int main(int argc, char const *argv[])
{
VI_EXT_CHN_ATTR_S stExtChnAttr;
VB_BLK hBlock;
VB_POOL hPool = VB_INVALID_POOLID;
HI_S32 s32Ret = HI_SUCCESS;
HI_U32 u32BlkSize, u32DstBlkSize;
VIDEO_FRAME_INFO_S FrameInfo;
IVE_HANDLE IveHandle;
IVE_SRC_IMAGE_S stSrc;
IVE_DST_IMAGE_S stDst;
IVE_CSC_CTRL_S stCscCtrl;
HI_BOOL bInstant = HI_TRUE;
HI_BOOL bFinish;
IplImage *iplImage;
FILE *fp,*fp2;
int k=1;
#if 0
memset(&stVbConf, 0, sizeof(VB_CONF_S));
stVbConf.u32MaxPoolCnt = 128;
SAMPLE_COMM_VI_GetSizeBySensor(&enSize);
u32BlkSize = SAMPLE_COMM_SYS_CalcPicVbBlkSize(gs_enNorm,
enSize, SAMPLE_PIXEL_FORMAT, SAMPLE_SYS_ALIGN_WIDTH);
stVbConf.astCommPool[0].u32BlkSize = u32BlkSize;
stVbConf.astCommPool[0].u32BlkCnt = 12;
s32Ret = SAMPLE_COMM_SYS_Init(&stVbConf);
if (HI_SUCCESS != s32Ret)
{
printf("system init failed with err code %#x!\n", s32Ret );
}
stViConfig.enViMode = SENSOR_TYPE;
stViConfig.enRotate = ROTATE_NONE;
stViConfig.enNorm = VIDEO_ENCODING_MODE_AUTO;
stViConfig.enViChnSet = VI_CHN_SET_NORMAL;
s32Ret = SAMPLE_COMM_VI_StartVi(&stViConfig);
if (HI_SUCCESS != s32Ret)
{
printf("start vi failed with err code %#x!\n", s32Ret);
// goto END_1;
}
#endif
iplImage = cvCreateImageHeader(cvSize(WIDTH,HEIGHT), IPL_DEPTH_8U, 3);
stExtChnAttr.enPixFormat = PIXEL_FORMAT_YUV_SEMIPLANAR_420;
stExtChnAttr.s32BindChn = ViChn;
stExtChnAttr.stDestSize.u32Width = WIDTH;
stExtChnAttr.stDestSize.u32Height = HEIGHT;
stExtChnAttr.s32DstFrameRate = -1;
stExtChnAttr.s32SrcFrameRate = -1;
stExtChnAttr.enCompressMode = COMPRESS_MODE_NONE;
HI_MPI_VI_DisableChn(ExtChn);
s32Ret = HI_MPI_VI_SetExtChnAttr(ExtChn, &stExtChnAttr);
if (HI_SUCCESS != s32Ret)
{
printf("HI_MPI_VI_SetExtChnAttr failed with err code %#x\n", s32Ret);
return -1;
}
s32Ret = HI_MPI_VI_SetFrameDepth(ExtChn, 1);
if (HI_SUCCESS != s32Ret)
{
printf("HI_MPI_VI_SetFrameDepth failed with err code %#x\n", s32Ret);
return -1;
}
stSrc.enType = IVE_IMAGE_TYPE_YUV420SP;
//stDst.enType = IVE_IMAGE_TYPE_U8C3_PLANAR;
stDst.enType = IVE_IMAGE_TYPE_U8C3_PACKAGE;
stCscCtrl.enMode = IVE_CSC_MODE_PIC_BT709_YUV2RGB;
#if 1
s32Ret = HI_MPI_VI_EnableChn(ExtChn);
if (HI_SUCCESS != s32Ret)
{
printf("HI_MPI_VI_EnableChn failed with err code %#x\n", s32Ret);
return -1;
}
#endif
printf("begin\n");
det_t *pdet = det_open("bd_detect_trace.config");
while(k)
{
s32Ret = HI_MPI_VI_GetFrame(ExtChn, &FrameInfo, -1);
if(HI_SUCCESS != s32Ret)
{
printf("HI_MPI_VI_GetFrame failed with err code %#x!\n",s32Ret);
}
printf("get frame!\n");
u32DstBlkSize = FrameInfo.stVFrame.u32Stride[0] * FrameInfo.stVFrame.u32Height * 3;
s32Ret = HI_MPI_SYS_MmzAlloc_Cached(&stDst.u32PhyAddr[0],(void**) &stDst.pu8VirAddr[0], "user", HI_NULL, u32DstBlkSize);
