v10模型集成+去抖+架构重构: 单线程+背景采集, ControlUpdate单出口电机控制, I2C音频持久fd, 斑马线接近去抖

2026-06-09 17:07:00 +08:00
parent b6b631cef3
commit d284e18407
25 changed files with 2453 additions and 409 deletions
@@ -0,0 +1,103 @@
+/*
+ * gd13_demo — 斑马线检测演示 (调用 zebra_detect.h)
+ */
+#include <opencv2/opencv.hpp>
+#include <iostream>
+#include <cstring>
+#include <csignal>
+#include <atomic>
+
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/mman.h>
+#include <sys/ioctl.h>
+#include <linux/fb.h>
+
+#include "zebra_detect.h"
+
+using namespace cv;
+using namespace std;
+
+static atomic<bool> g_running{true};
+static void signal_handler(int) { g_running.store(false); }
+
+static uint16_t rgb565(uint8_t r, uint8_t g, uint8_t b)
+{
+    return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3);
+}
+
+static void display_on_fb(const Mat &bgr, uint16_t *fb_buf, int scr_w, int scr_h)
+{
+    Mat display;
+    resize(bgr, display, Size(scr_w, scr_h));
+    for (int y = 0; y < scr_h; ++y)
+        for (int x = 0; x < scr_w; ++x)
+        {
+            Vec3b px = display.at<Vec3b>(y, x);
+            fb_buf[y * scr_w + x] = rgb565(px[2], px[1], px[0]);
+        }
+}
+
+int main(int argc, char *argv[])
+{
+    bool no_display = false;
+    for (int i = 1; i < argc; ++i)
+        if (strcmp(argv[i], "--no-display") == 0) no_display = true;
+
+    signal(SIGINT,  signal_handler);
+    signal(SIGTERM, signal_handler);
+
+    VideoCapture cap(0);
+    cap.open(0, CAP_V4L2);
+    if (!cap.isOpened()) cap.open(0);
+    if (!cap.isOpened()) { cerr << "摄像头打开失败" << endl; return 1; }
+    printf("摄像头已打开\n");
+
+    int fb_fd = -1;
+    uint16_t *fb_buf = nullptr;
+    int scr_w = 0, scr_h = 0;
+    if (!no_display)
+    {
+        fb_fd = open("/dev/fb0", O_RDWR);
+        if (fb_fd >= 0)
+        {
+            struct fb_var_screeninfo vinfo;
+            ioctl(fb_fd, FBIOGET_VSCREENINFO, &vinfo);
+            scr_w = vinfo.xres; scr_h = vinfo.yres;
+            size_t fb_size = vinfo.yres_virtual * vinfo.xres_virtual * 2;
+            fb_buf = (uint16_t *)mmap(nullptr, fb_size, PROT_READ|PROT_WRITE,
+                                      MAP_SHARED, fb_fd, 0);
+        }
+    }
+
+    Mat frame, result;
+    printf("开始斑马线检测...\n");
+
+    while (g_running)
+    {
+        if (!cap.read(frame) || frame.empty()) { usleep(5000); continue; }
+
+        ZebraResult zr = detect_zebra_crossing(frame);
+
+        result = frame.clone();
+        if (zr.detected)
+        {
+            putText(result, "ZEBRA! dist=" + to_string(zr.distance_px) + "px",
+                    Point(10, 30), FONT_HERSHEY_SIMPLEX, 0.8,
+                    Scalar(0, 0, 255), 2);
+            printf("ZEBRA detected | distance=%d px\n", zr.distance_px);
+        }
+        else
+        {
+            printf("not detected | distance=%d\n", zr.distance_px);
+        }
+
+        if (!no_display && fb_buf)
+            display_on_fb(result, fb_buf, scr_w, scr_h);
+    }
+
+    cap.release();
+    if (fb_buf) munmap(fb_buf, scr_w * scr_h * 2);
+    if (fb_fd >= 0) close(fb_fd);
+    return 0;
+}