get out of black background

原创 已于 2024-01-31 17:23:55 修改 · 432 阅读 · 6 ·
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#AePr

于 2024-01-31 16:49:15 首次发布
本文指导如何在AdobePremierePro中使用ColorKey功能移除视频背景，包括设置透明、应用mask以及处理不支持透明的视频格式。同时提到导出时动画GIF的大小问题及分辨率和比特率的调整技巧。

文章目录

  • 基础
    • Sequence settings (after selected a Sequence)
      在这里插入图片描述
  • 看见 ( 让Pr表示透明 )
    在这里插入图片描述
  • Effects-> Color Key, drag into your Sequence
    >.如果看不到 Effects 面板, 可以在 Window 菜单中打开
    在Effect Controls 你可以调整 Color Key 的效果了先吸取黑色
    还可以使用mask , 保住你不想去掉黑色的区域(mask可inverted)
    在这里插入图片描述
    我已经去掉了黑色背景,所以Pr用方格表示透明
    在这里插入图片描述

注意: 有些视频格式不支持透明
导出时选Animated GIF
Pr导出的格式非常大, 在Sequence Settings中把分辨率比特率都调低, 调很低都很大, 尽管调低

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package com.dnf.main; import java.awt.image.BufferedImage; import java.awt.image.DataBufferByte; import java.nio.ByteBuffer; import java.util.concurrent.ArrayBlockingQueue; import java.util.concurrent.BlockingQueue; import java.util.concurrent.ExecutorService; import java.util.concurrent.Executors; import java.util.concurrent.TimeUnit; import java.util.concurrent.atomic.AtomicBoolean; import java.util.concurrent.atomic.AtomicReference; import javax.swing.SwingUtilities; import org.opencv.core.Mat; import org.opencv.imgproc.Imgproc; import org.opencv.videoio.VideoCapture; import org.opencv.videoio.Videoio; import org.opencv.videoio.VideoWriter; import javafx.application.Platform; import javafx.embed.swing.JFXPanel; import javafx.scene.Scene; import javafx.scene.image.ImageView; import javafx.scene.image.PixelFormat; import javafx.scene.image.WritableImage; import javafx.scene.layout.Background; import javafx.scene.layout.BackgroundFill; import javafx.scene.layout.CornerRadii; import javafx.scene.layout.StackPane; import javafx.scene.paint.Color; public class MS2130FXCapture { // 核心资源 private static ImageView imageView; private static VideoCapture videoCapture; // 状态控制 private static final AtomicBoolean isRunning = new AtomicBoolean(false); private static final AtomicBoolean isFXInitialized = new AtomicBoolean(false); // 线程管理 private static Thread captureThread; private static ExecutorService frameProcessingPool; // 资源池控制 private static final int MAT_POOL_SIZE = 4; private static final BlockingQueue<Mat> matPool = new ArrayBlockingQueue<>(MAT_POOL_SIZE); // 显示资源 private static final AtomicReference<BufferedImage> bufImgRef = new AtomicReference<>(); private static final AtomicReference<WritableImage> fxImgRef = new AtomicReference<>(); private static volatile Mat displayMat; // 帧率控制 private static final int TARGET_FPS = 30; private static final long FRAME_INTERVAL_MS = 1000 / TARGET_FPS; private static long lastFrameTime = System.currentTimeMillis(); // 设备参数 private static int deviceWidth = 1920; private static int deviceHeight = 1080; /** * 启动视频采集 */ public static void startCapture(JFXPanel fxPanel) { System.out.println("[自动采集] 开始初始化采集"); // 确保停止之前的采集 stopCapture(); // 重置状态 isRunning.set(true); System.out.println("[状态] isRunning 设置为 true"); int deviceIndex = findValidDeviceIndex(); if (deviceIndex == -1) { System.err.println("[错误] 未找到MS2130设备"); return; } // 初始化Mat池并预热 initMatPool(); // 初始化JavaFX环境 if (!isFXInitialized.get()) { System.out.println("[初始化] 首次初始化JavaFX"); SwingUtilities.invokeLater(() -> { Platform.runLater(() -> { System.out.println("[JavaFX] 在JavaFX线程中初始化"); initFXCapture(fxPanel, deviceIndex); isFXInitialized.set(true); }); }); } else { System.out.println("[初始化] JavaFX已初始化，直接启动采集"); Platform.runLater(() -> initFXCapture(fxPanel, deviceIndex)); } // 初始化线程池 frameProcessingPool = Executors.newFixedThreadPool(2); System.out.println("[线程池] 帧处理线程池已创建"); } /** * 初始化Mat对象池 */ private static void initMatPool() { synchronized (matPool) { matPool.clear(); for (int i = 0; i < MAT_POOL_SIZE; i++) { matPool.offer(new Mat()); } System.out.println("[资源池] Mat对象池已初始化，大小: " + MAT_POOL_SIZE); } } /** * 初始化JavaFX UI组件 */ private static void initFXCapture(JFXPanel fxPanel, int deviceIndex) { System.out.println("[UI] 初始化JavaFX UI组件"); imageView = new ImageView(); imageView.setPreserveRatio(true); imageView.setSmooth(true); imageView.setCache(false); StackPane root = new StackPane(imageView); root.setBackground(new Background( new BackgroundFill(Color.BLACK, CornerRadii.EMPTY, javafx.geometry.Insets.EMPTY) )); fxPanel.setScene(new Scene(root)); System.out.println("[UI] JavaFX场景已设置"); openDeviceAndStartCapture(deviceIndex); } /** * 枚举有效设备 */ private static int findValidDeviceIndex() { System.out.println("[设备检测] 开始检测可用设备..."); for (int i = 0; i < 4; i++) { VideoCapture testCapture = null; try { System.out.println("[设备检测] 尝试索引: " + i); // 尝试使用DSHOW驱动 testCapture = new VideoCapture(i, Videoio.CAP_DSHOW); if (!testCapture.isOpened()) { System.out.println("[设备检测] DSHOW驱动打开失败，尝试MSMF"); testCapture.release(); testCapture = new