void AAMFit::CreateStat( IplImage *pFrame, int pMode, bool pDrawNumbers, CvScalar pRGB )
{
CvFont font;
char text[20];
cvInitFont( &font, CV_FONT_HERSHEY_SIMPLEX, 0.1, 1.0, 0, 1, CV_AA );
//_model->Draw(pFrame, pMode);
if( _smoothedImagePoints.empty() )
{
for( int i = 0; i < _imagePoints.size(); i++ )
{
cvCircle( pFrame, cvPoint( _imagePoints[i].x, _imagePoints[i].y), 3, pRGB, -1 );
if( pDrawNumbers )
{
sprintf( text, "%d", i );
cvPutText( pFrame, text, cvPoint(_imagePoints[i].x, _imagePoints[i].y), &font, cvScalar(255, 255, 255, 0) );
}
}
}
else
{
for( int i = 0; i < _smoothedImagePoints.size(); i++ )
{
cvCircle( pFrame, cvPoint( _smoothedImagePoints[i].x, _smoothedImagePoints[i].y), 3, pRGB, -1 );
if( pDrawNumbers )
{
sprintf( text, "%d", i );
cvPutText( pFrame, text, cvPoint(_smoothedImagePoints[i].x, _smoothedImagePoints[i].y), &font, cvScalar(255, 255, 255, 0) );
}
}
}
}
void KfieldGui::DrawObservations(belief Belief,vector<KObservationModel> & Observation) {
CvPoint pt1, pt2;
unsigned int i;
CvScalar currentColor;
bool ambigius=false;
pthread_mutex_lock(&lock);
for (i = 0; i < Observation.size(); i++) {
if (Observation[i].Feature.id == "YellowLeft") {// "YellowLeft"
currentColor = color["lightyellow"];
} else if (Observation[i].Feature.id == "YellowRight") { //"YellowRight"
currentColor = color["lightyellow"];
} else if (Observation[i].Feature.id == "SkyblueLeft") {// "YellowLeft"
currentColor = color["lightblue"];
} else if (Observation[i].Feature.id == "SkyblueRight") { //"YellowRight"
currentColor = color["lightblue"];
} else if (Observation[i].Feature.id == "Skyblue") { //Ambigious GoalPost
currentColor = color["darkblue"];
ambigius = true;
} else if (Observation[i].Feature.id == "Yellow") { //Ambigious GoalPost
currentColor = color["darkyellow"];
ambigius = true;
}
for(int j=1; j >(ambigius)?-2:0;j=j-2){ //If we have abigious goal then plot both goal posts
pt1.x = (Observation[i].Feature.x + (2 * margintoline + field_width) / 2.0) / scale;
pt1.y = (-Observation[i].Feature.y*j + (2 * margintoline + field_height) / 2.0) / scale;
cvCircle(field, pt1, Observation[i].Distance.val / scale, currentColor, 0, CV_AA, 0);
cvCircle(field, pt1, rint(Observation[i].Distance.val / scale), currentColor, 0, CV_AA, 0);
cout << "Real Distance " << Observation[i].Distance.val << endl;
if ((Observation[i].Distance.val + Observation[i].Distance.Edev) > 0)
cvCircle(field, pt1, (Observation[i].Distance.val + Observation[i].Distance.Edev) / scale, currentColor, 0, CV_AA, 0);
if ((Observation[i].Distance.val - Observation[i].Distance.Edev) > 0)
cvCircle(field, pt1, (Observation[i].Distance.val - Observation[i].Distance.Edev) / scale, currentColor, 0, CV_AA, 0);
pt2.x = pt1.x - (Observation[i].Distance.val / scale) * cos(-(Observation[i].Bearing.val+Belief.theta));
pt2.y = pt1.y - (Observation[i].Distance.val / scale) * sin(-(Observation[i].Bearing.val+Belief.theta));
cvLine(field, pt1, pt2, currentColor, 0, CV_AA, 0);
}
if (i == 0) {
string tmp = Kutils::to_string(Observation[i].Distance.val);
cvPutText(field, tmp.c_str(), cvPoint((2 * margintoline + field_width - 200) / scale, (2 * margintoline + field_height + 650) / scale), &font, currentColor);
}
if (i == 1) {
string tmp = Kutils::to_string(Observation[i].Distance.val);
cvPutText(field, tmp.c_str(), cvPoint((2 * margintoline + field_width - 200) / scale, (2 * margintoline + field_height + 850) / scale), &font, currentColor);
}
}
pthread_mutex_unlock(&lock);
}
// Draw graphs -- todo, adjust to fit in window
void Painting::drawGraph()
{
// Paint the canvas white
cvZero(mImage);
cvRectangleR(mImage,cvRect(0,0,500,500),cvScalar(255,255,255), -1);
CvFont font;
double hScale=0.5;
double vScale=0.5;
int lineWidth=1;
cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX|CV_FONT_ITALIC, hScale,vScale,0,lineWidth);
// Add text to canvas
cvPutText (mImage,"Left",cvPoint(20,50), &font, cvScalar(200,0,0));
cvPutText (mImage,"Right",cvPoint(420,50), &font, cvScalar(0,200,0));
// Iterate the vector of data and center the selected objects
if(mData.size())
{
int xScale = 200;
int yScale = 20;
int xOffSet = 250 - mData[mSelect].timeStamp * xScale;
int yOffSet1 = 240 + mData[mSelect].pulsefreq * yScale;
int yOffSet2 = 250 + mData[mSelect].blinkingfreq * yScale;
int yOffSet3 = 260 + mData[mSelect].breathingfreq * yScale;
int t = 1; //thick
if(mSelect == 0)
t = -1;
drawCircle(mImage,cvPoint(mData[0].timeStamp * xScale + xOffSet,yOffSet1 - mData[0].pulsefreq * yScale),0,t);
drawCircle(mImage,cvPoint(mData[0].timeStamp * xScale + xOffSet,yOffSet2 - mData[0].blinkingfreq * yScale),1,t);
drawCircle(mImage,cvPoint(mData[0].timeStamp * xScale + xOffSet,yOffSet3 - mData[0].breathingfreq * yScale),2,t);
for(unsigned int i = 1; i<mData.size(); i++)
{
int thick = 1;
if((unsigned)mSelect == i)
thick = -1;
// Pulse
drawCircle(mImage,cvPoint(mData[i].timeStamp * xScale + xOffSet, yOffSet1 - mData[i].pulsefreq * yScale),0,thick);
cvLine(mImage,cvPoint(mData[i].timeStamp * xScale + xOffSet, yOffSet1 - mData[i].pulsefreq * yScale),
cvPoint(mData[i-1].timeStamp * xScale + xOffSet, yOffSet1 - mData[i-1].pulsefreq * yScale),cvScalar(0,0,255));
// Blinking
drawCircle(mImage,cvPoint(mData[i].timeStamp * xScale + xOffSet, yOffSet2 - mData[i].blinkingfreq * yScale),1,thick);
cvLine(mImage,cvPoint(mData[i].timeStamp * xScale + xOffSet, yOffSet2 - mData[i].blinkingfreq * yScale),
cvPoint(mData[i-1].timeStamp * xScale + xOffSet, yOffSet2 - mData[i-1].blinkingfreq * yScale),cvScalar(0,255,0));
// Breathing
drawCircle(mImage,cvPoint(mData[i].timeStamp * xScale + xOffSet, yOffSet3 - mData[i].breathingfreq * yScale),2,thick);
cvLine(mImage,cvPoint(mData[i].timeStamp * xScale + xOffSet, yOffSet3 - mData[i].breathingfreq * yScale),
cvPoint(mData[i-1].timeStamp * xScale + xOffSet, yOffSet3 - mData[i-1].breathingfreq * yScale),cvScalar(255,0,0));
}
}
cvShowImage(WindowName, mImage);
}
/* draw to video canvas */
static void video (
GtkWidget *widget,
GdkEventExpose *eev){
//gtk_widget_queue_draw(GTK_WIDGET(widget));
if(!start) return;
if(cv_image!=NULL){
double t = microtime();
/* vypsání ladícího textu */
CvFont font;
double hScale=0.5;
double vScale=0.5;
int lineWidth=1;
char buffer[125];
cvFlip(cv_image, cv_image, 1);
cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX|CV_FONT_ITALIC, hScale, vScale, 0, lineWidth);
sprintf(buffer,"Treshold %d/255 [key m,n]", treshold);
cvPutText (cv_image, buffer, cvPoint(10, 20), &font, cvScalar(0, 255, 0));
cvLine(cv_image, cvPoint(260,15), cvPoint(260 + treshold,15), cvScalar(0, 255, 0), 10, 4);
sprintf(buffer,"Timer: %f | %f | %f | %f", timer[0], timer[1], timer[2], timer[3]);
cvPutText (cv_image,buffer,cvPoint(10,40), &font, cvScalar(255, 0, 0));
sprintf(buffer,"Fps: %d ", fps);
cvPutText (cv_image,buffer,cvPoint(10,60), &font, cvScalar(255, 0, 0));
//převedení opencv do gtk
GdkPixbuf * pix = gdk_pixbuf_new_from_data(
(guchar*)cv_image->imageData,
GDK_COLORSPACE_RGB,
FALSE,
cv_image->depth,
cv_image->width,
cv_image->height,
cv_image->widthStep,
NULL,
NULL);
//gtkImg = gtk_image_new_from_pixbuf (pix);
gdk_draw_pixbuf (widget->window,
widget->style->fg_gc[GTK_WIDGET_STATE (widget)],
pix,
0, 0, 0, 0, 640, 480, GDK_RGB_DITHER_NONE, 0, 0 );
//gtk_widget_queue_draw(widget);
gdk_pixbuf_unref (pix);
timer[2] = microtime() - t;
} else {
//printf("ERROR: Video nebylo načteno.\n");
}
currently_framing = 0;
}
// TODO: what the f**k are these messy functions. Fix them.
