template<class T> void ShowPCM(T* pData,int nData,int nChannels,int maxWidth,int rowHeight,char* name)
{
const int margin = 10;
if (maxWidth&0x3)
maxWidth = maxWidth&(~0x3) + 4;
std::string winName = "debugPCM_";
int row = ceil(float(nData)/maxWidth);
IplImage *pImg = cvCreateImage(cvSize(maxWidth,rowHeight*row+margin*(row+1)),IPL_DEPTH_8U,3);
cvSetZero(pImg);
float value;
int ypos,xpos;
for (int r=0;r<row;r++)
{
ypos = margin*(r+1) + rowHeight*r;
cvLine(pImg,cvPoint(0,ypos),cvPoint(pImg->width-1,ypos),CV_RGB(255,255,255),1);
ypos += rowHeight/2;
cvLine(pImg,cvPoint(0,ypos),cvPoint(pImg->width-1,ypos),CV_RGB(100,100,100),1);
ypos += rowHeight/2;
cvLine(pImg,cvPoint(0,ypos),cvPoint(pImg->width-1,ypos),CV_RGB(255,255,255),1);
}
if (typeid(double) == typeid(T))
winName+="double_";
else if (typeid(float) == typeid(T))
winName+="float_";
else if (typeid(int) == typeid(T))
winName+="int_";
else if (typeid(short) == typeid(T))
winName+="short_";
else if (typeid(unsigned char) == typeid(T))
winName+="byte_";
else
assert(false);
for (int d=0;d<nData;d++)
{
int data = 0;
xpos = d%maxWidth;
ypos = d/maxWidth;
ypos = margin*(ypos+1) + rowHeight*ypos + rowHeight/2;
if (typeid(double) == typeid(T) || typeid(float) == typeid(T))
value = pData[d*nChannels+0];
else if (typeid(int) == typeid(T))
value = float(data = pData[d*nChannels+0]) / 2147483648.f;
else if (typeid(short) == typeid(T))
value = float(pData[d*nChannels+0]) / 32768.f;
else if (typeid(unsigned char) == typeid(T))
value = float(pData[d*nChannels+0]) / 128.f - 1.f;
else
assert(false);
assert(value<=1.001 && value>=-1.001);
value *= rowHeight/2;
cvLine(pImg,cvPoint(xpos,ypos),cvPoint(xpos,ypos+value),CV_RGB(0,255,0),1);
}
winName+=name;
cvNamedWindow(winName.c_str());
cvShowImage(winName.c_str(),pImg);
cvReleaseImage(&pImg);
cvWaitKey(1);
}
int cvCreateTrainingSamplesFromInfo( const char* infoname, const char* vecfilename,
int num,
int showsamples,
int winwidth, int winheight )
{
char fullname[PATH_MAX];
char* filename;
FILE* info;
FILE* vec;
IplImage* src;
IplImage* sample;
int line;
int error;
int i;
int x, y, width, height;
int total;
assert( infoname != NULL );
assert( vecfilename != NULL );
total = 0;
if( !icvMkDir( vecfilename ) )
{
#if CV_VERBOSE
fprintf( stderr, "Unable to create directory hierarchy: %s\n", vecfilename );
#endif /* CV_VERBOSE */
return total;
}
info = fopen( infoname, "r" );
if( info == NULL )
{
#if CV_VERBOSE
fprintf( stderr, "Unable to open file: %s\n", infoname );
#endif /* CV_VERBOSE */
return total;
}
vec = fopen( vecfilename, "wb" );
if( vec == NULL )
{
#if CV_VERBOSE
fprintf( stderr, "Unable to open file: %s\n", vecfilename );
#endif /* CV_VERBOSE */
fclose( info );
return total;
}
sample = cvCreateImage( cvSize( winwidth, winheight ), IPL_DEPTH_8U, 1 );
icvWriteVecHeader( vec, num, sample->width, sample->height );
if( showsamples )
{
cvNamedWindow( "Sample", CV_WINDOW_AUTOSIZE );
}
strcpy( fullname, infoname );
filename = strrchr( fullname, '\\' );
if( filename == NULL )
{
filename = strrchr( fullname, '/' );
}
if( filename == NULL )
{
filename = fullname;
}
else
{
filename++;
}
for( line = 1, error = 0, total = 0; total < num ;line++ )
{
int count;
error = ( fscanf( info, "%s %d", filename, &count ) != 2 );
if( !error )
{
src = cvLoadImage( fullname, 0 );
error = ( src == NULL );
if( error )
{
#if CV_VERBOSE
fprintf( stderr, "Unable to open image: %s\n", fullname );
#endif /* CV_VERBOSE */
}
}
for( i = 0; (i < count) && (total < num); i++, total++ )
{
error = ( fscanf( info, "%d %d %d %d", &x, &y, &width, &height ) != 4 );
if( error ) break;
cvSetImageROI( src, cvRect( x, y, width, height ) );
cvResize( src, sample, width >= sample->width &&
height >= sample->height ? CV_INTER_AREA : CV_INTER_LINEAR );
if( showsamples )
{
cvShowImage( "Sample", sample );
if( cvWaitKey( 0 ) == 27 )
{
showsamples = 0;
}
}
icvWriteVecSample( vec, sample );
}
if( src )
{
cvReleaseImage( &src );
}
if( error )
{
#if CV_VERBOSE
fprintf( stderr, "%s(%d) : parse error", infoname, line );
#endif /* CV_VERBOSE */
break;
}
}
if( sample )
{
cvReleaseImage( &sample );
}
fclose( vec );
fclose( info );
return total;
}
void cvShowVecSamples( const char* filename, int winwidth, int winheight,
double scale )
{
CvVecFile file;
short tmp;
int i;
CvMat* sample;
tmp = 0;
file.input = fopen( filename, "rb" );
if( file.input != NULL )
{
fread( &file.count, sizeof( file.count ), 1, file.input );
fread( &file.vecsize, sizeof( file.vecsize ), 1, file.input );
fread( &tmp, sizeof( tmp ), 1, file.input );
fread( &tmp, sizeof( tmp ), 1, file.input );
if( file.vecsize != winwidth * winheight )
{
int guessed_w = 0;
int guessed_h = 0;
fprintf( stderr, "Warning: specified sample width=%d and height=%d "
"does not correspond to .vec file vector size=%d.\n",
winwidth, winheight, file.vecsize );
if( file.vecsize > 0 )
{
guessed_w = cvFloor( sqrt( (float) file.vecsize ) );
if( guessed_w > 0 )
{
guessed_h = file.vecsize / guessed_w;
}
}
if( guessed_w <= 0 || guessed_h <= 0 || guessed_w * guessed_h != file.vecsize)
{
fprintf( stderr, "Error: failed to guess sample width and height\n" );
fclose( file.input );
return;
}
else
{
winwidth = guessed_w;
winheight = guessed_h;
fprintf( stderr, "Guessed width=%d, guessed height=%d\n",
winwidth, winheight );
}
}
if( !feof( file.input ) && scale > 0 )
{
CvMat* scaled_sample = 0;
file.last = 0;
file.vector = (short*) cvAlloc( sizeof( *file.vector ) * file.vecsize );
sample = scaled_sample = cvCreateMat( winheight, winwidth, CV_8UC1 );
if( scale != 1.0 )
{
scaled_sample = cvCreateMat( MAX( 1, cvCeil( scale * winheight ) ),
MAX( 1, cvCeil( scale * winwidth ) ),
CV_8UC1 );
}
