Initial commit: SmartCar Framework v0.1 — 龙芯2K0300智能车开发框架\n\n- HAL: GPIO/PWM/Encoder/Framebuffer 驱动\n- Control: PID/IMU/Motor/Servo 控制\n- Vision: HSV双Otsu→4点标定IPM→洪泛填充→逐行搜线\n- Strategy: 三区前瞻偏差+速度策略\n- Debug: 文件热调参+LCD预览+cv截帧\n- Scheduler: 5ms timerfd+epoll 中央调度器

vision/camera.cpp

@@ -0,0 +1,56 @@
+#include "camera.hpp"
+#include <atomic>
+#include <mutex>
+#include <thread>
+
+static cv::VideoCapture* cap       = nullptr;
+static cv::Mat           pubframe;
+static std::mutex        frame_mutex;
+static std::atomic<bool> stream_running{false};
+
+bool camera_init()
+{
+    cap = new cv::VideoCapture(0);
+    if (!cap->isOpened()) return false;
+
+    cap->set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'));
+    cap->set(cv::CAP_PROP_FRAME_WIDTH,  CAMERA_WIDTH);
+    cap->set(cv::CAP_PROP_FRAME_HEIGHT, CAMERA_HEIGHT);
+    cap->set(cv::CAP_PROP_AUTO_EXPOSURE, -1);
+
+    return true;
+}
+
+void camera_deinit()
+{
+    if (cap) { cap->release(); delete cap; cap = nullptr; }
+}
+
+cv::Mat camera_capture()
+{
+    std::lock_guard<std::mutex> lock(frame_mutex);
+    return pubframe.clone();
+}
+
+cv::Mat camera_resize(const cv::Mat& src)
+{
+    cv::Mat resized;
+    cv::resize(src, resized, cv::Size(IMAGE_WIDTH, IMAGE_HEIGHT));
+    return resized;
+}
+
+void camera_stream_start()
+{
+    stream_running.store(true);
+    std::thread([]() {
+        cv::Mat tmp;
+        while (stream_running.load())
+        {
+            if (cap && cap->read(tmp))
+            {
+                std::lock_guard<std::mutex> lock(frame_mutex);
+                pubframe = tmp.clone();
+            }
+        }
+    }).detach();
+}