int main(int argc, char** argv)
{
IplImage* motion = 0;
CvCapture* capture = 0;
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
else if( argc == 2 )
capture = cvCaptureFromFile( argv[1] );
// 如果捕获到图像
if (capture)
{
cvNamedWindow( "Motion", 1 );
for(;;)
{
IplImage* image;
if( !cvGrabFrame( capture ))
break;
image = cvRetrieveFrame( capture );
if( image )
{
if( !motion )
{
motion = cvCreateImage( cvSize(image->width,image->height), 8, 3 );
cvZero( motion );
// 将采集到的图像指针赋给运动图像
motion->origin = image->origin;
}
}
// 更新运动历史图像
update_mhi(image, motion, 30);
// 显示运动图像
cvShowImage( "Motion", motion );
if( cvWaitKey(10) >= 0 )
break;
}
cvReleaseCapture( &capture );
cvDestroyWindow( "Motion" );
}
return 0;
}
int main(int argc, char** argv){
IplImage* motion = 0;
CvCapture* capture = 0;
short frameCount = 0;
// Info del clasificador
CvNormalBayesClassifier *nbayes;
char default_data_filename[] = "./train-data.txt";
char* data_filename = default_data_filename;
build_nbayes_classifier(data_filename, &nbayes);
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
else if( argc == 2 )
capture = cvCaptureFromFile( argv[1] );
if( capture ){
double fps = cvGetCaptureProperty(capture, CV_CAP_PROP_FPS);
std::cout << "FPS : " << fps << std::endl;
cvNamedWindow( "Original", 1 );
cvNamedWindow( "Motion", 1 );
for(;;){
IplImage* image = cvQueryFrame( capture );
if( !image ){
break;
}
if( !motion ){
motion = cvCreateImage( cvSize(image->width,image->height), 8, 3 );
cvZero( motion );
motion->origin = image->origin;
}
++frameCount;
if(frameCount > 7 || 1){
frameCount = 0;
initMatrix(relevanceVector,51);
update_mhi( image, motion, MOTION_HISTORY_SENSITIVITY, frameCount);
computeVectors(image, motion, 128, 96);
classify(nbayes);
}
cvShowImage( "Original", image);
cvShowImage( "Motion", motion );
if( cvWaitKey(10) >= 0 )
break;
}
cvReleaseCapture( &capture );
cvDestroyWindow( "Original" );
cvDestroyWindow( "Motion" );
}
return 0;
}
int main(int argc, char** argv)
{
IplImage* motion = 0;
CvCapture* capture = 0;
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
else if( argc == 2 )
capture = cvCaptureFromFile( argv[1] );
if( capture )
{
help();
cvNamedWindow( "Motion", 1 );
for(;;)
{
IplImage* image;
if( !cvGrabFrame( capture ))
break;
image = cvRetrieveFrame( capture );
if( image )
{
if( !motion )
{
motion = cvCreateImage( cvSize(image->width,image->height), 8, 3 );
cvZero( motion );
motion->origin = image->origin;
}
}
update_mhi( image, motion, 30 );
cvShowImage( "Motion", motion );
if( cvWaitKey(10) >= 0 )
break;
}
cvReleaseCapture( &capture );
cvDestroyWindow( "Motion" );
}
else
{
printf("\nFailed to open camera or file\n");
help();
}
return 0;
}
int main(int argc, char** argv)
{
IplImage* motion = 0;
CvCapture* capture = 0;