cvNamedWindow( "Sample", CV_WINDOW_AUTOSIZE );
for( i = 0; i < file.count; i++ )
{
icvGetHaarTraininDataFromVecCallback( sample, &file );
if( scale != 1.0 ) cvResize( sample, scaled_sample, CV_INTER_LINEAR);
cvShowImage( "Sample", scaled_sample );
if( cvWaitKey( 0 ) == 27 ) break;
}
if( scaled_sample && scaled_sample != sample ) cvReleaseMat( &scaled_sample );
cvReleaseMat( &sample );
cvFree( &file.vector );
}
fclose( file.input );
}
}
char Gui::getKey()
{
return cvWaitKey(10);
}
MDA_TASK_RETURN_CODE MDA_TASK_BUOY:: run_single_buoy(int buoy_index, BUOY_COLOR color) {
puts("Press q to quit");
assert (buoy_index >= 0 && buoy_index <= 1);
MDA_VISION_MODULE_BUOY buoy_vision;
MDA_TASK_RETURN_CODE ret_code = TASK_MISSING;
/// Here we store the starting attitude vector, so we can return to this attitude later
int starting_yaw = attitude_input->yaw();
printf("Starting yaw: %d\n", starting_yaw);
//set (DEPTH, 400);
TASK_STATE state = STARTING;
bool done_buoy = false;
static TIMER timer;
static TIMER master_timer;
timer.restart();
master_timer.restart();
//###### hack code for competition
set (SPEED, 0);
int hack_depth, hack_time;
read_mv_setting ("hacks.csv", "BUOY_DEPTH", hack_depth);
read_mv_setting ("hacks.csv", "BUOY_TIME", hack_time);
printf ("Buoy: going to depth %d\n", hack_depth);
fflush(stdout);
if (hack_depth > 500)
set (DEPTH, 500);
if (hack_depth > 600)
set (DEPTH, 600);
set (DEPTH, hack_depth);
set (YAW, starting_yaw);
printf ("Buoy: moving forward for %d seconds\n", hack_time);
fflush(stdout);
timer.restart();
while (timer.get_time() < hack_time) {
set (SPEED, 8);
}
set(SPEED, 0);
if (hack_depth > 600)
set (DEPTH, 600);
if (hack_depth > 500)
set (DEPTH, 500);
set (YAW, starting_yaw);
return TASK_DONE;
//###### end hack code for competition
/**
* Basic Algorithm
* - Assume for now that we just want to hit the cylindrical buoys when they're red
* - We want to search for 1 or 2 buoys. If we find both:
* - Are both non-red and/or cycling? Go for the one indicated by buoy_index
* - Is one non-red and/or cycling? Go for that one
* - Do we only see one buoy? Go there if non-red and/or cycling
*
*/
while (1) {
IplImage* frame = image_input->get_image();
if (!frame) {
ret_code = TASK_ERROR;
break;
}
MDA_VISION_RETURN_CODE vision_code = buoy_vision.filter(frame);
(void) vision_code;
// clear dwn image - RZ: do we need this?
//int down_frame_ready = image_input->ready_image(DWN_IMG);
//(void) down_frame_ready;
bool valid[2] = {false, false};
int ang_x[2], ang_y[2];
int range[2];
int color[2];
static bool color_cycling[2] = {false, false};
static int curr_index = -1;
static int prev_time = -1;
static int prev_color = -1;
static int n_valid_color_find_frames = 0;
if (!done_buoy) {
// state machine
if (state == STARTING) {
// here we just move forward until we find something, and pan if we havent found anything for a while
printf ("Starting: Moving Foward for 1 meter\n");
move (FORWARD, 1);
if (timer.get_time() > 1) {
set (SPEED, 0);
timer.restart();
buoy_vision.clear_frames();
state = STOPPED;
}
}
else if (state == STOPPED) {
if (timer.get_time() < 0) {
printf ("Stopped: Collecting Frames\n");
}
else {
get_data_from_frame (&buoy_vision, valid, ang_x, ang_y, range, color);
if (!valid[0] && !valid[1]) { // no buoys
printf ("Stopped: No target\n");
if (master_timer.get_time() > 60) { // we've seen nothing for 60 seconds
printf ("Master Timer Timeout!!\n");
return TASK_MISSING;
}
if (timer.get_time() > 2) {
printf ("Stopped: Timeout\n");
timer.restart();
state = STARTING;
}
}
else { // turn towards the buoy we want
// chose buoy
if (valid[0] && valid[1])
curr_index = buoy_index;
else
curr_index = valid[0] ? 0 : 1;
printf ("Stopped: Identified buoy %d (%s) as target\n", curr_index, color_int_to_string(color[curr_index]).c_str());
move (RIGHT, ang_x[curr_index]);
timer.restart();
master_timer.restart();
prev_color = color[curr_index];
prev_time = -1;
buoy_vision.clear_frames();
n_valid_color_find_frames = 0;
state = FIND_COLOR;
}
}
}
else if (state == FIND_COLOR) {
// stare for 6 seconds, check if the buoy color changes
int t = timer.get_time();
if (t >= 4) {
if (n_valid_color_find_frames <= 2) {
printf ("Find Color: Not enough good frames (%d).\n", n_valid_color_find_frames);
timer.restart();
master_timer.restart();
state = STARTING;
}
else if (color_cycling[curr_index] || prev_color != MV_RED) {
printf ("Find Color: Finished. Must approach buoy %d.\n", curr_index);
timer.restart();
master_timer.restart();
state = APPROACH;
}
else {
printf ("Find Color: Finished. No need to do buoy %d.\n", curr_index);
done_buoy = true;
return TASK_QUIT;
}
}
else if (t != prev_time) {
printf ("Find_Color: examined buoy %d for %d seconds.\n", curr_index, t);
get_data_from_frame (&buoy_vision, valid, ang_x, ang_y, range, color, curr_index);
if (valid[curr_index]) {
if (color[curr_index] != prev_color) {
printf ("\tFound buoy %d as color cycling.\n", curr_index);
color_cycling[curr_index] = true;
}
prev_time = t;
n_valid_color_find_frames++;
}
}
}
else if (state == APPROACH) {
get_data_from_frame (&buoy_vision, valid, ang_x, ang_y, range, color, curr_index);
if (valid[curr_index]) {
printf ("Approach[%d]: range=%d, ang_x=%d\n", curr_index, range[curr_index], ang_x[curr_index]);
if (range[curr_index] > 100) { // long range = more freedom to turn/sink
if (abs(ang_x[curr_index]) > 5) {
set(SPEED, 0);
move(RIGHT, ang_x[curr_index]);
buoy_vision.clear_frames();
}
/*else if (tan(ang_y[curr_index])*range[curr_index] > 50) { // depth in centimeters
set(SPEED, 0);
move (SINK, 25); // arbitrary rise for now
}*/
else {
set(SPEED, 1);
}
}
else {
if (abs(ang_x[curr_index]) > 10) {
set(SPEED, 0);
