3516camshift实现
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3516camshift实现
//H分量的camshift 跟踪static HI_VOID *CYF_Cam_Proc_H(HI_VOID *pArgs){ HI_U32 srcWidth = 768; HI_U32 srcHeight = 576; HI_U32 srcSize = 768*576; HI_S32 s32Ret; VI_FRAME_INFO_S stFrameInfo; VI_CHN viIveChn = 2; VENC_CHN vencChn = 0; IVE_HANDLE IveHandle; my_CvTermCriteria mycriteria; mycriteria.epsilon = 1; mycriteria.max_iter =10; my_CvBox2D camBox; HI_BOOL bHistDone = HI_FALSE; HI_U32 *pImage = NULL; HI_U8 *pbuf_H; HI_U8 *pbuf_roiH; //窗口y分量 HI_U8 *pNormHist = NULL; HI_U8 *pBackPrj = NULL; //反向投影结果 IVE_SRC_INFO_S stSrcRoi; IVE_MEM_INFO_S stDstRoi; IVE_IMAGE_S stHueRoi; //结构体内含有物理地址和虚拟地址 IVE_IMAGE_S stHistRoi; IVE_MEM_INFO_S stDst; HI_VOID *pVirtDst; HI_VOID *pVirtDst2; CYF_IVE_MD_S pstMd_RGB; my_CvRect rect_rio; //跟踪窗口区域，camshift会自动更新它 //原始size的H通道分配空间 pbuf_H = (HI_U8*)malloc(srcSize); memset(pbuf_H,1,srcSize); //ROI区域的H通道分配空间 pbuf_roiH = (HI_U8*)malloc(srcSize); memset(pbuf_roiH,1,srcSize); //归一化直方图分配空间 pNormHist = (HI_U8*)malloc(256); memset(pNormHist,1,256); //反向投影分配空间 pBackPrj = (HI_U8*)malloc(srcSize); memset(pBackPrj,1,srcSize);/******************************** step 1 初始化，分配内存等************************/ //为yuv转rgb的目的地址分配空间，需要ive操作，用cached 分配 s32Ret = HI_MPI_SYS_MmzAlloc_Cached(&pstMd_RGB.stSrc.u32PhyAddr[0], (void**)&pstMd_RGB.stSrc.pu8VirAddr[0],NULL, HI_NULL, srcSize*3); if(s32Ret==HI_FAILURE) { printf("HI_MPI_SYS_MmzAlloc_Cached RGB failed!\n"); return HI_FAILURE; } //ROI图像数据(H分量)开辟物理地址 s32Ret = HI_MPI_SYS_MmzAlloc_Cached(&stHueRoi.u32PhyAddr[0], (void**)&stHueRoi.pu8VirAddr[0],NULL, HI_NULL, srcSize); if(s32Ret==HI_FAILURE) { printf("HI_MPI_SYS_MmzAlloc_Cached ROI_H failed!\n"); return ; } //ROI直方图操作后的目的区域开辟物理地址 s32Ret = HI_MPI_SYS_MmzAlloc_Cached(&stHistRoi.u32PhyAddr[0], (void**)&stHistRoi.pu8VirAddr[0],NULL, HI_NULL, 256*4); //32位存储，4字节 if(s32Ret==HI_FAILURE) { printf("HI_MPI_SYS_MmzAlloc_Cached Hist failed!\n"); return ; } PhyAddr_Free1 =stHueRoi.u32PhyAddr[0]; PhyAddr_Free2 =pstMd_RGB.stSrc.u32PhyAddr[0]; PhyAddr_Free3 = stHistRoi.u32PhyAddr[0]; signal(SIGINT, CYF_CAM_HandleSig); signal(SIGTERM, CYF_CAM_HandleSig); /******************************** step 2 设置帧缓存为1帧************************/ if (HI_MPI_VI_SetFrameDepth(viIveChn, 1)) { printf("HI_MPI_VI_SetFrameDepth err, viIveChn chn %d \n", viIveChn); return ; } usleep(50000); while (1) { if(stCamObj.bisDetect == HI_TRUE) //如果检测到有效最大目标的话，开启viive通道做跟踪 { /******************************** step 3 获取帧***********************/ printf("find the CamObj ,start to get frame \n"); s32Ret = HI_MPI_VI_GetFrame(viIveChn, &stFrameInfo); if (HI_SUCCESS != s32Ret) { printf("HI_MPI_VI_GetFrame fail,viIveChn(%d),Error(%#x)\n",viIveChn,s32Ret); return; } else { //printf("HI_MPI_VI_GetFrame sucess,(%#x)\n",s32Ret); } /******************************** step 4 调取原始帧的H 通道分量***********************/ /********调用ive将原始帧转换成rgb数据,以BRG_pack顺序存储 *********/ CYF_GetRGB_from_Frame(&stFrameInfo,&pstMd_RGB); //查看像素 /* HI_U8 *pVirtDst2 = pstMd_RGB.stSrc.pu8VirAddr[0]; int pix = (int)(*(pVirtDst2+10000)); printf("pbuf_ 101 is %d\n", pix); */ /**********RGB转HS V 只得到H分量********/ pVirtDst2 = pstMd_RGB.stSrc.pu8VirAddr[0]; //保存rgb图 //printf("the last pix is %d \n", *((uchar*)(pVirtDst2+srcSize*3-1000))); cyf_Get_H_from_RGB((uchar*)pVirtDst2,pbuf_H,srcWidth,srcHeight); if( bHistDone == FALSE) { //cyf_saveBMPFile((uchar*)pVirtDst2, srcWidth, srcHeight, "/home/rgb.dib"); //GenBmpFile((U8*)pVirtDst2, 24, srcWidth, srcHeight, "/home/out.bmp");//生成BMP文件 } //printf("cyf_Get_H_from_RGB \n"); if( bHistDone == FALSE) //做窗口直方图，测试时值做一次 { //************提取roi区域里的H数据 ,做直方图的要求是宽高大于64x64 16字节对齐 rect_rio.x = stCamObj.stPosition.u16Left+10; rect_rio.y = stCamObj.stPosition.u16Top+80; rect_rio.width = (stCamObj.stPosition.u16Right - stCamObj.stPosition.u16Left)/16*16; rect_rio.height = (stCamObj.stPosition.u16Bottom - stCamObj.stPosition.u16Top)/16*16; cyf_get_RIO_from_Y(pbuf_roiH, pbuf_H ,srcWidth,srcHeight, rect_rio ); //printf("cyf_get_RIO_from_Y \n"); //int pix = (int)(*(pbuf_roiH+100)); //printf("pbuf_roiH100 is %d\n", pix); /******************************** step 5 对ROI区域做直方图(调用ive)**********************/ // 将roi的H分量数据搬移到分配的物理地址对应的虚拟地址上 //cyf_roi_copyto_ive 自动将roi区域的长宽信息赋值给stHueRoi。 cyf_roi_copyto_ive(&stHueRoi,(HI_U8*)pbuf_roiH,rect_rio.width,rect_rio.height); //做直方图是可能需要8或者16字节对齐 printf("cyf_roi_copyto_ive \n"); //调用ive对stHueRoi的数据做ive的直方图操作，调用以后数据放在stHistRoi对应的物理和虚拟地址上了 //cyf_getHist_from_Ive(&stHistRoi, &stHueRoi); //给ive函数参数的两个地址结构体赋值，分别对应上述已经分配好的物理地址 HI_BOOL bFinish, bBlock; HI_BOOL bInstant = HI_TRUE; stSrcRoi.enSrcFmt = IVE_SRC_FMT_SINGLE; stSrcRoi.stSrcMem.u32PhyAddr = stHueRoi.u32PhyAddr[0]; stSrcRoi.stSrcMem.u32Stride = stHueRoi.u32Width; stSrcRoi.u32Width = stHueRoi.u32Width; stSrcRoi.u32Height = stHueRoi.u32Height; stDstRoi.u32Stride = stHueRoi.u32Width; stDstRoi.u32PhyAddr = stHistRoi.u32PhyAddr[0]; // printf(" u32PhyAddr is %u \n", stHueRoi.u32PhyAddr[0]); s32Ret = HI_MPI_IVE_HIST(&IveHandle, &stSrcRoi,&stDstRoi, bInstant); //操作后将结果指针指向分配好的地址上 if (HI_SUCCESS != s32Ret) { printf("%s: HI_MPI_IVE_HIST failed!Error(%#x)\n", s32Ret); return ; } printf("HI_MPI_IVE_HIST \n"); s32Ret = HI_MPI_IVE_Query(IveHandle, &bFinish, bBlock); if(s32Ret != HI_SUCCESS) { printf("HI_MPI_IVE_Query fail,Error(%#x)\n",s32Ret); return; } //ive调用成功后只需要对物理地址对应的虚拟地址操作就可以了。 //usleep(10000); // pImage = (HI_U32*)stHistRoi.pu8VirAddr[0]; // HI_U32 pix3 = (HI_U32)(*(pImage+10)); // printf("pix his is %u \n",pix3); //归一化直方图 到(0-255) @@@@@@@@@@@@@@@@注意，直方图操作后数据是4字节保存的，地址是(HI_U32*) pImage = (HI_U32*)stHistRoi.pu8VirAddr[0]; cyf_Hist_normalize(pNormHist, (unsigned int*)pImage, 0, 255,256); //直方图有256个bin .归一到{0-255} printf(" *********stCamObj's Hist normalize done ****************** \n"); bHistDone = HI_TRUE; } /******************************** step 6 对原始帧的H分量做反向投影**********************/ cyf_calcBackProject(pbuf_H ,pBackPrj , pNormHist ,srcWidth, srcHeight); printf("cyf_calcBackProject done \n"); /******************************** step 7.camshift调用c接口函数?*********************/ // camBox = interfaces( pBackPrj,&rect_rio, mycriteria , srcWidth, srcHeight); printf("myCamShift2 before rect_rio.x is %d \n",rect_rio.x); camBox= myCamShift2( pBackPrj,&rect_rio, mycriteria , 768, 576 ) ; stCamRectShow.x = camBox.center.x - camBox.size.width/2; stCamRectShow.y = camBox.center.y - camBox.size.height/2 ; stCamRectShow.height = camBox.size.height; stCamRectShow.width = camBox.size.width; printf("cambox center x = done %f\n ",rect_rio.x); s32Ret = HI_MPI_VI_ReleaseFrame(viIveChn, &stFrameInfo); if (HI_SUCCESS != s32Ret) { printf("HI_MPI_VI_ReleaseFrame fail,viIveChn(%d),Error(%#x)\n",viIveChn,s32Ret); } } usleep(10000); } 0 0
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