// highgui windows names
#define WINDOW_ORIG "BARCAM original scene"
#define WINDOW_ROI "BARCAM set region of interest"
+#define WINDOW_PROD "BARCAM recognition product"
// size of graphical windows
#define WINDOW_WIDTH 640
#define WINDOW_HEIGHT 480
// size of desired region of interest (crop camera view)
-#define ROI_LU_X 0
+#define ROI_LU_X WINDOW_WIDTH/2 - 40
#define ROI_LU_Y 0
-#define ROI_RL_X WINDOW_WIDTH
-#define ROI_RL_Y WINDOW_HEIGHT
+#define ROI_RL_X WINDOW_WIDTH/2 + 40
+#define ROI_RL_Y WINDOW_HEIGHT - 20
// values of keys
#define KEY_ESC 0x1B
#define KEY_8 0x38
-// default threshold and saturation
-#define SATURATION 1.0
-#define THRESHOLD_SHIFT -25 //automatic threshold correction
-
// filename pattern of snapshots (PPC does not support png)
#ifdef WITH_GUI
#define SNAPSHOTFILENAME "snapshot%02d.png"
#define SNAPSHOTFILENAME "snapshot%02d.pnm"
#endif /* WITH_GUI */
-//number of results to select the most supported one from
-#define DECISION_BOX_SIZE 3
-
/******************************************************************************/
/************************** function declarations *****************************/
int saveFrame(const CvArr *img);
void drawPauseText(IplImage *img);
void selectROI(CvCapture* capture, struct roi *roi);
-void cropROI(IplImage* frame, struct roi *roi);
/******************** multimode computational functions ***********************/
int countThreshold(const IplImage *frame);
#ifdef WITH_GUI
void drawPauseText(IplImage *img)
{
- cvPutText(img, "PAUSE", cvPoint(250,400), &fontLarge, cvScalar(0,0,255));
+ cvPutText(img, "PAUSE", cvPoint(img->width/2 - 40,img->height - 50),
+ &fontLarge, cvScalar(0,0,255));
cvShowImage(WINDOW_ORIG, img);
}
#else /* PPC */
case KEY_R:
case KEY_r:
// reset ROI to full frame
- roi->lu.x = ROI_LU_X;
- roi->lu.y = ROI_LU_Y;
- roi->rl.x = ROI_RL_X;
- roi->rl.y = ROI_RL_Y;
+ roi->lu.x = 0;
+ roi->lu.y = 0;
+ roi->rl.x = WINDOW_WIDTH;
+ roi->rl.y = WINDOW_HEIGHT;
break;
case KEY_1:
break;
}
- frame = cvQueryFrame(capture);
-
- cvPutText(frame, "Select ROI", cvPoint(240,400), &fontLarge, cvScalar(0,0,255));
+ fprintf(stderr, "ROI step: %d left: %d up: %d right: %d down: %d\n",
+ step, roi->lu.x, roi->lu.y, roi->rl.x, roi->rl.y);
step = (step < 0 ? 0 : step);
- fprintf(stderr, "ROI step: %d left: %d up: %d right: %d down: %d\n",
- step, roi->lu.x, roi->lu.y, roi->rl.x, roi->rl.y);
+ frame = cvQueryFrame(capture);
+
+ cvPutText(frame, "Select ROI", cvPoint(frame->width/2 -60,
+ frame->height - 50),
+ &fontLarge, cvScalar(0,0,255));
cvRectangle(frame, roi->lu, roi->rl, cvScalar(0,0,255), 2, 8, 0);
}
#else /* PPC */
-void setRegionOfInterrest(IplImage *img) {}
-#endif /* WITH_GUI */
-
-/******************************************************************************/
-
-/** Sets selected ROI to the frame.
- * Warning - the frame must be accesst from ROI coordinates now!
- * @param frame Pointer to the frame.
- * @param roi Pointer to ROI structure */
-void cropROI(IplImage* frame, struct roi *roi)
-{
- cvSetImageROI(frame, cvRect(roi->lu.x, roi->lu.y, roi->rl.x - roi->lu.x,
- roi->rl.y - roi->lu.y) );
-
-}
-
-/******************************************************************************/
-
-/** Normalizes the matrix values and displays them in window specified by name.
- * @param floatMat Pointer to matrix data to display.