move(RIGHT, ang_x[curr_index]);
buoy_vision.clear_frames();
}
else {
done_buoy = true;
}
}
timer.restart();
master_timer.restart();
}
else {
set(SPEED, 0);
if (timer.get_time() > 4) { // 4 secs without valid input
printf ("Approach: Timeout");
timer.restart();
state = STOPPED;
}
}
}
} // done_buoy
else { // done_buoy
// charge forwards, then retreat back some number of meters, then realign sub to starting attitude
printf("Ramming buoy\n");
timer.restart();
while (timer.get_time() < 2)
move(FORWARD, 2);
stop();
// retreat backwards
printf("Reseting Position\n");
timer.restart();
while (timer.get_time() < 3)
move(REVERSE, 2);
stop();
ret_code = TASK_DONE;
break;
}
// Ensure debug messages are printed
fflush(stdout);
// Exit if instructed to
char c = cvWaitKey(TASK_WK);
if (c != -1) {
CharacterStreamSingleton::get_instance().write_char(c);
}
if (CharacterStreamSingleton::get_instance().wait_key(1) == 'q'){
stop();
ret_code = TASK_QUIT;
break;
}
}
return ret_code;
}
void DeleteAll8TypeArea(IplImage* srcImage,IplImage* binaryImage,vector< vector<CvPoint> >& AllOutline)
{
int i,j,k,m,n;
int direction[8][2] = {{-1,0},{-1,1},{0,1},{1,1},{1,0},{1,-1},{0,-1},{-1,-1}}; // 在图像中顺时针旋转
bool **flag; // need to be released
flag=new bool*[binaryImage->height];
for(i=0;i<binaryImage->height;++i)
{
flag[i]=new bool[binaryImage->width];
memset(flag[i],false,sizeof(bool)*binaryImage->width);
}
for(i=0;i<binaryImage->height;++i)
{
for(j=0;j<binaryImage->width;++j)
{
int val=(byte)binaryImage->imageData[i*binaryImage->widthStep+j];
if(val!=0) continue;
for(k=0;k<GetArraySize(direction);++k)
{
int m=i+direction[k][0];
int n=j+direction[k][1];
if(m<0||n<0||m>=binaryImage->height||n>=binaryImage->width)
continue;
val=(byte)binaryImage->imageData[m*binaryImage->widthStep+n];
if(val==0)
break;
}
if(k==GetArraySize(direction))
binaryImage->imageData[i*binaryImage->widthStep+j]=(unsigned char)255;
}
}
for(i=0;i<binaryImage->height;++i)
for(j=0;j<binaryImage->width;++j)
{
if(IsBoundary(binaryImage,cvPoint(j,i)) == false )
continue;
if(flag[i][j]) continue;
vector<CvPoint> outline;
outline.push_back(cvPoint(j,i));
flag[i][j] = true;
CvPoint StartPoint=cvPoint(j,i);
int preDir=0;
while ( !outline.empty() )
{
CvPoint pt=outline.back();
int times;
for(k=preDir,times=0;times<GetArraySize(direction);k=(k+1)%GetArraySize(direction),++times)
{
m=pt.y+direction[k][0];
n=pt.x+direction[k][1];
if(m<0||m>=binaryImage->height || n<0 || n>= binaryImage->width)
continue;
int val=(unsigned char)binaryImage->imageData[m*binaryImage->widthStep+n];
if(val == 255)
continue;
if(flag[m][n] == false)
{
outline.push_back(cvPoint(n,m));
flag[m][n]=true;
preDir=k-GetArraySize(direction)/4;
preDir=(preDir+GetArraySize(direction))%GetArraySize(direction);
break;
}
if( cvPoint(n,m)== StartPoint )
{
AllOutline.push_back(outline);
{
for(int i=0;i<outline.size();++i)
{
CvPoint pt=outline[i];
srcImage->imageData[pt.y*srcImage->widthStep+pt.x]=0;
}
printf("first point:%d %d\n",outline[0].y,outline[0].x);
cvShowImage("srcImage2",srcImage);
cvWaitKey();
}
outline.clear();
break;
}
else
{
vector<CvPoint> SmallOutline;
CvPoint temp=outline.back();
vector<CvPoint>::reverse_iterator rit=outline.rbegin();
while (*rit != temp)
++rit;
copy(outline.rbegin(),rit,back_insert_iterator< vector<CvPoint> >(SmallOutline));
if(SmallOutline.size()>1)
{
AllOutline.push_back(SmallOutline);
for(int i=0;i<SmallOutline.size();++i)
{
CvPoint pt=SmallOutline[i];
srcImage->imageData[pt.y*srcImage->widthStep+pt.x]=0;
}
printf("first point:%d %d\n",SmallOutline[0].y,SmallOutline[0].x);
cvShowImage("srcImage2",srcImage);
cvWaitKey();
}
outline.erase((++rit).base(),outline.end());
binaryImage->imageData[temp.y*binaryImage->widthStep+temp.x]=(unsigned char)255;
break;
}
}
}
}
for(i=0;i<binaryImage->height;++i)
delete [](flag[i]);
delete []flag;
}
void ForegroundSeperation(RGBTYPE* src,RGBTYPE* dst){
UINT8T* markers, *m;
UINT32T** pt;
UINT32T i,j,pos,en = 256, qt;
UINT8T active_queue;
UINT8T t,dr,db,dg,lab,cnt;
UINT16T idx;
UINT16T ha[C],he[R],right;
//WSQ q[SIZE];//储存mask和图像坐标的队列
WSQ* q;
#ifdef WIN32
UINT8T pRGB[SIZE * 3];
CvPoint start_pt;
CvPoint end_pt;
IplImage *img;
#endif
q = (WSQ*)malloc(sizeof(WSQ)*SIZE);
markers = (UINT8T*)malloc(sizeof(UINT8T)*SIZE);
for(i = 0; i != SIZE; i++)//初始化队列
{q[i].next = i; q[i].flag = 0;q[i].en = 0; q[i].pos = 0;}
//这里改marker
for( i = 0; i != R; i++)
for( j = 0; j != C; j++)
{
if(i == 0 || j == 0 || i == R-1 || j == C-1)
markers[i*C+j] = WSHED;
else if( i > R/2 && j < C/3 )
markers[i*C+j] = FGND;
else if( i < R/20 || j > C/2 || (j>30)&&(i>(-(j*0.4)+660)))
//
markers[i*C+j] = BGND;
else
markers[i*C+j] = 0;
}
showImage_1ch(markers,"marker");
//draw a pixel-wide border of dummy "watershed" (i.e. boundary) pixels
//for( j = 0; j < C; j++)
//markers[j] = markers[j+(R-1)*C] = WSHED;
// initial phase: put all the neighbor pixels of each marker to the ordered queue -
// determine the initial boundaries of the basins
for( i = 1; i < R-1; i++)
{
//markers[i*C] = markers[i*C+C-1] = WSHED;
for( j = 1; j < C-1; j++)
{
m = markers + i*C+j;
if( m[0] > 2 ) m[0] = 0;
if( m[0] == 0 && ( (m[-1] < 3 && m[-1] > 0) || (m[1] < 3 && m[1] > 0) || (m[-C] < 3 && m[-C] > 0) || (m[C] < 3 && m[C] > 0) ))
{
pos = i*C + j;
idx = 256;
if( m[-1] < 3 && m[-1] > 0 )
c_diff(src[pos],src[pos-1],idx);
if( m[1] < 3 && m[1] > 0 )
{
c_diff(src[pos],src[pos+1],t);
idx = ws_min(idx,t);
}
if( m[-C] < 3 && m[-C] > 0 )
{
c_diff(src[pos],src[pos-C],t);
idx = ws_min(idx,t);
}
if( m[C] < 3 && m[C] > 0 )
{
c_diff(src[pos],src[pos+C],t);
idx = ws_min(idx,t);
}
ws_push(idx, pos);
m[0] = IN_QUEUE;
}
}
}
// find the first non-empty queue
for( i = 0; i < NQ; i++)
