Add QCamera to CMakeList (ROS integrated Qt Project)

aliemrenebiler

Hi, we are working on a Qt project that works with ROS.

We would like to add a camera view but for some reason, ROS can't compile QCamera class. It says "no such file or directory".

Screenshot from 2021-06-24 00-36-34.png

I thought that it happens because of CMakeList.txt, we didn't add QCamera to CMakeList and ROS system gets the libraries from it. I don't know where or how to add it so I need help.

Here is our CMakeList.txt:

cmake_minimum_required(VERSION 2.8.3)
project(sabun)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
)

# Find Qt5 libraries
find_package(Qt5 REQUIRED COMPONENTS
  Core
  Qml
  Quick
  Widgets
)

# Configuration to make Qt compiles go smoother
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)
include_directories( ${CMAKE_BINARY_DIR} )

# Configure Catkin dependencies
catkin_package(
  CATKIN_DEPENDS
    roscpp
    std_msgs
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

###############################
# Basic, non-qt talker/listener
add_executable(listener src/listener.cpp)
add_executable(talker src/talker.cpp)


target_link_libraries(listener
  ${catkin_LIBRARIES}
)

target_link_libraries(talker
  ${catkin_LIBRARIES}
)

################################################
# Cmd line talker/listener running qt event loop
add_executable(listener_qt src/listener_qt.cpp)
add_executable(talker_qt src/talker_qt.cpp)

# Configure Qt5 Modules
# Equivalent to doing
# Qt += Core
# In Qt .pro file
qt5_use_modules(listener_qt Core)
qt5_use_modules(talker_qt Core)

target_link_libraries(listener_qt
  ${catkin_LIBRARIES}
)

target_link_libraries(talker_qt
  ${catkin_LIBRARIES}
)

######################################
# Talker and Listener using QML gui

# Run MOC on headers of Q_OBJECT classes
set(MOC_HDRS include/qml_mediator.h)
qt5_wrap_cpp(MOC_SRCS ${MOC_HDRS})

# Run RCC on QRC file
set(RCC_FILES src/display.qrc)
qt5_add_resources(RCC_SOURCES ${RCC_FILES})

# Build executables with source, MOC result files, RCC result files
add_executable(listener_qml src/listener_qml.cpp ${MOC_SRCS} ${RCC_SOURCES})
add_executable(talker_qml src/talker_qml.cpp ${MOC_SRCS} ${RCC_SOURCES})

# Configure Qt5 Modules
# Equivalent to doing
# Qt += Core Qml Quick
# In Qt .pro file
qt5_use_modules(listener_qml Core Qml Quick)
qt5_use_modules(talker_qml Core Qml Quick)

target_link_libraries(listener_qml
  ${catkin_LIBRARIES}
)

target_link_libraries(talker_qml
  ${catkin_LIBRARIES}
)

########################################
# Talker and Listener using QWidgets gui

# Run MOC on headers of Q_OBJECT classes
set(MOC_HDRS include/mainwindow.h)
qt5_wrap_cpp(MOC_SRCS ${MOC_HDRS})

# Run UIC on ui definitions
set(UI_FILES ui/mainwindow.ui)
qt5_wrap_ui(UI_SRCS ${UI_FILES})

# Build executables with source, MOC result files, UIC result files
add_executable(talker_wig src/talker_wig.cpp src/mainwindow.cpp ${MOC_SRCS} ${UI_SRCS})
add_executable(listener_wig src/listener_wig.cpp src/mainwindow.cpp ${MOC_SRCS} ${UI_SRCS})

# Configure Qt5 Modules
# Equivalent to doing
# Qt += Core Widgets
# In Qt .pro file
qt5_use_modules(talker_wig Core Widgets)
qt5_use_modules(listener_wig Core Widgets)

target_link_libraries(talker_wig
  ${catkin_LIBRARIES}
)

target_link_libraries(listener_wig
  ${catkin_LIBRARIES}
)

VRonin

@aliemrenebiler said in Add QCamera to CMakeList (ROS integrated Qt Project):

Here is what I wrote:

No, it's much easier:
change:

# Find Qt5 libraries
find_package(Qt5 REQUIRED COMPONENTS
  Core
  Qml
  Quick
  Widgets
)

qt5_use_modules(talker_wig Core Widgets)
into

# Find Qt5 libraries
find_package(Qt5 REQUIRED COMPONENTS
  Core
  Qml
  Quick
  Widgets
  Multimedia
)

qt5_use_modules(talker_wig Core Widgets Multimedia)

For people ending here from Google

qt5_use_modules is obsolete, OP needs to support a very old version of CMake. The modern way is to simply use target_link_libraries(talker_wig Qt5::Core Qt5::Widgets Qt5::Multimedia)

SGaist

Hi,

QCamera is part of the Qt multi multimedia module.

aliemrenebiler

This post is deleted!

aliemrenebiler

@SGaist Hi.