void drawText(IplImage *img, const char *text, CvPoint at, CvScalar color, CvFont *font = NULL) {
if (!font) {
CvFont font1;
cvInitFont(&font1, CV_FONT_HERSHEY_DUPLEX, 1.0, 0.8, 0.2, 1, 8);
cvPutText(img, text, at, &font1, color);
} else {
cvPutText(img, text, at, font, color);
}
}
int main (int argc, char **argv)
{
int width=960, height=640;
IplImage *img=0;
double c, f;
f = cvGetTickFrequency()*1000;
int cx = width/2;
int cy = height/2;
double radius = 100;
double angle = 0;
CvScalar color = cvScalarAll(255);
CvFont font;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 0.5, 1.0, 1.0, 1, CV_AA);
cvNamedWindow ("hexagon", CV_WINDOW_AUTOSIZE);
while (1) {
// (1)allocate and initialize an image
img = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
if(img == 0) return -1;
cvZero(img);
// (2) draw hexagon
c = cvGetTickCount();
myHexagon(img, cx, cy, radius, angle, color);
printf("%fms\n", (cvGetTickCount()-c)/f);
// (3)show the iamge, and press some key
cvPutText(img, "Coordinate Right(D) Left(A) Up(W) Down(X)", cvPoint(10, 20), &font, cvScalarAll(255));
cvPutText(img, "Rotate Right(R) Left(E)", cvPoint(10, 40), &font, cvScalarAll(255));
cvPutText(img, "Radius Big(V) Small(C)", cvPoint(10, 60), &font, cvScalarAll(255));
cvPutText(img, "Quit(Q, esc)", cvPoint(10, 80), &font, cvScalarAll(255));
char s[64];
sprintf(s, "cx:%d cy:%d radius:%f angle:%f", cx, cy, radius, angle);
cvPutText(img, s, cvPoint(10, 110), &font, cvScalarAll(255));
cvShowImage ("hexagon", img);
char key = cvWaitKey (0);
if (key == 27 || key == 'q') break;
else if (key == 'r') angle += 5;
else if (key == 'e') angle -= 5;
else if (key == 'a') cx -= 5;
else if (key == 'd') cx += 5;
else if (key == 'w') cy -= 5;
else if (key == 'x') cy += 5;
else if (key == 'v') radius += 5;
else if (key == 'c') radius -= 5;
}
cvDestroyWindow("hexagon");
cvReleaseImage(&img);
return 0;
}
void Bot::make()
{
camera->update();
if(camera->getFrame()){
//
// получаем кадр с камеры
//
if(image==0){
image = cvCloneImage(camera->getFrame());
}
else{
cvCopy(camera->getFrame(), image);
}
// для хранения центра объекта
CvPoint2D32f point;
//
// передаём кадр на обработку детектору
//
bool result = detector->getCenter( image, point, BOT_THRESHOLD);
char buf[128]; // для вывода информации
if(result){
//
// объект обнаружен
//
printf("[i][Bot] point: %.2f : %.2f \n", point.x, point.y);
if(gimbal){
gimbal->make( cvPoint(image->width/2, image->height/2), cvPointFrom32f(point) );
}
// отметим центр
cvCircle(image, cvPointFrom32f(point), 3, CV_RGB(0, 255, 0), 2);
// выводим сообщение в верхнем левом углу картинки
sprintf(buf, "Object detected: %.2f : %.2f", point.x, point.y);
cvPutText(image, buf, cvPoint(10, 20), &font, CV_RGB(0, 255, 0));
}
else{
//
// объект не обнаружен
//
// выводим сообщение в верхнем левом углу картинки
sprintf(buf, "Cant find object!");
cvPutText(image, buf, cvPoint(10, 20), &font, CV_RGB(255 , 0, 0));
}
cvShowImage(window_name, image);
}
}
void KfieldGui::drawErrors(float DistError, float RotError) {
pthread_mutex_lock(&lock);
tmp = Kutils::to_string(DistError); // boost::lexical_cast<string>(Belief.confidence);
cvPutText(field, tmp.c_str(), cvPoint((2 * margintoline + field_width - 200) / scale, (2 * margintoline + field_height + 650) / scale), &font, color["white"]);
tmp = Kutils::to_string(RotError * TO_DEG);
cvPutText(field, tmp.c_str(), cvPoint((2 * margintoline + field_width - 200) / scale, (2 * margintoline + field_height + 850) / scale), &font, color["white"]);
pthread_mutex_unlock(&lock);
}
void KfieldGui::DisplayErrors(float DistError, float RotError) {