if(q[i].flag)
break;
if( i == NQ )
return;
active_queue = i;
m = markers;
while(1)
{
lab = 0;
if(!q[active_queue].flag)
{
for( i = active_queue+1; i<NQ; i++)
if( q[i].flag)
break;
if( i == NQ)
break;
active_queue = i;
}
ws_pop(active_queue,pos);
m = markers + pos;
t = m[-1];
if( t < 3 && t > 0 ) lab = t;
t = m[1];
if( t < 3 && t > 0 )
{
if( lab == 0 ) lab = t;
else if( t != lab ) lab = WSHED;
}
t = m[-C];
if( t < 3 && t > 0 )
{
if( lab == 0 ) lab = t;
else if( t != lab ) lab = WSHED;
}
t = m[C];
if( t < 3 && t > 0 )
{
if( lab == 0 ) lab = t;
else if( t != lab ) lab = WSHED;
}
if(lab == 0)
lab = 0;
m[0] = lab;
if( !(lab == FGND || lab == BGND))
continue;
if( m[-1] == 0 )
{
c_diff( src[pos], src[pos-1],t);
pos--;
ws_push(t,pos);
pos++;
active_queue = ws_min(active_queue,t);
m[-1] = IN_QUEUE;
}
if( m[1] == 0 )
{
c_diff( src[pos], src[pos+1],t);
pos++;
ws_push(t,pos);
pos--;
active_queue = ws_min(active_queue,t);
m[1] = IN_QUEUE;
}
if( m[-C] == 0 )
{
c_diff( src[pos], src[pos-C],t);
pos-=C;
ws_push(t,pos);
pos+=C;
active_queue = ws_min(active_queue,t);
m[-C] = IN_QUEUE;
}
if( m[C] == 0 )
{
c_diff( src[pos], src[pos+C],t);
pos+=C;
ws_push(t,pos);
pos-=C;
active_queue = ws_min(active_queue,t);
m[C] = IN_QUEUE;
}
}
for( i = 0; i < R; i++)
for( j = 0; j < C; j++)
{
pos = i*C+j;
if(markers[pos] == BGND)
{
dst[pos].r = 0;
dst[pos].g = 0;
dst[pos].b = 0;
}
else if(markers[pos] == WSHED)
{
dst[pos].r = 255;
dst[pos].g = 0;
dst[pos].b = 0;
}
else dst[pos] = src[pos];
}
for( i = 0; i < C; i++ ) ha[i] = 0;
for( i = 0; i < R; i++ ) he[i] = 0;
for( i = 1; i < C-1; i++)
for( j = 1; j < R-1; j++ )
if(markers[j*C+i] == WSHED)
{ha[i]++;he[j]++;}
//for( i = 0; i < C; i++) printf("%d ",ha[i]);
//printf("\n");
//for( i = 0; i < R; i++) printf("%d ",he[i]);
//现在检测右边界！
for( i = 1; i < C-1; i++)
{
if(ha[i]<10)
{
cnt = 0;
continue;
}
else{
if(++cnt > 3)
{right = i-2;break;}
}
}
#ifdef WIN32
start_pt = cvPoint(right,1);
end_pt = cvPoint(right,R-1);
memset(pRGB, 0, SIZE * 3); //初始化
for (i = 0; i < R; i++) //int不够，必须二重循环
{
for (j = 0; j < C; j++)
{
pRGB[i*C * 3 + j * 3] = dst[i*C + j].b;
pRGB[i*C * 3 + j * 3 + 1] = dst[i*C + j].g;
pRGB[i*C * 3 + j * 3 + 2] = dst[i*C + j].r;
}
}
img = cvCreateImageHeader(cvSize(C,R),IPL_DEPTH_8U,3);
cvSetData(img,pRGB,3*C);
cvLine(img, start_pt, end_pt, CV_RGB(0, 0, 255), 1, CV_AA, 0);
#endif
//现在检测上边界！！
for( i = 0; he[i] == 0;i++);
up_st.y = i;
up_st.x = 1;
cnt = 0;
for( i = up_st.y; i < R-1; i++)
{
if(he[i] != 1)
{cnt = 0; continue;}
else {
cnt++;
if( cnt > 3 )
break;
}
}
up_en.y = i-2;
for( i = 1; i < C-1; i++ )
if( markers[up_en.y*C+i] == WSHED)
break;
up_en.x = i;
#ifdef WIN32
start_pt = cvPoint(1,up_st.y);
end_pt = cvPoint(i,up_en.y);
cvLine(img, start_pt, end_pt, CV_RGB(0, 0, 255), 1, CV_AA, 0);
cvNamedWindow("hahaha", 0);
cvShowImage("hahaha", img);
cvWaitKey(0);
#endif
//不准的下边界
/* for( i = up_en.y; i < R-1; i++){
if(he[i] == 1)
{cnt = 0; continue;}
else{
cnt++;
if(cnt == 3)
break;
}
}
down_st.y = i - 3;
for( i = 1; i < C-1; i++)
if(markers[i+down_st.y*C] == WSHED) break;
down_st.x = i;
for( i = down_st.y; he[i]; i++);
down_en.y = i-1;
for( i = 1; i < C-1; i++)
if(markers[i+down_en.y*C] == WSHED) break;
down_en.x = i;
#ifdef WIN32
start_pt = cvPoint(down_st.x,down_st.y);
end_pt = cvPoint(down_en.x,down_en.y);
printf("%d %d %d %d",down_st.x,down_st.y,down_en.x,down_en.y);
cvLine(img, start_pt, end_pt, CV_RGB(0, 0, 255), 1, CV_AA, 0);
cvNamedWindow("hahaha", 0);
cvShowImage("hahaha", img);
cvWaitKey(0);
#endif*/
free(markers);
free(q);
}
int main(int argc, char* argv[])
{
// Set up variables
CvPoint2D32f srcTri[3], dstTri[3];
CvMat* rot_mat = cvCreateMat(2,3,CV_32FC1);
CvMat* warp_mat = cvCreateMat(2,3,CV_32FC1);
IplImage *src, *dst;
const char* name = "Affine_Transform";
// Load image
src=cvLoadImage("airplane.jpg");
dst = cvCloneImage( src );
dst->origin = src->origin;
cvZero( dst );
cvNamedWindow( name, 1 );
// Create angle and scale
double angle = 0.0;
double scale = 1.0;
// Create trackbars
cvCreateTrackbar( "Angle", name, &angle_switch_value, 4, switch_callback_a );
cvCreateTrackbar( "Scale", name, &scale_switch_value, 4, switch_callback_s );
// Compute warp matrix
srcTri[0].x = 0;
srcTri[0].y = 0;
srcTri[1].x = src->width - 1;
srcTri[1].y = 0;
srcTri[2].x = 0;
srcTri[2].y = src->height - 1;
dstTri[0].x = src->width*0.0;
dstTri[0].y = src->height*0.25;
dstTri[1].x = src->width*0.90;
dstTri[1].y = src->height*0.15;
dstTri[2].x = src->width*0.10;
dstTri[2].y = src->height*0.75;
cvGetAffineTransform( srcTri, dstTri, warp_mat );
cvWarpAffine( src, dst, warp_mat );
cvCopy ( dst, src );
while( 1 ) {
switch( angleInt ){
case 0:
angle = 0.0;
break;
case 1:
angle = 20.0;
break;
case 2:
angle = 40.0;
break;
case 3:
angle = 60.0;
break;
case 4:
angle = 90.0;
break;
}
switch( scaleInt ){
case 0:
scale = 1.0;
break;
case 1:
scale = 0.8;
break;
case 2:
scale = 0.6;
break;
case 3:
scale = 0.4;
break;
case 4:
scale = 0.2;
break;
}
// Compute rotation matrix
CvPoint2D32f center = cvPoint2D32f( src->width/2, src->height/2 );
cv2DRotationMatrix( center, angle, scale, rot_mat );
// Do the transformation
cvWarpAffine( src, dst, rot_mat );
cvShowImage( name, dst );
if( cvWaitKey( 15 ) == 27 )
break;
}
cvReleaseImage( &dst );
cvReleaseMat( &rot_mat );
cvReleaseMat( &warp_mat );
return 0;
}
int main(int argc, char *argv[ ]){
RASPIVID_CONFIG * config = (RASPIVID_CONFIG*)malloc(sizeof(RASPIVID_CONFIG));
config->width=320;
config->height=240;
config->bitrate=0; // zero: leave as default
config->framerate=0;
config->monochrome=0;
int opt;
while ((opt = getopt(argc, argv, "lxm")) != -1)
{
switch (opt)
{
case 'l': // large
config->width = 640;
config->height = 480;