VideoCapture(i, Videoio.CAP_MSMF); } if (!testCapture.isOpened()) { System.out.println("[设备检测] 设备 " + i + " 未打开"); continue; } Mat testFrame = new Mat(); if (testCapture.read(testFrame) && !testFrame.empty()) { // deviceWidth = (int) testCapture.get(Videoio.CAP_PROP_FRAME_WIDTH); // deviceHeight = (int) testCapture.get(Videoio.CAP_PROP_FRAME_HEIGHT); // System.out.printf("[设备检测] 发现设备 %d: %dx%d%n", i, deviceWidth, deviceHeight); testFrame.release(); testCapture.release(); return i; } else { System.out.println("[设备检测] 设备 " + i + " 读取帧失败"); } testFrame.release(); } catch (Exception e) { System.err.println("设备检测错误: " + e.getMessage()); } finally { if (testCapture != null && testCapture.isOpened()) { testCapture.release(); } } } System.out.println("[设备检测] 未找到可用设备"); return -1; } /** * 打开设备并配置 */ private static void openDeviceAndStartCapture(int deviceIndex) { System.out.println("[设备] 尝试打开设备: " + deviceIndex); // 尝试多种驱动 videoCapture = new VideoCapture(deviceIndex, Videoio.CAP_DSHOW); if (!videoCapture.isOpened()) { System.out.println("[设备] DSHOW驱动打开失败，尝试MSMF"); videoCapture.open(deviceIndex, Videoio.CAP_MSMF); } if (!videoCapture.isOpened()) { System.err.println("[错误] 无法打开设备"); return; } // 设置设备参数 videoCapture.set(Videoio.CAP_PROP_FRAME_WIDTH, deviceWidth); videoCapture.set(Videoio.CAP_PROP_FRAME_HEIGHT, deviceHeight); videoCapture.set(Videoio.CAP_PROP_FOURCC, VideoWriter.fourcc('M', 'J', 'P', 'G')); videoCapture.set(Videoio.CAP_PROP_BUFFERSIZE, 2); videoCapture.set(Videoio.CAP_PROP_FPS, TARGET_FPS); System.out.printf("[设备] 设备已打开: %dx%d@%dFPS%n", deviceWidth, deviceHeight, TARGET_FPS); // 创建显示用的Mat displayMat = new Mat(deviceHeight, deviceWidth, org.opencv.core.CvType.CV_8UC3); System.out.println("[资源] 显示Mat已创建"); // 启动采集线程 captureThread = new Thread(() -> captureLoop()); captureThread.setName("VideoCapture-Thread"); captureThread.setDaemon(true); captureThread.setPriority(Thread.MAX_PRIORITY - 1); // 适度优先级 captureThread.start(); System.out.println("[线程] 采集线程已启动"); } /** * 优化的采集循环 */ private static void captureLoop() { System.out.println("[采集线程] 开始运行"); System.out.println("[状态] isRunning = " + isRunning.get()); long frameCount = 0; final long startTime = System.currentTimeMillis(); int consecutiveFailures = 0; while (isRunning.get()) { try { // 帧率控制 long currentTime = System.currentTimeMillis(); long elapsed = currentTime - lastFrameTime; if (elapsed < FRAME_INTERVAL_MS) { Thread.sleep(1); continue; } // 获取空闲Mat Mat frameMat = matPool.poll(); if (frameMat == null) { System.out.println("[资源] Mat池为空，创建新Mat"); frameMat = new Mat(); } // 读取帧 boolean readSuccess = videoCapture.read(frameMat); if (!readSuccess || frameMat.empty()) { System.out.println("[警告] 读取帧失败: " + (frameMat.empty() ? "空帧" : "读取失败")); consecutiveFailures++; if (consecutiveFailures > 10) { System.err.println("[错误] 连续10次读取帧失败，停止采集"); break; } // 归还Mat并等待 if (frameMat != null && frameMat.cols() > 0) { matPool.offer(frameMat); } Thread.sleep(10); continue; } consecutiveFailures = 0; // 重置失败计数 // 更新计时器 lastFrameTime = currentTime; frameCount++; // 提交处理任务 final Mat finalFrameMat = frameMat; frameProcessingPool.execute(() -> processFrame(finalFrameMat)); // 性能日志（每秒输出一次） if (currentTime - startTime > 1000) { double fps = frameCount / ((currentTime - startTime) / 1000.0); System.out.printf("[性能] FPS: %.1f%n", fps); frameCount = 0; } } catch (InterruptedException e) { System.out.println("[线程] 采集线程被中断"); Thread.currentThread().interrupt(); break; } catch (Exception e) { System.err.println("采集线程错误: " + e.getMessage()); e.printStackTrace(); } } System.out.println("[采集线程] 安全退出"); } /** * 优化的帧处理 */ private static void processFrame(Mat frameMat) { try { // 转换颜色空间 if (displayMat == null) { System.out.println("[警告] displayMat为空，创建新的displayMat"); displayMat = new Mat(frameMat.rows(), frameMat.cols(), frameMat.type()); } Imgproc.cvtColor(frameMat, displayMat, Imgproc.COLOR_BGR2RGB); // 获取帧参数 final int width = displayMat.cols(); final int height = displayMat.rows(); // 初始化或复用BufferedImage BufferedImage bufImg = bufImgRef.get(); if (bufImg == null || bufImg.getWidth() != width || bufImg.getHeight() != height) { System.out.printf("[资源] 创建新BufferedImage: %dx%d%n", width, height); bufImg = new BufferedImage(width, height, BufferedImage.TYPE_3BYTE_BGR); bufImgRef.set(bufImg); } // 直接像素复制 byte[] imgPixels = ((DataBufferByte) bufImg.getRaster().getDataBuffer()).getData(); displayMat.get(0, 0, imgPixels); // JavaFX线程安全更新 Platform.runLater(() -> { if (!isRunning.get() || imageView == null) { System.out.println("[更新] 跳过UI更新: isRunning=" + isRunning.get() + ", imageView=" + (imageView != null)); return; } // 获取或创建JavaFX图像 WritableImage fxImg = fxImgRef.get(); if (fxImg == null || (int)fxImg.getWidth() != width || (int)fxImg.getHeight() != height) { System.out.printf("[资源] 创建新WritableImage: %dx%d%n", width, height); fxImg = new