HI_MPI_SYS_MmzFlushCache(stDst.u32PhyAddr[0], (void *)stDst.pu8VirAddr[0], u32DstBlkSize);
#if 0
stDst.u32PhyAddr[1] = stDst.u32PhyAddr[0] + FrameInfo.stVFrame.u32Stride[0] * FrameInfo.stVFrame.u32Height;
stDst.u32PhyAddr[2] = stDst.u32PhyAddr[1] + FrameInfo.stVFrame.u32Stride[0] * FrameInfo.stVFrame.u32Height;
stDst.pu8VirAddr[0] = (HI_U8*) HI_MPI_SYS_Mmap(stDst.u32PhyAddr[0], u32DstBlkSize);
stDst.pu8VirAddr[1] = stDst.pu8VirAddr[0] + FrameInfo.stVFrame.u32Stride[0] * FrameInfo.stVFrame.u32Height;
stDst.pu8VirAddr[2] = stDst.pu8VirAddr[1] + FrameInfo.stVFrame.u32Stride[0] * FrameInfo.stVFrame.u32Height;
stDst.u16Stride[0] = FrameInfo.stVFrame.u32Stride[0];
stDst.u16Stride[1] = FrameInfo.stVFrame.u32Stride[0];
stDst.u16Stride[2] = FrameInfo.stVFrame.u32Stride[0];
stDst.u16Width = FrameInfo.stVFrame.u32Width;
stDst.u16Height = FrameInfo.stVFrame.u32Height;
#endif
#if 1
stDst.pu8VirAddr[0] = (HI_U8*) HI_MPI_SYS_Mmap(stDst.u32PhyAddr[0], u32DstBlkSize);
stDst.u16Stride[0] = FrameInfo.stVFrame.u32Stride[0];
stDst.u16Width = FrameInfo.stVFrame.u32Width;
stDst.u16Height = FrameInfo.stVFrame.u32Height;
#endif
stSrc.u32PhyAddr[0] = FrameInfo.stVFrame.u32PhyAddr[0];
stSrc.u32PhyAddr[1] = FrameInfo.stVFrame.u32PhyAddr[1];
stSrc.u32PhyAddr[2] = FrameInfo.stVFrame.u32PhyAddr[2];
stSrc.pu8VirAddr[0] = (HI_U8*)HI_MPI_SYS_Mmap(FrameInfo.stVFrame.u32PhyAddr[0], u32DstBlkSize / 2);
stSrc.pu8VirAddr[1] = stSrc.pu8VirAddr[0] + FrameInfo.stVFrame.u32Stride[0] * FrameInfo.stVFrame.u32Height;
stSrc.pu8VirAddr[2] = stSrc.pu8VirAddr[1] + 1;
stSrc.u16Stride[1] = FrameInfo.stVFrame.u32Stride[0];
stSrc.u16Stride[0] = FrameInfo.stVFrame.u32Stride[0];
stSrc.u16Stride[2] = 0;
stSrc.u16Width = FrameInfo.stVFrame.u32Width;
stSrc.u16Height = FrameInfo.stVFrame.u32Height;
#if 0
for(k = 0; k < 720 * 576 * 3 / 2;k++)
*(stSrc.pu8VirAddr[0] + k) = 130;
k = 0;
#endif
s32Ret = HI_MPI_IVE_CSC(&IveHandle, &stSrc, &stDst, &stCscCtrl, bInstant);
if(s32Ret != HI_SUCCESS)
{
printf("HI_MPI_IVE_CSC failed with error code %#x\n",s32Ret);
continue;
}
s32Ret = HI_MPI_IVE_Query(IveHandle, &bFinish, HI_TRUE);
if(s32Ret != HI_SUCCESS)
{
printf("HI_MPI_IVE_Query failed with error code %#x\n",s32Ret);
continue;
}
#if 0
fp = fopen("image.rgb","wb");
fwrite(stDst.pu8VirAddr[0], WIDTH * HEIGHT * 3, 1, fp);
fclose(fp);
fp2 = fopen("image2.yuv","wb");
fwrite(stSrc.pu8VirAddr[0], WIDTH * HEIGHT * 3 / 2, 1, fp2);
fclose(fp2);
#endif
//printf("u16Width:%d,u16Height:%d\n",stDst.u16Width,stDst.u16Height);
//printf("widthStep:%d\n",iplImage->widthStep);
