int main(int argc, char** argv)
{
if (argc == 1) {
printf("Usage: %s <input> <config>\n", argv[0]);
return 0;
}
char* filename = (argc > 1 ? argv[1] : (char*)"input.jpg");
profile_name = (argc > 2 ? argv[2] : (char*)"blue_goal.yml");
fs = cvOpenFileStorage(profile_name, 0, CV_STORAGE_READ, NULL);
Hmax = cvReadIntByName(fs, NULL, "m_100", m_100);
Hmax = cvReadIntByName(fs, NULL, "Hmax", Hmax);
Smax = cvReadIntByName(fs, NULL, "Smax", Smax);
Vmax = cvReadIntByName(fs, NULL, "Vmax", Vmax);
Hmin = cvReadIntByName(fs, NULL, "Hmin", Hmin);
Smin = cvReadIntByName(fs, NULL, "Smin", Smin);
Vmin = cvReadIntByName(fs, NULL, "Vmin", Vmin);
//minH = cvReadIntByName(fs, NULL, "minH", minH);
printf("%s\n", filename);
img = cvLoadImage(filename, 1);
visy_img_alloc(&img, cvGetSize(img), 8, 1);
imgThreshed = cvCreateImage(cvGetSize(img), 8, 1);
//cvSmooth( imgHSV, imgHSV, CV_GAUSSIAN, 7, 7 );
//cvInRangeS(imgHSV, cvScalar(20, 100, 100), cvScalar(30, 255, 255), imgThreshed);
//cvInRangeS(imgHSV, cvScalar(100, 100, 100), cvScalar(120, 255, 255), imgThreshed);
//cvInRangeS(imgHSV, cvScalar(0.11*256, 0.60*256, 0.20*256, 0),
// cvScalar(0.14*256, 1.00*256, 1.00*256, 0), imgThreshed);
cvNamedWindow("origin", CV_WINDOW_AUTOSIZE);
cvNamedWindow("treshed", CV_WINDOW_AUTOSIZE);
cvNamedWindow("graph", CV_WINDOW_AUTOSIZE);
cvCreateTrackbar("m_100", "treshed", &m_100, 255, onTrack);
cvCreateTrackbar("Hmin", "treshed", &Hmin, 180, onTrack);
cvCreateTrackbar("Smin", "treshed", &Smin, 255, onTrack);
cvCreateTrackbar("Vmin", "treshed", &Vmin, 255, onTrack);
cvCreateTrackbar("Hmax", "treshed", &Hmax, 180, onTrack);
cvCreateTrackbar("Smax", "treshed", &Smax, 255, onTrack);
cvCreateTrackbar("Vmax", "treshed", &Vmax, 255, onTrack);
//cvCreateTrackbar("minH", "treshed", &minH, 255, onTrack);
onTrack(0);
//cvSaveImage("hsv.jpg", imgHSV);
while(cvWaitKey(0) != 97);
return 0;
}
int main(int argc, char** argv)
{
profile_name = (argc > 1 ? argv[1] : (char*)"blue_goal.yml");
int cam = (argc > 2 ? atoi(argv[2]) : 0);
// value loading
fs = cvOpenFileStorage(profile_name, 0, CV_STORAGE_READ, NULL);
Hmax = cvReadIntByName(fs, NULL, "Hmax", Hmax);
Smax = cvReadIntByName(fs, NULL, "Smax", Smax);
Vmax = cvReadIntByName(fs, NULL, "Vmax", Vmax);
Hmin = cvReadIntByName(fs, NULL, "Hmin", Hmin);
Smin = cvReadIntByName(fs, NULL, "Smin", Smin);
Vmin = cvReadIntByName(fs, NULL, "Vmin", Vmin);
minH = cvReadIntByName(fs, NULL, "minH", minH);
cvNamedWindow("img", CV_WINDOW_AUTOSIZE);
cvNamedWindow("treshed", CV_WINDOW_AUTOSIZE);
cvNamedWindow("graph", CV_WINDOW_AUTOSIZE);
cvCreateTrackbar("Hmin", "treshed", &Hmin, 360, onTrack);
cvCreateTrackbar("Smin", "treshed", &Smin, 255, onTrack);
cvCreateTrackbar("Vmin", "treshed", &Vmin, 255, onTrack);
cvCreateTrackbar("Hmax", "treshed", &Hmax, 360, onTrack);
