移植opencv到pcDuino

代码

#include <opencv2/opencv.hpp>

#include <Arduino.h>

#include <wiring_private.h>

#include <stdio.h>

#include <stdlib.h>

#include <string.h>

#include <assert.h>

#include <math.h>

#include <float.h>

#include <limits.h>

#include <time.h>

#include <ctype.h>

#include <sys/time.h>

#include <signal.h>

//用于人脸识别的分类器特征库文件路径

constchar* cascade_name =”/usr/local/share/OpenCV/haarcascades/haarcascade_frontalface_alt.xml”;

//定义了X轴（横向摆动），Y轴（纵向摆动）舵机的中心点

staticintcenterlevelX = ;

staticintcenterlevelY = ;

//定义了舵机的频率

constintfrequncy = ;

//用一个整数存储目前舵机摆动方向

staticintturningRight = ;

//函数的签名列表

voiddetect_and_draw( IplImage* image );

voidstart_pulse(intpwm_id,intfreq,intvalue);

voidsigroutine(intdunno);

voidreset();

longgetCurrentTime();

longstartTime;

longendTime;

//led指示灯pin脚

intpin_led = ;

//为OpenCV申请一块用于计算的内存

staticCvMemStorage* storage = ;

//声明一个haar分类器

staticCvHaarClassifierCascade* cascade = ;

voidsetup(){

//定义指示灯针脚为输出

pinMode(pin_led,OUTPUT);

//复位云台舵机

reset();

//监听中断信号

signal(SIGINT,sigroutine);

//建立一个名为result的窗口

cvNamedWindow(“result”,  );

//打开摄像头

CvCapture* capture = cvCaptureFromCAM(-);

//声明两个opencv图像类型

IplImage *img;

IplImage *newImg;

//加载分类器

cascade = (CvHaarClassifierCascade*)cvLoad( cascade_name, , ,  );

//检查分类器加载异常

if( !cascade ){

fprintf( stderr,”ERROR: Could not load classifier cascade\n”);

}

//定位内存块

storage = cvCreateMemStorage();

while() {

//由于pcduino的计算能力有限，为了保证帧率，把从摄像头采集来的画面缩小1/2

newImg = cvQueryFrame( capture );

if( !newImg )break;

img = cvCreateImage(cvSize(newImg->width/, newImg->height/), newImg->depth, newImg->nChannels);

cvResize(newImg, img);

//翻转图像

cvFlip(img, img, );

//调用识别和绘制图像的函数

detect_and_draw(img);

//释放图像使用的内存

cvReleaseImage(&img);

//监听esc键

intc = cvWaitKey();

if( c ==  )break;

}

//释放摄像头

cvReleaseCapture( &capture );

//销毁窗口

cvDestroyWindow(“result”);

}

voiddetect_and_draw( IplImage* img ){

startTime = getCurrentTime();

//清空使用过的内存空间

cvClearMemStorage( storage );

intscale = ;

inti;

//声明一个中心点存储识别出来的人脸位置

CvPoint ptcenter;

//人脸识别

if( cascade ){

//逐帧检测人脸

CvSeq* faces = cvHaarDetectObjects( img, cascade, storage,

1.1, , CV_HAAR_DO_CANNY_PRUNING,

cvSize(, ));

//如果检测到多张脸，遍历取出

for( i = ; i < (faces ? faces->total : ); i++ ){

//创建人脸矩形

CvRect* r = (CvRect*)cvGetSeqElem( faces, i );

//换算出人脸矩形的中心点

ptcenter.x = (r->x+(r->width/))*scale;

ptcenter.y = (r->y+(r->height/))*scale;

//绘制一个圆形标识出人脸的位置

cvCircle(img, ptcenter, (r->width+r->height)/, CV_RGB(,,), , ,  );

}

}

//显示图像

cvShowImage(“result”, img );

//计算帧率

endTime = getCurrentTime();

longtime= endTime-startTime;

intframerate = /time;

//检查中心点是否为空

if(ptcenter.x && ptcenter.y){

//std::cout<<”center_point:(“<<ptcenter.x<<”,”<<ptcenter.y<<”)\tframe_rate:”<<framerate<<”\n”<<std::endl;

//std::cout<<”x:”<<(ptcenter.x-img->width/2)<<”\ty:”<<(ptcenter.y-img->height/2)<<std::endl;

//向led指示灯引脚输出低电平，熄灭指示灯

digitalWrite(pin_led,LOW);

//驱动摄像头移动到人脸中心位置

centerlevelX += (ptcenter.x-img->width/)/*;

if(centerlevelX <=  && centerlevelX >= )start_pulse(,frequncy,centerlevelX);

centerlevelY -= (ptcenter.y-img->height/)/;

if(centerlevelY <=  && centerlevelY >= )start_pulse(,frequncy,centerlevelY);

//显示修正的X和Y轴幅度和帧率

std::cout<<”X:”<<centerlevelX<<”\tY:”<<centerlevelY<<”\tFrameRate:”<<framerate<<std::endl;

}else{

printf(“no face is detected in the image\n”);

//指示灯亮起

digitalWrite(pin_led,HIGH);

//如果没有检测到人脸则左右摇摆摄像头

if(centerlevelX <=  && turningRight == ){

start_pulse(,frequncy,centerlevelX+=);

if(centerlevelX > )turningRight = ;

//std::cout<<centerlevelX<<std::endl;

}

if(centerlevelX >=  && turningRight == ){

start_pulse(,frequncy,centerlevelX-=);

if(centerlevelX < )turningRight =;

//std::cout<<centerlevelX<<std::endl;

}

}

//防止摄像头下移过度

if(centerlevelY < ) centerlevelY = ;

}

//复位函数，调整舵机X、Y轴到中心位置

voidreset(){

delay();

start_pulse(,frequncy,);

start_pulse(,frequncy,);

delay();

}

longgetCurrentTime(){

structtimeval tv;

gettimeofday(&tv,NULL);

longtime=  tv.tv_sec *  + tv.tv_usec / ;

returntime;

}

//舵机驱动函数

voidstart_pulse(intpwm_id,intfreq,intvalue){

intstep = ;

step = pwmfreq_set(pwm_id, freq);

//printf(“PWM%d set freq %d and valid duty cycle range [0, %d]\n”, pwm_id, freq, step);

if(step > ){

//printf(“PWM%d test with duty cycle %d\n”, pwm_id, value);

analogWrite(pwm_id, value);

delay();

}

}

//signal回调函数，监听中断信号，做一些状态复位工作

voidsigroutine(intdunno) {

switch(dunno) {

case2:

printf(“Get a signal – SIGINT \n”);

reset();

analogWrite(,);

analogWrite(,);

digitalWrite(pin_led,LOW);

exit();

break;

}

}

voidloop(){}