WritableImage(width, height); fxImgRef.set(fxImg); } // 直接写入像素数据 PixelFormat<ByteBuffer> pixelFormat = PixelFormat.getByteRgbInstance(); fxImg.getPixelWriter().setPixels( 0, 0, width, height, pixelFormat, imgPixels, 0, width * 3 ); imageView.setImage(fxImg); }); } catch (Exception e) { System.err.println("帧处理错误: " + e.getMessage()); e.printStackTrace(); } finally { // 释放资源 if (frameMat != null) { frameMat.release(); } // 补充新的Mat到池中 if (matPool.remainingCapacity() > 0) { matPool.offer(new Mat()); } } } /** * 全局资源清理 */ private static synchronized void cleanupResources() { System.out.println("[资源清理] 开始清理资源"); isRunning.set(false); System.out.println("[状态] isRunning 设置为 false"); // 关闭视频捕获 if (videoCapture != null) { if (videoCapture.isOpened()) { videoCapture.release(); System.out.println("[资源] VideoCapture已释放"); } videoCapture = null; } // 释放Mat对象池 synchronized (matPool) { Mat mat; while ((mat = matPool.poll()) != null) { if (!mat.empty()) { mat.release(); } } System.out.println("[资源] Mat对象池已清空"); } // 释放显示Mat if (displayMat != null) { displayMat.release(); displayMat = null; System.out.println("[资源] displayMat已释放"); } // 关闭线程池 if (frameProcessingPool != null) { try { frameProcessingPool.shutdown(); if (!frameProcessingPool.awaitTermination(500, TimeUnit.MILLISECONDS)) { frameProcessingPool.shutdownNow(); } System.out.println("[线程池] 帧处理线程池已关闭"); } catch (InterruptedException e) { frameProcessingPool.shutdownNow(); Thread.currentThread().interrupt(); } } // 清空图像引用 Platform.runLater(() -> { if (imageView != null) { imageView.setImage(null); } }); bufImgRef.set(null); fxImgRef.set(null); System.out.println("[资源清理] 资源清理完成"); } /** * 停止采集 */ public static synchronized void stopCapture() { if (!isRunning.get()) { System.out.println("[停止采集] 采集未运行，无需停止"); return; } System.out.println("[停止采集] 请求停止..."); isRunning.set(false); if (captureThread != null && captureThread.isAlive()) { captureThread.interrupt(); try { captureThread.join(1000); System.out.println("[线程] 采集线程已停止"); } catch (InterruptedException e) { System.out.println("[线程] 停止采集线程时被中断"); Thread.currentThread().interrupt(); } } cleanupResources(); System.out.println("[停止采集] 资源已释放"); } } 1.设备的分辨率是1920*1080这个采集的数据要固定下来，之后我需要对这种分辨率的图像进行处理； 2.采集画面的显示可以不用1920*1080的显示，可以保持画面比例16:9的比例低一点的像素去显示默认按照800*450的比例去显示吧；应该怎么修改
10-20
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/** @brief Header file of video process module.\n This file contains the functions which is related to video process in the chip. @file hd_videoprocess.h @ingroup mhdal @note Nothing. Copyright Novatek Microelectronics Corp. 2024. All rights reserved. */ #ifndef _HD_VIDEOPROCESS_H_ #define _HD_VIDEOPROCESS_H_ #ifdef __cplusplus extern "C" { #endif /******************************************************************** INCLUDE FILES ********************************************************************/ #include "hd_type.h" #include "hd_util.h" /******************************************************************** MACRO CONSTANT DEFINITIONS ********************************************************************/ #define HD_DAL_VIDEOPROC_CHIP_DEV_COUNT 512 ///< total number of device per chip /******************************************************************** MACRO FUNCTION DEFINITIONS ********************************************************************/ /* Get device id by chip */ #define HD_DAL_VIDEOPROC_CHIP1(did) (HD_DAL_VIDEOPROC((HD_DAL_VIDEOPROC_CHIP_DEV_COUNT * 1) + did)) #define HD_VIDEOPROC_CHIP1_CTRL(dev_id) ((HD_DAL_VIDEOPROC_CHIP1(dev_id) << 16) | HD_CTRL) #define HD_VIDEOPROC_CHIP1_IN(dev_id, in_id) ((HD_DAL_VIDEOPROC_CHIP1(dev_id) << 16) | ((HD_IN(in_id) & 0x00ff) << 8)) #define HD_VIDEOPROC_CHIP1_OUT(dev_id, out_id) ((HD_DAL_VIDEOPROC_CHIP1(dev_id) << 16) | (HD_OUT(out_id) & 0x00ff)) #define HD_VIDEOPROC_CHIP(chip, did) (HD_DAL_VIDEOPROC((HD_DAL_VIDEOPROC_CHIP_DEV_COUNT * (chip)) + (did))) #define HD_VIDEOPROC_CHIP_CTRL(chip, dev_id) ((HD_VIDEOPROC_CHIP(chip, dev_id) << 16) | HD_CTRL) #define HD_VIDEOPROC_CHIP_IN(chip, dev_id, in_id) ((HD_VIDEOPROC_CHIP(chip, dev_id) << 16) | ((HD_IN(in_id) & 0x00ff) << 8)) #define HD_VIDEOPROC_CHIP_OUT(chip, dev_id, out_id) ((HD_VIDEOPROC_CHIP(chip, dev_id) << 16) | (HD_OUT(out_id) & 0x00ff)) /* Set buffer count of memory pool */ #define HD_VIDEOPROC_SET_COUNT(a, b) ((a)*10)+(b) ///< ex: use HD_VIDEOPROC_SET_COUNT(1, 5) for setting 1.5 /******************************************************************** TYPE DEFINITION ********************************************************************/ #define HD_VP_MAX_IN 1 ///< max count of input of this device (interface) #define HD_VP_MAX_OUT 16 ///< max count of output of this device (interface) #define HD_VP_MAX_DATA_TYPE 4 ///< max count of output pool of this device (interface) /** @name capability of device (extend from common HD_DEVICE_CAPS) */ typedef enum _HD_VIDEOPROC_DEVCAPS { HD_VIDEOPROC_DEVCAPS_3DNR = 0x00000100, ///< caps of HD_VIDEOPROC_FUNC_3DNR and HD_VIDEOPROC_FUNC_3DNR_STA HD_VIDEOPROC_DEVCAPS_WDR = 0x00000200, ///< caps of HD_VIDEOPROC_FUNC_WDR HD_VIDEOPROC_DEVCAPS_SHDR = 0x00000400, ///< caps of HD_VIDEOPROC_FUNC_SHDR HD_VIDEOPROC_DEVCAPS_DEFOG = 0x00000800, ///< caps of HD_VIDEOPROC_FUNC_DEFOG HD_VIDEOPROC_DEVCAPS_DI = 0x00001000, ///< caps of HD_VIDEOPROC_FUNC_DI HD_VIDEOPROC_DEVCAPS_SHARP = 0x00002000, ///< caps of HD_VIDEOPROC_FUNC_SHARP HD_VIDEOPROC_DEVCAPS_PATTERN = 0x00008000, ///< caps of user pattern function HD_VIDEOPROC_DEVCAPS_MOSAIC = 0x00010000, ///< caps of HD_VIDEOPROC_FUNC_MOSAIC HD_VIDEOPROC_DEVCAPS_COLORNR = 0x00020000, ///< caps of HD_VIDEOPROC_FUNC_COLORNR HD_VIDEOPROC_DEVCAPS_AF = 0x00040000, ///< caps of HD_VIDEOPROC_FUNC_AF ENUM_DUMMY4WORD(HD_VIDEOPROC_DEVCAPS) } HD_VIDEOPROC_DEVCAPS; /** @name capability of input (extend from common HD_VIDEO_CAPS) */ typedef enum HD_VIDEOPROC_INCAPS { HD_VIDEOPROC_INCAPS_DIRECT = 0x01000000, ///< caps of HD_VIDEOPROC_INFUNC_DIRECT HD_VIDEOPROC_INCAPS_ONEBUF = 0x02000000, ///< caps of HD_VIDEOPROC_INFUNC_ONEBUF ENUM_DUMMY4WORD(HD_VIDEOPROC_INCAPS) } HD_VIDEOPROC_INCAPS; /** @name capability of output (extend from common HD_VIDEO_CAPS) */ typedef enum HD_VIDEOPROC_OUTCAPS { HD_VIDEOPROC_OUTCAPS_MD = 0x01000000, ///< caps of HD_VIDEOPROC_OUTFUNC_MD HD_VIDEOPROC_OUTCAPS_DIS = 0x02000000, ///< caps of HD_VIDEOPROC_OUTFUNC_DIS HD_VIDEOPROC_OUTCAPS_LOWLATENCY = 0x04000000, ///< caps of HD_VIDEOPROC_OUTFUNC_LOWLATENCY HD_VIDEOPROC_OUTCAPS_ONEBUF = 0x08000000, ///< caps of HD_VIDEOPROC_OUTFUNC_ONEBUF ENUM_DUMMY4WORD(HD_VIDEOPROC_OUTCAPS) } HD_VIDEOPROC_OUTCAPS; /** @name system capability */ typedef struct _HD_VIDEOPROC_SYSCAPS { HD_DAL dev_id; ///< device id UINT32 chip_id; ///< chip id of this device UINT32 max_in_count; ///< max count of input of this device UINT32 max_out_count; ///< max count of output of this device HD_DEVICE_CAPS dev_caps; ///< capability of device, combine caps of HD_DEVICE_CAPS and HD_VIDEOPROC_DEVCAPS HD_VIDEO_CAPS in_caps[HD_VP_MAX_IN];///< capability of input, combine caps of HD_VIDEO_CAPS and HD_VIDEOPROC_INCAPS HD_VIDEO_CAPS out_caps[HD_VP_MAX_OUT]; ///< capability of output, combine caps of HD_VIDEO_CAPS and HD_VIDEOPROC_OUTCAPS UINT32 max_w_scaleup_ratio; ///< max scaling up ratio UINT32 max_w_scaledown_ratio; ///< max scaling up ratio UINT32 max_h_scaleup_ratio; ///< max scaling down ratio UINT32 max_h_scaledown_ratio; ///< max scaling down ratio UINT32 max_in_stamp; ///< max input stamp UINT32 max_in_stamp_ex; ///< max input stamp_ex UINT32 max_in_mask; ///< max input mask UINT32 max_in_mask_ex; ///< max input mask_ex } HD_VIDEOPROC_SYSCAPS; /** @name system information */ typedef struct _HD_VIDEOPROC_SYSINFO { HD_DAL dev_id; ///< device id UINT32 cur_in_fps[HD_VP_MAX_IN]; ///< current input fps UINT32 cur_out_fps[HD_VP_MAX_OUT]; ///< current output fps } HD_VIDEOPROC_SYSINFO; /** @name option of input function */ typedef enum _HD_VIDEOPROC_INFUNC { HD_VIDEOPROC_INFUNC_DIRECT = 0x00000001, ///< enable input direct from vdocap (zero-buffer) (require bind before start) HD_VIDEOPROC_INFUNC_ONEBUF = 0x00000002, ///< enable one-buffer from vdocap ENUM_DUMMY4WORD(HD_VIDEOPROC_INFUNC) } HD_VIDEOPROC_INFUNC; /** @name input crop or output crop */ typedef struct _HD_VIDEOPROC_CROP { HD_CROP_MODE mode; ///< crop mode HD_VIDEO_CROP win; ///< crop window x,y,w,h } HD_VIDEOPROC_CROP; /** @name input frc or output frc */ typedef struct _HD_VIDEOPROC_FRC { HD_VIDEO_FRC frc; ///< frame rate control } HD_VIDEOPROC_FRC; /** @name input frame */ typedef struct _HD_VIDEOPROC_IN { UINT32 func; ///< (reserved) HD_DIM dim; ///< input dimension. set when first unit HD_VIDEO_PXLFMT pxlfmt; ///< input pixel format. set when first unit HD_VIDEO_DIR dir; ///< output direction like mirror/flip HD_VIDEO_FRC frc; ///< input frame-control } HD_VIDEOPROC_IN; /** @name input frame */ typedef struct _HD_VIDEOPROC_IN3 { UINT32 func; ///< reserved HD_DIM dim; ///< input dimension. set when first unit HD_VIDEO_PXLFMT pxlfmt; ///< input pixel format. set when first unit HD_VIDEO_DIR dir; ///< output direction like mirror/flip HD_VIDEO_FRC frc; ///< input frame-control UINT32 depth; ///< input queue depth, set larger than 0 to adjust (default 2) } HD_VIDEOPROC_IN3; /** @name option of output function */ typedef enum _HD_VIDEOPROC_OUTFUNC { HD_VIDEOPROC_OUTFUNC_MD = 0x00000100, ///< enable motion detection HD_VIDEOPROC_OUTFUNC_DIS = 0x00000200, ///< enable digital image stabilization HD_VIDEOPROC_OUTFUNC_LOWLATENCY = 0x00000400, ///< enable low-latency to vdoenc HD_VIDEOPROC_OUTFUNC_ONEBUF = 0x00000800, ///< enable one-buffer to vdoenc/vdoout ENUM_DUMMY4WORD(HD_VIDEOPROC_OUTFUNC) } HD_VIDEOPROC_OUTFUNC; /** @name physical output frame */ typedef struct _HD_VIDEOPROC_OUT { UINT32 