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