【Khadas VIM试用】双目视觉算法——战树莓派

day_day

为了使这两块开发板之间的对比更加公平公正，我花了好一段时间为树莓派适配上了3.4.0。本来上面有一个3.3.0的opencv，不过后来文件系统挂了，虽然有镜像，但还是像试试新的版本，毕竟现在opencv都出道3.4.1了。
本来觉得自己在安装opencv一路上可谓熟能生巧，没想到竟然在树莓派这里翻车了：

折腾了好几天不得不投降，把编译选项里面的DWITH_QT=OFF，估计也是qt的库有些什么问题，不过奇怪的是之前安装opencv3.3.0的时候DWITH_QT=ON是完全可以的，而后来我处于好奇又编译了一次3.3.0加上了QT，结果依然卡在这里……
好了，题外话不多说，直接上图：

这是一些打印信息：

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复制代码

可以看到输出的日志，平均的30帧的运行时间需要32s左右，对比一下khadas的成绩：
https://www.cirmall.com/bbs/thread-99298-1-1.html
平均7s，简直把树莓派3B虐出渣来，不过树莓派虽然编译opencv的时候也加上了opengl，但这个程序运行的时候却并没有像khadas那样提示使用了opengl，这一点值得接下来探讨，毕竟程序基本完全一样，唯一不同的只是路径而已。
想想新出的3B+，大有树莓派不争气的感觉啊，平均一秒一帧都做不到，虽然项目的实时性要求不高，但这个效果实在不如人意。
不过有一点比khadas出色一些的是树莓派能够读取我的720P摄像头视频流。

但时间也因此从平均3.2升到3.3s才处理30帧。
这一点在khadas上显示带宽不足，这一点令我感觉很迷惑，按理来说一般的usb2.0都应该可以支持两路720P的摄像头，树莓派的usb口也同样是hub扩展出来的。我猜测可能是khadas的hub能力稍微逊色了一些。