?? 張昆修改.c
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label=0;
while(label<12)
{
for(j=0;j<240;j++)
{
for(i=0;i<320*3;i++)
{
if(*(ptr2+320*3*j+i)==label)
{
total[label]++;
}
}
}
printf("total= %d/n",total[label]);
if( (total[label]>200) && (total[label]<1000) )
{
for(j=0;j<240;j++)
{
for(i=0;i<320*3;i++)
{
if( (*(ptr2+i+320*3*j))==label )
*(ptr1+i+320*3*j)=0;
}
}
}
label++;
}
}
/*********************************************************************************************************
** Function name: v4l_close
** Descriptions: 關閉video
** Input:
** Output :
** Created by:陳超
** Created Date: 2008.03.28
**********************************************************************************************************/
/*int v4l_close1(fb_v4l1 *vd1)
{
close(vd1->fd);
return 0;
}
int v4l_close2(fb_v4l2 *vd2)
{
close(vd2->fd);
return 0;
}
/*********************************************************************************************************
** Function name: thin
** Descriptions: 細化（能彌補腐蝕的某種缺陷）
** Input: *ptr1， 輸入的圖象數據指針
** Output : 無
** Created by:
** Created Date:
**********************************************************************************************************
** Modified by:程德芳
** Modified Date: 2007-5-14
*********************************************************************************************************/
void thin(unsigned char *ptr1,unsigned char *ptr2)
{
int i,j,m,n;
unsigned char S[5][5];
unsigned char count;
int l;
l=1;
while(l==1)
{
l=0;
for(i=2;i<240-2;i++)
{
for(j=2*3;j<320*3-2*3;j+=3)
{
if( (*(ptr1+320*3*i+j))>127 )
continue;
for(m=0;m<5;m++)
{
for(n=0;n<5;n++)
{
if( (*(ptr1+320*3*i+j+320*3*(2-m)+(n-2)*3))>127 )
S[m][n]=0;
else
S[m][n]=1;
}
}
//判斷條件1是否成立
count=S[1][1]+S[1][2]+S[1][3]+S[2][1]+S[2][3]+S[3][1]+S[3][2]+S[3][3];
if(count<2||count>6)
{
*(ptr1+320*3*i+j)=0;
*(ptr1+320*3*i+j+1)=0;
*(ptr1+320*3*i+j+2)=0;
continue;
}
//判斷條件2是否成立
count=0;
if(S[1][2]==0 && S[1][1]==1)
count++;
if(S[1][1]==0 && S[2][1]==1)
count++;
if(S[2][1]==0 && S[3][1]==1)
count++;
if(S[3][1]==0 && S[3][2]==1)
count++;
if(S[3][2]==0 && S[3][3]==1)
count++;
if(S[3][3]==0 && S[2][3]==1)
count++;
if(S[2][3]==0 && S[1][3]==1)
count++;
if(S[1][3]==0 && S[1][2]==1)
count++;
if(count!=1)
{
*(ptr1+320*3*i+j)=0;
*(ptr1+320*3*i+j+1)=0;
*(ptr1+320*3*i+j+2)=0;
continue;
}
//判斷條件3是否成立
if(S[1][2]*S[2][1]*S[2][3]!=0)
{
count=0;
