camdetect.c

arm9 Linux下基于摄像头的物体移动检测程序,可以用在门禁上,当有人经过时,自动通过基于video4linux的摄像头

/****************************************************************************
#	 CamDetect: Detect Object Moving using the spca5xx module.	    #
#.                                                                          #
# 		Copyright (C) 2008	BUrSelf		                    #
#                                                                           #
# This program is free software; you can redistribute it and/or modify      #
# it under the terms of the GNU General Public License as published by      #
# the Free Software Foundation; either version 2 of the License, or         #
# (at your option) any later version.                                       #
#                                                                           #
# This program is distributed in the hope that it will be useful,           #
# but WITHOUT ANY WARRANTY; without even the implied warranty of            #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             #
# GNU General Public License for more details.                              #
#                                                                           #
# You should have received a copy of the GNU General Public License         #
# along with this program; if not, write to the Free Software               #
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA #
#                                                                           #
****************************************************************************/

#include <stdio.h>
#include <string.h>
#include <sys/time.h>
#include "spcaframe.h"
#include "spcav4l.h"

#include "xyssl/rsa.h"
#include "xyssl/sha1.h"

char rsa_N[]	= "807E3526556FADF8D4CA64074ADA36862646D5ECB24E363821306588722AF2B58058CFB88E8C0BEA5C7084F3055D232F110E59C8837A0D132A4B907E91DB4A49"
				  "24134A85E7445935E55A772C0B72E12C94501D9DF66B71BA030F842531721AEF43AE48F9505BF7504CDEEA3CAA6F94530835648D770AE2E6C628DD484D10AA57";
char rsa_E[]	= "010001";
char rsa_D[]	= "56B3D2AD612D10993D0CAC5E7755B340E6071A46B3322F47C4AD6175A683F06E2482C8F761C88229CBE268F38B0503BEB8A59453C6D3CE8AC6196310E4DEB1CA"
				  "939DF7F7EE26C4697EEDD1E5122795BFC83861DE2E3EC9E3E84F42B3A9DD25EB09B30FDDFFACCE5091493BC5577530CE9CD9C8BA244EC5FD3DF91BCECFD73961";
char rsa_P[]	= "F8DAD6A5651CED9011D979A076D70C4FBD095AAE2E53EF51415832C63AD61618F0BB369F29D1363345FE481FE6C28F0830FE33A1C41F8743A4E02DD682A2E099";
char rsa_Q[]	= "842EABF3171F972DE7D6B571B70F969F8F1C305851785BB042CDAE3B794014659A744EA7D16D881B7168463CEEAF52BA0F78755BBE89CFE1361076CE3E20886F";
char rsa_DP[]	= "B1C694047FE1548CD1538D21E703E595A933DF86032E8F0E7B21E8D3D8004CB4F074ADA6B296F4A35863395F20D8E8992F76C9A7CC95C169BF852EF9C9455631";
char rsa_DQ[]	= "143C54E49D289FEB4E2FC78D461A23D3FF83B03F0511E8EF7DFAA0EEC7EC3073318716B7884F3D63FE239985208144A7E950669F09F76D14AC432EFCF9F3DF0F";
char rsa_QP[]	= "C2F98F412476BDA2B14F5882D929090C62BB24ED74E8B78A3BE287EABDB3FADC445D041F1DE04EBE2D39A8913DAF03C23FF632D1B3FB6CCBDD65B2A576F127F5";

char videodevice[]   =   "/dev/video0";
int  format          =  VIDEO_PALETTE_YUV420P;
int  width           =	640;
int  height          =	480;
int  grabmethod      =  1;      //  1 = mmap    0   =   read

int	 picNum;

struct vdIn videoIn  =  {0};

#define MY_BUFSIZE  (((640*480)*3)>>1)

#define DETECT_INTERVAL 500
#define SAMPLE_TIMES    10
#define SKIP_FIRST_FEW  8

#define RESAMPLE_TIMES  200
#define CONTIUOUS_TIMES 8

char fBuf[2][MY_BUFSIZE];
int  curBuf;
int  prevBuf;
int	 hasInit;
int  testTimesRemain;
int  maxLevel;
int	 skipStart;
int  contTimes;  // Continuous picking times
int  pickTimes;

struct timespec sleepTime;

void grabCmp(void);
void WritePic (unsigned char *src, int size);

int
main (void)
{
  int i,j;

  if (init_videoIn(&videoIn, videodevice, width, height, format,grabmethod) != 0)     
        printf ("Can't Init Device!\n");
    
	hasInit			= 0;				// Identify that the prev frame is valid
	testTimesRemain	= SAMPLE_TIMES;		//Sample Times
	skipStart		= SKIP_FIRST_FEW;				//Skip First few frame
	maxLevel		= 0;
	contTimes		= 0;
	pickTimes		= 0;
	prevBuf			= 0;
	curBuf			= 1;
	picNum			= 0;

	i = DETECT_INTERVAL/1000;
	j = (DETECT_INTERVAL%1000) * 1000 * 1000;

 	sleepTime.tv_sec  = i;
 	sleepTime.tv_nsec = j;
  
	for(;;)
	{
		grabCmp(); 
		nanosleep(&sleepTime,NULL);
	}
	return 0;
}

void
grabCmp (void)
{
    unsigned char *pictureData =NULL;
    struct frame_t *headerframe;

	int diff,tmpDiff;
	int	i;
	
	videoIn.vmmap.height	= videoIn.hdrheight;
	videoIn.vmmap.width		= videoIn.hdrwidth;
	videoIn.vmmap.format	= videoIn.formatIn;
	if (ioctl (videoIn.fd, VIDIOCSYNC,&videoIn.vmmap.frame) < 0)
		printf ("cvsync err\n");
		
