RK3568笔记九： DRM显示摄像头

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一、介绍

学习DRM的目的是想做类似NVR显示多路实时流，通过勇哥（Marc)的指导，大概流程是通过Zlmedia拉流，RK3568的MPP解码,DRM显示，可以使用HDMI或DIS屏幕，所以为了后面的实现，先测试摄像头采集DRM显示。

二、移植过程

测试过程在笔记八里，如有不懂的，请看笔迹八。

移植过程参考GitHub - MontaukLaw/cvv_test

里面有DRM显示两个屏的例子。

程序是以正点原子里的rknn_yolov5_demo例程修改。主要修改几个地方。

大概流程：

1、初始化屏幕 drm_dis_init();

2、opencv打开摄像头cv::VideoCapture cap(0);

3、循环读数据并显示

cap.read(orig_img);

draw_lcd_screen_rgb_960((uint8_t *)img.data, 720 * 1280 * 3);

代码：

main.cc

// Copyright (c) 2021 by Rockchip Electronics Co., Ltd. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License./*-------------------------------------------Includes
-------------------------------------------*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/time.h>
#include <dlfcn.h>
#include <vector>
#include <string>#include "drm_func.h"
#include "rga_func.h"
#include "rknn_api.h"
#include "yolo.h"#include "RgaUtils.h"
#include "im2d.h"
#include "opencv2/core/core.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/imgproc.hpp"
#include <opencv2/opencv.hpp>
#include "rga.h"
#include <xf86drm.h>
#include <xf86drmMode.h>
#include "dev.h"
#include "bo.h"static sp_dev *mDev;
#define OUTPUT_DEVICE_LCD 1static drmModeConnectorPtr lcdConnectorPtr = nullptr;
static struct sp_crtc *lcdCRPtr;
static drmModeEncoderPtr lcdEncoderPtr = nullptr;
static uint32_t lcdCrtcId = 0;
static drmModeModeInfoPtr lcdModInfoPtr;static void get_connector(uint8_t outpuDevice)
{int i, j = 0;int ret = 0;printf("mDev->num_connectors = %d\n", mDev->num_connectors);for (j = 0; j < mDev->num_connectors; j++){// name 是分辨率信息printf("connector name:%d\n", j);printf("connector_type:%d\n", j);printf("connector_type_id:%d\n", j);printf("connector status:%d\n", j);// 对应不同的输出设备, 指定不同的connector跟encoderif (outpuDevice == OUTPUT_DEVICE_LCD){if (mDev->connectors[j]->connector_type == DRM_MODE_CONNECTOR_DSI &&mDev->connectors[j]->connection == DRM_MODE_CONNECTED){lcdConnectorPtr = mDev->connectors[j];}}}
}static void get_encoder(uint8_t outpuDevice)
{int i;for (i = 0; i < mDev->num_encoders; i++){if (outpuDevice == OUTPUT_DEVICE_LCD){if (mDev->encoders[i]->encoder_type == DRM_MODE_ENCODER_DSI){lcdEncoderPtr = mDev->encoders[i];lcdCrtcId = lcdEncoderPtr->crtc_id;}}}
}static void get_crtc()
{int j;printf("lcd crtc id:%d\n", lcdCrtcId);for (j = 0; j < mDev->num_crtcs; j++){printf("encoderPtr->crtc_id:%d\n", mDev->crtcs[j].crtc->crtc_id);printf("mode_valid:%d\n", mDev->crtcs[j].crtc->mode_valid);printf("mode_name:%s\n", mDev->crtcs[j].crtc->mode.name);if (mDev->crtcs[j].crtc->crtc_id == lcdCrtcId && mDev->crtcs[j].crtc->mode_valid){lcdCRPtr = &mDev->crtcs[j];}}
}static int init_screens()
{int ret = 0;// 获取lcd connectorget_connector(OUTPUT_DEVICE_LCD);if (!lcdConnectorPtr){printf("failed to get hdmi connector or encoder.\n");return -1;}printf("lcd connector id:%d\n", lcdConnectorPtr->connector_id);// 获取lcd encoderget_encoder(OUTPUT_DEVICE_LCD);if (!lcdEncoderPtr){printf("failed to get encoder.\n");return -2;}printf("lcd encoder id:%d\n", lcdEncoderPtr->encoder_id);// 获取一下显示分辨率之类lcdModInfoPtr = &lcdConnectorPtr->modes[0];// 把connector的encoder id赋值为encoder的idlcdConnectorPtr->encoder_id = lcdEncoderPtr->encoder_id;// 获取lcd crtcget_crtc();if (!lcdCRPtr){printf("failed to get crtc.\n");return -3;}if (lcdCRPtr->scanout){printf("crtc already in use\n");return -4;}printf("lcd crtc id:%d\n", lcdCRPtr->crtc->crtc_id);// allset// 获取bo, 只需要输入分辨率即可.lcdCRPtr->scanout = create_sp_bo(mDev, lcdModInfoPtr->hdisplay, lcdModInfoPtr->vdisplay, 24, 32, DRM_FORMAT_XRGB8888, 0);if (!lcdCRPtr->scanout){printf("failed to create new scanout bo\n");return -5;}printf("fill test color\n");fill_bo(lcdCRPtr->scanout, 0xff, 0xff, 0x0, 0x0);ret = drmModeSetCrtc(mDev->fd, lcdEncoderPtr->crtc_id, lcdCRPtr->scanout->fb_id, 0, 0, &lcdConnectorPtr->connector_id, 1, lcdModInfoPtr);if (ret){printf("failed to set crtc mode ret=%d\n", ret);return -6;}lcdCRPtr->crtc = drmModeGetCrtc(mDev->fd, lcdCRPtr->crtc->crtc_id);memcpy(&lcdCRPtr->crtc->mode, lcdModInfoPtr, sizeof(*lcdModInfoPtr));return 0;
}int drm_dis_init(void)
{int ret = 0;int i = 0;printf("create sp dev\n");// 创建显示设备mDev = create_sp_dev();if (!mDev){printf("failed to exec create_sp_dev.\n");return -10;}printf("init_screen\n");// 初始化屏幕ret = init_screens();if (ret != 0){printf("failed to exec initialize_screens.\n");return -11;}return 0;
}void draw_lcd_screen_rgb_960(uint8_t *data, uint32_t dataSize)
{uint32_t colIdx = 0;uint32_t rowIdx = 0;uint8_t *dataPtr = data;for (rowIdx = 0; rowIdx < 1280; rowIdx++){uint8_t *rowPtr = (uint8_t *)lcdCRPtr->scanout->map_addr + rowIdx * lcdCRPtr->scanout->pitch;for (colIdx = 0; colIdx < 720; colIdx++){uint8_t *pixel = rowPtr + colIdx * 4;pixel[0] = *dataPtr;dataPtr++;pixel[1] = *dataPtr;dataPtr++;pixel[2] = *dataPtr;dataPtr++;pixel[3] = 0xff;}}
}int main(int argc, char **argv)
{int i,j;drm_dis_init();cv::VideoCapture cap(0);if (!cap.isOpened()){std::cout << "无法打开摄像头" << std::endl;return -1;}cap.set(cv::CAP_PROP_FRAME_WIDTH, 1280);cap.set(cv::CAP_PROP_FRAME_HEIGHT, 720);// using opencvusing namespace cv;using namespace std;cv::Mat orig_img;cv::Mat img;char  data_u8[4];while(1){cap.read(orig_img);cv::rotate(orig_img, orig_img, ROTATE_90_COUNTERCLOCKWISE);cv::cvtColor(orig_img, img, cv::COLOR_BGR2RGB);draw_lcd_screen_rgb_960((uint8_t *)img.data, 720 * 1280 * 3);}exit(0);
}