func; ///< (reserved) HD_DIM dim; ///< output dimension HD_VIDEO_PXLFMT pxlfmt; ///< output pixel format HD_VIDEO_DIR dir; ///< output direction like mirror/flip/rotate HD_VIDEO_FRC frc; ///< output frame rate control UINT32 depth; ///< output queue depth, set larger than 0 to allow pull_out HD_URECT rect; ///< output window x,y,w,h HD_DIM bg; ///< output backgrond dimension } HD_VIDEOPROC_OUT; /** @name extened output frame */ typedef struct _HD_VIDEOPROC_OUT_EX { HD_PATH_ID src_path; ///< select a physical out as source of this extend out HD_DIM dim; ///< output dim w,h HD_VIDEO_PXLFMT pxlfmt; ///< output pixel format HD_VIDEO_DIR dir; ///< output direction like mirror/flip/rotate HD_VIDEO_FRC frc; ///< output frame-control UINT32 depth; ///< output queue depth, set larger than 0 to allow pull_out } HD_VIDEOPROC_OUT_EX; /** @name pattern function */ typedef enum _HD_VIDEOPROC_PALETTE { HD_VIDEOPROC_PALETTE_COLOR_BLACK, HD_VIDEOPROC_PALETTE_COLOR_WHITE, HD_VIDEOPROC_PALETTE_COLOR_RED, HD_VIDEOPROC_PALETTE_COLOR_BLUE, HD_VIDEOPROC_PALETTE_COLOR_YELLOW, HD_VIDEOPROC_PALETTE_COLOR_GREEN, HD_VIDEOPROC_PALETTE_COLOR_BROWN, HD_VIDEOPROC_PALETTE_COLOR_DODGERBLUE, HD_VIDEOPROC_PALETTE_COLOR_MAX, ENUM_DUMMY4WORD(HD_VIDEOPROC_PALETTE) } HD_VIDEOPROC_PALETTE; /** @name pattern image setting */ typedef struct _HD_VIDEOPROC_PATTERN_IMG { UINT32 index; ///< pattern index HD_VIDEO_FRAME image; ///< pattern image } HD_VIDEOPROC_PATTERN_IMG; /** @name pattern select */ #define HD_VIDEOPROC_PATTERN_DISABLE 0xffffffff #define HD_VIDEOPROC_PATTERN_CROP_ENABLE 0xEFEF0001 typedef struct _HD_VIDEOPROC_PATTERN_SELECT { UINT32 index; ///< pattern index select, set VPE_PATTERN_SEL_DIABLE to disable HD_URECT rect; ///< destination window ratio (0 ~ 100) HD_VIDEOPROC_PALETTE bg_color_sel; ///< background color select, using HD_VIDEOPROC_PALETTE UINT32 img_crop_enable; ///< set HD_VIDEOPROC_PATTERN_CROP_ENABLE to enable img_crop HD_URECT img_crop; ///< select pattern region to display } HD_VIDEOPROC_PATTERN_SELECT; /** @name vpe mask setting */ typedef struct _HD_VIDEOPROC_VPEMASK_ONEINFO { UINT32 index; ///< pattern index, set 0 to disable UINT32 mask_idx; ///< index = priority 0>1>2>3>4>5>6>7 UINT32 mask_area; ///< 0:inside, 1:outside, 2:line HD_IPOINT point[4]; ///< position of 4 point UINT32 mosaic_en; ///< use original image or mosaic image in mask area UINT32 alpha; ///< alpha blending 0~256, only effect at bitmap = 0,1 } HD_VIDEOPROC_VPEMASK_ONEINFO; /** @name scale working buffer, set when scale up/down over 8x */ typedef struct _HD_VIDEOPROC_SCA_BUF_INFO{ UINT32 ddr_id; ///< DDR ID UINTPTR pbuf_addr; ///< working buffer address, set -1 to disable UINT32 pbuf_size; ///< working buffer size } HD_VIDEOPROC_SCA_BUF_INFO; /** @name option of ctrl function (whole device) */ typedef enum _HD_VIDEOPROC_CTRLFUNC { HD_VIDEOPROC_FUNC_3DNR = 0x00010000, ///< enable 3DNR effect (DN) HD_VIDEOPROC_FUNC_WDR = 0x00020000, ///< enable WDR effect (single frame) HD_VIDEOPROC_FUNC_SHDR = 0x00040000, ///< enable Sensor HDR effect (multi frame) HD_VIDEOPROC_FUNC_DEFOG = 0x00080000, ///< enable Defog effect HD_VIDEOPROC_FUNC_DI = 0x00100000, ///< enable De-Interlace effect (DI) HD_VIDEOPROC_FUNC_SHARP = 0x00200000, ///< enable Sharpness filter effect HD_VIDEOPROC_FUNC_MOSAIC = 0x00400000, ///< enable Mosaic effect of Mask HD_VIDEOPROC_FUNC_COLORNR = 0x00800000, ///< enable Color NR effect HD_VIDEOPROC_FUNC_3DNR_STA = 0x01000000, ///< enable 3DNR statistic for ISP tools HD_VIDEOPROC_FUNC_AF = 0x02000000, ///< enable AF HD_VIDEOPROC_FUNC_BNR = 0x20000000, ///< enable Bayer 3DNR effect HD_VIDEOPROC_FUNC_BNR_STA = 0x40000000, ///< enable Bayer 3DNR statistic for ISP tools ENUM_DUMMY4WORD(HD_VIDEOPROC_CTRLFUNC) } HD_VIDEOPROC_CTRLFUNC; /** @name ctrl function (whole device) */ typedef struct _HD_VIDEOPROC_CTRL { HD_VIDEOPROC_CTRLFUNC func; ///< additional function of HD_CTRL (whole device) (bit-wise mask) HD_PATH_ID ref_path_3dnr; ///< select one of physical out as 3DNR reference path } HD_VIDEOPROC_CTRL; /** @name low-latency config (output) */ typedef struct _HD_VIDEOPROC_LL_CONFIG { UINT32 delay_trig_lowlatency; ///< set delay trigger time of LOWLATENCY output path } HD_VIDEOPROC_LL_CONFIG; /** @name options of device pipeline */ typedef enum _HD_VIDEOPROC_PIPE { HD_VIDEOPROC_PIPE_OFF = 0, HD_VIDEOPROC_PIPE_RAWALL = 0x000000FE, ///< 1 RAW frame to 5 YUV frame, support in-crop, in-direct, WDR/SHDR, NR, GDC, DEFOG, color and gamma tuning, out-scaling, out-crop HD_VIDEOPROC_PIPE_RAWCAP = 0x000000FF, ///< RAWALL with capture quality. HD_VIDEOPROC_PIPE_YUVALL = 0x000000E0, ///< 1 YUV frame to 5 YUV frame, support color and gamma tuning, out-scaling, out-crop HD_VIDEOPROC_PIPE_YUVCAP = 0x000000E1, ///< YUVALL with capture quality. HD_VIDEOPROC_PIPE_YUVAUX = 0x000000C2, ///< 1 YUV frame to 5 YUV frame, support