if(S[0][2]==0 && S[0][1]==1)
count++;
if(S[0][1]==0 && S[1][1]==1)
count++;
if(S[1][1]==0 && S[2][1]==1)
count++;
if(S[2][1]==0 && S[2][2]==1)
count++;
if(S[2][2]==0 && S[2][3]==1)
count++;
if(S[2][3]==0 && S[1][3]==1)
count++;
if(S[1][3]==0 && S[0][3]==1)
count++;
if(S[0][3]==0 && S[0][2]==1)
count++;
if(count==1)
{
*(ptr1+320*3*i+j)=0;
*(ptr1+320*3*i+j+1)=0;
*(ptr1+320*3*i+j+2)=0;
continue;
}
}
//判斷條件4是否成立
if(S[1][2]*S[2][1]*S[2][3]!=0)
{
count=0;
if(S[1][1]==0 && S[1][0]==1)
count++;
if(S[1][0]==0 && S[2][0]==1)
count++;
if(S[2][0]==0 && S[3][0]==1)
count++;
if(S[3][0]==0 && S[3][1]==1)
count++;
if(S[3][1]==0 && S[3][2]==1)
count++;
if(S[3][2]==0 && S[2][2]==1)
count++;
if(S[2][2]==0 && S[1][2]==1)
count++;
if(S[1][2]==0 && S[1][1]==1)
count++;
if(count==1)
{
*(ptr1+320*3*i+j)=0;
*(ptr1+320*3*i+j+1)=0;
*(ptr1+320*3*i+j+2)=0;
continue;
}
}
*(ptr2+320*3*i+j)=*(ptr1+320*3*i+j);
*(ptr2+320*3*i+j+1)=*(ptr1+320*3*i+j+1);
*(ptr2+320*3*i+j+2)=*(ptr1+320*3*i+j+2);
}
}
//memcpy(ptr1,ptr2,320*3*240);
}
}
/**************************************************************************************************************
main函數
***************************************************************************************************************/
int main( void )
{
fb_v4l1 vd1;
fb_v4l2 vd2;
int ret1,ret2,i,j,k,l,k1,c,p;
int z=0;
float D,D1,D2;
double zpz=0;
float jingtouchang=5;
float d=145;
float f=1.5;
int count=0;
double zp1=0,zp2=0;
//unsigned char R1,G1,B1,Y1;
//unsigned char R2,G2,B2,Y2;
unsigned char *ptr;
unsigned char *ptr0;
unsigned char *ptr1;
unsigned char *ptr2;
unsigned char *ptr3;
unsigned char *ptr4;
unsigned char *ptr5;
unsigned char *ptr6;
unsigned char *ptr7;
unsigned char *ptr8;
unsigned char *ptr9;
unsigned char *ptr10;
unsigned char *ptr11;
unsigned char *ptr12;
unsigned char *imageptr1;
unsigned char *imageptr2;
unsigned char *imageptr3;
unsigned char *imageptr4;
for(c=0;c<2;c++)
{
switch(c)
{
case 0:
ret1 = open_framebuffer1(FB_FILE,&vd1); // 打開FrameBuffer設備
ret1 = open_video1( V4L_FILE0, &vd1,24,VIDEO_PALETTE_RGB24,320,240 );
if( 0!= ret1 ) // 打開視頻設備失敗
{
goto err1;
}
printf(vd1.capability.name);
printf(", Type:%d\n",vd1.capability.type);
printf("Maxwidth:%d,Maxheight:%d\n",vd1.capability.maxwidth ,vd1.capability.maxheight);
printf("Minwidth:%d,Minheight:%d\n",vd1.capability.minwidth,vd1.capability.minheight);