break;
case 'x': // extra large
config->width = 960;
config->height = 720;
break;
case 'm': // monochrome
config->monochrome = 1;
break;
default:
fprintf(stderr, "Usage: %s [-x] [-l] [-m] \n", argv[0], opt);
fprintf(stderr, "-l: Large mode\n");
fprintf(stderr, "-x: Extra large mode\n");
fprintf(stderr, "-l: Monochrome mode\n");
exit(EXIT_FAILURE);
}
}
/*
Could also use hard coded defaults method: raspiCamCvCreateCameraCapture(0)
*/
RaspiCamCvCapture * capture = (RaspiCamCvCapture *) raspiCamCvCreateCameraCapture2(0, config);
free(config);
CvFont font;
double hScale=0.4;
double vScale=0.4;
int lineWidth=1;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX|CV_FONT_ITALIC, hScale, vScale, 0, lineWidth, 8);
cvNamedWindow("RaspiCamTest", 1);
int exit =0;
do {
IplImage* image = raspiCamCvQueryFrame(capture);
char text[200];
sprintf(
text
, "w=%.0f h=%.0f fps=%.0f bitrate=%.0f monochrome=%.0f"
, raspiCamCvGetCaptureProperty(capture, RPI_CAP_PROP_FRAME_WIDTH)
, raspiCamCvGetCaptureProperty(capture, RPI_CAP_PROP_FRAME_HEIGHT)
, raspiCamCvGetCaptureProperty(capture, RPI_CAP_PROP_FPS)
, raspiCamCvGetCaptureProperty(capture, RPI_CAP_PROP_BITRATE)
, raspiCamCvGetCaptureProperty(capture, RPI_CAP_PROP_MONOCHROME)
);
cvPutText (image, text, cvPoint(05, 40), &font, cvScalar(255, 255, 0, 0));
sprintf(text, "Press ESC to exit");
cvPutText (image, text, cvPoint(05, 80), &font, cvScalar(255, 255, 0, 0));
cvShowImage("RaspiCamTest", image);
char key = cvWaitKey(10);
switch(key)
{
case 27: // Esc to exit
exit = 1;
break;
case 60: // < (less than)
raspiCamCvSetCaptureProperty(capture, RPI_CAP_PROP_FPS, 25); // Currently NOOP
break;
case 62: // > (greater than)
raspiCamCvSetCaptureProperty(capture, RPI_CAP_PROP_FPS, 30); // Currently NOOP
break;
}
} while (!exit);
cvDestroyWindow("RaspiCamTest");
raspiCamCvReleaseCapture(&capture);
return 0;
}
void my_mouse_callback( int event, int x, int y, int flags, void* param )
{
unsigned int hsv[3] = {};
for(k=0;k<channels;k++)
{
char c = 0;
if (k==0)
c = 'H';
else if (k==1)
c='S';
else
c='V';
hsv[k] = hsv_data[y*step+x*channels+k];
//printf("%c: %d\t", c, hsv[k]);
}
// Save <H,S,V>
if (event == CV_EVENT_LBUTTONDOWN)
{
hues[recorded_count] = hsv[0];
sats[recorded_count] = hsv[1];
vals[recorded_count] = hsv[2];
++recorded_count;
}
// Draw new image with whites in places that match
else if (event == CV_EVENT_RBUTTONDOWN)
{
h_min = getMinFromArray(hues,recorded_count);
s_min = getMinFromArray(sats,recorded_count);
v_min = getMinFromArray(vals,recorded_count);
h_max = getMaxFromArray(hues,recorded_count);
s_max = getMaxFromArray(sats,recorded_count);
v_max = getMaxFromArray(vals,recorded_count);
IplImage* img = cvCreateImage(cvSize(width,height), IPL_DEPTH_8U, 1);
cvInRangeS(img_hsv,cvScalar(h_min,s_min,v_min,0),cvScalar(h_max,s_max,v_max,0),img);
int count = cvCountNonZero(img);
printf("count: %d\n", count);
cvNamedWindow("secondwindow",CV_GUI_EXPANDED);
cvShowImage("secondwindow",img);
key = 0;
while (key != 's')
{
key = cvWaitKey(0);
}
memset(hues,0,recorded_count);
memset(sats,0,recorded_count);
memset(vals,0,recorded_count);
recorded_count=0;
cvReleaseImage(&img);
cvDestroyWindow("secondwindow");
}
//printf("\n");
}
int main(int argc, char** argv)
{
//声明IplImage指针
IplImage* pFrame = NULL;
IplImage* pFrImg = NULL;
IplImage* pBkImg = NULL;
CvMat* pFrameMat = NULL;
CvMat* pFrMat = NULL;
CvMat* pBkMat = NULL;
CvCapture* pCapture = NULL;
int nFrmNum = 0;
//创建窗口
cvNamedWindow("video", 1);
cvNamedWindow("background", 1);
cvNamedWindow("foreground", 1);
//使窗口有序排列
cvMoveWindow("video", 30, 0);
cvMoveWindow("background", 360, 0);
cvMoveWindow("foreground", 690, 0);
if (argc > 2)
{
fprintf(stderr, "Usage: bkgrd [video_file_name]\n");
return -1;
}
//打开摄像头
if (argc == 1)
if (!(pCapture = cvCaptureFromCAM(-1)))
{
fprintf(stderr, "Can not open camera.\n");
return -2;
}
//打开视频文件
if (argc == 2)
if (!(pCapture = cvCaptureFromFile(argv[1])))
{
fprintf(stderr, "Can not open video file %s\n", argv[1]);
return -2;
}
//逐帧读取视频
while (pFrame = cvQueryFrame(pCapture))
{
nFrmNum++;
//如果是第一帧，需要申请内存，并初始化
if (nFrmNum == 1)
{
pBkImg = cvCreateImage(cvSize(pFrame->width, pFrame->height), IPL_DEPTH_8U, 1);
pFrImg = cvCreateImage(cvSize(pFrame->width, pFrame->height), IPL_DEPTH_8U, 1);
pBkMat = cvCreateMat(pFrame->height, pFrame->width, CV_32FC1);
pFrMat = cvCreateMat(pFrame->height, pFrame->width, CV_32FC1);
pFrameMat = cvCreateMat(pFrame->height, pFrame->width, CV_32FC1);
//转化成单通道图像再处理
cvCvtColor(pFrame, pBkImg, CV_BGR2GRAY);
cvCvtColor(pFrame, pFrImg, CV_BGR2GRAY);
cvConvert(pFrImg, pFrameMat);
cvConvert(pFrImg, pFrMat);
cvConvert(pFrImg, pBkMat);
}
else
{
cvCvtColor(pFrame, pFrImg, CV_BGR2GRAY);
cvConvert(pFrImg, pFrameMat);
//高斯滤波先，以平滑图像
//cvSmooth(pFrameMat, pFrameMat, CV_GAUSSIAN, 3, 0, 0);
//当前帧跟背景图相减
cvAbsDiff(pFrameMat, pBkMat, pFrMat);
//二值化前景图
cvThreshold(pFrMat, pFrImg, 60, 255.0, CV_THRESH_BINARY);
//进行形态学滤波，去掉噪音
//cvErode(pFrImg, pFrImg, 0, 1);
//cvDilate(pFrImg, pFrImg, 0, 1);
//更新背景
cvRunningAvg(pFrameMat, pBkMat, 0.003, 0);
//将背景转化为图像格式，用以显示
cvConvert(pBkMat, pBkImg);
//显示图像
cvShowImage("video", pFrame);
cvShowImage("background", pBkImg);
cvShowImage("foreground", pFrImg);
//如果有按键事件，则跳出循环
//此等待也为cvShowImage函数提供时间完成显示
//等待时间可以根据CPU速度调整
if (cvWaitKey(2) >= 0)
break;
}
}
//销毁窗口
cvDestroyWindow("video");
cvDestroyWindow("background");
cvDestroyWindow("foreground");
//释放图像和矩阵
cvReleaseImage(&pFrImg);
cvReleaseImage(&pBkImg);
cvReleaseMat(&pFrameMat);
cvReleaseMat(&pFrMat);
cvReleaseMat(&pBkMat);
cvReleaseCapture(&pCapture);
return 0;
}
int _tmain(int argc, _TCHAR* argv[])
{
/*
Начальная инициализация параметров. этот
код требуется запустить один раз.