in-crop, out-scaling, out-crop. (an auxiliary device running with RAWALL+INFUNC_DIRECT device) HD_VIDEOPROC_PIPE_DEWARP = 0x00000010, ///< 1 YUV frame to 1 YUV frame, support GDC effect only. HD_VIDEOPROC_PIPE_COLOR = 0x00000020, ///< 1 YUV frame to 1 YUV frame, support color and gamma tuning only. HD_VIDEOPROC_PIPE_SCALE = 0x00000040, ///< 1 YUV frame to 5 YUV frame, support out-scaling only. HD_VIDEOPROC_PIPE_RAWCOLOR = 0x0000003E, ///< 1 RAW frame to 1 YUV frame, support in-crop, WDR/SHDR, NR, DEFOG, color and gamma tuning. HD_VIDEOPROC_PIPE_BNR_RAWALL = 0x000600F8, ///< 1 RAW frame to 5 YUV frame, do RAW-domain pre-process and YUV-domain process, support in-crop, in-direct, BNR, WDR/SHDR, NR, DEFOG, color and gamma tuning, out-scaling, out-crop HD_VIDEOPROC_PIPE_BNR_RAWCOLOR = 0x00060038, ///< 1 RAW frame to 1 YUV frame, do RAW-domain pre-process and YUV-domain process, support in-crop, BNR, WDR/SHDR, NR, DEFOG, color and gamma tuning. HD_VIDEOPROC_PIPE_VPE = 0x000000F2, ///< do YUV-domain scale process by VPE engine HD_VIDEOPROC_PIPE_VSP = 0x000000F4, ///< Video Stitching Process HD_VIDEOPROC_PIPE_PANO360 = 0x000001FE, ///< RAWALL with panorama 360 effect. HD_VIDEOPROC_PIPE_PANO360_4V = 0x000002FE, ///< RAWALL with panorama 360 quad view effect. ENUM_DUMMY4WORD(HD_VIDEOPROC_PIPE) } HD_VIDEOPROC_PIPE; /** @name pool mode */ typedef enum _HD_VIDEOPROC_POOL_MODE { HD_VIDEOPROC_POOL_AUTO = 0, HD_VIDEOPROC_POOL_ENABLE = 1, HD_VIDEOPROC_POOL_DISABLE = 2, ENUM_DUMMY4WORD(HD_VIDEOPROC_POOL_MODE), } HD_VIDEOPROC_POOL_MODE; /** @name pool config */ typedef struct _HD_VIDEOPROC_POOL { INT ddr_id; ///< DDR ID UINT32 counts; ///< count of buffer, use HD_VIDEOPROC_SET_COUNT to set INT mode; ///< pool mode, 0: auto, 1:enable, 2:disable } HD_VIDEOPROC_POOL; /** @name device config */ typedef struct _HD_VIDEOPROC_DEV_CONFIG { HD_VIDEOPROC_PIPE pipe; ///< pipeline setting (for physical out) UINT32 isp_id; ///< ISP id HD_VIDEOPROC_CTRL ctrl_max; ///< maximum control settings HD_VIDEOPROC_IN in_max; ///< maximum input settings HD_VIDEOPROC_POOL data_pool[HD_VP_MAX_DATA_TYPE]; ///< pool memory information } HD_VIDEOPROC_DEV_CONFIG; /** @name func config */ typedef struct _HD_VIDEOPROC_FUNC_CONFIG { UINT32 ddr_id; ///< DDR ID HD_VIDEOPROC_INFUNC in_func; ///< additional function of in (bit-wise mask) HD_VIDEOPROC_OUTFUNC out_func; ///< additional function of out (bit-wise mask) UINT32 out_order; ///< output order (0 ~ n) } HD_VIDEOPROC_FUNC_CONFIG; /** @name poll return */ typedef struct { BOOL event; ///< poll status } HD_PROC_RET_EVENT; /** @name poll event list */ typedef struct _HD_VIDEOPROC_POLL_LIST { HD_PATH_ID path_id; ///< path ID HD_PROC_RET_EVENT revent; ///< the returned event value } HD_VIDEOPROC_POLL_LIST; /** @name time align mode */ typedef enum _HD_VIDEOPROC_ALIGN { HD_VIDEOPROC_TIME_ALIGN_ENABLE = 0xFEFE01FE, ///< (default) playback time align by LCD period (ex. 60HZ is 33333us) HD_VIDEOPROC_TIME_ALIGN_DISABLE = 0xFEFE07FE, ///< play timestamp by gm_send_multi_bitstreams called HD_VIDEOPROC_TIME_ALIGN_USER = 0xFEFE09FE, ///< start to play at previous play point + time_diff(us) ENUM_DUMMY4WORD(HD_VIDEOPROC_ALIGN) } HD_VIDEOPROC_ALIGN; /** @name yuv buffer for input */ typedef struct _HD_VIDEOPROC_USER_BS { UINT32 sign; ///< signature = MAKEFOURCC('V','S','T','M') HD_METADATA *p_next; ///< pointer to next meta CHAR *p_bs_buf; ///< bitstream buffer address pointer UINT32 bs_buf_size; ///< bitstream buffer size INT32 retval; ///< less than 0: send bistream fail. HD_VIDEOPROC_ALIGN time_align; ///< timestamp alignment UINT32 time_diff; ///< time_diff(us): playback interval time by micro-second UINT64 timestamp; ///< Decode bs timestamp (unit: microsecond) to encode for transcode UINT32 user_flag; ///< Special flag to control } HD_VIDEOPROC_USER_BS; /** @name send bitstream list */ typedef struct _HD_VIDEOPROC_SEND_LIST { HD_PATH_ID path_id; ///< path id HD_VIDEOPROC_USER_BS user_bs; ///< video decode user bitstream INT32 retval; ///< less than 0: send bistream fail. } HD_VIDEOPROC_SEND_LIST; /** @name status */ typedef struct _HD_VIDEOPROC_STATUS { UINT32 left_recv_frame; ///< number of frames to be received. } HD_VIDEOPROC_STATUS; /** @name parameter id */ typedef enum _HD_VIDEOPROC_PARAM_ID { HD_VIDEOPROC_PARAM_DEVCOUNT, ///< support get with ctrl path, using HD_DEVCOUNT struct (device id max count) HD_VIDEOPROC_PARAM_SYSCAPS, ///< support get with ctrl path, using HD_VIDEOPROC_SYSCAPS struct (system capabilitiy) HD_VIDEOPROC_PARAM_SYSINFO, ///< support get with ctrl path, using HD_VIDEOPROC_SYSINFO struct (system infomation) HD_VIDEOPROC_PARAM_DEV_CONFIG, ///< support set with ctrl path, using HD_VIDEOPROC_DEV_CONFIG struct (device device config) HD_VIDEOPROC_PARAM_CTRL, ///< support get/set with ctrl path, using HD_VIDEOPROC_CTRL struct (effect of whole