void cvmPerspectiveProject( const CvMat* mat, const CvArr* src, CvArr* dst )
{
CvMat tsrc, tdst;
cvReshape( src, &tsrc, 3, 0 );
cvReshape( dst, &tdst, 3, 0 );
cvPerspectiveTransform( &tsrc, &tdst, mat );
}
static double luck_pixel(int x, int y, const CvMat *hom1, const CvMat *hom2)
{
CvMat *invhom1 = cvCreateMat(3, 3, CV_32FC1);
cvInvert(hom1, invhom1, CV_LU);
//inhom1到上一帧的映射变换
CvPoint2D32f src = cvPoint2D32f(x, y);
CvPoint2D32f d1, d2;
CvMat pt_src = cvMat(1, 1, CV_32FC2, &src);
CvMat pt_dst = cvMat(1, 1, CV_32FC2, &d1);
cvPerspectiveTransform(&pt_src, &pt_dst, invhom1);
//透视转换成上一帧
pt_dst = cvMat(1, 1, CV_32FC2, &d2);
cvPerspectiveTransform(&pt_src, &pt_dst, hom2);
//透视转换为下一帧
//得到d1和d2,为前后一帧相对应的点
double dis = (src.x-d1.x)*(src.x-d1.x)+(src.y-d1.y)*(src.y-d1.y);
dis += (src.x-d2.x)*(src.x-d2.x)+(src.y-d2.y)*(src.y-d2.y);
double luck = exp(-dis/(2*SIGMA_L*SIGMA_L));
cvReleaseMat(&invhom1);
return luck;
}
// Runs the dot detector and sends detected dots to server on port TODO Implement headless. Needs more config options and/or possibly a config file first though
int run( const char *serverAddress, const int serverPort, char headless ) {
char calibrate_exposure = 0, show = ~0, flip = 0, vflip = 0, done = 0, warp = 0; //"Boolean" values used in this loop
char noiceReduction = 2; //Small counter, so char is still ok.
int i, sockfd; //Generic counter
int dp = 0, minDist = 29, param1 = 0, param2 = 5; // Configuration variables for circle detection
int minDotRadius = 1;
int detected_dots; //Detected dot counter
int returnValue = EXIT_SUCCESS;
int captureControl; //File descriptor for low-level camera controls
int currentExposure = 150;
int maxExposure = 1250; //Maximum exposure supported by the camera TODO Get this from the actual camera
Color min = { 0, 70, 0, 0 }; //Minimum color to detect
Color max = { 255, 255, 255, 0 }; //Maximum color to detect
CvScalar colorWhite = cvScalar( WHITE ); //Color to draw detected dots on black and white surface
BoundingBox DD_mask; //The box indicating what should and what should not be considered for dot search
BoundingBox DD_transform; //The box indicating the plane we are looking at( and as such is the plane we would transform from )
BoundingBox DD_transform_to; //The plane we are transforming to
CvCapture *capture = NULL; //The camera
CvMemStorage *storage; //Low level memory area used for dynamic structures in OpenCV
CvSeq *seq; //Sequence to store detected dots in
IplImage *grabbedImage = NULL; //Raw image from camera( plus some overlay in the end )
IplImage *imgThreshold = NULL; //Image with detected dots
IplImage *mask = NULL; //Mask to be able to remove uninteresting areas
IplImage *coloredMask = NULL; //Mask to be able to indicate above mask on output image
CvFont font; //Font for drawing text on images
SendQueue *queue; //Head of the linked list that is the send queue
char strbuf[255]; //Generic buffer for text formatting( with sprintf())
struct timeval oldTime, time, diff; //Structs for measuring FPS
float lastKnownFPS = 0; //Calculated FPS
CvMat* pointRealMat = cvCreateMat( 1,1,CV_32FC2 ); //Single point matrix for point transformation
CvMat* pointTransMat = cvCreateMat( 1,1,CV_32FC2 ); //Single point matrix for point transformation
CvMat* transMat = cvCreateMat( 3,3,CV_32FC1 ); //Translation matrix for transforming input to a straight rectangle
ClickParams clickParams = { TOP_LEFT, NULL, &DD_transform_to, transMat }; //Struct holding data needed by mouse-click callback function
// Set up network
sockfd = initNetwork( serverAddress, serverPort );
if( sockfd == -1 ) {
fprintf( stderr, "ERROR: initNetwork returned -1\n");
return EXIT_FAILURE;
}
queue = initSendQueue();
if( openCamera( &capture, &captureControl ) == 0 ) {
fprintf( stderr, "ERROR: capture is NULL \n" );
return EXIT_FAILURE;
}
if( ( disableAutoExposure( captureControl ) ) == -1 ) {
fprintf( stderr, "ERROR: Cannot disable auto exposure \n" );
