Add message to rotate gimbal to specific coordinates
parent
c4e3a9ceea
commit
f1f08a9a21
@ -0,0 +1,240 @@
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#include <iostream>
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#include <thread>
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#include <mutex>
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#include <cmath>
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#include <opencv2/opencv.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <SDL2/SDL.h>
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extern "C" {
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#include <libavcodec/avcodec.h>
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#include <libavformat/avformat.h>
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#include <libswscale/swscale.h>
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#include <libavutil/imgutils.h>
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}
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std::mutex mtx;
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cv::Mat img;
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std::vector<cv::Rect> found;
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std::vector<double> weights;
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unsigned target;
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bool stop = false;
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static void processFrameThread() {
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cv::HOGDescriptor hog;
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hog.setSVMDetector(cv::HOGDescriptor::getDefaultPeopleDetector());
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while(!stop) {
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std::unique_lock<std::mutex> lock(mtx);
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if(!img.empty()) {
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cv::Mat gray;
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cv::cvtColor(img, gray, cv::COLOR_BGR2GRAY);
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hog.detectMultiScale(gray, found, weights, 0, cv::Size(), cv::Size(), 1.1);
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target = 0;
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for(unsigned i = 0; i < weights.size(); i++) {
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if(weights[i] > weights[target])
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target = i;
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}
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// Get the center of the highest weighted rectangle
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float x = found[target].x + found[target].width / 2;
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float y = found[target].y + found[target].height / 2;
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// Normalize the coordinates
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x = 2 * (x - img.cols / 2) / img.cols;
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y = 2 * (y - img.rows / 2) / img.rows;
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// Get the FOV angle of the point in radians
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float FOV = 120 * (M_PI / 180);
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x = x * (FOV / 2);
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y = y * (FOV / 2);
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// Convert to degrees
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x = x * (180 / M_PI);
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y = y * (180 / M_PI);
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printf("y: %f, p: %f\n", x, y);
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}
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lock.unlock();
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SDL_Delay(75);
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}
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}
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static void captureFrameThread(SDL_Window* window, const char* fname) {
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av_register_all();
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avcodec_register_all();
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AVFormatContext* pFormatCtx = avformat_alloc_context();
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if (avformat_open_input(&pFormatCtx, fname, NULL, NULL) != 0) {
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std::cerr << "Couldn't open stream\n";
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return;
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}
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if (avformat_find_stream_info(pFormatCtx, NULL) < 0) {
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std::cerr << "Couldn't find stream information\n";
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return;
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}
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int videoStream = -1;
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for (unsigned int i = 0; i < pFormatCtx->nb_streams; i++) {
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if (pFormatCtx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) {
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videoStream = i;
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break;
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}
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}
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if (videoStream == -1) {
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std::cerr << "Didn't find a video stream\n";
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return;
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}
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AVCodecParameters* pCodecParameters = pFormatCtx->streams[videoStream]->codecpar;
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AVCodec* pCodec = avcodec_find_decoder(pCodecParameters->codec_id);
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if (pCodec == NULL) {
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std::cerr << "Unsupported codec\n";
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return;
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}
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AVCodecContext* pCodecCtx = avcodec_alloc_context3(pCodec);
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pCodecCtx->pix_fmt = AV_PIX_FMT_GRAY8;
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avcodec_parameters_to_context(pCodecCtx, pCodecParameters);
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if (avcodec_open2(pCodecCtx, pCodec, NULL) < 0) {
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std::cerr << "Could not open codec\n";
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return;
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}
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AVFrame* pFrame = av_frame_alloc();
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AVFrame* pFrameRGB = av_frame_alloc();
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int numBytes = av_image_get_buffer_size(AV_PIX_FMT_RGB24, pCodecCtx->width, pCodecCtx->height, 1);
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uint8_t* buffer = (uint8_t*)av_malloc(numBytes * sizeof(uint8_t));
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av_image_fill_arrays(pFrameRGB->data, pFrameRGB->linesize, buffer, AV_PIX_FMT_BGR24, pCodecCtx->width, pCodecCtx->height, 1);
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SwsContext* sws_ctx = sws_getContext(