//cvSetData(iplImage, stDst.pu8VirAddr[0], iplImage->widthStep);
//cvSaveImage("saveImage.jpg",iplImage);
char *str = det_detect(pdet, HEIGHT, WIDTH, (char *)stDst.pu8VirAddr[0]);
printf("%s\n",str);
HI_MPI_SYS_Munmap(stDst.pu8VirAddr[0], u32DstBlkSize);
HI_MPI_SYS_Munmap(stSrc.pu8VirAddr[0], u32DstBlkSize / 2);
HI_MPI_SYS_MmzFree(stDst.u32PhyAddr[0], NULL);
HI_MPI_VI_ReleaseFrame(ExtChn, &FrameInfo);
}
det_close(pdet);
}
IMP_S32 PEA_ALGO_PROCESS()
{
IMP_S32 nFrmNum = 0;
VIDEO_FRAME_INFO_S stFrame;
VI_DEV ViDev = 0;
VI_CHN ViChn =0;
OBJ_S stObj;
LIB_INFO_S stLibInfo;
IMP_HANDLE hIMP = &stObj;
MEM_SET_S stMems;
YUV_IMAGE422_S stImage;
RESULT_S stResult;
IMP_S32 s32Width, s32Height;
IMP_S32 bRet = 0;
s32Width = IMG_WIDTH;
s32Height = IMG_HEIGHT;
IMP_YUVImage422Create( &stImage, s32Width, s32Height, NULL );
// 获取库信息
IMP_GetAlgoLibInfo( hIMP, &stLibInfo );
// 获取内存需求
stMems.u32ImgW = s32Width;
stMems.u32ImgH = s32Height;
IMP_GetMemReq( hIMP, &stMems );
IMP_MemsAlloc( &stMems );
printf("w:%d, h:%d\n", s32Width, s32Height);
if(IMP_Create( hIMP, &stMems ) != IMP_STATUS_OK)
{
printf("IMP_Create Error!\n");
exit(0);
}
#if defined(IMP_DEBUG_PRINT)
printf("IMP_Create ok!\n");
#endif
// 配置参数
IMP_ParaConfig( hIMP );
//IMP_PARA_Config( hIMP,s32Width,s32Height );
IMP_Start( hIMP );
#if defined(IMP_DEBUG_PRINT)
printf("IMP_Start ok!\n");
#endif
sleep(2);
while(1)
{
if(master_thread_init_ok == 0)
continue;
//Get Image From Hisi Interface
if (HI_MPI_VI_GetFrame(ViDev, ViChn, &stFrame))
{
printf("HI_MPI_VI_GetFrame err, vi(%d,%d)\n", ViDev, ViChn);
continue;
}
struct timeval t1, t2;
gettimeofday(&t1, NULL);
IMP_HiImageConvertToYUV422Image(&stFrame.stVFrame,&stImage);
HI_MPI_VI_ReleaseFrame(ViDev, ViChn, &stFrame);
// Process Image
// IMP_ProcessImage( hIMP, &stImage );
// Get Algo Result
// IMP_GetResults( hIMP, &stResult );
gettimeofday(&t2, NULL);
printf("out:%d ms\n", (t2.tv_usec - t1.tv_usec) / 1000);
printf("\n--------------------------\n");
#ifdef SHOW_DEBUG_INFO
IMP_ShowDebugInfo(&stResult);
#endif
pthread_mutex_lock(&mut);
gstPeaResult = stResult;
pthread_mutex_unlock(&mut);
usleep(100000);
}
IMP_Stop( hIMP, &stResult );
IMP_Release( hIMP );
IMP_MemsFree( &stMems );
IMP_YUVImage422Destroy( &stImage, NULL );
return bRet;
}
HI_S32 SAMPLE_VIO_TDE_1Screen_VoVGA()
{
VB_CONF_S stVbConf = {0};
HI_S32 s32ViChnTotal = 1;
HI_S32 s32VoChnTotal = 1;
VO_DEV VoDev;
VO_CHN VoChn;
VI_DEV ViDev;
VI_CHN ViChn;
VI_PUB_ATTR_S stViDevAttr;
VI_CHN_ATTR_S stViChnAttr;
VO_PUB_ATTR_S stVoDevAttr;
VO_VIDEO_LAYER_ATTR_S stVideoLayerAttr;
VIDEO_FRAME_INFO_S stFrame;
HI_S32 s32Ret = HI_SUCCESS;
HI_S32 u32PhyAddr;
stVbConf.astCommPool[0].u32BlkSize = 704 * 576 * 2;