//return EXIT_FAILURE;
}
if( ( updateAbsoluteExposure( captureControl, currentExposure ) ) == 0 ) {
fprintf( stderr, "ERROR: Cannot set exposure\n");
}
// Create a window in which the captured images will be presented
cvNamedWindow( imagewindowname, CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO | CV_GUI_NORMAL );
// Create a window to hold the configuration sliders and the detection frame TODO This is kind of a hack. Make a better solution
cvNamedWindow( configwindowname, CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO | CV_GUI_NORMAL );
// Create a window to hold the transformed image. Handy to see how the dots are translated, but not needed for functionality
if( warp ) cvNamedWindow( warpwindowname, CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO | CV_GUI_NORMAL );
// Create sliders to adjust the lower color boundry
cvCreateTrackbar( red_lable , configwindowname, &min.red, 255, NULL );
cvCreateTrackbar( green_lable, configwindowname, &min.green, 255, NULL );
cvCreateTrackbar( blue_lable , configwindowname, &min.blue, 255, NULL );
//Create sliters for the contour based dot detection
cvCreateTrackbar( min_area_lable, configwindowname, &minDotRadius,255, NULL );
/* Slider for manual exposure setting */
cvCreateTrackbar( exposure_lable, configwindowname, ¤tExposure, maxExposure, NULL );
//Create the memory storage
storage = cvCreateMemStorage( 0 );
// void cvInitFont( font, font_face, hscale, vscale, shear=0, thickness=1, line_type=8 )
cvInitFont( &font, CV_FONT_HERSHEY_PLAIN, 1, 1, 0, 1, 8 );
// Grab an initial image to be able to fetch image size before the main loop.
grabbedImage = cvQueryFrame( capture );
//Move the two windows so both are visible at the same time
cvMoveWindow( imagewindowname, 0, 10 );
cvMoveWindow( configwindowname, grabbedImage->width+2, 10 );
//TODO Move these three inits to a function
// Set masking defaults TODO load from file? Specify file for this file loading?
DD_mask.topLeft.x = 0;
DD_mask.topLeft.y = 0;
DD_mask.topRight.x = grabbedImage->width-1;
DD_mask.topRight.y = 0;
DD_mask.bottomLeft.x = 0;
DD_mask.bottomLeft.y = grabbedImage->height-1;
DD_mask.bottomRight.x = grabbedImage->width-1;
DD_mask.bottomRight.y = grabbedImage->height-1;
// Set transformation defaults TODO load from file? Specify file for this file loading?
DD_transform.topLeft.x = 0;
DD_transform.topLeft.y = 0;
DD_transform.topRight.x = grabbedImage->width-1;
DD_transform.topRight.y = 0;
DD_transform.bottomLeft.x = 0;
DD_transform.bottomLeft.y = grabbedImage->height-1;
DD_transform.bottomRight.x = grabbedImage->width-1;
DD_transform.bottomRight.y = grabbedImage->height-1;
// Set the transformation destination
DD_transform_to.topLeft.x = 0;
DD_transform_to.topLeft.y = 0;
DD_transform_to.topRight.x = grabbedImage->width-1;
DD_transform_to.topRight.y = 0;
DD_transform_to.bottomLeft.x = 0;
DD_transform_to.bottomLeft.y = grabbedImage->height-1;
DD_transform_to.bottomRight.x = grabbedImage->width-1;
DD_transform_to.bottomRight.y = grabbedImage->height-1;
calculateTransformationMatrix( &DD_transform, &DD_transform_to, transMat );
// Set callback function for mouse clicks
cvSetMouseCallback( imagewindowname, calibrateClick, ( void* ) &clickParams );
gettimeofday( &oldTime, NULL );
// Main loop. Grabbs an image from cam, detects dots, sends dots,and prints dots to images and shows to user
while( !done ) {
//PROFILING_PRO_STAMP(); //Uncomment this and the one in the end of the while-loop, and comment all other PROFILING_* to profile main-loop
// ------ Common actions
cvClearMemStorage( storage );
detected_dots = 0;
//Grab a fram from the camera
PROFILING_PRO_STAMP();
grabbedImage = cvQueryFrame( capture );
PROFILING_POST_STAMP( "cvQueryFrame");
if( grabbedImage == NULL ) {
fprintf( stderr, "ERROR: frame is null...\n" );
getchar();
returnValue = EXIT_FAILURE;
break;
}
//Flip images to act as a mirror.
