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