#include "img_stitch.h" #include "system/includes.h" #include "server/video_server.h" #include "app_config.h" #include "asm/debug.h" #include "asm/osd.h" #include "asm/isc.h" #include "app_database.h" #include "storage_device.h" #include "server/ctp_server.h" #include "os/os_compat.h" #include "camera.h" #include "net_config.h" #include "net_server.h" #include "server/net_server.h" #include "stream_protocol.h" #include "yuv_soft_scalling.h" #include "sys_common.h" #ifdef CONFIG_SPI_VIDEO_ENABLE struct img_stitch_struct { u8 init_flog; OS_SEM r_sem; int all_w; u8 *fbuf; u8 kill; } img_stitch_info = { 0 }; static void sdfile_save_test(char *buf, int len, char one_file, char close) { static FILE *one_fd = NULL; if (one_file && !close) { if (!one_fd) { one_fd = fopen(CONFIG_ROOT_PATH"YUV/test/YUV_***.YUV", "w+"); } if (one_fd) { fwrite(one_fd, buf, len); } } else if (!one_file) { FILE *fd = fopen(CONFIG_ROOT_PATH"YUV/test/YUV_***.YUV", "w+"); if (fd) { fwrite(fd, buf, len); fclose(fd); printf("---> writing ok size = %d\n", len); } } if (close && one_fd) { fclose(one_fd); one_fd = NULL; printf("---> close file \n\n"); } } static void save_outdata_to_SD(char *buf, int len) { sdfile_save_test(buf, len, 0, 0); } void scan_pen_task(void *priv) { int msg[32]; int out_size; int FAST_TH = 85; int MATCH_TH = 2560; int w = 176; int h = 128; int w_out = w * 5; int h_out = h + 64; int Max_corner_count = 64; int Fast_corner_mode = 1; int h_off = 32; int offset_th = 7; int nms_windon_size = 7; int Max_filter_th_x = 5; int Max_filter_th_y = 3; int Frame_stride = 15; int Adjustment_enable = 1; int Max_off_y = 15; uint8_t *cat_buf0; uint8_t *cat_buf1; uint8_t *output_img; uint8_t *output_img1; cat_buf0 = malloc(w * h); cat_buf1 = malloc(w * h); output_img = malloc(w_out * h_out); output_img1 = malloc(w_out * h_out); for (int j = 0; j < h_out; j++) { for (int i = 0; i < w_out; i++) { output_img[j * w_out + i] = 0; } } os_sem_pend(&img_stitch_info.r_sem, 0); memcpy(cat_buf0, img_stitch_info.fbuf, w * h); os_sem_pend(&img_stitch_info.r_sem, 0); memcpy(cat_buf1, img_stitch_info.fbuf, w * h); img_stitch_init(cat_buf0, w, h, output_img, w_out, h_out, h_off, Max_corner_count, Fast_corner_mode, FAST_TH, MATCH_TH, offset_th, nms_windon_size, Max_filter_th_x, Max_filter_th_y, Frame_stride, Adjustment_enable, Max_off_y); while (1) { int start = hi_jiffies; printf("timeeeeeeee!!!!!=%d", hi_jiffies); int stitch_result = img_stitch_process(cat_buf0, cat_buf1, output_img, 0, 0); int start1 = hi_jiffies; printf("timeeeeeeee=%d", (start1 - start) * 2); printf("stitch_result=%d", stitch_result); if (stitch_result != 1 && stitch_result != 6) { //没有拼接成功 并且 BUFF没有满 for (int i = 0; i < 1; i++) { //拼接识别尝试下一帧的拼接 printf("i=========%d", i); os_sem_pend(&img_stitch_info.r_sem, 0); if (img_stitch_info.kill) { goto exit; } memcpy(cat_buf1, img_stitch_info.fbuf, w * h); stitch_result = img_stitch_process(cat_buf0, cat_buf1, output_img, 0, 0); //0,0不强制拼接 1,0，强制拼接 if (stitch_result == 1) { //拼接成功 printf("stitch_result_______________=%d\n", stitch_result); break; } } } if (stitch_result != 1) { //遇到拼接失败 printf("fail