So how can i add this to CMakeList? I know that it is a part of it but ROS don't see it for some reason.

jsulm

@aliemrenebiler

find_package(Qt5Multimedia REQUIRED)

aliemrenebiler

@jsulm I think that is the right way but didn't work yet.

Here is what I wrote:

find_package(Qt5Multimedia REQUIRED
  QCamera
  QCameraViewfinder
  QCameraInfo
  QCameraImageCapture
)

These are the subclasses that I use. Still has the same error about QCamera.

aliemrenebiler

Also found this page.

It says I should add:

set(CMAKE_PREFIX_PATH "~/sw/Qt/Qt_5_4/5.4/gcc_64/")

to make CMakeList.txt see QtMultimedia. But the directory is not right for Ubuntu.

Any ideas?

VRonin

@aliemrenebiler said in Add QCamera to CMakeList (ROS integrated Qt Project):

Here is what I wrote:

No, it's much easier:
change:

# Find Qt5 libraries
find_package(Qt5 REQUIRED COMPONENTS
  Core
  Qml
  Quick
  Widgets
)

qt5_use_modules(talker_wig Core Widgets)
into

# Find Qt5 libraries
find_package(Qt5 REQUIRED COMPONENTS
  Core
  Qml
  Quick
  Widgets
  Multimedia
)

qt5_use_modules(talker_wig Core Widgets Multimedia)

For people ending here from Google

qt5_use_modules is obsolete, OP needs to support a very old version of CMake. The modern way is to simply use target_link_libraries(talker_wig Qt5::Core Qt5::Widgets Qt5::Multimedia)

aliemrenebiler

@VRonin said in Add QCamera to CMakeList (ROS integrated Qt Project):

Multimedia

THANK YOU SO MUCH! That solved the Camera class problem.

Bu a similar error occured this time. qcamereviewfinder.h also should be added.

How can i add it?

Screenshot from 2021-06-24 12-44-06.png

CMakeList.txt file:

# Find Qt5 libraries
find_package(Qt5 REQUIRED COMPONENTS
  Core
  Qml
  Quick
  Widgets
  Multimedia
)
find_package(Qt5Multimedia REQUIRED COMPONENTS
  QCamera
  QCameraViewfinder
  QCameraInfo
  QCameraImageCapture
)

VRonin

@aliemrenebiler said in Add QCamera to CMakeList (ROS integrated Qt Project):

find_package(Qt5Multimedia REQUIRED COMPONENTS
QCamera
QCameraViewfinder
QCameraInfo
QCameraImageCapture
)

This is useless

Did you add
qt5_use_modules(talker_wig Core Widgets Multimedia) and qt5_use_modules(listener_wig Core Widgets Multimedia)

aliemrenebiler

@VRonin Yeah it was, we deleted that part.

And also yes, we added
qt5_use_modules(talker_wig Core Widgets Multimedia) and qt5_use_modules(listener_wig Core Widgets Multimedia)

VRonin

I suspect something might be going wrong in qt5_wrap_ui just to confirm this is the case, could you add #include <QCameraViewFinder> in one of your cpp files and see if that works?

Do you really need to support CMake 2.8.3 or is it an example you downloaded and it's not a hard requirement?

aliemrenebiler

@VRonin We already added QCameraViewFinder but it is #include <QCameraViewfinder> with "f".

CMake version is not important, it was in the example.

Full code where QCameraViewfinder exist:

#include "mainwindow.h"
#include "ui_mainwindow.h"

#include <QCameraViewfinder>
#include <QCameraInfo>
#include <QtWidgets>

Q_DECLARE_METATYPE(QCameraInfo)

MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    connect(this, &MainWindow::newString, this, &MainWindow::newStringSlot);
    connect(this, &MainWindow::newString2, this, &MainWindow::newString2Slot);

    //Camera devices:
    QActionGroup *videoDevicesGroup = new QActionGroup(this);
    videoDevicesGroup->setExclusive(true);
    const QList<QCameraInfo> availableCameras = QCameraInfo::availableCameras();
    for (const QCameraInfo &cameraInfo : availableCameras) {
        QAction *videoDeviceAction = new QAction(cameraInfo.description(), videoDevicesGroup);
        videoDeviceAction->setCheckable(true);
        videoDeviceAction->setData(QVariant::fromValue(cameraInfo));
        if (cameraInfo == QCameraInfo::defaultCamera())
            videoDeviceAction->setChecked(true);
    }
    connect(videoDevicesGroup, &QActionGroup::triggered, this, &MainWindow::updateCameraDevice);
    setCamera(QCameraInfo::defaultCamera());
}

