
Q_OBJECT
public:
explicit Widget(QWidget *parent = 0);
~Widget();
private:
Ui::Widget *ui;
QImage *frame;
QLabel *tp;
QByteArray *aa;
QPixmap *pix;
int rs;
unsigned int len;
int convert_yuv_to_rgb_buffer();
void print_quartet(unsigned int i);
VideoDevice *vd;
FILE * yuvfile;
unsigned char rgb_buffer[640*480*3];
unsigned char * yuv_buffer_pointer;
char Y_frame[640*480*2+600];
int writejpg();
cv::Mat scancoder(cv::Mat &image);
QPixmap cvMatToQPixmap(const cv::Mat &inMat);
cv::Mat QImage_to_cvMat( const QImage &image, bool inCloneImageData = true );
QImage cvMat_to_QImage(const cv::Mat &mat );
// 展示码
void display(Mat &im, vector<decodedObject>&decodedObjects);
// 对图像进行码检测
void decode(Mat &im, vector<decodedObject>&decodedObjects);
private slots:
void on_pushButton_start_clicked();
void paintEvent(QPaintEvent *);
void on_changeex_clicked();
void on_changesize_clicked();
//void on_pushButton_changeExposure();
};
#endif // WIDGET_H
qt窗口类 具体实现 widget.cpp
#include "ui_widget.h"
#include "widget.h"
#include "common.h"
#include "videodevice.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <stdlib.h>
#include <sys/mman.h>
#include <linux/types.h>
#include <linux/videodev2.h>
#define TOTALFRAMES 151
#define CAPTURE_IDLE 0
#define CAPTURE_START 1
#define CAPTURE_STOP 2
#define CAPTURE_COMPRESS 3
char last_state = 2;
char state = 0;
long framecnt=0;
char yuvfilename[11] = {'r','c','q','0','0','0','.','j','p','g','\0'};
static QTime timec;
static int framesc = 0;
static bool started = false;
static bool multi = false;
int imagesizes = 500;
QString m_current_fps;
//二维码检测和识读
vector<decodedObject> decodedObjects;
typedef struct tagBITMAPFILEHEADER{
unsigned short bfType; // the flag of bmp, value is "BM"
unsigned long bfSize; // size BMP file ,unit is bytes
unsigned long bfReserved; // 0
unsigned long bfOffBits; // must be 54
}BITMAPFILEHEADER;
typedef struct tagBITMAPINFOHEADER{
unsigned long biSize; // must be 0x28
unsigned long biWidth; //
unsigned long biHeight; //
unsigned short biPlanes; // must be 1
unsigned short biBitCount; //
unsigned long biCompression; //
unsigned long biSizeImage; //
unsigned long biXPelsPerMeter; //
unsigned long biYPelsPerMeter; //
unsigned long biClrUsed; //
unsigned long biClrImportant; //
}BITMAPINFOHEADER;
BITMAPFILEHEADER bf;
BITMAPINFOHEADER bi;
QMatrix matrix;
Widget::Widget(QWidget *parent) :
QWidget(parent),
ui(new Ui::Widget)
{
matrix.rotate(180);
//Set BITMAPINFOHEADER
bi.biSize = 40;
bi.biWidth = IMG_WIDTH;
bi.biHeight = IMG_HEIGTH;
bi.biPlanes = 1;
bi.biBitCount = 24;
bi.biCompression = 0;
bi.biSizeImage = IMG_WIDTH*IMG_HEIGTH*3;
bi.biXPelsPerMeter = 3780;
bi.biYPelsPerMeter = 3780;
bi.biClrUsed = 0;
bi.biClrImportant = 0;
//Set BITMAPFILEHEADER
bf.bfType = 0x4d42;
bf.bfSize = 54 + bi.biSizeImage;
bf.bfReserved = 0;
bf.bfOffBits = 54;
ui->setupUi(this);
vd = new VideoDevice(tr("/dev/video1"));
rs = vd->unget_frame();
