c++ - 每次我运行此代码时，我的 Raspberry-pi 3b+ 都会重新启动
问题描述
所以我正在做一个项目，让机器人汽车识别停车标志和一些物体，并据此采取行动。
现在，每当我运行此代码时，它都会打开相机，然后我立即失去与 VNC 查看器的连接。
我使用 5 伏、3 安输出移动电源。
当我运行代码打开相机时没有问题，但只有下面的代码。
#include <opencv2/opencv.hpp>
#include <raspicam_cv.h>
#include <iostream>
#include <chrono>
#include <ctime>
#include <wiringPi.h>
using namespace std;
using namespace cv;
using namespace raspicam;
// Image Processing variables
Mat frame, Matrix, framePers, frameGray, frameThresh, frameEdge, frameFinal, frameFinalDuplicate, frameFinalDuplicate1;
Mat ROILane, ROILaneEnd;
int LeftLanePos, RightLanePos, frameCenter, laneCenter, Result, laneEnd;
RaspiCam_Cv Camera;
stringstream ss;
vector<int> histrogramLane;
vector<int> histrogramLaneEnd;
Point2f Source[] = {Point2f(40,135),Point2f(310,135),Point2f(10,185), Point2f(330,185)};
Point2f Destination[] = {Point2f(100,0),Point2f(280,0),Point2f(100,240), Point2f(280,240)};
//Machine Learning variables
CascadeClassifier Stop_Cascade;
Mat frame_stop;
Mat frame_Stop, RoI_Stop, gray_Stop;
vector<Rect> Stop;
int dist_Stop;
void Setup ( int argc,char **argv, RaspiCam_Cv &Camera )
{
Camera.set ( CAP_PROP_FRAME_WIDTH, ( "-w",argc,argv,400 ) );
Camera.set ( CAP_PROP_FRAME_HEIGHT, ( "-h",argc,argv,240 ) );
Camera.set ( CAP_PROP_BRIGHTNESS, ( "-br",argc,argv,60) );
Camera.set ( CAP_PROP_CONTRAST ,( "-co",argc,argv,70 ) );
Camera.set ( CAP_PROP_SATURATION, ( "-sa",argc,argv,50 ) );
Camera.set ( CAP_PROP_GAIN, ( "-g",argc,argv ,50) );
Camera.set ( CAP_PROP_FPS, ( "-fps",argc,argv,0));
}
void Capture()
{
Camera.grab();
Camera.retrieve( frame);
cvtColor(frame, frame, COLOR_BGR2RGB);
cvtColor(frame, frame_Stop, COLOR_BGR2RGB);
}
void Perspective()
{
line(frame,Source[0], Source[1], Scalar(0,0,255), 2);
line(frame,Source[1], Source[3], Scalar(0,0,255), 2);
line(frame,Source[3], Source[2], Scalar(0,0,255), 2);
line(frame,Source[2], Source[0], Scalar(0,0,255), 2);
Matrix = getPerspectiveTransform(Source, Destination);
warpPerspective(frame, framePers, Matrix, Size(400,240));
}
void Threshold()
{
cvtColor(framePers, frameGray, COLOR_RGB2GRAY);
inRange(frameGray, 240, 255, frameThresh);
Canny(frameGray,frameEdge, 900, 900, 3, false);
add(frameThresh, frameEdge, frameFinal);
cvtColor(frameFinal, frameFinal, COLOR_GRAY2RGB);
cvtColor(frameFinal, frameFinalDuplicate, COLOR_RGB2BGR); //used in histrogram function only
cvtColor(frameFinal, frameFinalDuplicate1, COLOR_RGB2BGR); //used in histrogram function only
}
void Histrogram()
{
histrogramLane.resize(400);
histrogramLane.clear();
for(int i=0; i<400; i++) //frame.size().width = 400
{
ROILane = frameFinalDuplicate(Rect(i,140,1,100));
divide(255, ROILane, ROILane);
histrogramLane.push_back((int)(sum(ROILane)[0]));
}
histrogramLaneEnd.resize(400);
histrogramLaneEnd.clear();
for (int i = 0; i < 400; i++)
{
ROILaneEnd = frameFinalDuplicate1(Rect(i, 0, 1, 240));
divide(255, ROILaneEnd, ROILaneEnd);
histrogramLaneEnd.push_back((int)(sum(ROILaneEnd)[0]));
}
laneEnd = sum(histrogramLaneEnd)[0];
cout<<"Lane END = "<<laneEnd<<endl;
}
void LaneFinder()
{
vector<int>:: iterator LeftPtr;
LeftPtr = max_element(histrogramLane.begin(), histrogramLane.begin() + 150);
LeftLanePos = distance(histrogramLane.begin(), LeftPtr);
vector<int>:: iterator RightPtr;
RightPtr = max_element(histrogramLane.begin() +250, histrogramLane.end());
RightLanePos = distance(histrogramLane.begin(), RightPtr);
line(frameFinal, Point2f(LeftLanePos, 0), Point2f(LeftLanePos, 240), Scalar(0, 255,0), 2);
line(frameFinal, Point2f(RightLanePos, 0), Point2f(RightLanePos, 240), Scalar(0,255,0), 2);
}
void LaneCenter()
{
laneCenter = (RightLanePos-LeftLanePos)/2 +LeftLanePos;
frameCenter = 188;
line(frameFinal, Point2f(laneCenter,0), Point2f(laneCenter,240), Scalar(0,255,0), 3);
line(frameFinal, Point2f(frameCenter,0), Point2f(frameCenter,240), Scalar(255,0,0), 3);
Result = laneCenter-frameCenter;
}
void Stop_detection()