printf("Channels:%d,Audios:%d\n",vd1.capability.channels,vd1.capability.audios);
for(z=0;z<10;z++)
{ imageptr1= get_frame_address1( &vd1 );
imageptr2= get_frame_address1( &vd1 );
ptr= get_frame_address1( &vd1 );
ptr1= get_frame_address1( &vd1 );
ptr2= get_frame_address1( &vd1 );
ptr3= get_frame_address1( &vd1 );
ptr4= get_frame_address1( &vd1 );
ptr5= get_frame_address1( &vd1 );
ptr6= get_frame_address1( &vd1 );
grey(ptr1,ptr2);
gao_la24(ptr2,ptr3);
thin(ptr3,ptr4);
prewitt0(ptr4,ptr6,0.8);
//line(ptr5,ptr6);
// gao_la24(ptr5,ptr6);
for(j=0;j<240;j++)
{
for(i=0;i<320;i++)
{
*(imageptr2+i+j*320)=((*(ptr6+3*i+j*320*3)&0xC0)>>6)|((*(ptr6+(3*i+1)+j*320*3)&0xE0)>>3)|((*(ptr6+(3*i+2)+j*320*3)&0xE0));
//(ptr+i*3+1+j*320*3)=((*(imageptr1+3*i+j*320*3)&0x1c)<<3)|(*(imageptr1+(3*i+1)+j*320*3)&0x1c)|((*(imageptr1+(3*i+2)+j*320*3)&0x30)>>4);
//(ptr+i*3+2+j*320*3)=((*(imageptr1+3*i+j*320*3)&0x03)<<5)|((*(imageptr1+(3*i+1)+j*320*3)&0x03)<<2)|((*(imageptr1+(3*i+2)+j*320*3)&0x03));
}
}
rgb_to_framebuffer1(&vd1,320,240,0,0,imageptr2);
if(get_next_frame1( &vd1 ) !=0 )
{ // 獲取圖像數據出錯
goto err1;
}
}
close(vd1.fd);
break;
case 1:
ret2 = open_framebuffer2(FB_FILE,&vd2); // 打開FrameBuffer設備
ret2 = open_video2( V4L_FILE1, &vd2,24,VIDEO_PALETTE_RGB24,320,240 );
if( 0!= ret2 ) // 打開視頻設備失敗
{
goto err2;
}
printf(vd2.capability.name);
printf(", Type2:%d\n",vd2.capability.type);
printf("Maxwidth2:%d,Maxheight2:%d\n",vd2.capability.maxwidth ,vd2.capability.maxheight);
printf("Minwidth2:%d,Minheight2:%d\n",vd2.capability.minwidth,vd2.capability.minheight);
printf("Channels2:%d,Audios2:%d\n",vd2.capability.channels,vd2.capability.audios);
for(z=15;z>0;z--)
{
imageptr3= get_frame_address2( &vd2 );
imageptr4= get_frame_address2( &vd2 );
ptr7= get_frame_address2( &vd2 );//獲取幀地址.調用該函數可以獲取當前幀的緩沖地址
ptr8= get_frame_address2( &vd2 );
ptr9= get_frame_address2( &vd2 );
ptr10= get_frame_address2( &vd2 );
ptr11= get_frame_address2( &vd2 );
ptr12= get_frame_address2( &vd2 );
grey(ptr7,ptr8);
gao_la24(ptr8,ptr9);
thin(ptr9,imageptr3);
prewitt0(imageptr3,imageptr4,0.8);
//line(ptr11,imageptr4);
for(j=0;j<240;j++)
{
for(i=0;i<320;i++)
{
*(ptr10+i+j*320)=((*(imageptr4+3*i+j*320*3)&0xC0)>>6)|((*(imageptr4+(3*i+1)+j*320*3)&0xE0)>>3)|((*(imageptr4+(3*i+2)+j*320*3)&0xE0));
//(ptr+i*3+1+j*320*3)=((*(imageptr1+3*i+j*320*3)&0x1c)<<3)|(*(imageptr1+(3*i+1)+j*320*3)&0x1c)|((*(imageptr1+(3*i+2)+j*320*3)&0x30)>>4);