	memcpy(	fBuf[curBuf],
			videoIn.pFramebuffer + videoIn.videombuf.offsets[videoIn.vmmap.frame],
			MY_BUFSIZE);	// Copy Data Out

	if ((ioctl (videoIn.fd, VIDIOCMCAPTURE, &(videoIn.vmmap))) < 0)
		printf ("cmcapture");

	videoIn.vmmap.frame = (videoIn.vmmap.frame + 1) % videoIn.videombuf.frames;		
		
	if(hasInit)		// Check if prev frame is valid
	{
		// Do some stuff in some special conditions
		if(skipStart)
		{
			skipStart --;	// Skip First Few Frame
			curBuf	=	(curBuf+1)%2;
			prevBuf =	(prevBuf+1)%2;
			return;
		}
		if(pickTimes >= RESAMPLE_TIMES)
    {
      pickTimes = 0;
      testTimesRemain = SAMPLE_TIMES;
      printf("Running Time Limit Reached,Resampling...\n");
    }

		// Now,We Began to compare
		diff = 0;
		for(i = 0;i<MY_BUFSIZE;i++)
		{
			tmpDiff = fBuf[curBuf][i] - fBuf[prevBuf][i];
			if(tmpDiff > 0)
				diff += tmpDiff;
			else
				diff -= tmpDiff;
		}

		if(testTimesRemain)
		{
			if(testTimesRemain == SAMPLE_TIMES)
				printf("Now we begin to pick some samples.Please wait ...\n");
				
			if(diff > maxLevel)
				maxLevel = diff;
			printf("Sample %d: %d\n",SAMPLE_TIMES - testTimesRemain + 1,diff);
			
			if(testTimesRemain == 1)
			{
				maxLevel	*=	1.1;		//We mul a constant for fault-tolerance
				printf("Sampling Done! Maximum Level: %d\n",maxLevel);
			}
			
			testTimesRemain--;
		}
		else
		{
			// We Print some debug infomation 
			printf("Cur: %d Prev: %d Diff %d\n",curBuf,prevBuf,diff);

			if(diff > maxLevel)
			{
				int jpegsize;
			
				jpegsize =	convertframe(videoIn.ptframe[0]+ sizeof(struct frame_t),
		 								 fBuf[curBuf],
										 width,height,videoIn.formatIn,1024);
	
				WritePic(videoIn.ptframe[0]+ sizeof(struct frame_t),jpegsize);
				
				hasInit =	0;
		    contTimes++;
        if(contTimes >= CONTIUOUS_TIMES)
        {
          contTimes = 0;
          testTimesRemain = SAMPLE_TIMES;
          printf("Capture Too Frequently,ReSampling...\n"); 
        }
      }
      else
      {
        contTimes = 0;
      }
		}
	}
	else
	{
		hasInit	= 1;
	}
  pickTimes++;
	curBuf	=	(curBuf+1)%2;
	prevBuf =	(prevBuf+1)%2;
}


void
WritePic (unsigned char *src, int size)
{
	FILE *foutpict;
	static char filename[40];
	int i,ret;

	time_t curdate;
	struct tm *tdate;
	
	rsa_context rsa;
	unsigned char hash[20];
	unsigned char rsabuf[512];
	
	for ( i= 1024 ; i< size; i++)
		if ((src[i] == 0xFF) && (src[i+1] == 0xD9))
			break;
	i+=10;	//Get Jpeg size
	

	memset (filename, 0, sizeof (filename));
	time (&curdate);
	tdate = localtime (&curdate);
	snprintf (filename, 40, "%02d:%02d:%04d-%02d:%02d:%02d-P%04d.jpg",
	    tdate->tm_mon + 1, tdate->tm_mday, tdate->tm_year + 1900,
	    tdate->tm_hour, tdate->tm_min, tdate->tm_sec, picNum++);

  	foutpict = fopen(filename, "wb");
	fwrite (src, sizeof (char), i, foutpict);
	fclose (foutpict);

	//Now We Create a Signature
	sha1(src,i,hash);

	rsa_init( &rsa, RSA_PKCS_V15, 0, NULL, NULL );

    mpi_read_string( &rsa.N , 16, rsa_N );
    mpi_read_string( &rsa.E , 16, rsa_E );
    mpi_read_string( &rsa.D , 16, rsa_D );
    mpi_read_string( &rsa.P , 16, rsa_P );
    mpi_read_string( &rsa.Q , 16, rsa_Q );
    mpi_read_string( &rsa.DP, 16, rsa_DP );
    mpi_read_string( &rsa.DQ, 16, rsa_DQ );
    mpi_read_string( &rsa.QP, 16, rsa_QP );

	rsa.len = ( mpi_msb( &rsa.N ) + 7 ) >> 3;

	if(rsa_pkcs1_sign(&rsa,RSA_PRIVATE,RSA_SHA1,20,hash,rsabuf) == 0)
	{
		memcpy(filename + strlen(filename),".sig",5);

		foutpict = fopen(filename, "wb");
	    for( i = 0; i < rsa.len; i++ )
	        fprintf( foutpict, "%02X%s", rsabuf[i],
	                 ( i + 1 ) % 16 == 0 ? "\r\n" : " " );
		fclose (foutpict);
    filename[strlen(filename)-4]  = 0;
		printf ("Captured One Picture,Filename: %s\n", filename);
	}
	else
    	printf ("Captured One Picture,but failed to generate a signature,Filename: %s\n", filename);

}