if( show && flip ) {
cvFlip( grabbedImage, grabbedImage, 1 );
}
if( show && vflip ) {
cvFlip( grabbedImage, grabbedImage, 0 );
}
// ------ State based actions
switch( state ) {
case GRAB_DOTS:
//Create detection image
imgThreshold = cvCreateImage( cvGetSize( grabbedImage ), 8, 1 );
cvInRangeS( grabbedImage, cvScalar( DD_COLOR( min )), cvScalar( DD_COLOR( max )), imgThreshold );
//Mask away anything not in our calibration area
mask = cvCreateImage( cvGetSize( grabbedImage ), 8, 1 );
cvZero( mask );
cvFillConvexPoly( mask, ( CvPoint* ) &DD_mask, 4, cvScalar( WHITE ), 1, 0 );
cvAnd( imgThreshold, mask, imgThreshold, NULL );
// Invert mask, increase the number of channels in it and overlay on grabbedImage //TODO Tint the mask red before overlaying
cvNot( mask, mask );
coloredMask = cvCreateImage( cvGetSize( grabbedImage ), grabbedImage->depth, grabbedImage->nChannels );
cvCvtColor( mask, coloredMask, CV_GRAY2BGR );
cvAddWeighted( grabbedImage, 0.95, coloredMask, 0.05, 0.0, grabbedImage );
// Reduce noise.
// Erode is kind of floor() of pixels, dilate is kind of ceil()
// I'm not sure which gives the best result.
switch( noiceReduction ) {
case 0: break; //No noice reduction at all
case 1: cvErode( imgThreshold, imgThreshold, NULL, 2 ); break;
case 2: cvDilate( imgThreshold, imgThreshold, NULL, 2 ); break;
}
// Warp the warp-image. We are reusing the coloredMask variable to save some space
PROFILING_PRO_STAMP();
if( show && warp ) cvWarpPerspective( grabbedImage, coloredMask, transMat, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS, cvScalarAll( 0 ));
PROFILING_POST_STAMP( "Warping perspective" );
// Find all dots in the image
PROFILING_PRO_STAMP();
// Clear old data from seq
seq = 0;
// Find the dots
cvFindContours(
imgThreshold,
storage,
&seq,
sizeof( CvContour ),
CV_RETR_LIST,
CV_CHAIN_APPROX_SIMPLE,
cvPoint( 0,0 )
);
// cvFindContours destroys the original image, so we wipe it here
// and then repaints the detected dots later
cvZero( imgThreshold );
PROFILING_POST_STAMP( "Dot detection" );
//Process all detected dots
PROFILING_PRO_STAMP();
for( ; seq != 0; seq = seq->h_next ) {
// Calculate radius of the detected contour
CvRect rect =( ( CvContour * )seq )->rect;
float relCenterX = rect.width / 2;
float relCenterY = rect.height / 2;
// Make sure the dot is big enough
if( relCenterX < minDotRadius || relCenterY < minDotRadius ) {
continue;
}
// Note that we have found another dot
++detected_dots;
// Transform the detected dot according to transformation matrix.
float absCenter[] = { rect.x + relCenterX, rect.y + relCenterY };
pointRealMat->data.fl = absCenter;
cvPerspectiveTransform( pointRealMat, pointTransMat, transMat );
// Draw the detected contour back to imgThreshold
// Draw the detected dot both to real image and to warped( if warp is active )
if( show ) {
cvDrawContours( imgThreshold, seq, colorWhite, colorWhite, -1, CV_FILLED, 8, cvPoint( 0,0 ) );
drawCircle( absCenter[0], absCenter[1], ( relCenterX + relCenterY ) / 2, grabbedImage );
if( warp ) {
drawCircle( pointTransMat->data.fl[0], pointTransMat->data.fl[1], ( relCenterX + relCenterY ) / 2, coloredMask );
}
}
// Add detected dot to to send queue
addPointToSendQueue( pointTransMat->data.fl, queue );
}
PROFILING_POST_STAMP("Painting dots");
//Calculate framerate
gettimeofday( &time, NULL );
timeval_subtract( &diff, &time, &oldTime );
lastKnownFPS = lastKnownFPS * 0.7 + ( 1000000.0 / diff.tv_usec ) * 0.3; //We naïvly assume we have more then 1 fps
oldTime = time;
//Send the dots detected this frame to the server
PROFILING_PRO_STAMP();
sendQueue( sockfd, queue );
clearSendQueue( queue );
PROFILING_POST_STAMP( "Sending dots" );
/* If calibrating, do the calibration */
if( calibrate_exposure ) {
int ret;
ret = calibrateExposureLow( captureControl, detected_dots, ¤tExposure, DD_MAX_EXPOSURE, lastKnownFPS );
switch( ret ) {
case 0: // We are done. Let's leave calibration mode
calibrate_exposure = 0;
printf( "done\n" );
break;
case -1: // We hit the upper limit with no detected dots
fprintf( stderr, "Reached upper limit (%d). Aborting!\n", DD_MAX_EXPOSURE );
calibrate_exposure = 0;
break;
case -2: // We hit lower limit with more then one dot detected
fprintf( stderr, "Too bright. More then one dot found even with minimal exposure. Aborting!\n");
calibrate_exposure = 0;
break;
case -3: //No conclusive results.