device) HD_VIDEOPROC_PARAM_IN, ///< support get/set with i/o path, using HD_VIDEOPROC_IN struct (input frame paramter) HD_VIDEOPROC_PARAM_IN_FRC, ///< support get/set with i/o path, using HD_VIDEOPROC_FRC struct (input frc parameter) HD_VIDEOPROC_PARAM_IN_CROP, ///< support get/set with i/o path, using HD_VIDEOPROC_CROP struct (input crop parameter) ///< note: 1. the coord attr in HD_VIDEOPROC_CROP must be set. ///< 2. if the mode attr in HD_VIDEOPROC_CROP changed, AP must do hd_videoproc_start. HD_VIDEOPROC_PARAM_IN_CROP_PSR, ///< support get/set with i/o path, using HD_VIDEOPROC_CROP struct (output crop parameter) HD_VIDEOPROC_PARAM_OUT, ///< support get/set with i/o path, using HD_VIDEOPROC_OUT struct (output frame paramter) HD_VIDEOPROC_PARAM_OUT_FRC, ///< support get/set with i/o path, using HD_VIDEOPROC_FRC struct (output frc parameter) HD_VIDEOPROC_PARAM_OUT_CROP, ///< support get/set with i/o path, using HD_VIDEOPROC_CROP struct (output crop parameter) HD_VIDEOPROC_PARAM_OUT_CROP_PSR, ///< support get/set with i/o path, using HD_VIDEOPROC_CROP struct (output crop parameter) HD_VIDEOPROC_PARAM_OUT_EX, ///< support get/set with i/o path, using HD_VIDEOPROC_OUT_EX struct (output frame paramter) HD_VIDEOPROC_PARAM_OUT_EX_CROP, ///< support get/set with i/o path, using HD_VIDEOPROC_CROP struct (output crop parameter) HD_VIDEOPROC_PARAM_IN_STAMP_BUF, ///< support get/set with i/stamp path, using HD_OSG_STAMP_BUF struct (stamp buffer parameter) HD_VIDEOPROC_PARAM_IN_STAMP_IMG, ///< support get/set with i/stamp path, using HD_OSG_STAMP_IMG struct (stamp image parameter) HD_VIDEOPROC_PARAM_IN_STAMP_ATTR, ///< support get/set with i/stamp path, using HD_OSG_STAMP_ATTR struct (stamp display attribute) HD_VIDEOPROC_PARAM_IN_MASK_ATTR, ///< support get/set with i/mask path, using HD_OSG_MASK_ATTR struct (mask display attribute) HD_VIDEOPROC_PARAM_IN_MOSAIC_ATTR, ///< support get/set with i/mask path, using HD_OSG_MOSAIC_ATTR struct (mosaic display attribute) HD_VIDEOPROC_PARAM_PATTERN_IMG, ///< support get/set with ctrl path, using HD_VIDEOPROC_PATTERN_IMG struct (pattern parameter) HD_VIDEOPROC_PARAM_PATTERN_SELECT, ///< support get/set with ctrl path, using HD_VIDEOPROC_PATTERN_SELECT struct (pattern parameter) HD_VIDEOPROC_PARAM_VPEMASK_ATTR, ///< support get/set with i/mask path, using HD_VIDEOPROC_VPEMASK_ONEINFO struct (vpe mask attribute) HD_VIDEOPROC_PARAM_SCA_WK_BUF, ///< support get/set with i/o path, using HD_VIDEOPROC_SCA_BUF_INFO struct (scale working buffer) HD_VIDEOPROC_PARAM_FUNC_CONFIG, ///< support get/set with i/o path, using HD_VIDEOPROC_FUNC_CONFIG struct (path func config) HD_VIDEOPROC_PARAM_LL_CONFIG, ///< support get/set with i/o path, using HD_VIDEOPROC_LL_CONFIG struct (output low-latency parameter) HD_VIDEOPROC_PARAM_IN_PALETTE_TABLE,///< support get/set with i path, using HD_OSG_PALETTE_TBL struct or HD_PALETTE_TBL struct HD_VIDEOPROC_PARAM_IN3, ///< support get/set with i/o path, using HD_VIDEOPROC_IN3 struct (input frame paramter) HD_VIDEOPROC_PARAM_STATUS, ///< support get with i/o path, using HD_VIDEOPROC_STATUS struct HD_VIDEOPROC_PARAM_MAX, ENUM_DUMMY4WORD(HD_VIDEOPROC_PARAM_ID) } HD_VIDEOPROC_PARAM_ID; /******************************************************************** EXTERN VARIABLES & FUNCTION PROTOTYPES DECLARATIONS ********************************************************************/ HD_RESULT hd_videoproc_init(VOID); HD_RESULT hd_videoproc_bind(HD_OUT_ID out_id, HD_IN_ID dest_in_id); HD_RESULT hd_videoproc_unbind(HD_OUT_ID out_id); HD_RESULT hd_videoproc_open(HD_IN_ID in_id, HD_OUT_ID out_id, HD_PATH_ID *p_path_id); HD_RESULT hd_videoproc_start(HD_PATH_ID path_id); HD_RESULT hd_videoproc_stop(HD_PATH_ID path_id); HD_RESULT hd_videoproc_start_list(HD_PATH_ID *path_id, UINT num); HD_RESULT hd_videoproc_stop_list(HD_PATH_ID *path_id, UINT num); HD_RESULT hd_videoproc_get(HD_PATH_ID path_id, HD_VIDEOPROC_PARAM_ID id, VOID *p_param); HD_RESULT hd_videoproc_set(HD_PATH_ID path_id, HD_VIDEOPROC_PARAM_ID id, VOID *p_param); HD_RESULT hd_videoproc_push_in_buf(HD_PATH_ID path_id, HD_VIDEO_FRAME *p_in_video_frame, HD_VIDEO_FRAME *p_user_out_video_frame, INT32 wait_ms); HD_RESULT hd_videoproc_pull_out_buf(HD_PATH_ID path_id, HD_VIDEO_FRAME *p_video_frame, INT32 wait_ms); HD_RESULT hd_videoproc_release_out_buf(HD_PATH_ID path_id, HD_VIDEO_FRAME *p_video_frame); HD_RESULT hd_videoproc_poll_list(HD_VIDEOPROC_POLL_LIST *p_poll, UINT32 num, INT32 wait_ms); HD_RESULT hd_videoproc_send_list(HD_VIDEOPROC_SEND_LIST *p_videoproc_list, UINT32 num, INT32 wait_ms); HD_RESULT hd_videoproc_close(HD_PATH_ID path_id); HD_RESULT hd_videoproc_uninit(VOID); #ifdef __cplusplus } #endif #endif 有什么函数能从HD_OUT_ID中得到到path_id
10-12
另外，检查是否有其他函数可能涉及，比如hd_videoproc_get或hd_videoproc_set，但根据参数列表，这些函数使用path_id作为参数，而不是从中获取。 因此，结论是需要使用hd_videoproc_open函数，通过in_id和out_id来...