TVAInitParams params;
memcpy(¶ms.Camera, &g_camera, sizeof(TVACamera));
params.NumZones = 0;
params.EventSens = 0.5;
params.EventTimeSens = 1000;
SaveInitParams("params.xml", ¶ms);
*/
// инициализация зон наблюдения.
for (int i = 0; i < C_MAX_OBJECTS; i++)
{
g_contours[i].IsRect = false;
g_contours[i].NumPoints = C_MAX_POINTS;
g_contours[i].Points = (TVAPoint*)malloc(C_MAX_POINTS*sizeof(TVAPoint));
}
cvInitFont(&g_font, CV_FONT_HERSHEY_PLAIN,1, 1);
CvCapture* capture = NULL;
if (argc < 2)
capture = cvCaptureFromCAM(0);
else
capture = cvCaptureFromFile(argv[1]);
if (capture == NULL)
{
printf("%s\n", "Cannot open camera.");
return -1;
}
double fps = cvGetCaptureProperty ( // Получаем частоту кадров
capture,
CV_CAP_PROP_FPS
);
CvSize size = cvSize( // Получаем размер
(int)cvGetCaptureProperty( capture, CV_CAP_PROP_FRAME_WIDTH),
(int)cvGetCaptureProperty( capture, CV_CAP_PROP_FRAME_HEIGHT)
);
g_mask = cvCreateImage(size, IPL_DEPTH_8U, 1);
CvVideoWriter* writer = NULL;
cvNamedWindow(_MODULE_);
cvSetMouseCallback(_MODULE_, on_mouse);
/*
Цикл получения и обработки изображения.
*/
for (;;)
{
IplImage* frame = NULL;
frame = cvQueryFrame(capture);
if (!frame)
break;
/*
отрисовка прямоугольников
*/
for (int i = 0; i < g_rects_count; i++)
{
CvPoint p1 = cvPoint(g_rects[i].x, g_rects[i].y);
CvPoint p2 = cvPoint(p1.x + g_rects[i].width, p1.y + g_rects[i].height);
cvRectangle(frame, p1, p2, CV_RGB(255,0,0));
}
/*
Отрисовка зон наблюдения.
*/
for (int i = 0; i < g_contours_count; i++)
{
if (g_contours[i].NumPoints > 0)
{
for (int j = 1; j < g_contours[i].NumPoints; j++)
{
CvPoint p1 = cvPoint((int)g_contours[i].Points[j-1].X, (int)g_contours[i].Points[j-1].Y);
CvPoint p2 = cvPoint((int)g_contours[i].Points[j].X, (int)g_contours[i].Points[j].Y);
cvLine(frame, p1,p2, CV_RGB(255,0,0));
}
CvPoint p1 = cvPoint((int)g_contours[i].Points[g_contours[i].NumPoints-1].X, (int)g_contours[i].Points[g_contours[i].NumPoints-1].Y);
CvPoint p2 = cvPoint((int)g_contours[i].Points[0].X, (int)g_contours[i].Points[0].Y);
cvLine(frame, p1,p2, CV_RGB(255,0,0));
}
}
/*
Отображение полученного изображения в окне.
*/
ProcessFrame(frame);
if (g_grid_visible)
DrawGrid(frame);
DrawStatus(frame);
cvShowImage(_MODULE_, frame);
/*
Запись фрейма
*/
if (g_record_video)
cvWriteFrame( writer, frame );
/*
Анализ клавиатуры
*/
bool state = g_set_rects || g_set_contours || g_set_zones;
int c;
c = cvWaitKey(10);
if ((char)c == 27)
break;
if ((char)c == 's')
{
cvSaveImage("out.png", frame);
}
else if ((char)c == 'l')
{
if (!state)
LoadRects(size.width, size.height);
}
else if ((char)c == 'g')
{
if (!state)
LoadContours(size.width, size.height);
}
else if ((char)c == 'k')
{
if (!state)
LoadZones(size.width, size.height);
}
else if ((char)c == 'r')
{
if (g_record_video)
{
// завершаем запись на диск
cvReleaseVideoWriter( &writer );
writer = NULL;
g_record_video = false;
printf("Stop recording.\n");
}
else
{
// открываем файл для записи и связываем с ним
// переменную writer
writer = cvCreateVideoWriter("out.avi",CV_FOURCC('D','I','V','X'), fps, size );
if (writer == NULL)
{
printf("%s\n", "Cannot create writer.");
}
else
{
g_record_video = true;
printf("Start recording.\n");
}
}
}
else if ((char)c == 't')
{
if (g_set_rects)
{
SaveRects(size.width, size.height);
if (!g_set_zones)
{
g_rects_count = 0;
ClearMask(g_mask);
}
g_set_rects = false;
}
else if (!g_set_contours)
{
g_set_rects = true;
}
}
else if ((char)c == 'c')
{
if (g_set_contours)
{
SaveContours(size.width, size.height);
if (!g_set_zones)
{
g_contours_count = 0;
ClearMask(g_mask);
}
g_set_contours = false;
g_open_contour = false;
}
else if (!g_set_rects)
{
g_set_contours = true;
}
}
else if ((char)c == 'z')
{
if (g_set_zones)
{
SaveZones(size.width, size.height);
g_set_zones = false;
g_contours_count = 0;
g_rects_count = 0;
ClearMask(g_mask);
}
else if (!g_set_rects && !g_set_contours)
{
g_set_zones = true;
}
}
else if ((char)c == 'w')
{
g_grid_visible = !g_grid_visible;
}
}
cvReleaseVideoWriter( &writer );
cvDestroyWindow(_MODULE_);
cvReleaseCapture(&capture);
cvReleaseImage(&g_mask);
// освобождение памяти
for (int i = 0; i < C_MAX_OBJECTS; i++)
{
free(g_contours[i].Points);
}
return 0;
}
void initialize(int argc, char** argv ){
IplImage* image;
// Structure for getting video from camera or avi
CvCapture* capture = 0;
// Images to capture the frame from video or camera or from file
IplImage *frame, *frame_copy = 0;
// Used for calculations
int optlen = strlen("--cascade=");
// Input file name for avi or image file.
const char* input_name;
// Check for the correct usage of the command line
if( argc > 1 && strncmp( argv[1], "--cascade=", optlen ) == 0 ){
cascade_name = argv[1] + optlen;
input_name = argc > 2 ? argv[2] : 0;
}else{
cerr<< cascade_name << " Usage: facedetect --cascade=\"<cascade_path>\" [filename|camera_index]\n"<<endl;
throw BAD_ARGUMENT();;
}
// Load the HaarClassifierCascade
cascade = (CvHaarClassifierCascade*)cvLoad( cascade_name, 0, 0, 0 );
// Check whether the cascade has loaded successfully. Else report and error and quit
if( !cascade ){
cerr<<"ERROR: Could not load classifier cascade\n"<<endl;
throw BAD_ARGUMENT();
}
// Allocate the memory storage
// storage = cvCreateMemStorage(0);
// Find whether to detect the object from file or from camera.
if( !input_name || (isdigit(input_name[0]) && input_name[1] == '\0') )
capture = cvCaptureFromCAM( !input_name ? 0 : input_name[0] - '0' );
else
capture = cvCaptureFromAVI( input_name );
cvWaitKey(2000);
//cvSetCaptureProperty(capture, CV_CAP_PROP_POS_AVI_RATIO, (double)0.9);
//cvSetCaptureProperty(capture,CV_CAP_PROP_FORMAT,1);
//cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_WIDTH, 256);
//cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_HEIGHT, 256);
// Create a new named window with title: result
//cvNamedWindow( "result", 1 );
// Find if the capture is loaded successfully or not.