frame = new QImage(rgb_buffer,640,480,QImage::Format_RGB888);
aa = new QByteArray();
pix = new QPixmap();
}
Widget::~Widget()
{
delete ui;
//delete frame;
//delete [] Y_frame;
//delete [] Cr_frame;
//delete [] Cb_frame;
}
void Widget::paintEvent(QPaintEvent *)
{
rs = vd->get_frame((unsigned char **)(&yuv_buffer_pointer),&len);
if(last_state==2 && state == 0)
{
yuvfile = fopen(yuvfilename,"wb+");
yuvfilename[5]++;
}
if(state == 1)
{
rs = writejpg();
printf("writejpg\n");
}
if(last_state==1 && state==2)
{
fwrite(Y_frame, len, 1, yuvfile);
fclose(yuvfile);
}
last_state=state;
//MJPEG
//qpixmap
//pix->loadFromData(yuv_buffer_pointer,len);
//ui->label->setPixmap(*pix);
//qimage
//frame->loadFromData(yuv_buffer_pointer,len);
//ui->label->setPixmap(QPixmap::fromImage(*frame));
frame->loadFromData(yuv_buffer_pointer,len);
QImage swapped = *frame;
Mat images = QImage_to_cvMat(swapped);
int new_width,new_height,width,height,channel;
width=images.cols;
height=images.rows;
channel=images.channels();
//调整图像大小
new_width=imagesizes;
new_height=int(new_width*1.0/width*height);
cv::resize(images, images, cv::Size(new_width, new_height));
scancoder(images);
QImage xii = cvMat_to_QImage(images);
ui->label->setPixmap(QPixmap::fromImage(xii));//cvMatToQPixmap(image)
rs = vd->unget_frame();
QPainter painter(this);
if (!started || timec.elapsed() > 1000) {
qreal fps = framesc * 1000. / timec.elapsed();
if (fps == 0)
m_current_fps = "counting fps...";
else
m_current_fps = QString::fromLatin1("%3 FPS").arg((int) qRound(fps));
timec.start();
started = true;
framesc = 0;
//printf("fps %f\n",fps);
} else {
++framesc;
ui->fpslabel->setText(m_current_fps);
}
}
int Widget::writejpg()
{
int x,y;
long int index1 =0;
if (yuv_buffer_pointer[0] == '\0')
{
return -1;
}
for(x=0;x<len;x++)
{
Y_frame[x]=yuv_buffer_pointer[x];
}
printf("writed frame %ld\n",framecnt);
return 0;
}
/*yuv格式转换为rgb格式*/
int Widget::convert_yuv_to_rgb_buffer()
{
unsigned long in, out = 640*480*3 - 1;
int y0, u, y1, v;
int r, g, b;
for(in = 0; in < IMG_WIDTH * IMG_HEIGTH * 2; in += 4)
{
y0 = yuv_buffer_pointer[in + 0];
u = yuv_buffer_pointer[in + 1];
y1 = yuv_buffer_pointer[in + 2];
v = yuv_buffer_pointer[in + 3];
r = y0 + (1.370705 * (v-128));
g = y0 - (0.698001 * (v-128)) - (0.337633 * (u-128));
b = y0 + (1.732446 * (u-128));
if(r > 255) r = 255;
if(g > 255) g = 255;
if(b > 255) b = 255;
if(r < 0) r = 0;
if(g < 0) g = 0;
if(b < 0) b = 0;
rgb_buffer[out--] = r;
rgb_buffer[out--] = g;
rgb_buffer[out--] = b;
r = y1 + (1.370705 * (v-128));
g = y1 - (0.698001 * (v-128)) - (0.337633 * (u-128));
b = y1 + (1.732446 * (u-128));
if(r > 255) r = 255;
if(g > 255) g = 255;
if(b > 255) b = 255;
if(r < 0) r = 0;
if(g < 0) g = 0;
if(b < 0) b = 0;
rgb_buffer[out--] = r;
rgb_buffer[out--] = g;
rgb_buffer[out--] = b;
}
return 0;
}
void Widget::on_pushButton_start_clicked()
{
switch(state)
{
case 0:
{
ui->pushButton_start->setText("stop");