- * @param windowName Name of window in which to display the image. */
-#ifdef WITH_GUI
-void displayFloatMat(const CvMat *floatMat, const char *windowName)
-{
- double min = 0.0, max = 0.0;
- CvMat *normalized = cvCloneMat(floatMat);
-
- //find extremes of floatMat
- cvMinMaxLoc(floatMat, &min, &max);
- //normalize
- cvConvertScale(floatMat, normalized, 1/(max-min), -(min/(max-min)));
- cvShowImage(windowName, normalized);
-
- cvReleaseMat(&normalized);
-}
-#else /* PPC */
-
-void displayFloatMat(const CvMat *floatMat, const char *windowName) {}
+void selectROI(CvCapture *capture, struct roi *roi) {}
#endif /* WITH_GUI */
/******************************************************************************/
/** Returns an ordinary number of recognized configuration.
* @param frame Float representation of frame.
* @return */
-int recognize(IplImage *frame) {
+int recognize(IplImage* roi_frame) {
+ int i,j;
+ /* say you want to set some pixels in the ROI to 0 */
+ for (i = 0; i < roi_frame->height/2; i++) {
+ for (j = 0; j < roi_frame->width/2; j++) {
+ ((uchar*)(roi_frame->imageData + i * roi_frame->widthStep))[j*3] = 0;
+ ((uchar*)(roi_frame->imageData + i * roi_frame->widthStep))[j*3+1] = 0;
+ ((uchar*)(roi_frame->imageData + i * roi_frame->widthStep))[j*3+2] = 0;
+ }
+ }
+
+// IplImage* dst = cvCreateImage( cvGetSize(roi_frame), roi_frame->depth, 1 );
+// IplImage* color_dst = cvCreateImage( cvGetSize(roi_frame), roi_frame->depth, roi_frame->nChannels);
+//
+// CvMemStorage* storage = cvCreateMemStorage(0);
+// CvSeq* lines = 0;
+//
+
+//
+// cvCanny(roi_frame, dst, 50, 200, 3 );
+//
+// cvCvtColor( dst, color_dst, CV_GRAY2BGR );
+//
+// lines = cvHoughLines2( dst,
+// storage,
+// CV_HOUGH_STANDARD,
+// 1,
+// CV_PI/180,
+// 100,
+// 0,
+// 0 );
+//
+// for( i = 0; i < MIN(lines->total,100); i++ )
+// {
+// float* line = (float*)cvGetSeqElem(lines,i);
+// float rho = line[0];
+// float theta = line[1];
+// CvPoint pt1, pt2;
+// double a = cos(theta), b = sin(theta);
+// double x0 = a*rho, y0 = b*rho;
+// pt1.x = cvRound(x0 + 1000*(-b));
+// pt1.y = cvRound(y0 + 1000*(a));
+// pt2.x = cvRound(x0 - 1000*(-b));
+// pt2.y = cvRound(y0 - 1000*(a));
+// cvLine( color_dst, pt1, pt2, CV_RGB(255,0,0), 3, 8 );
+// }
+//
+// cvNamedWindow( "Hough", 1 );
+// cvShowImage( "Hough", color_dst );
+//
+// cvWaitKey(0);
+
+
return 0;
}
#ifdef WITH_GUI
int modeVideo(CvCapture* capture, struct roi *roi)
{
- IplImage* frame = NULL;
-
+ IplImage *frame = NULL;
+ IplImage *roi_frame = NULL;
+
while (1) {
// wait 10ms for an event
switch(cvWaitKey(10) & 0xFF) {
// pause - switch to wait mode
case KEY_P:
case KEY_p:
- drawPauseText(frame);
+ drawPauseText(roi_frame);
return MODE_WAIT;
// save frame to file
case KEY_S:
case KEY_s:
- saveFrame(frame);
+ saveFrame(roi_frame);
break;
case KEY_O:
continue;
}
- cropROI(frame, roi);
+ cvSetImageROI(frame, cvRect(roi->lu.x, roi->lu.y, roi->rl.x - roi->lu.x,
+ roi->rl.y - roi->lu.y));
+
+ roi_frame = cvCreateImage(cvGetSize(frame), frame->depth, frame->nChannels);
+
+ cvCopy(frame, roi_frame, NULL);
- cvShowImage(WINDOW_ORIG, frame);
+ cvShowImage(WINDOW_ORIG, roi_frame);
}
return MODE_QUIT;
* @param frame Last camera frame.