fprintf( stderr, "No conclusive results. Giving up\n" );
calibrate_exposure = 0;
break;
}
}
break; //End of GRAB_DOTS
case SELECT_TRANSFORM:
//Falling through here. Poor man's multi-case clause. Not putting this in default as we might
//want to do different things in these two some day.
case SELECT_MASK:
snprintf( strbuf, sizeof( strbuf ), "Select %s point", pointTranslationTable[clickParams.currentPoint]);
cvDisplayOverlay( imagewindowname, strbuf, 5 );
break; //End of SELECT_MASK and SELECT_TRANSFORM
}
// Paint the corners of the detecting area and the calibration area
paintOverlayPoints( grabbedImage, &DD_transform );
//Print some statistics to the image
if( show ) {
snprintf( strbuf, sizeof( strbuf ), "Dots: %i", detected_dots ); //Print number of detected dots to the screen
cvPutText( grabbedImage, strbuf, cvPoint( 10, 20 ), &font, cvScalar( WHITE ));
snprintf( strbuf, sizeof( strbuf ), "FPS: %.1f", lastKnownFPS );
cvPutText( grabbedImage, strbuf, cvPoint( 10, 40 ), &font, cvScalar( WHITE ));
cvCircle( grabbedImage, cvPoint( 15, 55 ), minDotRadius, cvScalar( min.blue, min.green, min.red, min.alpha ), -1, 8, 0 ); // Colors given in order BGR-A, Blue, Green, Red, Alpha
}
//Show images
PROFILING_PRO_STAMP();
if( show ) {
cvShowImage( configwindowname, imgThreshold );
cvShowImage( imagewindowname, grabbedImage );
if( warp ) cvShowImage( warpwindowname, coloredMask );
}
PROFILING_POST_STAMP("Showing images");
//Release the temporary images
cvReleaseImage( &imgThreshold );
cvReleaseImage( &mask );
cvReleaseImage( &coloredMask );
/* Update exposure if needed */
updateAbsoluteExposure( captureControl, currentExposure );
cvSetTrackbarPos( exposure_lable, configwindowname, currentExposure );
//If ESC key pressed, Key=0x10001B under OpenCV 0.9.7( linux version ),
//remove higher bits using AND operator
i = ( cvWaitKey( 10 ) & 0xff );
switch( i ) {
case 'g':
makeCalibrate( &DD_transform, &DD_transform_to, transMat, capture, captureControl, 20 );
updateAbsoluteExposure( captureControl, currentExposure+1 );
break;
case 'e':
toggleCalibrationMode( &calibrate_exposure, ¤tExposure );
break; /* Toggles calibration mode */
case 'c':
openCamera( &capture, &captureControl );
break;
case 's':
show = ~show;
break; //Toggles updating of the image. Can be useful for performance of slower machines... Or as frame freeze
case 'm':
state = SELECT_MASK;
clickParams.currentPoint = TOP_LEFT;
clickParams.DD_box = &DD_mask;
break; //Starts selection of masking area. Will return to dot detection once all four points are set
case 't':
state = SELECT_TRANSFORM;
clickParams.currentPoint = TOP_LEFT;
clickParams.DD_box = &DD_transform;
break; //Starts selection of the transformation area. Returns to dot detection when done.
case 'f':
flip = ~flip;
break; //Toggles horizontal flipping of the image
case 'v':
vflip = ~vflip;
break; //Toggles vertical flipping of the image
case 'w':
warp = ~warp;
toggleWarpOutput( warp );
break; //Toggles showing the warped image
case 'n':
noiceReduction = ( noiceReduction + 1 ) % 3;
break; //Cycles noice reduction algorithm
case 'q': //falling through here to quit
case 27:
done = 1;
break; //ESC. Kills the whole thing( in a nice and controlled manner )
}
fflush( stdout ); //Make sure everything in the buffer is printed before we go on
//PROFILING_POST_STAMP("Main loop");
} //End of main while-loop
// Release the capture device and do some housekeeping
cvReleaseImage( &grabbedImage );
cvReleaseCapture( &capture );
cvReleaseMemStorage( &storage );
cvDestroyWindow( imagewindowname );
cvDestroyWindow( configwindowname );
if( warp ) cvDestroyWindow( warpwindowname ); //If now warp it is already destroyed
destroySendQueue( queue );
close( sockfd );
close( captureControl );
return returnValue;
}