void MainWindow::newStringSlot(QString txt)
{
    ui->list_lines->addItem(txt);
}
void MainWindow::newString2Slot(QString txt2)
{
    ui->list_lines_2->addItem(txt2);
}

void MainWindow::setCamera(const QCameraInfo &cameraInfo)
{
    m_camera.reset(new QCamera(cameraInfo));

    connect(m_camera.data(), QOverload<QCamera::Error>::of(&QCamera::error), this, &MainWindow::displayCameraError);

    m_camera->setViewfinder(ui->viewfinder);

    updateLockStatus(m_camera->lockStatus(), QCamera::UserRequest);

    connect(m_camera.data(), QOverload<QCamera::LockStatus, QCamera::LockChangeReason>::of(&QCamera::lockStatusChanged),
            this, &MainWindow::updateLockStatus);

    m_camera->start();
}


void MainWindow::keyPressEvent(QKeyEvent * event)
{
    if (event->isAutoRepeat())
        return;

    switch (event->key()) {
    case Qt::Key_CameraFocus:
        displayViewfinder();
        m_camera->searchAndLock();
        event->accept();
        break;
    default:
        QMainWindow::keyPressEvent(event);
    }
}

void MainWindow::keyReleaseEvent(QKeyEvent *event)
{
    if (event->isAutoRepeat())
        return;

    switch (event->key()) {
    case Qt::Key_CameraFocus:
        m_camera->unlock();
        break;
    default:
        QMainWindow::keyReleaseEvent(event);
    }
}

void MainWindow::updateLockStatus(QCamera::LockStatus status, QCamera::LockChangeReason reason)
{
    QColor indicationColor = Qt::black;

    switch (status) {
    case QCamera::Searching:
        indicationColor = Qt::yellow;
        break;
    case QCamera::Locked:
        indicationColor = Qt::darkGreen;
        break;
    case QCamera::Unlocked:
        indicationColor = reason == QCamera::LockFailed ? Qt::red : Qt::black;
    }
}

void MainWindow::startCamera()
{
    m_camera->start();
}

void MainWindow::stopCamera()
{
    m_camera->stop();
}

void MainWindow::setExposureCompensation(int index)
{
    m_camera->exposure()->setExposureCompensation(index*0.5);
}

void MainWindow::displayCameraError()
{
    QMessageBox::warning(this, tr("Camera Error"), m_camera->errorString());
}

void MainWindow::updateCameraDevice(QAction *action)
{
    setCamera(qvariant_cast<QCameraInfo>(action->data()));
}

void MainWindow::displayViewfinder()
{
    ui->stackedWidget->setCurrentIndex(0);
}

void MainWindow::closeEvent(QCloseEvent *event)
{
    if (m_isCapturingImage) {
        setEnabled(false);
        m_applicationExiting = true;
        event->ignore();
    } else {
        event->accept();
    }
}

MainWindow::~MainWindow()
{
    delete ui;
}

mchinand

Edit: Oops, I see VRonin, already mentioned this above.

Make sure to also add it to a target_link_libraries statement in your CMakeLists.txt project file, e.g.:

target_link_libraries(${PROJECT_NAME} Qt5::Multimedia)

This does end up affecting the include directories too which I hadn't expected.

VRonin

@aliemrenebiler said in Add QCamera to CMakeList (ROS integrated Qt Project):

CMake version is not important,

Then don't use obsolete concepts:

cmake_minimum_required(VERSION 3.9)
project(sabun)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
)


# Configure Catkin dependencies
catkin_package(
  CATKIN_DEPENDS
    roscpp
    std_msgs
)
###############################
# Basic, non-qt talker/listener
add_executable(listener src/listener.cpp)
add_executable(talker src/talker.cpp)
set_target_properties(listener PROPERTIES
    CXX_STANDARD 11
    CXX_STANDARD_REQUIRED ON
)
set_target_properties(talker PROPERTIES
    CXX_STANDARD 11
    CXX_STANDARD_REQUIRED ON
)

target_include_directories(listener PRIVATE ${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR} ${catkin_INCLUDE_DIRS})
target_include_directories(talker PRIVATE ${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR} ${catkin_INCLUDE_DIRS})
target_link_libraries(listener PRIVATE ${catkin_LIBRARIES})
target_link_libraries(talker PRIVATE ${catkin_LIBRARIES})

