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add webcam to cameras (#1201)

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This commit is contained in:
ZwX1616
2020-03-26 19:19:47 -07:00
committed by GitHub
parent 4e4bea8525
commit a95e61edf4
19 changed files with 604 additions and 85 deletions
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selfdrive/camerad/SConscript
+11 -3
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@@ -1,4 +1,4 @@
Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc', 'cereal')
Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc', 'cereal', 'webcam')
libs = ['m', 'pthread', common, 'jpeg', 'json', cereal, 'OpenCL', messaging, 'czmq', 'zmq', 'capnp', 'kj', 'capnp_c', visionipc, gpucommon]
@@ -6,8 +6,16 @@ if arch == "aarch64":
libs += ['gsl', 'CB', 'adreno_utils', 'EGL', 'GLESv3', 'cutils', 'ui']
cameras = ['cameras/camera_qcom.c']
else:
libs += []
cameras = ['cameras/camera_frame_stream.cc']
if webcam:
libs += ['opencv_core', 'opencv_highgui', 'opencv_imgproc', 'opencv_videoio']
cameras = ['cameras/camera_webcam.cc']
env = env.Clone()
env.Append(CXXFLAGS = '-DWEBCAM')
env.Append(CFLAGS = '-DWEBCAM')
env.Append(CPPPATH = '/usr/local/include/opencv4')
else:
libs += []
cameras = ['cameras/camera_frame_stream.cc']
env.SharedLibrary('snapshot/visionipc',
["#selfdrive/common/visionipc.c", "#selfdrive/common/ipc.c"])