pthread_mutex_lock(&lock);
tmp = Kutils::to_string(DistError); // boost::lexical_cast<string>(Belief.confidence);
cvPutText(field, tmp.c_str(), cvPoint((2 * 675.0 + 6050 - 200) / SCALE, (2 * 675.0 + 4050 + 650) / SCALE), &font, cvScalar(255, 255, 255));
tmp = Kutils::to_string(RotError * TO_DEG);
cvPutText(field, tmp.c_str(), cvPoint((2 * 675.0 + 6050 - 200) / SCALE, (2 * 675.0 + 4050 + 850) / SCALE), &font, cvScalar(255, 255, 255));
pthread_mutex_unlock(&lock);
}
void EyeTracker::drawTrasholds()
{
CvFont font;
char s[20];
sprintf(s, "HIGH THRESHOLD = %d", highThreshold);
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX | CV_FONT_ITALIC, 1, 1, 0, 1);
cvPutText(grayEyeImagePts, s, cvPoint(10, 40), &font, cvScalar(255, 255, 0));
sprintf(s, "SQUARE THRESHOLD = %d", squareThreshold);
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX | CV_FONT_ITALIC, 1, 1, 0, 1);
cvPutText(grayEyeImagePts, s, cvPoint(10, 100), &font, cvScalar(255, 255, 0));
}
void draw_digit(int width, int x, int y, char *digit,
IplImage *debug, CvFont *font)
{
char text[3] = { digit[0] + 48, 0, 0 };
if (text[0] > '9') {
text[0] -= 10;
text[1] = '.';
}
CvPoint origin = cvPoint(debug->width * x / width, debug->height - y);
cvPutText(debug, text, origin, font, cvScalar(0, 0, 0, 255));
origin.x--;
cvPutText(debug, text, origin, font, cvScalar(0, 0, 255, 255));
}
void kalman::showlist(bool flag ,QPlainTextEdit *&plain)
{
cvSet(img, cvScalar(255, 255, 255, 0));
cvRectangle(img, cvPoint(rect.x, rect.y), cvPoint(rect.x + rect.width, rect.y + rect.height), cvScalar(255, 0, 0));
CvFont font;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 0.5f, 0.5f, 0, 1, 8);
if (nl->next)
{
node * p = nl->next;
if (num >= 5 || flag)
{
while (p)
{
if (p->done)
{
cvCircle(img, cvPoint(p->x, p->y), 5, CV_RGB(255, 0, 0), 3);
p->done = false;
p = p->next;
}
else
{
qDebug("dy:%d", p->dy);
if (p->dy >= 10)
{
sum = sum - 1;
qDebug("The Number : %d", sum);
cvPutText(img, sum + "", cvPoint(0, 20), &font, cvScalar(0, 0, 255));
}
else if (p->dy <= -10)
{
sum++;
qDebug("The Number : %d", sum);
cvPutText(img, sum + "", cvPoint(0, 20), &font, cvScalar(0, 0, 255));
}
plain->appendPlainText("The Number :"+QString::number(sum));
p = deleteNode(nl, p);
}
}
num = 0;
}
else
{
num++;
}
}
//cvShowImage("kalman",img);
}
// called by the loop to actually grab the frames
int capture_image(int fd,CvFont *font, int *set_quality, IplImage* frame,CvMat *cvmat,char *capture_title,v4l2_buffer *buf, uint32_t *start_time, uint32_t *image_count) {
// request a new frame
if(-1 == xioctl(fd, VIDIOC_QBUF, buf)) {
perror("Query Buffer");
return 1;
}
// wait up to 2 sec for a new frame to arive
fd_set fds;
FD_ZERO(&fds);
FD_SET(fd, &fds);
struct timeval tv = {0};
tv.tv_sec = 2;
int r = select(fd+1, &fds, NULL, NULL, &tv);
if(-1 == r) {
perror("Waiting for Frame");
return 1;
}
// read it
if(-1 == xioctl(fd, VIDIOC_DQBUF, buf)) {
perror("Retrieving Frame");
return 1;
}
// convert v4l2 buffer to opencv image
*cvmat = cvMat(height, width, CV_8UC3, (void*)buffer);
frame = cvDecodeImage(cvmat, 1);
// add title, reused tv from select-wait
gettimeofday(&tv, NULL);
time_t secs = time(0);
struct tm *local = localtime(&secs);
sprintf(capture_title, CAPTURE_PROTO, local->tm_hour, local->tm_min, local->tm_sec, (int)((unsigned long long)(tv.tv_usec) / 1000)%1000);
(*image_count)++;
printf("%s @ %2.2f fps\n",capture_title, round((float)(*image_count)*100/(time(0)-(*start_time)))/100 );
cvPutText(frame, capture_title, cvPoint(22, 22), font, cvScalar(0,0,0,0));