//(ptr+i*3+2+j*320*3)=((*(imageptr1+3*i+j*320*3)&0x03)<<5)|((*(imageptr1+(3*i+1)+j*320*3)&0x03)<<2)|((*(imageptr1+(3*i+2)+j*320*3)&0x03));
}
}
/* for(j=0;j<240;j++)
{
for(i=0;i<320;i++)
{
*(ptr5+i+j*320)=((*(imageptr2+3*i+j*320*3)&0xC0)>>6)|((*(imageptr2+(3*i+1)+j*320*3)&0xE0)>>3)|((*(imageptr2+(3*i+2)+j*320*3)&0xE0));
//(ptr+i*3+1+j*320*3)=((*(imageptr1+3*i+j*320*3)&0x1c)<<3)|(*(imageptr1+(3*i+1)+j*320*3)&0x1c)|((*(imageptr1+(3*i+2)+j*320*3)&0x30)>>4);
//(ptr+i*3+2+j*320*3)=((*(imageptr1+3*i+j*320*3)&0x03)<<5)|((*(imageptr1+(3*i+1)+j*320*3)&0x03)<<2)|((*(imageptr1+(3*i+2)+j*320*3)&0x03));
}
}*/
//prewitt0(ptr10,imageptr4,1.5);
//gao_la24(imageptr4,ptr11);
rgb_to_framebuffer2(&vd2,320,240,0,0,ptr10);
if(get_next_frame2( &vd2 ) !=0 )
{ // 獲取圖像數據出錯
goto err2;
}
}
}
}
/*for(j=126;j<127;j++)
{
for (i=100;i<200;i++)
{
R1=*(ptr1 + 3*i + j*320*3);//灰度處理
G1=*(ptr1+(3*i+1)+j*320*3);
B1=*(ptr1+(3*i+2)+j*320*3);
Y1=(9798*R1+19235*G1+3735*B1)/32768;
*(ptr1 + 3*i + j*320*3)=Y1;
*(ptr1+(3*i+1)+j*320*3)=Y1;
*(ptr1+(3*i+2)+j*320*3)=Y1;
if(Y1<50)
*(ptr2 + i + j*320)=Y1;
else
{*(ptr2 + i + j*320)=255;}
R2=*(ptr6 + 3*i + j*320*3);//灰度處理
G2=*(ptr6+(3*i+1)+j*320*3);
B2=*(ptr6+(3*i+2)+j*320*3);
Y2=(9798*R2+19235*G2+3735*B2)/32768;
*(ptr6 + 3*i + j*320*3)=Y2;
*(ptr6+(3*i+1)+j*320*3)=Y2;
*(ptr6+(3*i+2)+j*320*3)=Y2;
if(Y2<50)
*(ptr7 + i + j*320)=Y2;
else
*(ptr7 + i + j*320)=255;
}
}*/
for(p=0;p<3;p++)
{
D1=0;
for(j=60;j<180;j++)
{
k1=0;
for (i=80;i<280;i++)
{
//printf("%d,%d\n",*(ptr3+i+j*320),*(ptr7+k+j*320));
//for(l=j-3;l<j+3;l++)
//{
for(k=k1;k<320;k++)
{
if((k>0)&&(k<320))//&&(l>0)&&(l<240))
{
if((*(imageptr2+i+j*320)==*(ptr10+k+j*320))&&(*(imageptr2+i+j*320)>30)&&(i-k>28)&&(i-k<100))//&&(*(ptr6+i+j*320)==*(ptr12+i+j*320)))
{
D=(i-k)/3.2*jingtouchang;
if(D1==0)
{
count++;
zp1+=(d*f)/D;
D1=D;
printf("zp1 %f,%d,%d,%d,%f\n",zp1,i,j,k,D);
}
else if((D1/D<1.5)&&(D/D1<1.5))
{
count++;
zp2+=(d*f)/D;
D1=D;
printf("%f,%d,%d,%d,%fdik\n",zp2,i,j,k,D);
}
k1=k+1;
k+=320;
}
}
}
}
}
zpz+=(zp1+zp2)/count;
}
zpz=zpz/3;
count=count/3;
printf("共有匹配點%d個,所測距離為%f m\n",count,zpz);
err1:
if(vd1.fbfd)
close(vd2.fbfd); // 關閉FrameBuffer設備
if(vd1.fd)
close(vd1.fd);
exit(0);
return 0;
err2:
if(vd2.fbfd)
close(vd2.fbfd); // 關閉FrameBuffer設備
if(vd2.fd)
close(vd2.fd);
exit(0);
return 0;
}
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