stVbConf.astCommPool[0].u32BlkCnt = 20;
stVbConf.astCommPool[1].u32BlkSize = 384 * 288 * 2;
stVbConf.astCommPool[1].u32BlkCnt = 20;
if (HI_SUCCESS != SAMPLE_InitMPP(&stVbConf))
{
return -1;
}
/* Config VI to input standard-definition video */
ViDev = 0;
SAMPLE_GetViCfg_SD(PIC_D1, &stViDevAttr, &stViChnAttr);
// SAMPLE_GetViCfg_SD(PIC_CIF, &stViDevAttr, &stViChnAttr);
s32Ret = SAMPLE_StartViByChn(s32ViChnTotal, &stViDevAttr, &stViChnAttr);
if (HI_SUCCESS != s32Ret)
{
return HI_FAILURE;
}
/* display VGA video on vo HD divice. */
VoDev = VO_DEV_HD;
SAMPLE_GetVoCfg_VGA_800x600(&stVoDevAttr, &stVideoLayerAttr);
s32Ret = SAMPLE_StartVo(s32VoChnTotal, VoDev, &stVoDevAttr, &stVideoLayerAttr);
if (HI_SUCCESS != s32Ret)
{
return HI_FAILURE;
}
printf("start VI to VO preview \n");
master_thread_init_ok = 1;
sleep(3);
/** 1. 打开TDE */
HI_TDE2_Open();
/** 2. 创建Y U V OSD surface */
g_stOsdYSurface.enColorFmt = TDE2_COLOR_FMT_ARGB1555;
g_stOsdYSurface.bYCbCrClut = 1;
g_stOsdYSurface.bAlphaMax255 = HI_TRUE;
g_stOsdYSurface.enColorSpaceConv = TDE2_ITU_R_BT601_VIDEO;
g_stOsdUSurface.enColorFmt = TDE2_COLOR_FMT_ARGB1555;
g_stOsdUSurface.bYCbCrClut = 0;
g_stOsdUSurface.bAlphaMax255 = HI_TRUE;
g_stOsdUSurface.enColorSpaceConv = TDE2_ITU_R_BT601_VIDEO;
g_stOsdVSurface.enColorFmt = TDE2_COLOR_FMT_ARGB1555;
g_stOsdVSurface.bYCbCrClut = 1;
g_stOsdVSurface.bAlphaMax255 = HI_TRUE;
g_stOsdVSurface.enColorSpaceConv = TDE2_ITU_R_BT601_VIDEO;
while(1)
{
TGT_SET_S *target_set = &gstPeaResult.stTargetSet;
EVT_SET_S *event_set = &gstPeaResult.stEventSet;
IMP_S32 s32TargetNum = target_set->s32TargetNum;
/** 获取图像 */
if (HI_MPI_VI_GetFrame(ViDev, 0, &stFrame))
{
printf("HI_MPI_VI_GetFrame err, vi(%d,%d)\n", ViDev, 0);
return -1;
}
if(s32TargetNum > 0 )
{
TDE_HANDLE s32Handle;
/* 3. 开始TDE任务 */
s32Handle = HI_TDE2_BeginJob();
if(HI_ERR_TDE_INVALID_HANDLE == s32Handle)
{
printf("start job failed!\n");
continue;
}
/** 4. 配置YUV Surface数据 长度、宽度、stride、物理地址等 */
u32PhyAddr = stFrame.stVFrame.u32PhyAddr[0];
g_stOsdYSurface.u32Width = stFrame.stVFrame.u32Width;
g_stOsdYSurface.u32Height = stFrame.stVFrame.u32Height;
g_stOsdYSurface.u32Stride = stFrame.stVFrame.u32Stride[0];
g_stOsdYSurface.u32PhyAddr = u32PhyAddr;
g_stOsdUSurface.u32Width = stFrame.stVFrame.u32Width>>1;
g_stOsdUSurface.u32Height = stFrame.stVFrame.u32Height>>1;
g_stOsdUSurface.u32Stride = stFrame.stVFrame.u32Stride[1];
g_stOsdUSurface.u32PhyAddr = stFrame.stVFrame.u32PhyAddr[1]+1;
g_stOsdVSurface = g_stOsdUSurface;
g_stOsdVSurface.u32PhyAddr = stFrame.stVFrame.u32PhyAddr[1];
/** 5. 通过TDE绘制修改YUV数据显示PEA数据结果 TDE只支持绘制矩形区域、直线等*/