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
else if( argc == 2 )
capture = cvCaptureFromFile( argv[1] );
if( capture )
{
cvNamedWindow( "Motion", 1 );
for(;;)
{
IplImage* image = cvQueryFrame( capture );
if( !image )
break;
if( !motion )
{
motion = cvCreateImage( cvSize(image->width,image->height), 8, 3 );
cvZero( motion );
motion->origin = image->origin;
}
update_mhi( image, motion, 30 );
cvShowImage( "Motion", motion );
if( cvWaitKey(10) == 27 )
break;
}
cvReleaseCapture( &capture );
cvDestroyWindow( "Motion" );
}
return 0;
}
/*************************************************************
视频设备和显示设备初始化，预览函数
*************************************************************/
int video_fb_init_preview()
{
//临时
int tmpcount=0;
//串口相关变量-------------------------------
char buff[512];
int nread=0;
int FrameDone=0;//一帧数据结束标志
int FrameCosunt=0;//记录帧长度
int j=0;
int key=0;//开关标志
int stat=0;//视频设备状态标志
//-------------------------------------------
int numBufs;
//--------------------------------------------
//SDL yuv
SDL_Surface *pscreen;
SDL_Overlay *overlay;
SDL_Rect drect;
SDL_Event sdlevent;
SDL_mutex *affmutex;
unsigned char *p = NULL;
unsigned char frmrate;
unsigned int currtime;
unsigned int lasttime;
char* status = NULL;
//SDL RGB
unsigned int rmask;
unsigned int gmask;
unsigned int bmask;
unsigned int amask;
int bpp;
int pitch;
int pixels_num;
unsigned char *pixels;
unsigned char *p_RGB = NULL;
SDL_Surface *pscreen_RGB;
SDL_Surface *display_RGB;
printf("USB Camera Test\n");
//++++++++++++++++++++++++SDL初始化和设置start+++++++++++++++++++++++++++++++
/*if(SDL_Init(SDL_INIT_VIDEO) < 0)
{
printf("SDL Init failed.\n");
exit(1);
}
//SDL 设置:YUV输出
pscreen = SDL_SetVideoMode(fmt.fmt.pix.width, fmt.fmt.pix.height,0,SDL_VIDEO_Flags);
overlay = SDL_CreateYUVOverlay(fmt.fmt.pix.width, fmt.fmt.pix.height,SDL_YUY2_OVERLAY,pscreen);
p = (unsigned char *)overlay->pixels[0];
drect.x = 0;
drect.y = 0;
drect.w = pscreen->w;
drect.h = pscreen->h;
//SDL 设置:RGB输出
//pscreen = SDL_SetVideoMode(fmt.fmt.pix.width, fmt.fmt.pix.height, 24, SDL_SWSURFACE | SDL_DOUBLEBUF);
//rmask = 0x000000ff;
//gmask = 0x0000ff00;
//bmask = 0x00ff0000;
//amask = 0x00000000;
//bpp = 24;
pitch = fmt.fmt.pix.width*3;
pixels_num = fmt.fmt.pix.width*fmt.fmt.pix.height*3;
pixels = (unsigned char *)malloc(pixels_num);
memset(pixels, 0, pixels_num);
p_RGB = (unsigned char *)pixels;
//pscreen_RGB = SDL_CreateRGBSurfaceFrom(pixels,
//fmt.fmt.pix.width,
//fmt.fmt.pix.height,
//bpp,
//pitch,
//rmask,
//gmask,
//bmask,
//amask);
//lasttime = SDL_GetTicks();
//affmutex = SDL_CreateMutex();*/
//++++++++++++++++++++++++SDL初始化和设置end+++++++++++++++++++++++++++++++
//++++++++++++++++++++++++openCV设置start+++++++++++++++++++++++++++++++
CvMemStorage* storage = cvCreateMemStorage(0);