// If loaded succesfully, then:
if( capture ){
// Capture from the camera.
for(;;){
// Capture the frame and load it in IplImage
if( !cvGrabFrame( capture )){
break;
}
frame = cvRetrieveFrame( capture );
// If the frame does not exist, quit the loop
if( !frame ){
break;
}
// Allocate framecopy as the same size of the frame
//if( !frame_copy )
frame_copy = cvCreateImage( cvSize(frame->width,frame->height),
IPL_DEPTH_8U, frame->nChannels );
// Check the origin of image. If top left, copy the image frame to frame_copy.
if( frame->origin == IPL_ORIGIN_TL )
cvCopy( frame, frame_copy, 0 );
// Else flip and copy the image
else
cvCopy( frame, frame_copy, 0 );
extractFace(frame_copy,cascade);
//cvShowImage("Result",frame_copy);
// Wait for a while before proceeding to the next frame
// cvWaitKey(20);
if( cvWaitKey( 20 ) == 27 ) //exit if Esc is pressed(repeatedly)
break;
}
// Release the images, and capture memory
cvReleaseImage( &frame_copy );
cvReleaseCapture( &capture );
}
// If the capture is not loaded successfully, then:
else{
// Assume the image to be lena.jpg, or the input_name specified
const char* filename = input_name ? input_name : (char*)"lena.jpg";
// Load the image from that filename
image = cvLoadImage( filename, 1 );
// If Image is loaded successfully, then:
if( image ){
extractFace(image,cascade);
//cvShowImage("result",image);
// Wait for user input
cvWaitKey(0);
// Release the image memory
// cvReleaseImage( &image );
}
else{
/* assume it is a text file containing the
list of the image filenames to be processed - one per line */
FILE* f = fopen( filename, "rt" );
if( f ){
char buf[1000+1];
// Get the line from the file
while(fgets( buf, 1000, f )){
// Remove the spaces if any, and clean up the name
int len = (int)strlen(buf);
while( len > 0 && isspace(buf[len-1]) )
len--;
buf[len] = '\0';
// Load the image from the filename present in the buffer
image = cvLoadImage( buf, 1 );
// If the image was loaded successfully, then:
if( image ){
//return image;
//cvShowImage("result",image);
extractFace(image,cascade);
// Wait for the user input, and release the memory
//cvWaitKey(0);
//cvReleaseImage( &image );
}
}
// Close then file
fclose(f);
}
}
}
// Destroy the window previously created with filename: "result"
//cvDestroyWindow("result");
}
void Camera::calibrate(Capture* cpt, Presentation* prs){
#ifdef NO_CALIBRATION
printf("DEBUG: camera calibration disabled!\n");
IplImage* cf = cvQueryFrame(cpt->getCapture());
this->width = cf->width;
this->height = cf->height;
this->projectorWidth = this->width;
this->projectorHeight = this->height;
this->projectorOrigin = cvPoint(0,0);
// cvReleaseImage (&cf);
return;
#endif
printf("DEBUG: calibrating camera\n");
CvSize nsquares = cvSize(6,4);
CvPoint2D32f* corners = new CvPoint2D32f[ 6*4 ];
IplImage *cb = cvLoadImage("res/chessboard.png",1);
prs->putImage(cvPoint(0,0), cvPoint(prs->getScreenWidth(), prs->getScreenHeight()), NULL, NULL, cb);
prs->applyBuffer();
//IplImage *fake = cvLoadImage("fake.jpg", 1);
//IplImage *src = cvCreateImage(cvGetSize(fake), IPL_DEPTH_8U, 1);
//cvCvtColor(fake, src, CV_RGB2GRAY);
IplImage *frame;
bool patternFound = false;
int cc;
while (!patternFound) {
printf("trying to find chessboard\n");
frame = cvQueryFrame(cpt->getCapture());
patternFound = cvFindChessboardCorners(frame, nsquares, corners, &cc,
CV_CALIB_CB_ADAPTIVE_THRESH |
CV_CALIB_CB_FILTER_QUADS |
CV_CALIB_CB_FAST_CHECK |
CV_CALIB_CB_NORMALIZE_IMAGE);
// prs->putImage(cvPoint(0,0), cvPoint(prs->getScreenWidth(), prs->getScreenHeight()), frame);
// prs->applyBuffer();
cvWaitKey(5);
}
this->width = frame->width;
this->height = frame->height;
printf("\n");
//float x = 2*corners[0].x-corners[1].x,
// y = 2*corners[0].y-corners[7].y;
float x = corners[0].x-1.5*(corners[1].x-corners[0].x),
y = corners[0].y-1.5*(corners[6].y-corners[0].y);
this->projectorOrigin = cvPoint((int)x, (int)y);
//x = 2*corners[34].x-corners[33].x;
//y = 2*corners[34].y-corners[27].y;
x = corners[23].x+1.5*(corners[23].x-corners[22].x);
y = corners[23].y+1.5*(corners[23].y-corners[17].y);
this->projectorWidth = (int)(x-this->projectorOrigin.x);
this->projectorHeight = (int)(y-this->projectorOrigin.y);
printf("Projector: (%d, %d): %dx%d)\n", this->projectorOrigin.x, this->projectorOrigin.y, this->projectorWidth,this->projectorHeight);
//cpt->saveFrame("cbfound.jpg", frame);
// improve result (thoug through testing, it seems it makes it worse - disabling)
// could use simple linear regression to get a "better" calibration.
// IplImage *frame_gray = cvCreateImage(cvGetSize(frame), IPL_DEPTH_8U, 1);
// cvFindCornerSubPix( frame_gray, corners, cc, cvSize( 11, 11 ),
// cvSize( -1, -1 ), cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
// draw calibration result
cvDrawChessboardCorners( frame, nsquares , corners, cc, patternFound );
IplImage* bg;
bg = cvLoadImage("res/bg.jpg", CV_LOAD_IMAGE_UNCHANGED);
prs->putImage(cvPoint(0,0), cvPoint(prs->getScreenWidth(), prs->getScreenHeight()), NULL, NULL, bg);
prs->applyBuffer();
// display result longer
cvWaitKey(2000);
prs->clearArea(cvPoint(0,0), cvPoint(prs->getScreenWidth(), prs->getScreenHeight()));
prs->applyBuffer();
cvWaitKey(1000);
for (int i=0; i<100; i++)
cvQueryFrame(cpt->getCapture());
//cvNamedWindow("Foobar", CV_WINDOW_AUTOSIZE);
//cvShowImage("Foobar", cvQueryFrame(cpt->getCapture()));
//cvWaitKey(500);
// cvReleaseImage(&frame);
// generate chessboard programatically. (htf does cvFillPoly work?! - using image for now)
// IplImage *cb = cvCreateImage(cvSize(prs->getScreenWidth(), prs->getScreenHeight()), IPL_DEPTH_8U, 1);
// int x,y, dx = prs->getScreenWidth()/nsquares.width, dy = prs->getScreenHeight()/nsquares.height;
// CvPoint *corners[4];
// for (x=0; x<prs->getScreenWidth(); x+=dx) {
// for (y=0; y<prs->getScreenHeight(); y+=dy) {
// corners[0] = cvPoint(x,y);
// corners[1] = cvPoint(x+dx,y);
// corners[2] = cvPoint(x+dx,y+dy);
// corners[3] = cvPoint(x,y+dy);
// cvFillPoly(...)