【四轴飞行器】非线性三自由度四轴飞行器模拟器研究（Matlab代码实现）
11-24
【四轴飞行器】非线性三自由度四轴飞行器模拟器研究（Matlab代码实现）内容概要：本文围绕非线性三自由度四轴飞行器模拟器的研究展开，重点介绍基于Matlab代码实现的四轴飞行器动力学建模与仿真方法。研究构建了考虑非线性特性的飞行器数学模型，涵盖姿态动力学与运动学方程，实现了三自由度（滚转、俯仰、偏航）的精确模拟。文中详细阐述了系统建模过程、控制算法设计思路及仿真结果分析，帮助读者深入理解四轴飞行器的飞行动力学特性与控制机制；同时，该模拟器可用于算法验证、控制器设计与教学实验。; 适合人群：具备一定自动控制理论基础和Matlab编程能力的高校学生、科研人员及无人机相关领域的工程技术人员，尤其适合从事飞行器建模、控制算法开发的研究生和初级研究人员。; 使用场景及目标：①用于四轴飞行器非线性动力学特性的学习与仿真验证；②作为控制器（如PID、LQR、MPC等）设计与测试的仿真平台；③支持无人机控制系统教学与科研项目开发，提升对姿态控制与系统仿真的理解。; 阅读建议：建议读者结合Matlab代码逐模块分析，重点关注动力学方程的推导与实现方式，动手运行并调试仿真程序，以加深对飞行器姿态控制过程的理解。同时可扩展为六自由度模型或加入外部干扰以增强仿真真实性。
Lua中JSON编解码解析[项目代码]
11-24
本文详细介绍了Lua中json.encode和json.decode的使用方法。json.encode用于将表格数据编码为JSON字符串，支持字典和数组形式的表格，并解释了整型键值转换和空位处理规则。json.decode则用于将JSON字符串解码为表格对象，展示了如何解析复杂JSON结构。通过多个示例代码，清晰展示了两种函数的具体应用场景和输出结果，为Lua开发者处理JSON数据提供了实用参考。
SlowFast模型训练指南[项目源码]
最新发布
11-24
本文详细介绍了如何使用SlowFast模型在mmaction2工具箱中训练自制AVA数据集。SlowFast模型是一种双通道架构的深度学习模型，通过慢速和快速通路分别处理视频中的空间语义信息和动态动作信息，有效平衡计算成本与性能。文章从数据集准备、视频抽帧、标注数据集、格式转换、环境部署、配置文件修改、常见问题解决到训练和测试，提供了完整的步骤和代码示例。特别强调了数据集的标注和格式转换过程，以及如何解决训练中可能遇到的版本兼容性和GPU内存不足等问题。最后，文章还提供了测试模型的代码和参考资源，为读者提供了全面的技术指导。
基于分布式模型预测控制DMPC的多智能体点对点过渡轨迹生成研究（Matlab代码实现）
11-24
基于分布式模型预测控制DMPC的多智能体点对点过渡轨迹生成研究（Matlab代码实现）内容概要：本文围绕“基于分布式模型预测控制（DMPC）的多智能体点对点过渡轨迹生成研究”展开，重点介绍如何利用DMPC方法实现多智能体系统在复杂环境下的协同轨迹规划与控制。文中结合Matlab代码实现，详细阐述了DMPC的基本原理、数学建模过程以及在多智能体系统中的具体应用，涵盖点对点转移、避障处理、状态约束与通信拓扑等关键技术环节。研究强调算法的分布式特性，提升系统的可扩展性与鲁棒性，适用于多无人机、无人车编队等场景。同时，文档列举了大量相关科研方向与代码资源，展示了DMPC在路径规划、协同控制、电力系统、信号处理等多领域的广泛应用。; 适合人群：具备一定自动化、控制理论或机器人学基础的研究生、科研人员及从事智能系统开发的工程技术人员；熟悉Matlab/Simulink仿真环境，对多智能体协同控制、优化算法有一定兴趣或研究需求的人员。; 使用场景及目标：①用于多智能体系统的轨迹生成与协同控制研究，如无人机集群、无人驾驶车队等；②作为DMPC算法学习与仿真实践的参考资料，帮助理解分布式优化与模型预测控制的结合机制；③支撑科研论文复现、毕业设计或项目开发中的算法验证与性能对比。; 阅读建议：建议读者结合提供的Matlab代码进行实践操作，重点关注DMPC的优化建模、约束处理与信息交互机制；按文档结构逐步学习，同时参考文中提及的路径规划、协同控制等相关案例，加深对分布式控制系统的整体理解。
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