IplImage* img = cvCreateImageHeader(cvSize(X,Y), IPL_DEPTH_8U, 3);//image头，未开辟数据空间
IplImage* imggray = cvCreateImage(cvSize(X,Y), IPL_DEPTH_8U, 1);//image，开辟数据空间
IplImage* motion = cvCreateImage(cvSize(X,Y), IPL_DEPTH_8U, 3);
cvNamedWindow("image", 1);
unsigned char *pRGB = NULL;
pRGB = (unsigned char *)calloc(1,X*Y*3*sizeof(unsigned char));
//++++++++++++++++++++++++openCV设置end+++++++++++++++++++++++++++++++++
video_fd = open("/dev/video0", O_RDWR, 0);//打开摄像头设备，使用阻塞方式打开
if (video_fd<0)
{
printf("open error\n");
return 1;
}
/*************先向驱动尝试获取设备视频格式start*************/
struct v4l2_fmtdesc fmt0;
int ret0;
memset(&fmt0,0,sizeof(fmt0));
fmt0.index = 0;
fmt0.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
while((ret0 = ioctl(video_fd,VIDIOC_ENUM_FMT,&fmt0) == 0))
{
fmt0.index++;
printf("%d> pixelformat =%c%c%c%c,description =%s\n",
fmt0.index,fmt0.pixelformat&0xff,
(fmt0.pixelformat>>8)&0xff,
(fmt0.pixelformat>>16)&0xff,
(fmt0.pixelformat>>24)&0xff,
fmt0.description);
}
/**************************END***************************/
//---------------------设置获取视频的格式----------------//
struct v4l2_format fmt;
memset( &fmt, 0, sizeof(fmt));
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; //视频数据流类型，永远都V4L2_BUF_TYPE_VIDEO_CAPTURE
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV; //视频源的格式为JPEG或YUN4:2:2或RGB
fmt.fmt.pix.width = X; //设置视频宽度
fmt.fmt.pix.height = Y; //设置视频高度
//fmt.fmt.pix.field=V4L2_FIELD_INTERLACED;
//fmt.fmt.pix.colorspace=8;
//printf("color: %d \n",fmt.fmt.pix.colorspace);
if (ioctl(video_fd, VIDIOC_S_FMT, &fmt) < 0) //使配置生效
{
printf("set format failed\n");
return 2;
}
//-------------------------------------------------------//
//++++++++++++++++++++++++向video设备驱动申请帧缓冲start+++++++++++++++++
struct v4l2_requestbuffers req;
memset(&req, 0, sizeof (req));
req.count = 3; //缓存数量，即可保存的图片数量
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; //数据流类型，永远都是V4L2_BUF_TYPE_VIDEO_CAPTURE
req.memory = V4L2_MEMORY_MMAP; //存储类型：V4L2_MEMORY_MMAP或V4L2_MEMORY_USERPTR
if (ioctl(video_fd, VIDIOC_REQBUFS, &req) == -1) //使配置生效
{
perror("request buffer error \n");
return 2;
}
//++++++++++++++++++++++++向video设备驱动申请帧缓冲end+++++++++++++++++
//+++++++++++++++将VIDIOC_REQBUFS获取内存转为物理空间start+++++++++++++
buffers = calloc(req.count, sizeof(VideoBuffer));
//printf("sizeof(VideoBuffer) is %d\n", sizeof(VideoBuffer));
struct v4l2_buffer buf;
for (numBufs = 0; numBufs < req.count; numBufs++)
{
memset( &buf, 0, sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
//存储类型：V4L2_MEMORY_MMAP（内存映射）或V4L2_MEMORY_USERPTR（用户指针）
buf.memory = V4L2_MEMORY_MMAP;
buf.index = numBufs;
if (ioctl(video_fd, VIDIOC_QUERYBUF, &buf) < 0) //使配置生效
{
printf("VIDIOC_QUERYBUF error\n");
return 2;
}
//printf("buf len is %d\n", sizeof(buf));
buffers[numBufs].length = buf.length;
