基于ARM11视频采集的WiFi小车

#include "widget.h" #include "ui_widget.h" #include <QtGui> #include <string.h> #include <stdio.h> #include <sys/types.h> #include <sys/stat.h> #include <fcntl.h> #include <sys/ioctl.h> //#include "mydrive.h" #ifndef PROPERTY #define PROPERTY #define image_width 320 //图片显示宽度 #define image_height 240 //图片显示高度240 #define image_Format QImage::Format_RGB888 //图片显示格式 #define cameraDevice "/dev/video0" //摄像头设备 #define haarXML "./data/haarcascade_frontalface_alt2.xml" //人脸模型级联分类器文件 #define imgSizeScaleSmall 0.5 //图像放缩比例 #define imgSizeScaleBig 2 //图像放缩比例 #endif //PROPERTY extern volatile bool listen; extern volatile unsigned char carStation; Widget::Widget(QWidget *parent) : QWidget(parent), ui(new Ui::Widget) { ui->setupUi(this); imgBuf = (unsigned char *)malloc(image_width * image_height/*QWidget::width()*QWidget::height()*/* 3 * sizeof(char)); frame = new QImage(imgBuf,image_width,image_height,image_Format); //根据存储空间开辟QImage图像 m_camera = new VideoDevice(tr(cameraDevice)); //获取摄像头设备 connect(m_camera, SIGNAL(display_error(QString)), this,SLOT(display_error(QString))); camReturn = m_camera->open_device(); //打开摄像头 if(-1==camReturn) { QMessageBox::warning(this,tr("error"),tr("open /dev/dsp error"),QMessageBox::Yes); m_camera->close_device(); } camReturn = m_camera->init_device(); //初始化摄像头 if(-1==camReturn) { QMessageBox::warning(this,tr("error"),tr("init failed"),QMessageBox::Yes); m_camera->close_device(); } camReturn = m_camera->start_capturing(); //摄像头开始捕获图像 if(-1==camReturn) { QMessageBox::warning(this,tr("error"),tr("start capture failed"),QMessageBox::Yes); m_camera->close_device(); } if(-1==camReturn) { QMessageBox::warning(this,tr("error"),tr("get frame failed"),QMessageBox::Yes); m_camera->stop_capturing(); } // fd=open("dev/mygpio",O_RDWR); //设定时间间隔，对图像界面进行刷新 timer = new QTimer(this); connect(timer,SIGNAL(timeout()),this,SLOT(update())); //update将调用paintEvent timer->start(30); // Storage for the rectangles detected cascadeFile = haarXML; cascade = (CvHaarClassifierCascade *) cvLoad(cascadeFile.toUtf8()); m_FaceCount = 0; storage = cvCreateMemStorage(0); //.................................................. stationTimer =new QTimer(this); connect(stationTimer,SIGNAL(timeout()),this,SLOT(stationUpdate())); stationTimer->start(); } Widget::~Widget() { delete ui; } void Widget::changeEvent(QEvent *e) { QWidget::changeEvent(e); switch (e->type()) { case QEvent::LanguageChange: ui->retranslateUi(this); break; default: break; } } void Widget::paintEvent(QPaintEvent *) { uchar * pImgBuf; unsigned int len; camReturn = m_camera->get_frame((void **)&pImgBuf,&len); convert_yuv_to_rgb_buffer(pImgBuf,imgBuf,image_width,image_height/*QWidget::width(),QWidget::height()*/); frame->loadFromData((uchar *)imgBuf,/*len*/image_width * image_height * 3 * sizeof(char)); //ui->m_imgLabel->setPixmap(QPixmap::fromImage(*frame,Qt::AutoColor));//add //camReturn = m_camera->unget_frame();//add //QImage转IplImage IplImage* src = QImageToIplImage(frame); if (!src) { printf("img error!"); return; } //压缩图像大小，提升人脸检测的速度 double sizeScale = imgSizeScaleSmall; CvSize img_cvsize; img_cvsize.width = src->width * sizeScale; img_cvsize.height = src->height * sizeScale; IplImage* dst = cvCreateImage(img_cvsize, src->depth, src->nChannels); cvResize(src, dst, CV_INTER_LINEAR); detect_and_draw(dst); //实现人脸检测 //恢复原图像大小，但图像分辨率有所下降，图像较原始图像模糊 //（亦可用原始图像直接显示，但ARM处理资源有限，不建议耗费太多资源，除此之外暂时还没想到更好的处理方式） sizeScale = imgSizeScaleBig; img_cvsize.width = dst->width * sizeScale; img_cvsize.height = dst->height * sizeScale; IplImage* img = cvCreateImage(img_cvsize, dst->depth, dst->nChannels); cvResize(dst, img, CV_INTER_LINEAR); QImage qimage = QImage((uchar *)img->imageData, img->width,img->height, image_Format); //IplImage为BGR格式，QImage为RGB格式，所以要交换B和R通道显示才正常 //可以用OpenCV的cvConcertImage函数交换，也可以用QImage的rgbSwapped函数交换； qimage = qimage.rgbSwapped(); ui->m_imgLabel->setPixmap(QPixmap::fromImage(qimage)); camReturn = m_camera->unget_frame(); cvReleaseImage(&img); //释放图片内存 cvReleaseImage(&src); } void Widget::display_error(QString err) { QMessageBox::warning(this,tr("error"), err,QMessageBox::Yes); } void Widget::stationUpdate() { if(listen) { ui->labelListen->setText("connect"); } else { ui->labelListen->setText("listern"); } ui->recline->clear(); switch (carStation) { case 0x00: ui->recline->setText("Stop"); break; case 0x01: ui->recline->setText("Up"); break; case 0x02: ui->recline->setText("Back"); break; case 0x03: ui->recline->setText("Left"); break; case 0x04: ui->recline->setText("Right"); break; default: ui->recline->setText("Error"); break; } } /*void Widget::carStation() { if(lastStation==recbuf[1]) { return ; }else{ lastStation=recbuf[1]; } ui->recline->clear(); switch (recbuf[1]) { case 0x00: printf("stop\n"); ui->recline->setText("Stop"); stopRun(fd); break; case 0x01: printf("up\n"); ui->recline->setText("Up"); upRun(fd); break; case 0x02: printf("back\n"); ui->recline->setText("Back"); backRun(fd); break; case 0x03: printf("left\n"); ui->recline->setText("Left"); leftRun(fd); break; case 0x04: printf("right\n"); ui->recline->setText("Right"); rightRun(fd); break; default: printf("error\n"); ui->recline->setText("Error"); break; } }*/ /*yuv格式转换为rgb格式*/ int Widget::convert_yuv_to_rgb_buffer(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height) { unsigned int in, out = 0; unsigned int pixel_16; unsigned char pixel_24[3]; unsigned int pixel32; int y0, u, y1, v; for(in = 0; in < width * height * 2; in += 4) { pixel_16 = yuv[in + 3] << 24 | yuv[in + 2] << 16 | yuv[in + 1] << 8 | yuv[in + 0]; y0 = (pixel_16 & 0x000000ff); u = (pixel_16 & 0x0000ff00) >> 8; y1 = (pixel_16 & 0x00ff0000) >> 16; v = (pixel_16 & 0xff000000) >> 24; pixel32 = convert_yuv_to_rgb_pixel(y0, u, v); pixel_24[0] = (pixel32 & 0x000000ff); pixel_24[1] = (pixel32 & 0x0000ff00) >> 8; pixel_24[2] = (pixel32 & 0x00ff0000) >> 16; rgb[out++] = pixel_24[0]; rgb[out++] = pixel_24[1]; rgb[out++] = pixel_24[2]; pixel32 = convert_yuv_to_rgb_pixel(y1, u, v); pixel_24[0] = (pixel32 & 0x000000ff); pixel_24[1] = (pixel32 & 0x0000ff00) >> 8; pixel_24[2] = (pixel32 & 0x00ff0000) >> 16; rgb[out++] = pixel_24[0]; rgb[out++] = pixel_24[1]; rgb[out++] = pixel_24[2]; } return 0; } int Widget::convert_yuv_to_rgb_pixel(int y, int u, int v) { unsigned int pixel32 = 0; unsigned char *pixel = (unsigned char