cvCreateTrackbar("Smax", "treshed", &Smax, 255, onTrack);
cvCreateTrackbar("Vmax", "treshed", &Vmax, 255, onTrack);
cvCreateTrackbar("minH", "treshed", &minH, 255, onTrack);
onTrack(0);
CvCapture* camera = cvCaptureFromCAM(cam);
while(1){
img = cvQueryFrame(camera);
allocateCvImage(&imgHSV, cvGetSize(img), 8, 3);
cvCvtColor(img, imgHSV, CV_BGR2HSV);
allocateCvImage(&imgThreshed, cvGetSize(img), 8, 1);
cvInRangeS(imgHSV, cvScalar(Hmin, Smin, Vmin, 0), cvScalar(Hmax,
Smax, Vmax, 0), imgThreshed);
cvErode(imgThreshed, imgThreshed, 0, 2);
int width = imgThreshed->width;
int height = imgThreshed->height;
int nchannels = imgThreshed->nChannels;
int step = imgThreshed->widthStep;
uchar* data = (uchar *)imgThreshed->imageData;
unsigned int graph[width];
int x,y;
for(x = 0; x < width ; x++)
graph[x] = 0;
int sum = 0, notnull = 0;
for(x = 0; x < width; x++){
for( y = 0 ; y < height ; y++ ) {
if(data[y*step + x*nchannels] == 255){
graph[x]++;
}
}
sum += graph[x];
if(graph[x] != 0)
notnull += 1;
// printf("%d\t%d\n", x, graph[x]);
}
if(notnull == 0)
notnull = 1;
int average = sum/notnull;
if(average == 0)
average = 1;
float pix = 12.0/average;
printf("\n sum: %d average: %d\n",sum,average);
int first = 0, last = 0;
// looking for goal
for(x = 0;x < width; x++){
if(graph[x] >= average && graph[x-1] < average){
cvLine(img, cvPoint(x, 0), cvPoint(x, height),
cvScalar(255, 255, 0, 0), 1, 0, 0);
if(first == 0)
first = x;
}
if(graph[x] >= average && graph[x+1] < average){
cvLine(img, cvPoint(x, 0), cvPoint(x, height),
cvScalar(255, 255, 0, 0), 1, 0, 0);
last = x;
}
}
float goal = pix*(last-first);
float error = (goal-60.0)/60.0*100.0;
printf("Pix: %f; Goal in cm: %f; Error: %f%\n", pix, goal, error);
// image center
cvLine(img, cvPoint(width/2, 0), cvPoint(width/2, height),
cvScalar(0, 255, 255, 0), 1, 0, 0);
int gCenter = (last+first) / 2;
// X
float X = ((width/2) - gCenter)*pix;
printf("X: %f +- %f\n",X, abs(error)/100.0*X);
// goal center
cvLine(img,cvPoint(gCenter, 0),cvPoint(gCenter, height),
cvScalar(0, 0, 255, 0), 1, 0, 0);
cvShowImage("img", img);
cvShowImage("treshed", imgThreshed);
//cvShowImage("graph", imgGraph);
cvWaitKey(10);
}
}
INT_PTR Twindow::msgProc(UINT uMsg,WPARAM wParam,LPARAM lParam)
{
switch (uMsg) {
case WM_INITDIALOG:
resizeDialog();
init();
//subClass();
break;
case WM_DESTROY: {
THWNDs wnds;
getChildWindows(m_hwnd,wnds);
for (THWNDs::const_iterator wnd=wnds.begin(); wnd!=wnds.end(); wnd++) {
::Twidget *item=Twidget::getDlgItem(*wnd);
if (item) {
item->restore();
delete item;
}
}
::Twidget *item=Twidget::getDlgItem(m_hwnd);
if (item) {
item->restore();
delete item;
}
if (red) {
DeleteObject(red);
}
red=NULL;
break;
}
case WM_HSCROLL:
if (onTrack(bindsHtrack,lParam)) {
return TRUE;
}
break;
case WM_VSCROLL:
if (onTrack(bindsVtrack,lParam)) {
return TRUE;
}
break;
case WM_COMMAND: {
if (bindsCheckbox)
for (int i=0; bindsCheckbox[i].idc; i++)
if (bindsCheckbox[i].idc==LOWORD(wParam)) {
if (bindsCheckbox[i].idff<0) {
cfgSet(-bindsCheckbox[i].idff,!getCheck(LOWORD(wParam)));
} else {
cfgSet(bindsCheckbox[i].idff,getCheck(LOWORD(wParam)));
}
if (bindsCheckbox[i].onClick) {
(this->*bindsCheckbox[i].onClick)();
}
return TRUE;
}
if (bindsRadiobutton)
for (int i=0; bindsRadiobutton[i].idc; i++)
if (bindsRadiobutton[i].idc==LOWORD(wParam) && getCheck(LOWORD(bindsRadiobutton[i].idc))) {
cfgSet(bindsRadiobutton[i].idff,bindsRadiobutton[i].val);
if (bindsRadiobutton[i].onClick) {
(this->*bindsRadiobutton[i].onClick)();
}
return TRUE;
}
if (bindsButton)
if (HIWORD(wParam)==BN_CLICKED) // works also for static
for (int i=0; bindsButton[i].idc; i++)
if (bindsButton[i].idc==LOWORD(wParam) && bindsButton[i].onClick) {
(this->*bindsButton[i].onClick)();
return TRUE;
}
if (HIWORD(wParam)==EN_CHANGE && !isSetWindowText) {
if (LOWORD(wParam)==IDC_ED_HELP && tr->translateMode) {
onEditChange();
}
if (bindsEditInt)
for (int i=0; bindsEditInt[i].idc; i++)
if (bindsEditInt[i].idc==LOWORD(wParam)) {
HWND hed=GetDlgItem(m_hwnd,bindsEditInt[i].idc);
if (hed!=GetFocus()) {
return FALSE;
}
repaint(hed);
eval(hed,bindsEditInt[i].min,bindsEditInt[i].max,bindsEditInt[i].idff);
if (bindsEditInt[i].onClick) {
(this->*bindsEditInt[i].onClick)();
}
return TRUE;
}
if (bindsEditReal)
for (int i=0; bindsEditReal[i].idc; i++)
if (bindsEditReal[i].idc==LOWORD(wParam)) {
HWND hed=GetDlgItem(m_hwnd,bindsEditReal[i].idc);
if (hed!=GetFocus()) {
return FALSE;
}
repaint(hed);
eval(hed,bindsEditReal[i].min,bindsEditReal[i].max,bindsEditReal[i].idff,bindsEditReal[i].mult);
if (bindsEditReal[i].onClick) {
(this->*bindsEditReal[i].onClick)();
}
return TRUE;
}
} else if (HIWORD(wParam)==CBN_SELCHANGE) {
if (bindsCombobox)
for (int i=0; bindsCombobox[i].idc; i++)
if (bindsCombobox[i].idc==LOWORD(wParam)) {
switch (bindsCombobox[i].mode) {
case BINDCBX_DATA:
cfgSet(bindsCombobox[i].idff,(int)cbxGetCurItemData(bindsCombobox[i].idc));
break;
case BINDCBX_SEL:
cfgSet(bindsCombobox[i].idff,cbxGetCurSel(bindsCombobox[i].idc));
break;
case BINDCBX_TEXT:
cfgSet(bindsCombobox[i].idff,cbxGetCurText(bindsCombobox[i].idc));
break;
case BINDCBX_DATATEXT:
cfgSet(bindsCombobox[i].idff,(const char_t*)cbxGetCurItemData(bindsCombobox[i].idc));
break;
}
if (bindsCombobox[i].onClick) {
(this->*bindsCombobox[i].onClick)();
}
return TRUE;
}
}
break;
}
case WM_CTLCOLOREDIT:
if (bindsEditInt)
if (onCtlColorEdit(bindsEditInt,lParam,wParam)) {
return INT_PTR(getRed());
}
if (bindsEditReal)
if (onCtlColorEdit(bindsEditReal,lParam,wParam)) {
return INT_PTR(getRed());
}
break;
}
return defMsgProc(uMsg,wParam,lParam);
}