这里需要注意的是显示部分

显示是32位的RGBA，所以需要封装一下，初始化得到了map_addr映射地址，直接填充数据，就会显示。

使用正点原子需要先关闭QT应用程序，不然运行一会就会退出。

CMakeLists.txt

cmake_minimum_required(VERSION 3.4.1)project(rknn_yolov5v7x_demo)set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
set(CMAKE_SKIP_INSTALL_RPATH FALSE)
set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")# rknn api
set(PLATFORM RK3566_3568)
set(LIB_ARCH aarch64)
set(RKNN_API_PATH ${CMAKE_CURRENT_SOURCE_DIR}/libs/rknpu2/runtime/RK356X/Linux/librknn_api)
set(RKNN_RT_LIB ${RKNN_API_PATH}/aarch64/librknnrt.so)
include_directories(${RKNN_API_PATH}/include)# drm
set(DRM_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libs/common/drm)
set(DRM_RT_LIB ${CMAKE_CURRENT_SOURCE_DIR}/libs/libdrm/lib/libdrm.so)
include_directories(${DRM_DIR}/include)
include_directories(${DRM_DIR}/include/libdrm)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/libs/rkdrm/)#rga
set(RGA_PATH ${CMAKE_CURRENT_SOURCE_DIR}/libs/librga)
set(RGA_LIB ${RGA_PATH}/libs/Linux/gcc-aarch64/librga.so)
include_directories(${RGA_PATH}/include)set(OPENCV_LIBS opencv_core opencv_flann opencv_videoio opencv_video opencv_highgui opencv_imgcodecs opencv_imgproc)
set(TOOLCHAIN_DIR /opt/atk-dlrk356x-toolchain)
set(CMAKE_C_COMPILER ${TOOLCHAIN_DIR}/usr/bin/aarch64-buildroot-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_DIR}/usr/bin/aarch64-buildroot-linux-gnu-c++)
set(SYSROOT ${TOOLCHAIN_DIR}/aarch64-buildroot-linux-gnu//sysroot/usr/include)
set(CMAKE_SYSROOT ${TOOLCHAIN_DIR}/aarch64-buildroot-linux-gnu/sysroot)
include_directories(${SYSROOT})
include_directories(${SYSROOT}/opencv4)set(CMAKE_INSTALL_RPATH "lib")# rknn_yolo_demo
include_directories( ${CMAKE_SOURCE_DIR}/include)
add_executable(rknn_yolo_demosrc/drm_func.csrc/rga_func.csrc/yolo.ccsrc/main.ccsrc/bo.ccsrc/dev.ccsrc/modeset.cc
)target_link_libraries(rknn_yolo_demo${RKNN_RT_LIB}${RGA_LIB}${OPENCV_LIBS}${DRM_RT_LIB}dl
)# install target and libraries
set(CMAKE_INSTALL_PREFIX ${CMAKE_SOURCE_DIR}/install/atk_rknn_yolo_v5_demo)
install(TARGETS rknn_yolo_demo DESTINATION ./)install(PROGRAMS ${RKNN_RT_LIB} DESTINATION lib)
install(PROGRAMS ${RGA_LIB} DESTINATION lib)
install(DIRECTORY model DESTINATION ./)

编译后，把可执行文件上传到板子运行后，测试正常。