state = 1;
break;
}
case 1:
{
ui->pushButton_start->setText("compress");
state = 2;
break;
}
case 2:
{
ui->pushButton_start->setText("start");
framecnt=0;
state = 0;
break;
}
default :break;
}
}
void Widget::on_changeex_clicked()
{
QString strtext = ui->edit->text();
int a = strtext.toInt();
vd->stop_capturing();
vd->setExposureMode(1);
vd->setExposureAbs(a);
vd->start_capturing();
}
void Widget::on_changesize_clicked()
{
QString strtext = ui->sizeedit->text();
int a = strtext.toInt();
imagesizes = a;
}
// 对图像进行码检测
void Widget::decode(Mat &im, vector<decodedObject>&decodedObjects)
{
// 创建zbar扫码器
ImageScanner scanner;
// 配置扫码器参数
scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);//ZBAR_NONE表示针对所有码进行检测（ZBAR_QRCODE表示只检测二维码）
// 将图像转换为灰度图
Mat imGray;
cvtColor(im, imGray,COLOR_BGR2GRAY);
// 将图像转换为zbar图像格式，即Y800格式
Image image(im.cols, im.rows, "Y800", (uchar *)imGray.data, im.cols * im.rows);
// 开始扫码
int n = scanner.scan(image);
// 输出扫码结果
for(Image::SymbolIterator symbol = image.symbol_begin(); symbol != image.symbol_end(); ++symbol)
{
decodedObject obj;
obj.type = symbol->get_type_name();//码类型
obj.data = symbol->get_data();//码解析字符串
// 输出结果至控制台
//printf( "类型 : %s", obj.type);
//printf( " 解码内容 : %s\n", obj.data);
// Draw text
putText(im, obj.data, Point(symbol->get_location_x(2),symbol->get_location_y(2)), FONT_HERSHEY_PLAIN, 1, Scalar( 110, 220, 0 ));
// 获取码的定位坐标
for(int i = 0; i< symbol->get_location_size(); i++)
{
obj.location.push_back(Point(symbol->get_location_x(i),symbol->get_location_y(i)));
}
//每个检测结果存储于decodedObjects变量
decodedObjects.push_back(obj);
}
}
// 展示码
void Widget::display(Mat &im, vector<decodedObject>&decodedObjects)
{
// 循环每一个码
for(int i = 0; i < decodedObjects.size(); i++)
{
vector<Point> points = decodedObjects[i].location;
vector<Point> hull;//多边形
// 如果超过4个点，则采用多边形进行外接框绘制
if(points.size() > 4)
convexHull(points, hull);
else
hull = points;
// 获取多边形点的个数
int n = hull.size();
for(int j = 0; j < n; j++)
{
line(im, hull[j], hull[ (j+1) % n], Scalar(255,0,0), 3);
}
}
// 显示结果
//imshow("Results", im);
//waitKey(0);
}
cv::Mat Widget::scancoder(cv::Mat &image)
{
decode(image, decodedObjects);
display(image, decodedObjects);
decodedObjects.clear();
return image.clone();
}
QImage Widget::cvMat_to_QImage(const cv::Mat &mat ) {
/* switch ( mat.type() )
{
// 8-bit, 4 channel
case CV_8UC4:
{
QImage image( mat.data, mat.cols, mat.rows, mat.step, QImage::Format_RGB32 );
return image;
}
// 8-bit, 3 channel
case CV_8UC3:
{
QImage image( mat.data, mat.cols, mat.rows, mat.step, QImage::Format_RGB888 );
return image.rgbSwapped();
}
// 8-bit, 1 channel
case CV_8UC1:
{
static QVector<QRgb> sColorTable;
// only create our color table once
if ( sColorTable.isEmpty() )
{
for ( int i = 0; i < 256; ++i )
sColorTable.push_back( qRgb( i, i, i ) );
}
QImage image( mat.data, mat.cols, mat.rows, mat.step, QImage::Format_Indexed8 );
