114 lines
3.1 KiB
C++
114 lines
3.1 KiB
C++
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <stdlib.h> /* exit() */
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#include <sys/ioctl.h> /* ioctl() */
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#include <libv4lconvert.h>
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#include <unistd.h>
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#include <sys/mman.h> /* mmap() */
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#include <errno.h>
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#include <iostream>
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#include "WebcamTracker.h"
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using namespace std;
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int main(int argc, char * argv[])
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{
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WebcamTracker("/dev/video0");
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}
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WebcamTracker::WebcamTracker(const char * device)
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{
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m_open = false;
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m_fd = open(device, O_RDWR);
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if (m_fd >= 0)
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{
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m_open = true;
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struct v4l2_capability cap;
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int ret = ioctl(m_fd, VIDIOC_QUERYCAP, &cap);
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if (ret != 0)
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{
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cerr << "VIDIOC_QUERYCAP ioctl failed: " << ret << endl;
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}
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if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE))
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{
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cerr << "Warning: V4L2_CAP_VIDEO_CAPTURE not supported!" << endl;
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}
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v4l2_requestbuffers reqbuf;
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reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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reqbuf.count = 1;
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reqbuf.memory = V4L2_MEMORY_MMAP;
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ret = ioctl(m_fd, VIDIOC_REQBUFS, &reqbuf);
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if (ret != 0)
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{
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cerr << "VIDIOC_REQBUFS ioctl failed: returned " << ret
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<< ", errno " << errno;
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if (errno == EBUSY)
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cerr << " (EBUSY)";
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if (errno == EINVAL)
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cerr << " (EINVAL)";
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cerr << endl;
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}
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struct v4l2_buffer buf;
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buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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buf.index = 0;
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ret = ioctl(m_fd, VIDIOC_QUERYBUF, &buf);
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if (ret != 0)
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{
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cerr << "VIDIOC_QUERYBUF ioctl failed: returned " << ret
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<< ", errno: " << errno;
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if (errno == EINVAL)
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cerr << " (EINVAL)";
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cerr << endl;
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}
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m_vidbuflen = buf.length;
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m_vidbuf = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED,
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m_fd, buf.m.offset);
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if (m_vidbuf == MAP_FAILED)
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{
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cerr << "mmap() failed: errno " << errno;
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if (errno == EBADF)
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cerr << " (EBADF)";
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if (errno == EACCES)
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cerr << " (EACCES)";
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if (errno == EINVAL)
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cerr << " (EINVAL)";
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if (errno == ENOMEM)
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cerr << " (ENOMEM)";
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cerr << endl;
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}
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}
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else
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{
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cerr << "Could not open device '" << device << "'" << endl;
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}
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}
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WebcamTracker::~WebcamTracker()
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{
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if (m_open)
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{
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munmap(m_vidbuf, m_vidbuflen);
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v4l2_requestbuffers reqbuf;
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reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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reqbuf.count = 0;
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reqbuf.memory = V4L2_MEMORY_MMAP;
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int ret = ioctl(m_fd, VIDIOC_REQBUFS, &reqbuf);
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if (ret != 0)
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{
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cerr << "~WebcamTracker(): VIDIOC_REQBUFS ioctl failed: "
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<< ret << endl;
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if (errno == EBUSY)
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cerr << "EBUSY" << endl;
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if (errno == EINVAL)
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cerr << "EINVAL" << endl;
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}
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close(m_fd);
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}
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}
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