diff --git a/Cpp_example/A06_LCD/CMakeLists.txt b/Cpp_example/A06_LCD/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..f2ad2a9036eb661b36833f9614455163d05923e1 --- /dev/null +++ b/Cpp_example/A06_LCD/CMakeLists.txt @@ -0,0 +1,33 @@ +# CMake最低版本要求 +cmake_minimum_required(VERSION 3.10) + +project(test_lcd) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +# 定义项目根目录路径 +set(PROJECT_ROOT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../..") +message("PROJECT_ROOT_PATH = " ${PROJECT_ROOT_PATH}) + +include("${PROJECT_ROOT_PATH}/toolchains/arm-rockchip830-linux-uclibcgnueabihf.toolchain.cmake") + +# 定义 OpenCV SDK 路径 +set(OpenCV_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/opencv-mobile-4.10.0-lockzhiner-vision-module") +set(OpenCV_DIR "${OpenCV_ROOT_PATH}/lib/cmake/opencv4") +find_package(OpenCV REQUIRED) +set(OPENCV_LIBRARIES "${OpenCV_LIBS}") +# 定义 LockzhinerVisionModule SDK 路径 +set(LockzhinerVisionModule_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/lockzhiner_vision_module_sdk") +set(LockzhinerVisionModule_DIR "${LockzhinerVisionModule_ROOT_PATH}/lib/cmake/lockzhiner_vision_module") +find_package(LockzhinerVisionModule REQUIRED) + + +add_executable(Test_LCD Test_LCD.cc) +target_include_directories(Test_LCD PRIVATE ${LOCKZHINER_VISION_MODULE_INCLUDE_DIRS}) +target_link_libraries(Test_LCD PRIVATE ${OPENCV_LIBRARIES} ${LOCKZHINER_VISION_MODULE_LIBRARIES}) + +install( + TARGETS Test_LCD + RUNTIME DESTINATION . +) \ No newline at end of file diff --git a/Cpp_example/A06_LCD/README.md b/Cpp_example/A06_LCD/README.md new file mode 100644 index 0000000000000000000000000000000000000000..b04fb2538fe2b3d5d76b73e16a31e821240df160 --- /dev/null +++ b/Cpp_example/A06_LCD/README.md @@ -0,0 +1,225 @@ +# LCD 显示屏使用指南 + +## 章节说明 + +本章节主要是演示如何使用 LockAI 视频流的读取，同时使用 LCD 模块对图像进行显示。 + +## 1. 基本知识讲解 + +### 1.1 LCD 硬件接口说明 + +可在2.4寸液晶模块背面查看。 + +| 引脚名称 | 功能描述 | +| :--- | :------- | +| D/C | 指令/数据选择端，L:指令，H:数据 | +| RESET | 复位信号线，低电平有效 | +| SPI_MOSI | SPI数据输入信号线 | +| SPI_CLK | SPI时钟信号线 | +| SPI_CS | SPI片选信号线，低电平有效 | +| GND |电源地引脚 | +| 5V | 5V电源输入引脚| + +* 注意： 在本次实验中没有使用SPI_CS引脚，CS引脚接地即可，即默认选中设备。 + +### 1.2 LCD 通讯协议介绍 + +LCD型号为ST7789V，采用SPI通信方式，数据传输协议如下： + +`4-Line Serial Interface => 16-bit/pixel(RGB 5-6-5-bit input)，65K-Color，3Ah="05h"` + +数据传输时序图如下： + +![传输协议介绍](./images/ST7789V.png) + +* 注意：在实际使用凌智视觉LCD模块时，无需关注底层实现。 + +## 2. API文档 + +### 2.1 头文件 + +```cpp +#include +``` + +### 2.2 初始化LCD模块 + +```cpp +int lcd_init(); +``` + +功能：初始化LCD模块 +参数：无 +返回值 ：无 + +```cpp +void lcd_display_opencv_image(const cv::Mat& frame); +``` + +功能：传入一个 cv::Mat 类型的图像数据，将图像显示在LCD上。 +参数：OpenCV 图像 +返回值：无 + +## 3. 综合代码解析 + +### 3.1 流程图 + + +### 3.2 代码解析 + +- 初始化摄像头 + +```cpp +cv::VideoCapture cap; +const int width = 640; +const int height = 480; +cap.set(cv::CAP_PROP_FRAME_WIDTH, width); +cap.set(cv::CAP_PROP_FRAME_HEIGHT, height); +``` + +- 初始化LCD + +```cpp +if (lcd_init() < 0) { + std::cerr << "LCD initialization failed" << std::endl; + return -1; + } +``` + +- 逐帧捕获图像 + +```cpp +while (true) { + cv::Mat frame; + cap >> frame; + if (frame.empty()) { + std::cerr << "Warning: Couldn't read a frame from the camera." + << std::endl; + continue; + } +} +``` + +- 传输图像到LCD + +```cpp +lcd_display_opencv_image(frame); +``` + +### 