image.setColorTable( sColorTable );
return image;
}
default:
printf("Image format is not supported: depth=%d and %d channels\n", mat.depth(), mat.channels());
//qDebug("Image format is not supported: depth=%d and %d channels\n", mat.depth(), mat.channels());
break;
}
return QImage();
*/
// 8-bits unsigned, NO. OF CHANNELS = 1
if(mat.type() == CV_8UC1)
{
QImage image(mat.cols, mat.rows, QImage::Format_Indexed8);
// Set the color table (used to translate colour indexes to qRgb values)
static QVector<QRgb> sColorTable;
// only create our color table once
if ( sColorTable.isEmpty() )
{
for ( int i = 0; i < 256; ++i )
sColorTable.push_back( qRgb( i, i, i ) );
}
image.setColorTable( sColorTable );
// Copy input Mat
uchar *pSrc = mat.data;
for(int row = 0; row < mat.rows; row ++)
{
uchar *pDest = image.scanLine(row);
memcpy(pDest, pSrc, mat.cols);
pSrc += mat.step;
}
return image;
}
// 8-bits unsigned, NO. OF CHANNELS = 3
else if(mat.type() == CV_8UC3)
{
// Copy input Mat
const uchar *pSrc = (const uchar*)mat.data;
// Create QImage with same dimensions as input Mat
QImage image(pSrc, mat.cols, mat.rows, mat.step, QImage::Format_RGB888);
return image.rgbSwapped();
}
else if(mat.type() == CV_8UC4)
{
// Copy input Mat
const uchar *pSrc = (const uchar*)mat.data;
// Create QImage with same dimensions as input Mat
QImage image(pSrc, mat.cols, mat.rows, mat.step, QImage::Format_ARGB32);
return image.copy();
}
else
{
return QImage();
}
}
cv::Mat Widget::QImage_to_cvMat( const QImage &image, bool inCloneImageData) {
switch ( image.format() )
{
case QImage::Format_ARGB32:
case QImage::Format_ARGB32_Premultiplied:
// 8-bit, 4 channel
case QImage::Format_RGB32:
{
cv::Mat mat( image.height(), image.width(), CV_8UC4, const_cast<uchar*>(image.bits()), image.bytesPerLine() );
return (inCloneImageData ? mat.clone() : mat);
}
// 8-bit, 3 channel
case QImage::Format_RGB888:
{
if ( !inCloneImageData ) {
printf(" Conversion requires cloning since we use a temporary QImage\n");
//qWarning() << "ASM::QImageToCvMat() - Conversion requires cloning since we use a temporary QImage";
}
QImage swapped = image.rgbSwapped();
return cv::Mat( swapped.height(), swapped.width(), CV_8UC3, const_cast<uchar*>(swapped.bits()), swapped.bytesPerLine() ).clone();
}
// 8-bit, 1 channel
case QImage::Format_Indexed8:
{
cv::Mat mat( image.height(), image.width(), CV_8UC1, const_cast<uchar*>(image.bits()), image.bytesPerLine() );
return (inCloneImageData ? mat.clone() : mat);
}
default:
printf("Image format is not supported: depth=%d and %d format\n", image.depth(), image.format());
//qDebug("Image format is not supported: depth=%d and %d format\n", image.depth(), image.format();
break;
}
return cv::Mat();
}
QPixmap Widget::cvMatToQPixmap(const cv::Mat &inMat)
{
return QPixmap::fromImage(cvMat_to_QImage(inMat));
}
qt界面文件 ui_widget.h
/********************************************************************************