{
if(!Stop_Cascade.load("//home//pi/Desktop//MACHINE LEARNING//Stop_cascade.xml"))
{
printf("Unable to open stop cascade file");
}
RoI_Stop = frame_Stop(Rect(0,0,400,240));
cvtColor(RoI_Stop, gray_Stop, COLOR_RGB2GRAY);
equalizeHist(gray_Stop, gray_Stop);
Stop_Cascade.detectMultiScale(gray_Stop, Stop);
for(int i=0; i<Stop.size(); i++)
{
Point P1(Stop[i].x, Stop[i].y);
Point P2(Stop[i].x + Stop[i].width, Stop[i].x + Stop[i].height);
rectangle(RoI_Stop, P1, P2, Scalar(0, 0, 255), 2);
putText(RoI_Stop, "Stop Sign", P1, FONT_HERSHEY_PLAIN, 1, Scalar(0, 0, 255, 255), 2);
dist_Stop = (-0.91)*(P2.x-P1.x) + 102.597;
ss.str(" ");
ss.clear();
ss<<"D = "<<dist_Stop<<"cm";
putText(RoI_Stop, ss.str(), Point2f(1,130), 0,1, Scalar(0,0,255), 2);
}
}
int main(int argc,char **argv)
{
wiringPiSetup();
pinMode(21, OUTPUT);
pinMode(22, OUTPUT);
pinMode(23, OUTPUT);
pinMode(24, OUTPUT);
Setup(argc, argv, Camera);
cout<<"Connecting to camera"<<endl;
if (!Camera.open())
{
cout<<"Failed to Connect"<<endl;
}
cout<<"Camera Id = "<<Camera.getId()<<endl;
while(1)
{
auto start = std::chrono::system_clock::now();
Capture();
Perspective();
Threshold();
Histrogram();
LaneFinder();
LaneCenter();
Stop_detection();
if (laneEnd > 6000)
{
digitalWrite(21, 1);
digitalWrite(22, 1); //decimal = 7
digitalWrite(23, 1);
digitalWrite(24, 0);
cout<<"Lane End"<<endl;
}
if (Result == 0)
{
digitalWrite(21, 0);
digitalWrite(22, 0); //decimal = 0
digitalWrite(23, 0);
digitalWrite(24, 0);
cout<<"Forward"<<endl;
}
else if (Result >0 && Result <10)
{
digitalWrite(21, 1);
digitalWrite(22, 0); //decimal = 1
digitalWrite(23, 0);
digitalWrite(24, 0);
cout<<"Right1"<<endl;
}
else if (Result >=10 && Result <20)
{
digitalWrite(21, 0);
digitalWrite(22, 1); //decimal = 2
digitalWrite(23, 0);
digitalWrite(24, 0);
cout<<"Right2"<<endl;
}
else if (Result >20)
{
digitalWrite(21, 1);
digitalWrite(22, 1); //decimal = 3
digitalWrite(23, 0);
digitalWrite(24, 0);
cout<<"Right3"<<endl;
}
else if (Result <0 && Result >-10)
{
digitalWrite(21, 0);
digitalWrite(22, 0); //decimal = 4
digitalWrite(23, 1);
digitalWrite(24, 0);
cout<<"Left1"<<endl;
}
else if (Result <=-10 && Result >-20)
{
digitalWrite(21, 1);
digitalWrite(22, 0); //decimal = 5
digitalWrite(23, 1);
digitalWrite(24, 0);
cout<<"Left2"<<endl;
}
else if (Result <-20)
{
digitalWrite(21, 0);
digitalWrite(22, 1); //decimal = 6
digitalWrite(23, 1);
digitalWrite(24, 0);
cout<<"Left3"<<endl;
}
if (laneEnd > 6000)
{
ss.str(" ");
ss.clear();
ss<<" Lane End";
putText(frame, ss.str(), Point2f(1,50), 0,1, Scalar(255,0,0), 2);
}
else if (Result == 0)
{
ss.str(" ");
ss.clear();
ss<<"Result = "<<Result<<" Move Forward";
putText(frame, ss.str(), Point2f(1,50), 0,1, Scalar(0,0,255), 2);
}
else if (Result > 0)
{
ss.str(" ");
ss.clear();
ss<<"Result = "<<Result<<" Move Right";
putText(frame, ss.str(), Point2f(1,50), 0,1, Scalar(0,0,255), 2);
}
else if (Result < 0)
{
ss.str(" ");
ss.clear();
ss<<"Result = "<<Result<<" Move Left";
putText(frame, ss.str(), Point2f(1,50), 0,1, Scalar(0,0,255), 2);
}
namedWindow("orignal", WINDOW_KEEPRATIO);
moveWindow("orignal", 0, 100);
resizeWindow("orignal", 640, 480);
imshow("orignal", frame);
namedWindow("Perspective", WINDOW_KEEPRATIO);
moveWindow("Perspective", 640, 100);
resizeWindow("Perspective", 640, 480);
imshow("Perspective", framePers);
namedWindow("Final", WINDOW_KEEPRATIO);
moveWindow("Final", 1280, 100);
resizeWindow("Final", 640, 480);
imshow("Final", frameFinal);
namedWindow("Stop Sign", WINDOW_KEEPRATIO);
moveWindow("Stop Sign", 1280, 580);
resizeWindow("Stop Sign", 640, 480);
imshow("Stop Sign", RoI_Stop);
waitKey(1);
auto end = std::chrono::system_clock::now();
std::chrono::duration<double> elapsed_seconds = end-start;
// float t = elapsed_seconds.count();
// int FPS = 1/t;
// cout<<"FPS = "<<FPS<<endl;
}
return 0;
}
解决方案
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