buffers[numBufs].offset = (size_t) buf.m.offset;
//使用mmap函数将申请的缓存地址转换应用程序的绝对地址------
buffers[numBufs].start = mmap(NULL, buf.length, PROT_READ | PROT_WRITE,
MAP_SHARED, video_fd, buf.m.offset);
if (buffers[numBufs].start == MAP_FAILED)
{
perror("buffers error\n");
return 2;
}
if (ioctl(video_fd, VIDIOC_QBUF, &buf) < 0) //放入缓存队列
{
printf("VIDIOC_QBUF error\n");
return 2;
}
}
//+++++++++++++++将VIDIOC_REQBUFS获取内存转为物理空间end+++++++++++++
//++++++++++++++++++++++++++++++打开视频流start+++++++++++++++++++++++++
enum v4l2_buf_type type;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (ioctl(video_fd, VIDIOC_STREAMON, &type) < 0)
{
printf("VIDIOC_STREAMON error\n");
return 2;
}
//++++++++++++++++++++++++++++++打开视频流end+++++++++++++++++++++++++
//---------------------读取视频源格式---------------------//
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (ioctl(video_fd, VIDIOC_G_FMT, &fmt) < 0)
{
printf("get format failed\n");
return 2 ;
}
else
{
printf("Picture:Width = %d Height = %d\n", fmt.fmt.pix.width, fmt.fmt.pix.height);
}
//-------------------------------------------------------//
int i=0;
//++++++++++++++++++++++++直接使用FB设备显示结果start++++++++++++++++++++++++++++++
//一些关于fb设备或者没有用到的变量---------------------------
/*FILE * fd_y_file = 0;
int a=0;
int k = 0;
int i=0;
//设置显卡设备framebuffer------------------------------------
struct jpeg_decompress_struct cinfo;
struct jpeg_error_mgr jerr;
FILE *infile;//Jpeg文件的句柄
unsigned char *buffer;
char *fb_device;
unsigned int x;
unsigned int y;
//打开显卡设备------------------------------------------------
if ((fb = open("/dev/fb0", O_RDWR)) < 0)
{
perror(__func__);
return 2;
}
//获取framebuffer的状态-----------------------------------------
fb_set(fb);//设置显存参数
fb_stat(fb);//获取显卡驱动中的长、宽和显示位宽
printf("frame buffer: %dx%d, %dbpp, 0x%xbyte= %d,graylevels= %d \n",
fbdev.fb_width, fbdev.fb_height, fbdev.fb_bpp, fbdev.fb_size, fbdev.fb_size,fbdev.fb_gray);
//映射framebuffer的地址到用户空间----------------------------------
fbdev.fb_mem = mmap (NULL, fbdev.fb_size, PROT_READ|PROT_WRITE,MAP_SHARED,fb,0);
fbdev.fb = fb;
*/
//++++++++++++++++++++++++直接使用FB设备显示结果end++++++++++++++++++++++++++++++
//预览采集到的图像（如果有需要可以添加capture功能）-------------------
while (sdl_quit)
{
fd_set fds;//文件描述符集，准备使用Select机制
struct timeval tv;
int ret1;
//++++++++++++++++++++IO select start++++++++++++++++++++++++++
FD_ZERO(&fds);//清空文件描述符集
FD_SET(video_fd,&fds);//将视频设备文件的描述符放入集合中
//消息等待超时,可以完全阻塞-------------------------------
tv.tv_sec =5;
tv.tv_usec=0;
//等待视频设备准备好--------------------------------------
ret1=select(video_fd+1,&fds,NULL,NULL,&tv);
if(-1==ret1)
{
if(EINTR==errno)
continue;
printf("select error. \n");
exit(EXIT_FAILURE);
}
if(0==ret1)
{
printf("select timeout. \n");
continue;
}
//++++++++++++++++++++IO select end++++++++++++++++++++++++++
while(sdl_quit)
{
//检测退出消息
