void CamCapture::showSegmentation()
{
CvScalar pixel;
for (int x = 0; x < width_var; ++x)
{
for (int y = 0; y < height_var; ++y)
{
if(isRed(x,y))
{
setPixel3C(pixel,0,0,255);
}
else if(isBlue(x, y))
{
setPixel3C(pixel,255,0,0);
}
else if(isYellow(x, y))
{
setPixel3C(pixel,0,255,255);
}
else if(isGreen(x, y))
{
setPixel3C(pixel,0,255,0);
}
else if(isWhite(x, y))
{
setPixel3C(pixel, 255, 255, 255);
}
else if(isBlack(x, y))
{
setPixel3C(pixel, 127, 127, 127);
}
else
{
setPixel3C(pixel,0,0,0);
}
cvSet2D(showSeg, y, x, pixel);
}
}
}
void ColorSeqDetector::input(IplImage *inputImg)
{
if(!img)
{
img = cvCreateImage(cvGetSize(inputImg), IPL_DEPTH_32F, 1);
cvZero(img);
}
if(!stateImg)
{
stateImg = cvCreateImage(cvGetSize(inputImg), IPL_DEPTH_8U, 3);
cvZero(stateImg);
}
else if(img->width != inputImg->width
|| img->height != inputImg->height)
{
cvReleaseImage(&img);
img = cvCreateImage(cvGetSize(inputImg), IPL_DEPTH_32F, 1);
cvReleaseImage(&stateImg);
stateImg = cvCreateImage(cvGetSize(inputImg), IPL_DEPTH_8U, 3);
cvZero(stateImg);
cvZero(img);
}
uchar *data;
int step;
CvSize(size);
uchar *state_data;
int state_step;
float *float_data;
int float_step;
cvGetRawData(inputImg, (uchar**)&data, &step, &size);
step /= sizeof(data[0]);
cvGetRawData(img, (uchar**)&float_data, &float_step, &size);
float_step /= sizeof(float_data[0]);
cvGetRawData(stateImg, (uchar**)&state_data, &state_step, &size);
state_step /= sizeof(state_data[0]);
for(int y = 0; y < size.height;
y++, data += step, state_data+=state_step, float_data+=float_step )
for(int x = 0; x < size.width; x++ )
{
uchar h = data[3*x];
uchar s = data[3*x+1];
uchar v = data[3*x+2];
uchar state = state_data[3*x];
uchar sstate = state_data[3*x+1];
uchar bstate = state_data[3*x+1];
float score = float_data[x];
switch(state){
case 0: // invalid state
if(isRed(h,s,v))
{
state = 1;
sstate = 0;
bstate = 0;
}
break;
case 1: // red state
if(isRed(h,s,v))
{
sstate++;
if(sstate > period+2)
{
sstate = 0;
state = 0;
}
}else if(sstate >= period-2 && isGreen(h,s,v))
{
state = 2;
sstate = 0;
bstate = 0;
}else{
bstate ++;
if(bstate > 1)
{
state = 0;
sstate = 0;
}
}
break;
case 2: // green state
if(isGreen(h,s,v))
{
sstate++;
if(sstate > period+2)
{
sstate = 0;
state = 0;
}
}else if(sstate >= period - 2 && isBlue(h,s,v))
{
state = 3;
sstate = 0;
bstate = 0;
}else{
bstate ++;
if(bstate > 1)
{
state = 0;
sstate = 0;
}
}
break;
case 3: // blue state
if(isBlue(h,s,v))
{
sstate++;
if(sstate > period+2)
{
sstate = 0;
state = 0;
}
}else if(sstate >= period-2 && isYellow(h,s,v))
{
state = 4;
sstate = 0;
bstate = 0;
}else{
bstate ++;
if(bstate > 1)
{
state = 0;
sstate = 0;
}
}
break;
case 4: // yellow state
if(isYellow(h,s,v))
{
sstate++;
if(sstate > period+2)
{
sstate = 0;
state = 0;
}
}else if(sstate >= period-2 && isRed(h,s,v))
{
state = 1;
sstate = 0;
bstate = 0;
score = 1.;
//float_data[x]=1.;
}else{
bstate ++;
if(bstate > 1)
{
state = 0;
sstate = 0;
}
}
break;
default:
state = 0;
sstate = 0;
break;
}
state_data[3*x] = state;
state_data[3*x+1] = sstate;
//float_data[x] = (float) state / 4.f;
score -= 0.005;
if(score < 0. )
{
score = 0.;
}
float_data[x] = score;
// if(state == 0){
// float_data[x] = 0.;
// }
}
emitNamedEvent("output", img);
}