cvPutText(frame, capture_title, cvPoint(24, 24), font, cvScalar(200,200,200,0));
// save to disk ... well RAM
cvSaveImage("/dev/shm/mjpeg/cam_full.part.jpg", frame, set_quality);
rename("/dev/shm/mjpeg/cam_full.part.jpg","/dev/shm/mjpeg/cam_full.jpg");
// important to avoid mem leakage
cvReleaseImage(&frame);
return 0;
}
void PrintText(IplImage* img, char* text,CvScalar color, int l1_2){
char* num=new char[20];
itoa(fileCount,num,10);
// strcat(text,num);
if(l1_2==1){
if(text!=NULL) cvPutText(img, text, cvPoint(10, 130), &font, color);
else cvPutText(img, num, cvPoint(10, 130), &font, color);
}
else{
if(text!=NULL) cvPutText(img, text, cvPoint(10, 230), &font, color);
else cvPutText(img, num, cvPoint(10, 230), &font, color);
}
delete num;
}
void CvButtons::paintButtons(IplImage *img){
vector<PushButton>::iterator it = buttonList.begin();
while (it != buttonList.end()) {
// Grab button variables:
int x = it->x_pos;
int y = it->y_pos;
int w = it->width;
int h = it->height;
int x2 = x+w;
int y2 = y+h;
// Highlight mouseover position:
if( mx >= x && mx <= x2 && my >= y && my <= y2 ){
cvRectangle( img, cvPoint(x-4,y-4), cvPoint(x2+4,y2+4), C2, 1,CV_AA );
// Check for mouse pressed event:
if( me == CV_EVENT_LBUTTONDOWN/* || mf & CV_EVENT_FLAG_LBUTTON */){
// Check if toggle button has to change state:
if( it->toggle == 0 || it->toggle == 1 ) it->toggle = !it->toggle;
// Call callback function:
it->cb(it->toggle);
// Draw confirmation rectangle:
cvRectangle( img, cvPoint(x,y), cvPoint(x2,y2), C2,CV_FILLED,CV_AA );
// Reset event (avoid flickering buttons):
me = CV_EVENT_MOUSEMOVE;
}
}
// Draw toggle state:
if( it->toggle == 1 )
cvRectangle( img, cvPoint(x,y), cvPoint(x2,y2), C2,CV_FILLED,CV_AA );
// Draw button with text:
cvRectangle( img, cvPoint(x,y), cvPoint(x2,y2), C2,1,CV_AA );
if( it->toggle == 1 )
cvPutText( img, it->text, cvPoint(x+5,y+15), &font, C1 );
else
cvPutText( img, it->text, cvPoint(x+5,y+15), &font, C2 );
// Step to next button:
it++;
}
}
IplImage * showPoints(IplImage * img)
{
int i,x1,y1,x2,y2;
CvFont font;
cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX|CV_FONT_ITALIC, 0.5,0.5,0,1);
for(i=0;i<line_set_cnt;i++)
{
x1 = point_val[line_set[i][0]][0];
y1 = point_val[line_set[i][0]][1];
x2 = point_val[line_set[i][1]][0];
y2 = point_val[line_set[i][1]][1];
if(x1>=0&&x2>=0)
{
cvLine(showim,cvPoint(x1,y1),cvPoint(x2,y2),CV_RGB(100,100,100),POINT_RADIUS);
}
}
for(i=0;i<point_set_cnt;i++)
{
if(point_val[i][0]>=0)
{
cvCircle(img,cvPoint(point_val[i][0],point_val[i][1]),POINT_RADIUS,cvScalar(0,0,255),-1);
cvPutText(img,point_set[i],cvPoint(point_val[i][0]+POINT_RADIUS,point_val[i][1]),&font,CV_RGB(100,200,255));
}
}
return img;
}
std::list<CvBox2D> PathObject::GetBounding(const IplImage * imgIn, IplImage * debugOut) const
{
std::list<CvBox2D> blobList;
if(imgIn == NULL) return blobList;
IplImage * imgOut1 = GetMask(imgIn);
//cvShowImage("imgout1",imgOut1);
CvFont font;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 1,1);
if(imgOut1)
{
blobList = Zebulon::Vision::VisionUtils::GetBlobBoxes(imgOut1,.001,.95);
if (debugOut)
{
for(std::list<CvBox2D>::iterator it = blobList.begin(); it != blobList.end(); it++)
{
// CvPoint2D32f boxCorners[4];
// cvBoxPoints(*it,boxCorners);
std::ostringstream s;
s << "(" << it->angle << ")";
cvPutText(debugOut,s.str().c_str(),cvPointFrom32f(it->center),&font,mNearColor);
Zebulon::Vision::VisionUtils::DrawSquare(debugOut,*it,mNearColor);
}
}
cvReleaseImage(&imgOut1);
}
return blobList;
}
int main(int argc, char** argv) {
CvCapture* capture = 0;
IplImage* input = 0;
IplImage* output = 0;