while(SDL_PollEvent(&sdlevent))
{
if(sdlevent.type == SDL_QUIT)
{
sdl_quit = 0;
break;
}
}
currtime = SDL_GetTicks();
if(currtime - lasttime >0)
frmrate = 1000/(currtime-lasttime);
lasttime = currtime;
//开始获取FIFO中已经准备好的一帧数据-----------------------
memset(&buf ,0,sizeof(buf));
buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory=V4L2_MEMORY_MMAP;
//准备好的出列--------------------------------------------
ret1=ioctl (video_fd,VIDIOC_DQBUF,&buf);
if(ret1!=0)
{
printf("Lost the video \n");
}
//从FIFO中数据获取完成------------------------------------
//获取当前帧的用户空间首地址，用于格式转换------------------
unsigned char *ptcur=buffers[buf.index].start;
//++++++++++++++++++++++++++++++++++++++++
//算法区
//+++++++++++++++++++++++++++++++++++++++++
//灰度变换
/*
unsigned char *pgray = NULL;
pgray = (unsigned char *)calloc(1,fmt.fmt.pix.width*fmt.fmt.pix.height*2*sizeof(unsigned char));//避免被识别为段错误
yuv2gray(ptcur,pgray,fmt.fmt.pix.width, fmt.fmt.pix.height);
*/
//YUV向RGB（24bit）转换
YUYVToRGB888(ptcur, pRGB, fmt.fmt.pix.width, fmt.fmt.pix.height);
cvSetData(img, pRGB, fmt.fmt.pix.width*3); //将pRGB数据装入img中
//运动检测联合测试
update_mhi(img,motion,30);
/*//opencv 检测人脸
cvCvtColor(img, imggray, CV_RGB2GRAY); //将img灰度转换到imggray,供opencv检测使用
CvHaarClassifierCascade *cascade=(CvHaarClassifierCascade*)cvLoad("/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml", storage,0,0);
cvClearMemStorage(storage);
cvEqualizeHist(imggray, imggray);
CvSeq* objects = cvHaarDetectObjects(imggray, cascade, storage, 1.1, 2, 0, cvSize(30,30),cvSize(500,500));
//opencv 标记人脸
CvScalar colors[] = {{{255,0,0}},{{0,0,0}}};
int faces=0;
printf("%d\n",objects->total);
for(faces=0; faces < (objects ? objects->total:0); faces++)
{
CvRect* r = (CvRect *)cvGetSeqElem(objects,faces);
cvRectangle(img, cvPoint(r->x, r->y), cvPoint(r->x+r->width, r->y+r->height),colors[0],2,8,0 );
}*/
//调整opencv img图像数据
/*CvScalar s;
int imgi=0,imgj=0,sdlcount=0;
for(imgi=0;imgi<img->height;imgi++)
{
for(imgj=0; imgj<img->width; imgj++)
{
s=cvGet2D(img,imgi,imgj);
pRGB[sdlcount++]=0xff;//s.val[0];//B
pRGB[sdlcount++]=0xff;//s.val[1];//G
pRGB[sdlcount++]=0xff;//s.val[2];//R
//cvSet2D(img,imgi,imgj,s);
}
}
*/
//opencv 显示图像
cvShowImage("image", img);
tmpcount++;
if(cvWaitKey(10)>0)
sdl_quit=0;
//+++++++++++++++++++++++SDL显示start+++++++++++++++++++++++++++++++
//yuv载入到SDL
/*
SDL_LockYUVOverlay(overlay);
memcpy(p, pgray,pscreen->w*(pscreen->h)*2);
SDL_UnlockYUVOverlay(overlay);
SDL_DisplayYUVOverlay(overlay, &drect);
*/
//RGB载入到SDL
//memcpy(pixels, pRGB, pscreen_RGB->w*(pscreen_RGB->h)*3);
//SDL_BlitSurface(pscreen_RGB, NULL, display_RGB, NULL);
//SDL_Flip(display_RGB);
//统计帧率
//status = (char *)calloc(1,20*sizeof(char));
//sprintf(status, "Fps:%d",frmrate);
//SDL_WM_SetCaption(status, NULL);
//SDL_Delay(10);
//++++++++++++++++++++++SDL显示end++++++++++++++++++++++++++++++
