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初始提交：龙芯2K0300智能车卖家Demo完整代码

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spdis
2026-05-28 15:24:33 +08:00
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image_test/CMakeLists.txt
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# demo2
add_executable(image_test image_test.cpp)
# 链接 OpenCV 库
target_link_libraries(image_test common_lib ${OpenCV_LIBS})
image_test/image_test.cpp
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/*
* @Author: ilikara 3435193369@qq.com
* @Date: 2025-01-07 06:26:01
* @LastEditors: ilikara 3435193369@qq.com
* @LastEditTime: 2025-03-26 12:26:22
* @FilePath: /smartcar/opencv_demo2/opencv_demo2.cpp
* @Description:
*/
#include <opencv2/opencv.hpp>
#include <iostream>
#include <string>
#include <map>
#include <dirent.h>
#include <termios.h>
#include <unistd.h>
#include <cstdlib>
#include <cstdio>
#include <algorithm>
#include <sstream>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <linux/fb.h>
#include "image_cv.h"
using namespace std;
using ImageCallback = void (*)(const string &fullpath);
const int cameraWidth = 320, cameraHeight = 240;
int screenWidth, screenHeight;
const int calc_scale = 2;
int newWidth, newHeight;
ImageCallback image_callback = nullptr;
string base_path;
struct termios orig_termios;
map<int, string> file_map;
int current_num = -1;
const char *fb_device = "/dev/fb0";
int fb_fd;
ushort *fb_data;
struct fb_var_screeninfo vinfo;
std::chrono::_V2::system_clock::time_point frame_begin, frame_end;
std::chrono::duration<double> frame_duration;
int displayMode = 0;
const int displayModeCount = 7;
void imgInit()
{
// 动态设置屏幕分辨率
screenWidth = vinfo.xres;
screenHeight = vinfo.yres;
// 计算 newWidth 和 newHeight，确保图像适应屏幕
double widthRatio = static_cast<double>(screenWidth) / cameraWidth;
double heightRatio = static_cast<double>(screenHeight) / cameraHeight;
double scale = std::min(widthRatio, heightRatio); // 选择较小的比例，确保图像不超出屏幕
newWidth = static_cast<int>(cameraWidth * scale);
newHeight = static_cast<int>(cameraHeight * scale);
line_tracking_width = newWidth / calc_scale;
line_tracking_height = newHeight / calc_scale;
}
// 将 RGB888 转换为 RGB565
ushort rgb888_to_rgb565(const cv::Vec3b &color)
{
return ((color[2] >> 3) << 11) | ((color[1] >> 2) << 5) | (color[0] >> 3);
}
cv::Mat img;
void display()
{
cv::Mat fbMat(screenHeight, screenWidth, CV_8UC3, cv::Scalar(0, 0, 0));
cv::Mat resizedFrame;
cv::Mat coloredResizedFrame;
// 将图像从 BGR 转换为 HSV
cv::Mat hsvImage;
cv::cvtColor(img, hsvImage, cv::COLOR_BGR2HSV);
// 分离 HSV 通道
std::vector<cv::Mat> hsvChannels;
cv::split(hsvImage, hsvChannels);
cv::Mat bframe;
switch (displayMode)
{
case 0:
// 缩放视频到新尺寸
cv::resize(binarizedFrame, resizedFrame, cv::Size(newWidth, newHeight));
// 将单通道的二值化图像转换为三通道的彩色图像
cv::cvtColor(resizedFrame, coloredResizedFrame, cv::COLOR_GRAY2BGR); // 转换为彩色图像
break;
case 1:
cv::resize(raw_frame, coloredResizedFrame, cv::Size(newWidth, newHeight));
break;
case 2:
// 缩放视频到新尺寸
cv::resize(morphologyExFrame, resizedFrame, cv::Size(newWidth, newHeight));
// 将单通道的二值化图像转换为三通道的彩色图像
cv::cvtColor(resizedFrame, coloredResizedFrame, cv::COLOR_GRAY2BGR); // 转换为彩色图像
break;
case 3:
case 4:
case 5:
// 缩放视频到新尺寸
cv::resize(hsvChannels[displayMode - 3], resizedFrame, cv::Size(newWidth, newHeight));
cv::threshold(resizedFrame, bframe, 0, 255, cv::THRESH_BINARY | cv::THRESH_OTSU);
