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 +1,141 @@
+/*
+ * @Author: ilikara 3435193369@qq.com
+ * @Date: 2025-01-07 06:26:01
+ * @LastEditors: ilikara 3435193369@qq.com
+ * @LastEditTime: 2025-01-07 08:10:45
+ * @FilePath: /smartcar/opencv_demo2/opencv_demo2.cpp
+ * @Description: 使用Haar级联分类器从USB摄像头获取图像，并将图像居中显示到160x128的RGB565 framebuffer设备
+ */
+#include <opencv2/opencv.hpp>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/mman.h>
+#include <linux/fb.h>
+#include <sys/ioctl.h>
+
+using namespace cv;
+using namespace std;
+
+// 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);
+}
+
+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;
+    }
+
+    // 打开USB摄像头
+    VideoCapture cap(0); // 0表示第一个摄像头
+    if (!cap.isOpened())
+    {
+        cerr << "Error: Cannot open camera" << endl;
+        return -1;
+    }
+
+    // 设置摄像头参数
+    cap.set(CAP_PROP_FRAME_WIDTH, 640);
+    cap.set(CAP_PROP_FRAME_HEIGHT, 360);
+    cap.set(CAP_PROP_FOURCC, VideoWriter::fourcc('M', 'J', 'P', 'G'));
+    cap.set(CAP_PROP_AUTO_EXPOSURE, -1); // 启用自动曝光
+
+    // 加载Haar级联分类器
+    CascadeClassifier face_cascade;
+    if (!face_cascade.load("opencv/share/opencv4/haarcascades/haarcascade_frontalface_default.xml"))
+    {
+        cerr << "Error: Cannot load Haar cascade classifier" << endl;
+        return -1;
+    }
+
+    // 创建 OpenCV 图像（160x128，RGB888）
+    Mat image(128, 160, CV_8UC3, Scalar(0, 0, 0));
+
+    while (true)
+    {
+        Mat frame;
+        cap >> frame; // 从摄像头获取一帧图像
+        if (frame.empty())
+        {
+            cerr << "Error: Cannot grab frame from camera" << endl;
+            break;
+        }
+
+        // 缩放图像到160x90
+        Mat resized_frame;
+        resize(frame, resized_frame, Size(160, 90));
+
+        // 转换为灰度图像
+        Mat gray;
+        cvtColor(resized_frame, gray, COLOR_BGR2GRAY);
+
+        // 使用Haar级联分类器检测人脸
+        vector<Rect> faces;
+        face_cascade.detectMultiScale(gray, faces, 1.1, 2, 0 | CASCADE_SCALE_IMAGE, Size(30, 30));
+
+        // 在图像上绘制检测到的人脸
+        for (const auto &face : faces)
+        {
+            rectangle(resized_frame, face, Scalar(255, 0, 0), 2);
+        }
+
+        // 将图像居中显示到160x128的framebuffer
+        image.setTo(Scalar(0, 0, 0)); // 清空图像
+        int y_offset = (128 - 90) / 2;
+        resized_frame.copyTo(image(Rect(0, y_offset, 160, 90)));
+
+        // 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);
+            }
+        }
+
+        // 等待一段时间
+        usleep(33333);
+    }
+
+    // 释放资源
+    munmap(fb_data, fb_size);
+    close(fb_fd);
+    cap.release();
+
+    return 0;
+}