//用完了的入列--------------------------------------------
ret1=ioctl (video_fd,VIDIOC_QBUF,&buf);
if(ret1!=0)
{
printf("Lost the video \n");
}
if( catchflag ==1)
{
printf("S:Target:(%d,%d)",tx,ty);
//小图像到大图像的坐标映射
tx = tx*X_F/X;
ty = Y_F - ty*Y_F/Y;
lx = tx;
ly = ty;
printf("Zooming...\n");
if((ret1=restartdev(&video_fd,&buffers,&req,&buf,X_F,Y_F)) != 0 )
return ret1;
for( tmpcount = 0; tmpcount < N; tmpcount++ )
{
cvReleaseImage( &mbuf[tmpcount] );
mbuf[tmpcount] = cvCreateImage( cvSize(X,Y), IPL_DEPTH_8U, 1 );
cvZero( mbuf[tmpcount] );
}
//开始获取FIFO中已经准备好的一帧数据-----------------------
delayN = DELAYN;
while( catchflag == 1 ||delayN !=0)
{
catchflag = 0;
memset(&buf ,0,sizeof(buf));
buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory=V4L2_MEMORY_MMAP;
//准备好的出列--------------------------------------------
ret1=ioctl (video_fd,VIDIOC_DQBUF,&buf);
if(ret1!=0)
{
printf("Lost the video \n");
}
//从FIFO中数据获取完成------------------------------------
printf("...\n");
//获取当前帧的用户空间首地址，用于格式转换------------------
unsigned char *tmpptcur=buffers[buf.index].start;
unsigned char *pCUT = NULL;
pCUT= (unsigned char *)calloc(1,X*Y*3*sizeof(unsigned char));
if(cutinterest(tmpptcur,pCUT,tx,ty,X_F,Y_F,X,Y)==1)
{
printf("Not the Force field.\n");
}
else
{
//YUV向RGB（24bit）转换
YUYVToRGB888(pCUT, pRGB, X, Y);
cvSetData(img, pRGB, X*3); //将pRGB数据装入img中
update_mhi(img,motion,30);
printf("catchflag:%d.\n",catchflag);
if(catchflag == 1)
{
delayN=DELAYN;
if(tx<X/2-DX || tx>X/2+DX || ty<Y/2-DY || ty>Y/2+DY)//是否出了监视窗口
{
catchflag = 1;
}
else
{
catchflag = 0;
}
}
cvShowImage("image",img);
//用完了的入列--------------------------------------------
ret1=ioctl (video_fd,VIDIOC_QBUF,&buf);
if(ret1!=0)
{
printf("Lost the video \n");
}
if(cvWaitKey(2)>0)
sdl_quit=0;
printf("NOW:catchflag:%d\n",catchflag);
if(catchflag == 1)
{
ax = tx;
ay = ty;
//目标坐标截取图像到大图像的坐标映射
tx = lx-X/2+tx;
ty = ly-Y/2+ty;
lx = tx;
ly = ty;
printf("L:New taget:(%d,%d)",tx,ty);
}
else if (catchflag == 0 && delayN !=1)
{
delayN--;
tx = lx;
ty = ly;
}
else
{
printf("out Zoom...\n");
//图像回到小模式
if((ret1=restartdev(&video_fd,&buffers,&req,&buf,X,Y)) != 0 )
return ret1;
for( tmpcount = 0; tmpcount < N; tmpcount++ )
{
cvReleaseImage( &mbuf[tmpcount] );
mbuf[tmpcount] = cvCreateImage( cvSize(X,Y), IPL_DEPTH_8U, 1 );
cvZero( mbuf[tmpcount] );
}
delayN = 0;
}printf("delayN:%d.\n",delayN);
}
}
}
}
}
//fb_munmap(fbdev.fb_mem, fbdev.fb_size); //释放framebuffer映射
//close(fb); //关闭Framebuffer设备
for(i=0;i<req.count;i++)
{
if(-1==munmap(buffers[i].start,buffers[i].length))
printf("munmap error:%d \n",i);
}
cvDestroyWindow("image");
close(video_fd);
SDL_DestroyMutex(affmutex);
//SDL_FreeYUVOverlay(overlay);
cvReleaseImage(&img);
cvReleaseImage(&imggray);
free(status);
free(buffers);
SDL_Quit();
return 0;
}