// }
// }
}
int main(int argc, char** argv)
{
IplImage* img = NULL;
IplImage* dst = NULL;
IplImage* dst2 = NULL;
IplImage* dst3 = NULL;
IplImage* dst4 = NULL;
IplImage* dst5 = NULL;
char* cha = "./temp/";//le dossier de base
DIR* rep = NULL;
struct dirent* fichierLu = NULL; /* Déclaration d'un pointeur vers la structure dirent. */
struct dirent* repLu = NULL; /* Déclaration d'un pointeur vers la structure dirent. */
char* ch;
rep = opendir(cha);
if (rep == NULL)
{
exit(1);
}
while((repLu = readdir(rep)) != NULL )
{
while (strcmp(repLu->d_name, ".") == 0 || strcmp(repLu->d_name, "..") == 0)
{
repLu = readdir(rep);
printf("%s\n",repLu->d_name);
}
DIR* rep2 = NULL;
ch = concat(cha,repLu->d_name);
rep2 = opendir(ch);
char* c = ch;
c = concat(ch,"/");
while ((fichierLu = readdir(rep2)) != NULL )
{
if (strcmp(fichierLu->d_name, ".") != 0 && strcmp(fichierLu->d_name, "..") != 0)
{
printf("Le fichier lu s'appelle %s\n", fichierLu->d_name);
ch = concat(c,fichierLu->d_name);
img = cvLoadImage( ch , CV_LOAD_IMAGE_COLOR);
if (img == NULL)
{
printf("Oups j'ai eu un problème.\n");
return -1;
}
IplImage *hsv;
hsv = cvCloneImage(img);
cvCvtColor(img, hsv, CV_BGR2HSV);
IplImage *hsv2;
hsv2 = cvCloneImage(img);
cvCvtColor(img, hsv2, CV_BGR2HSV);
IplImage *hsv3;
hsv3 = cvCloneImage(img);
cvCvtColor(img, hsv3, CV_BGR2HSV);
IplImage *maskrouge;
maskrouge = cvCreateImage(cvGetSize(img), img->depth, 1);
IplImage *maskbleu;
maskbleu = cvCreateImage(cvGetSize(img), img->depth, 1);
IplImage *maskblanc;
maskblanc = cvCreateImage(cvGetSize(img), img->depth, 1);
int h1=0, s1=200, v1= 80;
int h2=106, s2=138;
int h3=350, s3=83;
cvInRangeS(hsv, cvScalar(h1 -tolerance, s1 - tolerance, v1 - tolerance, 0.0), cvScalar(h1 + tolerance, s1 + tolerance, v1 + tolerance, 0.0), maskrouge);
cvInRangeS(hsv2, cvScalar(h2 -tolerance, s2 - tolerance, 0, 0.0), cvScalar(h2 + tolerance, s2 + tolerance, 255, 0.0), maskbleu);
cvInRangeS(hsv3, cvScalar(h3 -tolerance, s3 - tolerance, 0, 0.0), cvScalar(h3 + tolerance, s3 + tolerance, 255, 0.0), maskblanc);
//IplConvKernel *kernel;
//kernel = cvCreateStructuringElementEx(5, 5, 2, 2, CV_SHAPE_ELLIPSE, NULL);
//cvDilate(maskrouge, maskrouge, kernel, 1);
//cvDilate(maskbleu, maskbleu, kernel, 1);
//cvDilate(maskblanc, maskblanc, kernel, 1);cvDilate(maskrouge, maskrouge, kernel, 1);
//cvDilate(maskbleu, maskbleu, kernel, 1);
//cvDilate(maskblanc, maskblanc, kernel, 1);
//cvErode(maskrouge, maskrouge, kernel, 1);
// affichage
dst = cvCreateImage(cvSize( img->width / 6, img->height / 6 ), img->depth,img->nChannels );
dst2 = cvCreateImage(cvSize( maskrouge->width / 6, maskrouge->height / 6 ), maskrouge->depth,maskrouge->nChannels );
dst3 = cvCreateImage(cvSize( maskbleu->width / 6, maskbleu->height / 6 ), maskbleu->depth,maskbleu->nChannels );
dst4 = cvCreateImage(cvSize( maskblanc->width / 6, maskblanc->height / 6 ), maskblanc->depth,maskblanc->nChannels );
//dst5 = cvCreateImage(cvSize( hsv->width / 2, hsv->height / 2 ), hsv->depth, hsv->nChannels );
cvResize(img, dst, CV_INTER_AREA );
cvResize(maskrouge, dst2, CV_INTER_AREA );
cvResize(maskbleu, dst3, CV_INTER_AREA );
cvResize(maskblanc, dst4, CV_INTER_AREA );
//cvResize(hsv, dst5, CV_INTER_AREA );
cvShowImage("test1",dst);
cvShowImage("test2",dst2);
cvShowImage("test3",dst3);
cvShowImage("test4",dst4);
//cvShowImage("test5",dst5);
cvMoveWindow("test1" ,0,0);
cvMoveWindow("test2" ,dst->width,dst->height+60);
cvMoveWindow("test3" ,dst->width,0);
cvMoveWindow("test4" ,0,dst->height+60);
//cvMoveWindow("test5" , 0, 0);
cvWaitKey(0);
cvReleaseImage(&maskrouge);
cvReleaseImage(&maskbleu);
cvReleaseImage(&maskblanc);
cvReleaseImage(&hsv);
cvReleaseImage(&hsv2);
cvReleaseImage(&hsv3);
cvReleaseImage(&img);
cvReleaseImage(&dst);
cvReleaseImage(&dst2);
cvReleaseImage(&dst3);
cvReleaseImage(&dst4);
cvReleaseImage(&dst5);
cvDestroyWindow("test1");
cvDestroyWindow("test2");
cvDestroyWindow("test3");
cvDestroyWindow("test4");
//cvDestroyWindow("test5");
}
}
}
if (closedir(rep) == -1)
exit(-1);
return 0;
}
int main(int argc, char** argv)
{
IplImage *img;
char *file1 = "haarcascade_frontalface_alt.xml";
char *file2 = "haarcascade_eye.xml";
/* usage: eyedetect <image> */
//assert(argc == 2);
/* load the face classifier */
cascade_f = (CvHaarClassifierCascade*)cvLoad(file1, 0, 0, 0);
/* load the eye classifier */
cascade_e = (CvHaarClassifierCascade*)cvLoad(file2, 0, 0, 0);
/* setup memory storage, needed by the object detector */
storage = cvCreateMemStorage(0);
cv::VideoCapture cap(0);
if(!cap.isOpened()) return -1;
//cap.set(CV_CAP_PROP_FRAME_WIDTH, 320);
//cap.set(CV_CAP_PROP_FRAME_HEIGHT, 240);
/* load image */
//img = cvLoadImage(argv[1], 1);
/* always check */
assert(cascade_f && cascade_e && storage && img);
cvNamedWindow("Faces", 1);
cvNamedWindow("Eyes", 1);
cvNamedWindow("Eyes before", 1);
//add hough controls
cvNamedWindow("Controls", 1);
cvCreateTrackbar("Param 1", "Controls", ¶m1, 300);
cvCreateTrackbar("Param 2", "Controls", ¶m2, 300);
cvCreateTrackbar("ScaleA*10", "Controls", &scaleA, 300);
cvCreateTrackbar("-ScaleB*10", "Controls", &scaleB, 300);
cv::Mat frame;
for(;;)
{
cap >> frame;
IplImage tmp_img = frame;
img = &tmp_img;
/* detect eyes and display image */
detectEyes(img);
cvShowImage("Faces", img);
if(cvWaitKey(30) == 'q') break;
}
cvWaitKey(0);
cvDestroyWindow("Faces");
cvReleaseImage(&img);
return 0;
}