int tick = 0, prev_tick = 0;
double now = 0.0;
CvFont font;
char buffer[256];
const char* windowName = "median";
if (argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) {
capture = cvCreateCameraCapture(argc == 2 ? argv[1][0] - '0' : 0);
} else if (argc == 2) {
capture = cvCreateFileCapture(argv[1]);
}
if (!capture) {
fprintf(stderr, "ERROR: capture is NULL \n");
return (-1);
}
cvNamedWindow(windowName, CV_WINDOW_AUTOSIZE);
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0, 0.0, 1, 0);
input = cvQueryFrame(capture);
if (!input) {
fprintf(stderr, "Could not query frame...\n");
return (-1);
}
output = cvCreateImage(cvSize(input->width, input->height), IPL_DEPTH_8U, 3);
while (1) {
input = cvQueryFrame(capture);
if (!input) {
fprintf(stderr, "Could not query frame...\n");
break;
}
process(input, output);
sprintf(buffer, "%3.1lfms", now / 1000);
cvPutText(output, buffer, cvPoint(50, 150), &font, CV_RGB(255, 0, 0));
cvShowImage(windowName, output);
//If a certain key pressed
if (cvWaitKey(10) >= 0) {
break;
}
tick = cvGetTickCount();
now = (tick - prev_tick) / cvGetTickFrequency();
prev_tick = tick;
}
cvReleaseImage(&output);
cvReleaseCapture(&capture);
cvDestroyWindow(windowName);
return 0;
}
void show_message(int predict_result, CvRect* r, IplImage* &imgDrawn)
{
const char* actual_text;
double hscale = 1.0;
double vscale = 0.8;
double shear = 0.2;
int thickness = 2;
int line_type = 8;
if (predict_result==1) {
actual_text="Welcome! Your Gender is Female";
}else{
if(predict_result==0)
actual_text="Welcome! Your Gender is Male";
else
actual_text = "";
}
CvFont font1;
cvInitFont(&font1,CV_FONT_HERSHEY_DUPLEX,hscale,vscale,shear,thickness,line_type);
cvPutText(imgDrawn, actual_text, cvPoint(r->x+10,r->y+10),&font1, CV_RGB(0,0,250));
cvNamedWindow("Drawing_and_Text", 1);
cvShowImage("Drawing_and_Text", imgDrawn);
}
void run()
{
cvCopyImage(*mInputImage, mOutputImage);
for (int i = mFromId; i < mToId; ++i) {
Craftag *tTag = mTags[i-mFromId];
if (tTag->isPresent()){
wykobi::point2d<float> tCenter = tTag->getCenter();
wykobi::point2d<float> tTop = tCenter+tTag->getYUnit();
wykobi::point2d<float> tRight = tCenter+tTag->getXUnit();
static const int scShift = 2;
static const float scPrecision = 1<<scShift;
cvLine(mOutputImage, cvPoint(tCenter.x*scPrecision, tCenter.y*scPrecision), cvPoint(tTop.x*scPrecision, tTop.y*scPrecision), sColor, 1, CV_AA, scShift);
cvLine(mOutputImage, cvPoint(tCenter.x*scPrecision, tCenter.y*scPrecision), cvPoint(tRight.x*scPrecision, tRight.y*scPrecision), sColor, 1, CV_AA, scShift);
//char tText[256];
//sprintf(tText, "%d:(%.2f,%.2f),(%.2f,%.2f),(%.2f,%.2f)", i, tCenter.x, tCenter.y, tTop.x, tTop.y, tRight.x, tRight.y);
char tText[4+1];
sprintf(tText, "%d", i);
cvPutText(mOutputImage, tText, cvPoint(tCenter.x, tCenter.y), &mFont, sColor);
CvPoint2D32f tCvCorners[4];
CvWykobiBridge::convertQuad(wykobi::scale(scPrecision, scPrecision, tTag->getCorners()), tCvCorners);
for (int i = 0; i < 4; ++i) {
cvLine(mOutputImage, cvPointFrom32f(tCvCorners[i]), cvPointFrom32f(tCvCorners[(i+1)%4]), sColor, 1, CV_AA, scShift);
}
}
}
cvShowImage("CraftagIdentifier", mOutputImage);
char tKeyPressed = cvWaitKey(1);
if (tKeyPressed == 'q') stop();
}
void KfieldGui::draw_ball2(belief Belief, Ball Ball) {
pthread_mutex_lock(&lock);
CvPoint pt1, pt2;
int radius = 0.065 / 2 * 1000.0 / scale;
//double max = 0;
float cos_theta = cos(Belief.theta);
float sin_theta = sin(Belief.theta);
pt1.x = Belief.x + 1000*(Ball.relativex()*cos_theta - Ball.relativey()*sin_theta);//Ball.dist() * 1000 * cos((Belief.theta + Ball.bearing()));
