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#include "camera_streamer.h"
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#include <QDebug>
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#include <QHostAddress>
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#include <opencv2/imgproc.hpp>
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#include <opencv2/imgcodecs.hpp>
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CameraStreamer::CameraStreamer(QObject *parent)
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: QObject(parent)
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{
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}
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CameraStreamer::~CameraStreamer()
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{
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stopStreaming();
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}
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bool CameraStreamer::startStreaming(const QString &remoteUser,
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const QString &remoteHost,
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const QString &remoteCommand,
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int localPort)
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{
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if (m_running.load())
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return true; // already running
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// 启动 ssh 进程，在远端开始推流
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if (!m_sshProcess) {
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m_sshProcess = new QProcess(this);
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// 使 ssh 保持会话 & 不读取stdin，-T 禁用伪终端
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QStringList args;
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args << QString("%1@%2").arg(remoteUser, remoteHost)
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<< "-T" << remoteCommand;
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m_sshProcess->start("ssh", args);
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if (!m_sshProcess->waitForStarted(3000)) {
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qWarning() << "Failed to start ssh process:" << m_sshProcess->errorString();
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delete m_sshProcess;
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m_sshProcess = nullptr;
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return false;
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}
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}
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// 启动本地接收线程
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m_running = true;
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m_captureThread = std::thread(&CameraStreamer::captureLoop, this, localPort);
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return true;
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}
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void CameraStreamer::stopStreaming()
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{
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if (!m_running.load())
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return;
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// 停止读取线程
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m_running = false;
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if (m_captureThread.joinable())
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m_captureThread.join();
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// 结束远端 ssh 进程
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if (m_sshProcess) {
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m_sshProcess->terminate();
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if (!m_sshProcess->waitForFinished(3000)) {
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m_sshProcess->kill();
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m_sshProcess->waitForFinished();
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}
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delete m_sshProcess;
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m_sshProcess = nullptr;
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}
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}
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void CameraStreamer::captureLoop(int localPort)
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{
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// GStreamer UDP pipeline
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QString pipeline = QString("udpsrc address=0.0.0.0 port=%1 ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! appsink max-buffers=1 drop=true").arg(localPort);
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cv::VideoCapture cap(pipeline.toStdString(), cv::CAP_GSTREAMER);
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if (!cap.isOpened()) {
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qWarning() << "Failed to open capture pipeline" << pipeline;
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return;
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}
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cv::Mat frame;
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while (m_running.load()) {
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if (!cap.read(frame) || frame.empty()) {
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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continue;
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}
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cv::Mat rgb;
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if (frame.channels() == 3) {
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cv::cvtColor(frame, rgb, cv::COLOR_BGR2RGB);
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} else if (frame.channels() == 4) {
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cv::cvtColor(frame, rgb, cv::COLOR_BGRA2RGB);
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} else {
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rgb = frame;
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}
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QImage image(rgb.data, rgb.cols, rgb.rows, static_cast<int>(rgb.step), QImage::Format_RGB888);
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emit newFrame(image.copy()); // copy to detach from cv::Mat memory
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// 控制帧率：根据需要调整
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std::this_thread::sleep_for(std::chrono::milliseconds(1));
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}
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cap.release();
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}
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