// 将单通道的二值化图像转换为三通道的彩色图像
cv::cvtColor(bframe, coloredResizedFrame, cv::COLOR_GRAY2BGR); // 转换为彩色图像
break;
case 6:
// 缩放视频到新尺寸
cv::resize(hsvImage, resizedFrame, cv::Size(newWidth, newHeight));
cv::Mat yellowMask;
inRange(resizedFrame, cv::Scalar(10, 100, 100), cv::Scalar(40, 255, 255), yellowMask);
cv::Mat kernel = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(2, 2));
morphologyEx(yellowMask, yellowMask, cv::MORPH_OPEN, kernel);
morphologyEx(yellowMask, yellowMask, cv::MORPH_CLOSE, kernel);
bframe = yellowMask;
// 将单通道的二值化图像转换为三通道的彩色图像
cv::cvtColor(bframe, coloredResizedFrame, cv::COLOR_GRAY2BGR); // 转换为彩色图像
break;
}
// 将缩放后的图像居中放置在帧缓冲区图像中，填充黑色边框
fbMat.setTo(cv::Scalar(0, 0, 0)); // 清空缓冲区（填充黑色）
cv::Rect roi((screenWidth - newWidth) / 2, (screenHeight - newHeight) / 2, newWidth, newHeight);
coloredResizedFrame.copyTo(fbMat(roi));
// 绘制左右边界线和中线
int scaledLeftX, scaledRightX, scaledMidX, scaledLeftFilteredX, scaledRightFilteredX, scaledMidFilteredX, scaledY;
cv::line(fbMat(roi), cv::Point(newWidth / 2, 0), cv::Point(newWidth / 2, newHeight), cv::Scalar(0, 0, 0), 1);
cv::line(fbMat(roi), cv::Point(0, 40), cv::Point(newWidth, 40), cv::Scalar(0, 0, 0), 1);
for (int y = 0; y < line_tracking_height; y++)
{
// 根据缩放比例调整X坐标
scaledLeftX = static_cast<int>(left_line[y] * calc_scale);
scaledRightX = static_cast<int>(right_line[y] * calc_scale);
scaledMidX = static_cast<int>(mid_line[y] * calc_scale);
scaledLeftFilteredX = static_cast<int>(left_line_filtered[y] * calc_scale);
scaledRightFilteredX = static_cast<int>(right_line_filtered[y] * calc_scale);
scaledMidFilteredX = static_cast<int>(mid_line_filtered[y] * calc_scale);
scaledY = static_cast<int>(y * calc_scale);
cv::line(fbMat(roi), cv::Point(scaledLeftX, scaledY), cv::Point(scaledLeftX, scaledY), cv::Scalar(0, 0, 255), calc_scale);
cv::line(fbMat(roi), cv::Point(scaledLeftFilteredX, scaledY), cv::Point(scaledLeftFilteredX, scaledY), cv::Scalar(255, 255, 0), calc_scale);
cv::line(fbMat(roi), cv::Point(scaledRightX, scaledY), cv::Point(scaledRightX, scaledY), cv::Scalar(0, 255, 0), calc_scale);
cv::line(fbMat(roi), cv::Point(scaledRightFilteredX, scaledY), cv::Point(scaledRightFilteredX, scaledY), cv::Scalar(255, 0, 255), calc_scale);
cv::line(fbMat(roi), cv::Point(scaledMidX, scaledY), cv::Point(scaledMidX, scaledY), cv::Scalar(255, 0, 0), calc_scale);
cv::line(fbMat(roi), cv::Point(scaledMidFilteredX, scaledY), cv::Point(scaledMidFilteredX, scaledY), cv::Scalar(0, 255, 255), calc_scale);
}
for (int y = 0; y < fbMat.rows; y++)
{
for (int x = 0; x < fbMat.cols; x++)
{
cv::Vec3b color = fbMat.at<cv::Vec3b>(y, x);
fb_data[y * vinfo.xres + x] = rgb888_to_rgb565(color);
}
}
}
void defaultImageCallback(const string &fullpath)
{
img = cv::imread(fullpath);
if (img.empty())
{
cerr << "Error: Cannot grab frame" << endl;
return;
}
raw_frame = img;
frame_begin = std::chrono::high_resolution_clock::now();
image_main();
frame_end = std::chrono::high_resolution_clock::now();
frame_duration = frame_end - frame_begin;
display();
}
void triggerCallback(int num)
{
if (!image_callback)
return;
auto it = file_map.find(num);
if (it != file_map.end())
{
string fullpath = base_path + "/" + it->second;
image_callback(fullpath);
}
}
int fbInit()
{
// Framebuffer 设备
fb_fd = open(fb_device, O_RDWR);
if (fb_fd == -1)
{
cerr << "Error: Cannot open framebuffer device" << endl;
return -1;