pt1.y = Belief.y + 1000*(Ball.relativex()*sin_theta + Ball.relativey()*cos_theta);//Ball.dist() * 1000 * sin((Belief.theta + Ball.bearing()));
cout << " ball relative X " << Ball.relativex() << " ball relative Y " << Ball.relativey() << endl;
pt2.x = (pt1.x + (2 * margintoline + field_width) / 2.0) / scale;
pt2.y = (-pt1.y + (2 * margintoline + field_height) / 2.0) / scale;
cout << " Points in the field pt2.x " << pt2.x << " pt2.y " << pt2.y << endl;
//cout << "Ball Dist" << Ball.dist() << " Ball diameter " << Ball.ball_diameter() << " Bearing " << Ball.bearing() << " pt x:" << pt1.x << " y: " << pt1.y << endl;
//cvCopy(cleanfield, field);
cvCircle(field, pt2, radius, color["red"], 0, CV_AA, 0);
pt1.x = pt2.x + 100 *(Ball.relativexspeed()*cos_theta - Ball.relativeyspeed()*sin_theta);
pt1.y = pt2.y - 100 *(Ball.relativexspeed()*sin_theta + Ball.relativeyspeed()*cos_theta);
cvLine(field, pt1, pt2, CV_RGB(238, 254 , 348), 2, CV_AA, 0);
//tmp = Kutils::to_string(Ball.dist());
cvPutText(field, tmp.c_str(), cvPoint((2 * margintoline + field_width - 400) / scale, (2 * margintoline + field_height + 850) / scale), &font, color["orange"]);
pthread_mutex_unlock(&lock);
//cout << " Ball Drawn " << endl;
}
void Figure::DrawLabels(IplImage *output, int posx, int posy)
{
CvFont font;
cvInitFont(&font,CV_FONT_HERSHEY_PLAIN,0.55,1.0, 0,1,CV_AA);
// character size
int chw = 6, chh = 8;
for (vector<Series>::iterator iter = plots.begin();
iter != plots.end();
iter++)
{
string lbl = iter->label;
// draw label if one is available
if (lbl.length() > 0)
{
cvLine(output, cvPoint(posx, posy - chh / 2), cvPoint(posx + 15, posy - chh / 2),
iter->color, 2, CV_AA);
cvPutText(output, lbl.c_str(), cvPoint(posx + 20, posy),
&font, iter->color);
posy += int(chh * 1.5);
}
}
}
IplImage * BouyBaseObject::TemplateMask(const IplImage * imgIn, const IplImage * threshold, const IplImage * tmplt) const
{
IplImage * imgOut = cvCloneImage(imgIn);
//cvZero(imgOut);
std::list<CvBox2D> blobList;
blobList = Zebulon::Vision::VisionUtils::GetBlobBoxes(threshold,.005,.95);
IplImage * crop;
CvFont font;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 1,1);
for(std::list<CvBox2D>::iterator it = blobList.begin(); it != blobList.end(); it++)
{
crop = Zebulon::Vision::VisionUtils::Crop(imgIn,*it);
double score = 0;
Zebulon::Vision::VisionUtils::GetSimpleTemplateSimilarity(crop,tmplt,score,false);
std::ostringstream s;
s << "(" << score << ")";
cvPutText(imgOut,s.str().c_str(),cvPointFrom32f(it->center),&font,CV_RGB(255,255,255));
Zebulon::Vision::VisionUtils::DrawSquare(imgOut,*it);
if(score > mTemplateThreshold)
{
cvDrawCircle(imgOut,cvPointFrom32f(it->center),(crop->width/2.0),CV_RGB(255,255,255));
}
cvReleaseImage(&crop);
}
return imgOut;
}
void nuiVideoFileSource::update()
{
this->output->lock();
this->output->clear();
frame = cvQueryFrame(cap);
if(frame == NULL) {
cvReleaseCapture(&cap);
cvReleaseImage(&frame);
cap = cvCaptureFromAVI(this->property("path").asString().c_str());
frame = cvQueryFrame(cap);
}
CvFont font;
double hScale=0.5;
double vScale=0.5;
int lineWidth=1;
cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX|CV_FONT_ITALIC, hScale,vScale,0,lineWidth);
std::ostringstream oss;
oss << "~ " << this->timer->getAverageFPS() << " FPS";
cvRectangle(frame, cvPoint(150,0), cvPoint(300,20), cvScalar(0,0,0), CV_FILLED, CV_AA);
cvRectangle(frame, cvPoint(150,0), cvPoint(300,20), cvScalar(255,100,100), 2, CV_AA);
cvPutText (frame, oss.str().c_str(), cvPoint(155,15), &font, cvScalar(255,255,255));