stitch"); /*stitch_result= img_stitch_process(cat_buf0, cat_buf1, output_img,1,0);//0,0不强制拼接 1,0，强制拼接*/ printf(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> out "); int result = post_process(output_img, output_img1, w_out, h_out, w / 2, h / 2); //该函数用于输出 将不水平的文字放置水平 if (result) { //输出校准的数据 save_outdata_to_SD(output_img1, w_out * h_out); //这里写卡会比较费时间 } else { //数据不需要校准 save_outdata_to_SD(output_img, w_out * h_out); } memset(output_img, 0x00, w_out * h_out); os_sem_pend(&img_stitch_info.r_sem, 0); if (img_stitch_info.kill) { goto exit; } memcpy(cat_buf0, img_stitch_info.fbuf, w * h); os_sem_pend(&img_stitch_info.r_sem, 0); if (img_stitch_info.kill) { goto exit; } memcpy(cat_buf1, img_stitch_info.fbuf, w * h); img_stitch_reinit(cat_buf0, w, h, output_img, w_out, h_out, h_off, Max_corner_count, Fast_corner_mode, FAST_TH, MATCH_TH, Adjustment_enable); continue; } if (stitch_result == 6) { //输出拼接的结果 printf(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> out "); int result = post_process(output_img, output_img1, w_out, h_out, w / 2, h / 2); if (result) { //输出校准的数据 save_outdata_to_SD(output_img1, w_out * h_out); //这里写卡会比较费时间 } else { //数据不需要校准 save_outdata_to_SD(output_img, w_out * h_out); } os_sem_pend(&img_stitch_info.r_sem, 0); memcpy(cat_buf0, img_stitch_info.fbuf, w * h); if (img_stitch_info.kill) { goto exit; } os_sem_pend(&img_stitch_info.r_sem, 0); memcpy(cat_buf1, img_stitch_info.fbuf, w * h); if (img_stitch_info.kill) { goto exit; } img_stitch_reinit(cat_buf0, w, h, output_img, w_out, h_out, h_off, Max_corner_count, Fast_corner_mode, FAST_TH, MATCH_TH, Adjustment_enable); continue; } memcpy(cat_buf0, cat_buf1, w * h);//将下一帧数据传给上一帧 os_sem_pend(&img_stitch_info.r_sem, 0); if (img_stitch_info.kill) { goto exit; } memcpy(cat_buf1, img_stitch_info.fbuf, w * h); int end = hi_jiffies; printf("time=%d", (end - start) * 2); } exit: img_stitch_process(cat_buf0, cat_buf1, output_img, 0, 1); //0,0不强制拼接 1,0，强制拼接 save_outdata_to_SD(output_img, w_out * h_out); free(cat_buf0); free(cat_buf1); free(output_img); free(output_img1); os_sem_del(&img_stitch_info.r_sem, 0); img_stitch_deinit(); img_stitch_info.kill = 0; img_stitch_info.init_flog = 1; while (1) { //等待其他任务杀此任务 os_time_dly(100);//延时100个tick，防止看门狗 } } void send_yuv_data(char *buf, u16 len) { img_stitch_info.fbuf = buf; os_sem_post(&img_stitch_info.r_sem); os_taskq_post("scan_pen_task", 1, len);//完成一帧数据的接收 } void spi_video_init(void) { if (!img_stitch_info.init_flog) { img_stitch_info.init_flog = 1; int spi_recv_task_init(void); spi_recv_task_init(); } } void scan_pen_task_init(void) { os_sem_create(&img_stitch_info.r_sem, 0); printf(">>>>>>>*************************************>>>>>>spi_recv_task_init"); if (img_stitch_info.init_flog == 1) { img_stitch_info.init_flog = 2; img_stitch_info.kill = 0; thread_fork("scan_pen_task", 28, 1024, 32, NULL, scan_pen_task, NULL); } } void scan_pen_task_uninit(void) { printf("---> scan_pen_task_kill\n"); img_stitch_info.kill = 1; os_taskq_post("scan_pen_task", 1, 100);//完成一帧数据的接收 /*os_sem_post(&img_stitch_info.r_sem);*/ while (img_stitch_info.kill) { os_time_dly(2); } task_kill("scan_pen_task"); printf(">>>>>>>>>>>>>scan_pen_task_uninit"); } #endif