################################################
# Cmd line talker/listener running qt event loop
# Find Qt5 libraries
find_package(Qt5 REQUIRED COMPONENTS
  Core
  Qml
  Quick
  Widgets
  Multimedia
)
add_executable(listener_qt src/listener_qt.cpp)
add_executable(talker_qt src/talker_qt.cpp)
target_include_directories(listener_qt PRIVATE ${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR} ${catkin_INCLUDE_DIRS})
target_include_directories(talker_qt PRIVATE ${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR} ${catkin_INCLUDE_DIRS})
set_target_properties(listener_qt PROPERTIES
    AUTOMOC ON
    CXX_STANDARD 11
    CXX_STANDARD_REQUIRED ON
)
set_target_properties(talker_qt PROPERTIES
    AUTOMOC ON
    CXX_STANDARD 11
    CXX_STANDARD_REQUIRED ON
)
target_link_libraries(listener_qt PRIVATE
  ${catkin_LIBRARIES}
  Qt5::Core
  Qt5::Multimedia
)

target_link_libraries(talker_qt PRIVATE
  ${catkin_LIBRARIES}
  Qt5::Core
  Qt5::Multimedia
)


######################################
# Talker and Listener using QML gui

# Build executables with source, MOC result files, RCC result files
add_executable(listener_qml src/listener_qml.cpp include/qml_mediator.h src/display.qrc)
add_executable(talker_qml src/talker_qml.cpp include/qml_mediator.h src/display.qrc)
target_include_directories(listener_qml PRIVATE ${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR} ${catkin_INCLUDE_DIRS})
target_include_directories(talker_qml PRIVATE ${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR} ${catkin_INCLUDE_DIRS})
set_target_properties(listener_qml PROPERTIES
    AUTOMOC ON
    AUTORCC ON
    CXX_STANDARD 11
    CXX_STANDARD_REQUIRED ON
)
set_target_properties(talker_qml PROPERTIES
    AUTOMOC ON
    AUTORCC ON
    CXX_STANDARD 11
    CXX_STANDARD_REQUIRED ON
)

target_link_libraries(listener_qml PRIVATE
  ${catkin_LIBRARIES}
  Qt5::Core
  Qt5::Qml
  Qt5::Quick
  Qt5::Multimedia
)

target_link_libraries(talker_qml PRIVATE
  ${catkin_LIBRARIES}
  Qt5::Core
  Qt5::Qml
  Qt5::Quick
  Qt5::Multimedia
)

########################################
# Talker and Listener using QWidgets gui

add_executable(talker_wig src/talker_wig.cpp src/mainwindow.cpp include/mainwindow.h ui/mainwindow.ui)
add_executable(listener_wig src/listener_wig.cpp src/mainwindow.cpp include/mainwindow.h ui/mainwindow.ui)
target_include_directories(talker_wig PRIVATE ${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR} ${catkin_INCLUDE_DIRS})
target_include_directories(listener_wig PRIVATE ${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR} ${catkin_INCLUDE_DIRS})
set_target_properties(listener_wig PROPERTIES
    AUTOMOC ON
    AUTORCC ON
    AUTOUIC ON
    CXX_STANDARD 11
    CXX_STANDARD_REQUIRED ON
)
set_target_properties(talker_wig PROPERTIES
    AUTOMOC ON
    AUTORCC ON
    AUTOUIC ON
    CXX_STANDARD 11
    CXX_STANDARD_REQUIRED ON
)
target_link_libraries(listener_wig PRIVATE
  ${catkin_LIBRARIES}
  Qt5::Core
  Qt5::Widgets
  Qt5::Multimedia
)
target_link_libraries(talker_wig PRIVATE
  ${catkin_LIBRARIES}
  Qt5::Core
  Qt5::Widgets
  Qt5::Multimedia
)

aliemrenebiler

@VRonin sorry but that didn't work :(

Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

We just discovered that we don't need CameraViewfinder. We completely deleted it from mainwindow.cpp but still ui_mainwindow.h sees it.

In file included from /home/aliemre/QTCreator_Files/aliemre_ws/src/ROS-QML-Deneme-V5/ROS_QML_Example-master/src/mainwindow.cpp:2:0:
/home/aliemre/QTCreator_Files/aliemre_ws/build/ROS-QML-Deneme-V5/ROS_QML_Example-master/ui_mainwindow.h:24:10: fatal error: qcameraviewfinder.h: No such file or directory
 #include "qcameraviewfinder.h"

VRonin

@aliemrenebiler said in Add QCamera to CMakeList (ROS integrated Qt Project):

Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

This is not a great error, did it spit out anything more detailed and useful?

ui_mainwindow.h sees it.

Can you post the contents of it?

aliemrenebiler

@VRonin ui_mainwindow.h is not a library file, it is basicly "mainwindow.ui"

After I wrote that, I discovered that qcameraviewfinder.h is neccessary. I added it again and will try to implement other things on your CMakeList.txt, I will post it later.

[EDIT]
I tried to add it like this.

find_package(Qt5Multimedia REQUIRED COMPONENTS
  qcameraviewfinder.h
)

aliemrenebiler

I will close this section and start a new one.