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 +1,2 @@
+add_executable(screenshot_demo screenshot_demo.cpp)
+target_link_libraries(screenshot_demo common_lib ${OpenCV_LIBS})
@@ -0,0 +1,111 @@
+/*
+ * screenshot_demo — 摄像头截图保存
+ * ======================================
+ * 每次运行截一张图, 保存到 ./screenshot/image_N.jpg
+ * 用法:
+ *   ./screenshot_demo              截一张图 + LCD 显示
+ *   ./screenshot_demo --no-display 无 LCD
+ */
+
+#include <opencv2/opencv.hpp>
+#include <iostream>
+#include <cstdio>
+#include <cstring>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/mman.h>
+#include <sys/ioctl.h>
+#include <linux/fb.h>
+
+using namespace cv;
+using namespace std;
+
+static uint16_t rgb565(uint8_t r, uint8_t g, uint8_t b)
+{
+    return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3);
+}
+
+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;
+
+    // ---- 创建目录 ----
+    mkdir("./screenshot", 0755);
+
+    // ---- 摄像头 ----
+    VideoCapture cap;
+    cap.open(0, CAP_V4L2);
+    if (!cap.isOpened()) cap.open(0);
+    if (!cap.isOpened()) { cerr << "无法打开摄像头" << endl; return 1; }
+    cap.set(CAP_PROP_FRAME_WIDTH,  640);
+    cap.set(CAP_PROP_FRAME_HEIGHT, 480);
+    cap.set(CAP_PROP_FOURCC, VideoWriter::fourcc('M', 'J', 'P', 'G'));
+    printf("摄像头: %dx%d\n",
+           (int)cap.get(CAP_PROP_FRAME_WIDTH),
+           (int)cap.get(CAP_PROP_FRAME_HEIGHT));
+
+    // ---- 丢弃前几帧 (曝光稳定) ----
+    Mat frame;
+    for (int i = 0; i < 10; ++i)
+        cap.read(frame);
+    usleep(100000);
+
+    // ---- 截图 ----
+    if (!cap.read(frame) || frame.empty())
+    {
+        cerr << "截图失败" << endl;
+        cap.release();
+        return 1;
+    }
+
+    // 自增文件名
+    int idx = 0;
+    char fname[64];
+    struct stat st;
+    do {
+        snprintf(fname, sizeof(fname),
+                 "./screenshot/image_%05d.jpg", ++idx);
+    } while (stat(fname, &st) == 0);
+
+    imwrite(fname, frame);
+    printf("截图: %s (%dx%d)\n", fname, frame.cols, frame.rows);
+
+    // ---- LCD 显示 ----
+    if (!no_display)
+    {
+        int fb_fd = open("/dev/fb0", O_RDWR);
+        if (fb_fd >= 0)
+        {
+            struct fb_var_screeninfo vinfo;
+            ioctl(fb_fd, FBIOGET_VSCREENINFO, &vinfo);
+            int scr_w = vinfo.xres, scr_h = vinfo.yres;
+            size_t fb_size = vinfo.yres_virtual * vinfo.xres_virtual * 2;
+            uint16_t *fb_buf = (uint16_t *)mmap(nullptr, fb_size,
+                                                 PROT_READ|PROT_WRITE,
+                                                 MAP_SHARED, fb_fd, 0);
+
+            Mat disp;
+            resize(frame, disp, Size(scr_w, scr_h));
+            rectangle(disp, Point(0, 0), Point(disp.cols, disp.rows),
+                      Scalar(0, 255, 255), 3);
+
+            for (int y = 0; y < scr_h; ++y)
+                for (int x = 0; x < scr_w; ++x)
+                {
+                    Vec3b px = disp.at<Vec3b>(y, x);
+                    fb_buf[y * scr_w + x] = rgb565(px[2], px[1], px[0]);
+                }
+
+            sleep(1);
+            munmap(fb_buf, fb_size);
+            close(fb_fd);
+        }
+    }
+
+    cap.release();
+    return 0;
+}