* @return MODE_RECOGNIZE or mode to switch to. */
#ifdef WITH_GUI
-int recognizeMode_processKeys(IplImage *frame)
+int recognizeMode_processKeys(IplImage *roi_frame)
{
// wait 10ms for an event
switch (cvWaitKey(10) & 0xFF) {
// pause - wait mode
case KEY_P:
case KEY_p:
- drawPauseText(frame);
+ drawPauseText(roi_frame);
camera_control_on = 0;
return MODE_WAIT;
-
- // save frame to file
- case KEY_S:
- case KEY_s:
- saveFrame(frame);
- break;
}
return MODE_RECOGNIZE;
}
/******************************************************************************/
+/** Displays analytic frames on screen (on PC), or saves (input) frame to file
+ * (on PPC in debug mode).
+ * @param frame Input frame from camera.
+ * @param thrFrame Thresholded frame.
+ * @param fMat Float representation of frame.
+ * @param cfgSide Index of current side configuration.
+ * @param cfgCenter Index of current center configuration. */
+#ifdef WITH_GUI
+void displayFrames(IplImage *roi_frame) {
+ cvShowImage(WINDOW_PROD, roi_frame);
+
+}
+
+#else /* PPC */
+
+void displayFrames(IplImage *frame, IplImage **thrFrame, CvMat *fMat,
+ int cfgSide, int cfgCenter) { /* nothing */ }
+#endif /* WITH_GUI */
+
+/******************************************************************************/
+
/** Implements the camera recognition of corns configurations.
* @param capture Pointer to a camera capture.
* @return Code of mode to switch to. */
while (camera_control_on) {
- if ((ret = recognizeMode_processKeys(frame)) != MODE_RECOGNIZE)
+ if ((ret = recognizeMode_processKeys(roi_frame)) != MODE_RECOGNIZE)
return ret;
//get one frame from camera (do not release!)
//ORTEPublicationSend(orte.publication_camera_result);
// }
- cropROI(frame, roi);
+ cvSetImageROI(frame, cvRect(roi->lu.x, roi->lu.y, roi->rl.x - roi->lu.x,
+ roi->rl.y - roi->lu.y));
+
+ roi_frame = cvCreateImage(cvGetSize(frame), frame->depth, frame->nChannels);
+
+ cvCopy(frame, roi_frame, NULL);
- //TODO call some image processing (do something useful with the image, FFT atc.)
- recognize(frame);
+ //TODO call image processing (do something useful with the image, FFT atc.)
+ ret = recognize(roi_frame);
+
+#ifdef WITH_GUI
+ cvShowImage(WINDOW_PROD, roi_frame);
+#endif /* WITH_GUI */
// publish results
// orte.camera_result.side = sideConfig;
cvInitFont(&fontLarge, CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0, 0, 2);
}
#else /* PPC */
-
void initGUI(void) {}
#endif /* WITH_GUI */
/******************************************************************************/
-/** Sets visibility of 3 analytic windows (threshold, mask and product).
- * @param visible Use true to display windows, false to hide. */
-#ifdef WITH_GUI
-void setAnalyticWindowsVisible(bool visible)
-{
- if(visible) {
- cvNamedWindow(WINDOW_ORIG, CV_WINDOW_AUTOSIZE);
- } else {
- cvDestroyWindow(WINDOW_ORIG);
- }
-}
-#else /* PPC */
-
-void setAnalyticWindowsVisible(bool visible) {}
-#endif /* WITH_GUI */
-
-/******************************************************************************/
-
/** Destroys highgui windows. */
#ifdef WITH_GUI
void destroyGUI(void)
{
cvDestroyWindow(WINDOW_ORIG);
+ cvDestroyWindow(WINDOW_PROD);
+ cvDestroyWindow(WINDOW_ROI);
}
#else /* PPC */
-
void destroyGUI(void) {}
#endif /* WITH_GUI */
switch(mode) {
case MODE_VIDEO:
- setAnalyticWindowsVisible(false);
mode = modeVideo(capture, &roi);
lastMode = MODE_VIDEO;
break;
case MODE_RECOGNIZE:
- setAnalyticWindowsVisible(true);
mode = modeRecognize(capture, &roi);
lastMode = MODE_RECOGNIZE;
break;
break;
case MODE_IMAGE:
- setAnalyticWindowsVisible(true);
mode = modeImage(paramC);
lastMode = MODE_IMAGE;
break;
_modeManager_end:
cvReleaseCapture(&capture);
- destroyGUI();
+ //destroyGUI();
return 0;
}
projects / eurobot / public.git / commitdiff