** Form generated from reading UI file 'widget.ui'
**
** Created by: Qt User Interface Compiler version 5.9.5
**
** WARNING! All changes made in this file will be lost when recompiling UI file!
********************************************************************************/
#ifndef UI_WIDGET_H
#define UI_WIDGET_H
#include <QtCore/QVariant>
#include <QtWidgets/QAction>
#include <QtWidgets/QApplication>
#include <QtWidgets/QButtonGroup>
#include <QtWidgets/QHeaderView>
#include <QtWidgets/QLabel>
#include <QtWidgets/QPushButton>
#include <QtWidgets/QWidget>
#include <QtWidgets/QLineEdit>
QT_BEGIN_NAMESPACE
class Ui_Widget
{
public:
QLabel *label,*fpslabel;
QLineEdit *edit,*sizeedit;
QPushButton *pushButton_start,*changeex,*changesize;
void setupUi(QWidget *Widget)
{
if (Widget->objectName().isEmpty())
Widget->setObjectName(QStringLiteral("Widget"));
Widget->resize(650, 620);
Widget->setMinimumSize(QSize(650, 720));
Widget->setMaximumSize(QSize(1280, 720));
label = new QLabel(Widget);
label->setObjectName(QStringLiteral("label"));
label->setGeometry(QRect(5, 5, 640, 480));
label->setMinimumSize(QSize(640, 480));
label->setMaximumSize(QSize(1280, 720));
fpslabel = new QLabel(Widget);
fpslabel->setObjectName(QStringLiteral("fpslabel"));
fpslabel->setGeometry(QRect(140, 500, 101, 41));
fpslabel->setMinimumSize(QSize(101, 41));
fpslabel->setMaximumSize(QSize(101, 41));
edit = new QLineEdit(Widget);
edit->setObjectName(QStringLiteral("edit"));
edit->setPlaceholderText("Normal");
edit->setEchoMode(QLineEdit::Normal);
edit->setGeometry(QRect(20, 570, 101, 41));
changeex = new QPushButton(Widget);
changeex->setObjectName(QStringLiteral("changeex"));
changeex->setGeometry(QRect(140, 570, 101, 41));
sizeedit = new QLineEdit(Widget);
sizeedit->setObjectName(QStringLiteral("sizeedit"));
sizeedit->setPlaceholderText("Normal");
sizeedit->setEchoMode(QLineEdit::Normal);
sizeedit->setGeometry(QRect(20, 640, 101, 41));
changesize = new QPushButton(Widget);
changesize->setObjectName(QStringLiteral("changesize"));
changesize->setGeometry(QRect(140, 640, 101, 41));
pushButton_start = new QPushButton(Widget);
pushButton_start->setObjectName(QStringLiteral("pushButton_start"));
pushButton_start->setGeometry(QRect(20, 500, 101, 41));
retranslateUi(Widget);
QMetaObject::connectSlotsByName(Widget);
} // setupUi
void retranslateUi(QWidget *Widget)
{
Widget->setWindowTitle(QApplication::translate("Widget", "zed_camera_AVI", Q_NULLPTR));
label->setText(QString());
fpslabel->setText(QString());
pushButton_start->setText(QApplication::translate("Widget", "Start", Q_NULLPTR));
changeex->setText(QApplication::translate("Widget", "change", Q_NULLPTR));
changesize->setText(QApplication::translate("Widget", "cgsize", Q_NULLPTR));
} // retranslateUi
};
namespace Ui {
class Widget: public Ui_Widget {};
} // namespace Ui
QT_END_NAMESPACE
#endif // UI_WIDGET_H
这些文件都有打包，下载下来后解压，进入执行命令编译
文件下载地址：
点击下载
qmake zed_YUV_camera_prj.pro
make -j4最后执行
./zed_YUV_camera
第一个start是获取图片保存
第二个编辑框是曝光时间 单位是100us，上面也就是1500us
第三个是改变输入zbar中识别的图片大小，越小速度越快
这里是采集的jpeg的格式图片，直接写入文件就是jpeg的图了，但是如果采集yuv格式转bmp，在jetson中要bmp的文件头一个一个属性分别写入才不会出错，整个结构体写入会出现问题
//Set BITMAPINFOHEADER
bi.biSize = 40;
bi.biWidth = IMG_WIDTH;
bi.biHeight = IMG_HEIGTH;
bi.biPlanes = 1;
bi.biBitCount = 24;
bi.biCompression = 0;
bi.biSizeImage = IMG_WIDTH*IMG_HEIGTH*3;
bi.biXPelsPerMeter = 3780;
bi.biYPelsPerMeter = 3780;
bi.biClrUsed = 0;
bi.biClrImportant = 0;
//Set BITMAPFILEHEADER
bf.bfType = 0x4d42;
bf.bfSize = 54 + bi.biSizeImage;
bf.bfReserved = 0;
bf.bfOffBits = 54;
//写入就把上面的成员一个一个写入，在树莓派整个结构体写入没问题，但是jetson nano却有问题。
像这样，不过这里是伪代码，实际自己按自己用的写入函数来
write(fd1,bi.biSize)
write(fd1,bi.biWidth)
等等
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