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pCodecCtx->width,
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pCodecCtx->height,
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pCodecCtx->pix_fmt,
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pCodecCtx->width,
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pCodecCtx->height,
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AV_PIX_FMT_BGR24,
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SWS_BILINEAR,
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NULL,
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NULL,
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NULL);
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//AVRational time_base = pFormatCtx->streams[videoStream]->time_base;
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//AVRational frame_rate = av_guess_frame_rate(pFormatCtx, pFormatCtx->streams[videoStream], NULL);
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//uint32_t delay = (av_rescale_q(1, av_inv_q(frame_rate), time_base) / AV_TIME_BASE) * 1000;
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//printf("delay: %u\n", delay);
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SDL_SetWindowSize(window, pCodecCtx->width, pCodecCtx->height);
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SDL_Renderer* renderer = SDL_CreateRenderer(window, -1, 0);
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SDL_Texture* texture = SDL_CreateTexture(renderer, SDL_PIXELFORMAT_BGR24, SDL_TEXTUREACCESS_STATIC, pCodecCtx->width, pCodecCtx->height);
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while (!stop) {
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AVPacket packet;
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if(av_read_frame(pFormatCtx, &packet) < 0) {
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stop = true;
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break;
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}
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if (packet.stream_index == videoStream) {
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int response = avcodec_send_packet(pCodecCtx, &packet);
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if (response < 0) {
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std::cerr << "Error while sending a packet to the decoder: " << response << '\n';
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return;
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}
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while (response >= 0) {
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response = avcodec_receive_frame(pCodecCtx, pFrame);
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if (response == AVERROR(EAGAIN) || response == AVERROR_EOF) {
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break;
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} else if (response < 0) {
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std::cerr << "Error while receiving a frame from the decoder: " << response << '\n';
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return;
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}
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if (response >= 0) {
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sws_scale(sws_ctx, (uint8_t const* const*)pFrame->data, pFrame->linesize, 0, pCodecCtx->height, pFrameRGB->data, pFrameRGB->linesize);
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std::unique_lock<std::mutex> lock(mtx);
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img = cv::Mat(pCodecCtx->height, pCodecCtx->width, CV_8UC3, pFrameRGB->data[0], pFrameRGB->linesize[0]);
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for (unsigned i = 0; i < found.size(); i++) {
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rectangle(img, found[i], cv::Scalar(255 - weights[i] * 255, 0, weights[i] * 255), 3);
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}
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lock.unlock();
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{
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SDL_UpdateTexture(texture, NULL, img.data, img.cols * 3);
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SDL_RenderClear(renderer);
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SDL_RenderCopy(renderer, texture, NULL, NULL);
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SDL_RenderPresent(renderer);
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}
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}
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}
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}
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av_packet_unref(&packet);
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SDL_Event event;
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while(SDL_PollEvent(&event)) {
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switch(event.type) {
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case SDL_QUIT:
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stop = true;
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default: break;
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}
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}
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SDL_Delay(33);
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}
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av_free(buffer);
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av_frame_free(&pFrameRGB);
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av_frame_free(&pFrame);
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avcodec_close(pCodecCtx);
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avformat_close_input(&pFormatCtx);
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SDL_DestroyTexture(texture);
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SDL_DestroyRenderer(renderer);
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}
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int main(int argc, char* argv[]) {
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if(SDL_Init(SDL_INIT_VIDEO) < 0) {
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fprintf(stderr, "%s", SDL_GetError());
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return 1;
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}
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SDL_Window* win = SDL_CreateWindow(
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"Robomaster",
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SDL_WINDOWPOS_UNDEFINED,
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SDL_WINDOWPOS_UNDEFINED,
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800, 300,
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SDL_WINDOW_RESIZABLE );
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if(!win) {
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fprintf(stderr, "%s", SDL_GetError());
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return 1;
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}
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std::thread captureThread(captureFrameThread, win, argv[1]);
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std::thread processThread(processFrameThread);
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captureThread.join();
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processThread.join();
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SDL_Quit();
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return 0;
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}
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