3.3 完整代码实现 + +```cpp +#include + +#include +#include +int main() { + // 设置视频采集参数（640x480分辨率） + cv::VideoCapture cap; + cap.set(cv::CAP_PROP_FRAME_WIDTH, 640); + cap.set(cv::CAP_PROP_FRAME_HEIGHT, 480); + + // 尝试打开摄像头设备（0号摄像头） + if (!cap.open(0)) { + std::cerr << "Camera failed to open\n"; + return 1; + } + if (lcd_init() < 0) { + std::cerr << "LCD initialization failed" << std::endl; + return -1; + } + cv::Mat frame; + while (true) { + cap >> frame; // 从摄像头捕获一帧图像 + if (frame.empty()) continue; + lcd_display_opencv_image(frame); + } +} +``` + +## 4. 编译过程 + +### 4.1 编译环境搭建 + +- 请确保你已经按照 [开发环境搭建指南](../../../../docs/introductory_tutorial/cpp_development_environment.md) 正确配置了开发环境。 +- 同时以正确连接开发板。 + +### 4.2 Cmake介绍 + +```cmake +# CMake最低版本要求 +cmake_minimum_required(VERSION 3.10) + +project(test_lcd) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +# 定义项目根目录路径 +set(PROJECT_ROOT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../..") +message("PROJECT_ROOT_PATH = " ${PROJECT_ROOT_PATH}) + +include("${PROJECT_ROOT_PATH}/toolchains/arm-rockchip830-linux-uclibcgnueabihf.toolchain.cmake") + +# 定义 OpenCV SDK 路径 +set(OpenCV_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/opencv-mobile-4.10.0-lockzhiner-vision-module") +set(OpenCV_DIR "${OpenCV_ROOT_PATH}/lib/cmake/opencv4") +find_package(OpenCV REQUIRED) +set(OPENCV_LIBRARIES "${OpenCV_LIBS}") +# 定义 LockzhinerVisionModule SDK 路径 +set(LockzhinerVisionModule_ROOT_PATH "${PROJECT_ROOT_PATH}/third_party/lockzhiner_vision_module_sdk") +set(LockzhinerVisionModule_DIR "${LockzhinerVisionModule_ROOT_PATH}/lib/cmake/lockzhiner_vision_module") +find_package(LockzhinerVisionModule REQUIRED) + + +add_executable(Test_LCD Test_LCD.cc) +target_include_directories(Test_LCD PRIVATE ${LOCKZHINER_VISION_MODULE_INCLUDE_DIRS}) +target_link_libraries(Test_LCD PRIVATE ${OPENCV_LIBRARIES} ${LOCKZHINER_VISION_MODULE_LIBRARIES}) + +install( + TARGETS Test_LCD + RUNTIME DESTINATION . +) +``` + +### 4.3 编译项目 + +使用 Docker Destop 打开 LockzhinerVisionModule 容器并执行以下命令来编译项目 + +```bash +# 进入Demo所在目录 +cd /LockzhinerVisionModuleWorkSpace/LockzhinerVisionModule/Cpp_example/A06_LCD +# 创建编译目录 +rm -rf build && mkdir build && cd build +# 配置交叉编译工具链 +export TOOLCHAIN_ROOT_PATH="/LockzhinerVisionModuleWorkSpace/arm-rockchip830-linux-uclibcgnueabihf" +# 使用cmake配置项目 +cmake .. +# 执行编译项目 +make -j8 && make install +``` + +在执行完上述命令后，会在build目录下生成可执行文件。 + +## 5. 例程运行示例 + +### 5.1 准备工作 + +- 请确保你以按照前文要求链接好设备 + +### 5.2 运行过程 + +在凌智视觉模块中输入以下命令： + +```shell +chmod 777 Test_LCD +./Test_LCD +``` + +### 5.3 运行效果 + +![示例图片](./images/image_1.png) + +## 6. 总结 + +本文档介绍了如何在LockAI上使用LCD模块，并通过OpenCV读取摄像头模块的视频流并显示在LCD上。通过本功能可以很好的在脱机的时候显示图像画面，大大增加了调试的便利性。 diff --git a/Cpp_example/A06_LCD/Test_LCD.cc b/Cpp_example/A06_LCD/Test_LCD.cc new file mode 100644 index 0000000000000000000000000000000000000000..02d018d22ff24eeb34f910df249b3d55ae453413 --- /dev/null +++ b/Cpp_example/A06_LCD/Test_LCD.cc @@ -0,0 +1,26 @@ +#include + +#include +#include +int main() { + // 设置视频采集参数（640x480分辨率） + cv::VideoCapture cap; + cap.set(cv::CAP_PROP_FRAME_WIDTH, 640); + cap.set(cv::CAP_PROP_FRAME_HEIGHT, 480); + + // 尝试打开摄像头设备（0号摄像头） + if (!cap.open(0)) { + std::cerr << "Camera failed to open\n"; + return 1; + } + if (lcd_init() < 