初始提交：龙芯2K0300智能车卖家Demo完整代码

2026-05-28 15:24:33 +08:00
commit b6b631cef3
80 changed files with 7153 additions and 0 deletions
@@ -0,0 +1,5 @@
+# demo2
+add_executable(opencv_demo2 opencv_demo2.cpp)
+
+# 链接 OpenCV 库
+target_link_libraries(opencv_demo2 ${OpenCV_LIBS})
@@ -0,0 +1,222 @@
+/*
+ * @Author: ilikara 3435193369@qq.com
+ * @Date: 2025-01-07 06:26:01
+ * @LastEditors: Ilikara 3435193369@qq.com
+ * @LastEditTime: 2025-01-17 15:41:43
+ * @FilePath: /2k300_smartcar/opencv_demo2/opencv_demo2.cpp
+ * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
+ */
+#include <opencv2/opencv.hpp>
+#include <cmath>
+#include <vector>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/mman.h>
+#include <linux/fb.h>
+#include <sys/ioctl.h>
+#include <algorithm> // for sort
+
+using namespace cv;
+using namespace std;
+
+// 定义立方体的顶点
+vector<Point3f> vertices = {
+    {-1, -1, -1},
+    {1, -1, -1},
+    {1, 1, -1},
+    {-1, 1, -1},
+    {-1, -1, 1},
+    {1, -1, 1},
+    {1, 1, 1},
+    {-1, 1, 1}};
+
+// 定义立方体的面
+vector<vector<int>> faces = {
+    {0, 1, 2, 3}, // 前面
+    {4, 5, 6, 7}, // 后面
+    {0, 1, 5, 4}, // 底面
+    {2, 3, 7, 6}, // 顶面
+    {0, 3, 7, 4}, // 左面
+    {1, 2, 6, 5}  // 右面
+};
+
+// 定义每个面的颜色
+vector<Scalar> faceColors = {
+    Scalar(255, 0, 0),   // 红色
+    Scalar(0, 255, 0),   // 绿色
+    Scalar(0, 0, 255),   // 蓝色
+    Scalar(255, 255, 0), // 黄色
+    Scalar(255, 0, 255), // 紫色
+    Scalar(0, 255, 255)  // 青色
+};
+
+// 将3D点投影到2D平面（透视投影）
+Point2f projectPoint(Point3f point, Mat rotationMatrix, float scale, Point2f offset, float fov)
+{
+    Mat pointMat = (Mat_<float>(3, 1) << point.x, point.y, point.z);
+    Mat rotatedPoint = rotationMatrix * pointMat;
+
+    // 透视投影
+    float z = rotatedPoint.at<float>(2, 0);
+    float x = rotatedPoint.at<float>(0, 0) / (z / fov + 1) * scale + offset.x;
+    float y = rotatedPoint.at<float>(1, 0) / (z / fov + 1) * scale + offset.y;
+
+    return Point2f(x, y);
+}
+
+// 将 RGB888 转换为 RGB565
+ushort rgb888_to_rgb565(const Vec3b &color)
+{
+    return ((color[2] >> 3) << 11) | ((color[1] >> 2) << 5) | (color[0] >> 3);
+}
+
+// 计算面的中心深度
+float calculateFaceDepth(const vector<Point3f> &faceVertices, Mat rotationMatrix)
+{
+    float depth = 0;
+    for (const auto &vertex : faceVertices)
+    {
+        Mat pointMat = (Mat_<float>(3, 1) << vertex.x, vertex.y, vertex.z);
+        Mat rotatedPoint = rotationMatrix * pointMat;
+        depth += rotatedPoint.at<float>(2, 0); // Z 轴深度
+    }
+    return depth / faceVertices.size(); // 返回平均深度
+}
+
+int main()
+{
+    // Framebuffer 设备
+    const char *fb_device = "/dev/fb0";
+    int 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
+    struct fb_var_screeninfo vinfo;
+    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;
+    ushort *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;
+    }
+
+    // 创建 OpenCV 图像（160x128，RGB888）
+    Mat image(128, 160, CV_8UC3, Scalar(0, 0, 0));
+
+    float angle = 0;
+    float scale = 50;       // 缩放因子
+    Point2f offset(80, 64); // 图像中心点
+    float fov = 500;        // 透视投影的视野
+
+    while (true)
+    {
+        // 清空图像
+        image.setTo(Scalar(0, 0, 0));
+
+        // 计算旋转矩阵
+        Mat rotationMatrixX = (Mat_<float>(3, 3) << 1, 0, 0,
+                               0, cos(angle), -sin(angle),
+                               0, sin(angle), cos(angle));
+
+        Mat rotationMatrixY = (Mat_<float>(3, 3) << cos(angle), 0, sin(angle),
+                               0, 1, 0,
+                               -sin(angle), 0, cos(angle));
+
+        Mat rotationMatrixZ = (Mat_<float>(3, 3) << cos(angle), -sin(angle), 0,
+                               sin(angle), cos(angle), 0,
+                               0, 0, 1);
+
+        Mat rotationMatrix = rotationMatrixZ * rotationMatrixY * rotationMatrixX;
+
+        // 计算每个面的深度并排序
+        vector<pair<float, int>> faceDepths; // {深度, 面索引}
+        for (size_t i = 0; i < faces.size(); i++)
+        {
+            vector<Point3f> faceVertices;
+            for (int vertexIndex : faces[i])
+            {
+                faceVertices.push_back(vertices[vertexIndex]);
+            }
+            float depth = calculateFaceDepth(faceVertices, rotationMatrix);
+            faceDepths.push_back({depth, i});
+        }
+
+        // 按深度从远到近排序
+        sort(faceDepths.begin(), faceDepths.end(), [](const pair<float, int> &a, const pair<float, int> &b)
+             {
+                 return a.first > b.first; // 深度大的先绘制
+             });
+
+        // 按排序后的顺序绘制面
+        for (const auto &faceDepth : faceDepths)
+        {
+            int faceIndex = faceDepth.second;
+            vector<Point2f> facePointsFloat;
+            for (int vertexIndex : faces[faceIndex])
+            {
+                Point3f vertex = vertices[vertexIndex];
+                Point2f projectedPoint = projectPoint(vertex, rotationMatrix, scale, offset, fov);
+                facePointsFloat.push_back(projectedPoint);
+            }
+
+            // 将 Point2f 转换为 Point（CV_32S 类型）
+            vector<Point> facePoints;
+            for (const auto &pt : facePointsFloat)
+            {
+                facePoints.push_back(Point(cvRound(pt.x), cvRound(pt.y)));
+            }
+
+            // 填充面
+            fillConvexPoly(image, facePoints, faceColors[faceIndex]);
+
+            // 绘制边
+            for (size_t j = 0; j < facePoints.size(); j++)
+            {
+                line(image, facePoints[j], facePoints[(j + 1) % facePoints.size()], Scalar(0, 0, 0), 2);
+            }
+        }
+
+        // 将 OpenCV 图像（RGB888）转换为 RGB565 并写入 Framebuffer
+        for (int y = 0; y < image.rows; y++)
+        {
+            for (int x = 0; x < image.cols; x++)
+            {
+                Vec3b color = image.at<Vec3b>(y, x);
+                fb_data[y * vinfo.xres + x] = rgb888_to_rgb565(color);
+            }
+        }
+
+        // 更新角度
+        angle += 0.02;
+
+        // 等待一段时间
+        usleep(1000000 / 50);
+    }
+
+    // 释放资源
+    munmap(fb_data, fb_size);
+    close(fb_fd);
+
+    return 0;
+}