}
// 获取 Framebuffer 信息
if (ioctl(fb_fd, FBIOGET_VSCREENINFO, &vinfo))
{
cerr << "Error: Cannot get framebuffer information" << endl;
close(fb_fd);
return -1;
}
// 检查 Framebuffer 是否支持 RGB565
if (vinfo.bits_per_pixel != 16)
{
cerr << "Error: Framebuffer is not RGB565 format" << endl;
close(fb_fd);
return -1;
}
// 映射 Framebuffer 到内存
size_t fb_size = vinfo.xres * vinfo.yres * vinfo.bits_per_pixel / 8;
fb_data = (ushort *)mmap(0, fb_size, PROT_READ | PROT_WRITE, MAP_SHARED, fb_fd, 0);
if (fb_data == MAP_FAILED)
{
cerr << "Error: Failed to map framebuffer to memory" << endl;
close(fb_fd);
return -1;
}
return 0;
}
void disableRawMode()
{
tcsetattr(STDIN_FILENO, TCSAFLUSH, &orig_termios);
}
void enableRawMode()
{
tcgetattr(STDIN_FILENO, &orig_termios);
atexit(disableRawMode);
struct termios raw = orig_termios;
raw.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSAFLUSH, &raw);
}
bool collectImages(const char *path)
{
base_path = path;
DIR *dir = opendir(path);
if (!dir)
{
cerr << "无法打开目录: " << path << endl;
return false;
}
struct dirent *entry;
while ((entry = readdir(dir)) != nullptr)
{
string filename = entry->d_name;
if (filename.length() != 15)
continue;
if (filename.substr(0, 6) != "image_")
continue;
if (filename.substr(11, 4) != ".jpg")
continue;
string num_str = filename.substr(6, 5);
if (num_str.find_first_not_of("0123456789") != string::npos)
continue;
int num = stoi(num_str);
file_map[num] = filename;
}
closedir(dir);
return !file_map.empty();
}
void showHelp()
{
cout << "控制命令:\n"
<< " 左方向键 - 上一张图片\n"
<< " 右方向键 - 下一张图片\n"
<< " g - 跳转到指定序号\n"
<< " q - 退出程序\n";
}
void jumpToNumber()
{
disableRawMode();
cout << "\n输入要跳转的图片序号: ";
string input;
getline(cin, input);
tcflush(STDIN_FILENO, TCIFLUSH);
try
{
int target = stoi(input);
auto it = file_map.find(target);
if (it != file_map.end())
{
current_num = target;
triggerCallback(current_num);
}
else
{
cout << "未找到序号: " << target << endl;
}
}
catch (...)
{
cout << "无效输入" << endl;
}
enableRawMode();
}
int main(int argc, char *argv[])
{
if (fbInit())
{
cerr << "Framebuffer初始化失败" << endl;
return 1;
}
imgInit();
const char *path = argc > 1 ? argv[1] : ".";
if (!collectImages(path))
{
cerr << "未找到符合要求的图片文件" << endl;
return 1;
}
enableRawMode();
// 设置回调函数
image_callback = defaultImageCallback;
// 初始化时触发第一次回调
current_num = file_map.begin()->first;
triggerCallback(current_num);
showHelp();
while (true)
{
auto it = file_map.find(current_num);
if (it == file_map.end())
{
cerr << "当前文件不可用" << endl;
break;
}
cout << "\r当前图片: " << it->second << " (序号: " << current_num << ")" << "计算耗时：" << frame_duration.count() << "秒" << " 当前模式: " << displayMode << flush;
char c;
if (read(STDIN_FILENO, &c, 1) == 1)
{
if (c == '\033')
{ // ESC序列
char seq[2];
if (read(STDIN_FILENO, seq, 2) == 2)
{
if (seq[0] == '[')
{
auto next_it = file_map.upper_bound(current_num);
auto prev_it = file_map.lower_bound(current_num);
switch (seq[1])
{
case 'D': // 左方向键
if (prev_it != file_map.begin())
{
current_num = (--prev_it)->first;
triggerCallback(current_num);
}
break;
case 'C': // 右方向键
if (next_it != file_map.end())
{
current_num = next_it->first;
triggerCallback(current_num);
}
break;
}
}
}
}
else if (c == 'q')
{
break;
}
else if (c == 'g')
{
jumpToNumber();
}
else if (c == 't')
{
displayMode = (displayMode + 1) % displayModeCount;
display();
}
}
}
disableRawMode();
cout << "\n程序已退出" << endl;
return 0;
}