IMP_TDE_DrawPeaResult( s32Handle, &g_stOsdYSurface,&g_stOsdVSurface, &gstPeaResult,IMP_D1,IMP_QCIF );
/** 6. 直接修改YUV数据显示PEA数据结果 绘制轨迹线、用户配置的规则信息等*/
IMP_DrawPeaResult( &stFrame.stVFrame, &gstPeaResult,IMP_D1,IMP_QCIF );
/** 7. 结束TDE任务 */
s32Ret = HI_TDE2_EndJob(s32Handle, HI_FALSE, HI_TRUE, 10);
if(s32Ret < 0)
{
printf("Line:%d,HI_TDE2_EndJob failed,ret=0x%x!\n", __LINE__, s32Ret);
HI_TDE2_CancelJob(s32Handle);
return ;
}
}
/** 8. 将修改后的YUV数据送给VO设备 */
HI_MPI_VO_SendFrame( VoDev,0,&stFrame);
/** 9. 释放图像 */
HI_MPI_VI_ReleaseFrame(ViDev, 0, &stFrame);
}
static int vin_capture(int vin, FILE* bitmap_stream)
{
int ret = 0;
int api_ret = SDK_FAILURE;
if(vin < HI3520A_VIN_CH_BACKLOG_REF){
int frame_depth = 0;
VIDEO_FRAME_INFO_S video_frame_info;
SOC_CHECK(HI_MPI_VI_GetFrameDepth(vin, &frame_depth));
if(0 == frame_depth){
HI_MPI_VI_SetFrameDepth(vin, 1);
}
if(HI_SUCCESS == HI_MPI_VI_GetFrame(vin, &video_frame_info)){
if(PIXEL_FORMAT_YUV_SEMIPLANAR_420 == video_frame_info.stVFrame.enPixelFormat){
int i = 0, ii = 0;
int const width = video_frame_info.stVFrame.u32Width;
int const height = video_frame_info.stVFrame.u32Height;
size_t const stride = video_frame_info.stVFrame.u32Stride[0];
size_t const yuv420_size = stride * height * 3 / 2;
const uint8_t* yuv420_data = HI_MPI_SYS_Mmap(video_frame_info.stVFrame.u32PhyAddr[0], yuv420_size);
// allocate the bitmap data
size_t bitmap24_size = width * height * 3;
uint8_t* bitmap24_data = alloca(bitmap24_size);
uint8_t* bitmap24_pixel = bitmap24_data;
SOC_TRACE("Frame(%d) [%dx%d] stride %d", vin, width, height, stride);
if(yuv420_data){
int y, u, v, yy, vr, ug, vg, ub;
int r, g, b;
const uint8_t *py = (uint8_t*)(yuv420_data);
const uint8_t *puv = (uint8_t*)(py + width * height);
// yuv420 to rgb888
for(i = 0; i < height; ++i){
for(ii = 0; ii < width; ++ii){
y = py[0];
yy = y * 256;
u = puv[1] - 128;
ug = 88 * u;
ub = 454 * u;
v = puv[0] - 128;
vg = 183 * v;
vr = 359 * v;
///////////////////////////////////
// convert
r = (yy + vr) >> 8;
g = (yy - ug - vg) >> 8;
b = (yy + ub) >> 8;
if(r < 0){
r = 0;
}
if(r > 255){
r = 255;
}
if(g < 0){
g = 0;
}
if(g > 255){
g = 255;
}
if(b < 0){
b = 0;
}
if(b > 255){
b = 255;
}
*bitmap24_pixel++ = (uint8_t)b;
*bitmap24_pixel++ = (uint8_t)g;
*bitmap24_pixel++ = (uint8_t)r;
//SOC_TRACE("RGB[%3d,%3d,%3d] @ (%3d,%3d)", r, g, b, ii, i);
///////////////////////////////////
++py;
if(0 != (ii % 2)){
// even
puv += 2;
}
}
if(0 != (i % 2)){
// try twice
puv -= width;
}
}
SOC_CHECK(HI_MPI_SYS_Munmap(yuv420_data, yuv420_size));
if(0 == fseek(bitmap_stream, 0, SEEK_SET)){
BIT_MAP_FILE_HEADER_t bmp_header;
memset(&bmp_header, 0, sizeof(bmp_header));