0) { + std::cerr << "LCD initialization failed" << std::endl; + return -1; + } + cv::Mat frame; + while (true) { + cap >> frame; // 从摄像头捕获一帧图像 + if (frame.empty()) continue; + lcd_display_opencv_image(frame); + } +} diff --git a/Cpp_example/A06_LCD/images/1.png b/Cpp_example/A06_LCD/images/1.png new file mode 100755 index 0000000000000000000000000000000000000000..d0cc474fb92cd284b9b7cbcc71bebc925494e78a Binary files /dev/null and b/Cpp_example/A06_LCD/images/1.png differ diff --git a/Cpp_example/A06_LCD/images/ST7789V.png b/Cpp_example/A06_LCD/images/ST7789V.png new file mode 100755 index 0000000000000000000000000000000000000000..22118b34dbc14fa3fa1d5616f27c9e9ecfbe4916 Binary files /dev/null and b/Cpp_example/A06_LCD/images/ST7789V.png differ diff --git a/Cpp_example/A06_LCD/images/image_1.png b/Cpp_example/A06_LCD/images/image_1.png new file mode 100755 index 0000000000000000000000000000000000000000..2742105b9493ef90255f67da8933194ad4dcd1d7 Binary files /dev/null and b/Cpp_example/A06_LCD/images/image_1.png differ diff --git a/Cpp_example/C08_Apriltag/Apriltag.cc b/Cpp_example/C08_Apriltag/Apriltag.cc index 55dac28f7800afe81926be201c9bd89cceb35af3..05cc25ec0f5fa3972a322d709a0251d7b69cad56 100644 --- a/Cpp_example/C08_Apriltag/Apriltag.cc +++ b/Cpp_example/C08_Apriltag/Apriltag.cc @@ -1,6 +1,6 @@ #include -#include +#include #include #include diff --git a/Cpp_example/C08_Apriltag/CMakeLists.txt b/Cpp_example/C08_Apriltag/CMakeLists.txt index d3768a1d7509612dbf351af20faa2357dad84b7f..bace036d46e80a61e62df7b123e1a10ae6c787d7 100644 --- a/Cpp_example/C08_Apriltag/CMakeLists.txt +++ b/Cpp_example/C08_Apriltag/CMakeLists.txt @@ -19,14 +19,20 @@ find_package(LockzhinerVisionModule REQUIRED) # 查找apriltag库 -set(APRILTAG_LIB_DIR "${PROJECT_ROOT_PATH}/third_party/apriltag-with-pose-estimation-master/build") +set(APRILTAG_LIB_DIR "${PROJECT_ROOT_PATH}/third_party/apriltag-with-pose-estimation-master/build/lib") find_library(APRILTAG_LIB NAMES apriltag PATHS ${APRILTAG_LIB_DIR} REQUIRED) -include_directories("${PROJECT_ROOT_PATH}/third_party/eigen-master") +# include_directories("${PROJECT_ROOT_PATH}/third_party/eigen-master/") include_directories("${PROJECT_ROOT_PATH}/third_party/apriltag-with-pose-estimation-master") - + +# 设置 Eigen 路径 +set(EIGEN_ROOT_DIR "${PROJECT_ROOT_PATH}/third_party/eigen-master") + +# 添加头文件搜索路径 include_directories( + ${EIGEN_ROOT_DIR} ${LOCKZHINER_VISION_MODULE_INCLUDE_DIRS} + ${PROJECT_SOURCE_DIR} ) # 创建可执行文件 diff --git a/README.md b/README.md index 4467f2513407f4e321a1b726698516962430ef1a..d85a3ad4332fe908f020c3cee4d5662690e6cd5b 100644 --- a/README.md +++ b/README.md @@ -182,6 +182,7 @@ C++ 开发案例以A、B、C、D进行不同类别进行分类，方便初学者 | A03 | 基础外设类 | PWM | [PWM 信号控制例程](./Cpp_example/A03_PWM/README.md) | | A04 | 基础外设类 | ADC | [ADC 传感器数据采集例程](./Cpp_example/A04_ADC/README.md) | | A05 | 基础外设类 | USART | [串口通信例程](./Cpp_example/A05_USART/README.md) | +| A06 | 基础外设类 | LCD | [LCD显示例程](./Cpp_example/A06_LCD/README.md) | | B01 | OpenCV基础类 | Basic Method | [OpenCV 基础操作](./Cpp_example/B01_basic_method/README.md) | | B02 | OpenCV基础类 | Image Information Statistics | [图像信息统计](./Cpp_example/B02_Image_information_statistics/README.md) | | B03 | OpenCV基础类 | Draw | [绘制图形示例](./Cpp_example/B03_Draw/README.md) |