bmp_header.type[0] = 'B';
bmp_header.type[1] = 'M';
bmp_header.file_size = sizeof(bmp_header) + bitmap24_size;
bmp_header.reserved_zero = 0;
bmp_header.off_bits = sizeof(bmp_header);
bmp_header.info_size = 40;
bmp_header.width = width;
bmp_header.height = height;
bmp_header.planes = 1;
bmp_header.bit_count = 24;
bmp_header.compression = 0;
bmp_header.size_image = bitmap24_size;
bmp_header.xpels_per_meter = 0;
bmp_header.ypels_per_meter = 0;
bmp_header.clr_used = 0;
bmp_header.clr_important = 0;
fwrite(&bmp_header, 1, sizeof(bmp_header), bitmap_stream);
for(i = 0; i < height; ++i){
void* bitmap_offset = bitmap24_data + (height - i - 1) * width * 3;
fwrite(bitmap_offset, 1, width * 3, bitmap_stream);
}
api_ret = SDK_SUCCESS;
}
}
}
SOC_CHECK(HI_MPI_VI_ReleaseFrame(vin, &video_frame_info));
}
void AnalyzePic()
{
HI_U32 s32Ret;
VIDEO_FRAME_INFO_S FrameInfoA;
struct timeval ustime;
time_t timep;
int fd;
struct termios options;
getCoord();
getLRPoi();
getFLenformfile();
int flag = 0;
JSSetparam(X1, Y1, X2, Y2);
//FILE *fb = fopen("/app/a.log","w+");
//FILE *fc = fopen("/app/b.log","w+");
while (1)
{
while (analyzeStart)
{
//获取图像帧
// time(&timep);
//gettimeofday(&ustime,NULL);
//printf("%ld\n",((long)ustime.tv_sec)*1000+(long)ustime.tv_usec/1000);
// printf("%ld\n",timep);
char *pImg;
int size;
char str1[20] = {};
char num_str[4] = {};
short YPoi = 0;
char* str;
s32Ret = HI_MPI_VI_GetFrameTimeOut(ExtChn, &FrameInfoA, 0);
if (HI_SUCCESS != s32Ret)
{
printf("HI_MPI_VI_GetFrameTimeOut faileded with err code %#x!\n", s32Ret);
}
//分析图片
size = FrameInfoA.stVFrame.u32Stride[0] * FrameInfoA.stVFrame.u32Height;
pImg = (char*)HI_MPI_SYS_Mmap(FrameInfoA.stVFrame.u32PhyAddr[0], size);
//printf("%s\n",JSMyTest(pImg));
str = JSMyTest(pImg, str1);
if (str != NULL)
{
//printf("%s\n", str);
//fprintf(fc,"%s\n", str);
//fflush(fc);
strncpy(num_str, str, strstr(str, ",") - str);
//YPoi = CalAngle(atoi(num_str));
//YPoi = -233 + 670 * (((X2 - X1) * (atoi(num_str)) / 100 + X1) / 720.0);
//if (atoi(num_str) > 0 )
if (atoi(str) > 0 )
{
//printf("LPoi=%d,RPoi=%d,RPoi-LPoi:%d\n",LPoi,RPoi,RPoi-LPoi);
YPoi = (short)LPoi + ((short)RPoi - (short)LPoi) * (((X2 - X1) * (atoi(num_str)) / 100 + X1) / 720.0);
//fprintf(fb,"%d\n", YPoi);
//fflush(fb);
SetPanTiltPoi(YSpeed, ZSpeed, YPoi, 0);
if(flag == 1)
{
SetPanTiltFLen(FLen);
flag = 0;
}
time(&timep);
}
else
{
if(time(NULL) - timep > 5)
{
SetPanTiltFLen(0);
SetPanTiltPoi(0x99,0x99,0,0);
flag = 1;
}
}
}
HI_MPI_SYS_Munmap(pImg, size);
HI_MPI_VI_ReleaseFrame(ExtChn, &FrameInfoA);
// usleep(50);
//printf("============================================\n");
}
}
}