this->outputDataPacket->packData((void*)frame);
this->output->setData(this->outputDataPacket);
this->output->transmitData();
this->output->unlock();
};
void EyeTracker::drawSquares(CvSeq* squares)
{
CvSeqReader reader;
int i;
// initialize reader of the sequence
cvStartReadSeq(squares, &reader, 0);
CvPoint pt[4];
CvPoint* rect;
// read 4 sequence elements at a time (all vertices of a square)
for(i = 0; i < squares->total; i += 4)
{
rect = pt;
int count = 4;
// read 4 vertices
CV_READ_SEQ_ELEM(pt[0], reader);
CV_READ_SEQ_ELEM(pt[1], reader);
CV_READ_SEQ_ELEM(pt[2], reader);
CV_READ_SEQ_ELEM(pt[3], reader);
cvPolyLine(graySceneImagePts, &rect, &count, 1, 1, CV_RGB(255, 255, 255), 3, CV_AA, 0);
}
CvFont font;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX | CV_FONT_ITALIC, 1.0, 1.0, 0, 1);
char s[20];
sprintf(s, "Threshold = %d", squareThreshold);
cvPutText(graySceneImagePts, s, cvPoint(30, 30), &font, cvScalar(255, 255, 0));
}
/* chain function
* this function does the actual processing
*/
static GstFlowReturn
gst_opencv_text_overlay_chain (GstPad * pad, GstObject * parent,
GstBuffer * buf)
{
GstOpencvTextOverlay *filter;
GstMapInfo map_info;
guint8 *data;
filter = GST_OPENCV_TEXT_OVERLAY (parent);
gst_buffer_map (buf, &map_info, GST_MAP_READ);
data = map_info.data;
filter->cvImage->imageData = (char *) data;
cvInitFont (&(filter->font), CV_FONT_VECTOR0, filter->width, filter->height,
0, filter->thickness, 0);
buf = gst_buffer_make_writable (buf);
cvPutText (filter->cvImage, filter->textbuf, cvPoint (filter->xpos,
filter->ypos), &(filter->font), cvScalar (filter->colorR,
filter->colorG, filter->colorB, 0));
gst_buffer_unmap (buf, &map_info);
return gst_pad_push (filter->srcpad, buf);
}
int main(int argc, char* argv[])
{
// получаем любую подключённую камеру
CvCapture* capture = cvCreateCameraCapture(CV_CAP_ANY); //cvCaptureFromCAM( 0 );
assert( capture );
//cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, 640);//1280);
//cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, 480);//960);
// узнаем ширину и высоту кадра
double width = cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH);
double height = cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT);
printf("[i] %.0f x %.0f\n", width, height );
IplImage* frame=0;
cvNamedWindow("capture", CV_WINDOW_AUTOSIZE);
printf("[i] press Enter for capture image and Esc for quit!\n\n");
int counter=0;
char filename[512];
char text_buf[32];
CvFont myFont;
// cvInitFont(&myFont, СV_FONT_HERSHEY_PLAIN, 0.7, 1, 0, 1, 8);
cvInitFont(&myFont, CV_FONT_HERSHEY_PLAIN, 2, 1, 0, 1, 8);
while(true){
// получаем кадр
frame = cvQueryFrame( capture );
//Filters
cvtColor(frame, pic, CV_BGR2HSV);
GaussianBlur(pic, pic, Size(7,7), 1.5, 1.5);
sprintf(text_buf,"Hello!!!");
cvPutText(frame, text_buf, cvPoint(5,15), &myFont, cvScalar(0,0,255));
// показываем
cvShowImage("capture", frame);
char c = cvWaitKey(33);
if (c == 27) { // нажата ESC
break;
}
else if(c == 13) { // Enter
// сохраняем кадр в файл
sprintf(filename, "Image%d.jpg", counter);
printf("[i] capture... %s\n", filename);
cvSaveImage(filename, frame);
counter++;
}
}
// освобождаем ресурсы
cvReleaseCapture( &capture );
cvDestroyWindow("capture");
return 0;
}
static void slPutMaxValue(IplImage *img, sl_int32 max_value)
{
CvFont font;
char text[256];
cvInitFont(&font,CV_FONT_HERSHEY_DUPLEX ,0.5f,0.5f,0,1,CV_AA);
sprintf(text, "%d", max_value);
cvPutText(img, text, cvPoint(SL_HIS_START_X / 2, SL_HIS_HEIGHT - SL_HIS_START_Y / 2), &font, CV_RGB(255, 255, 255));
}
void TextAdder::addLine(cv::Mat& img, const unsigned int lineNo, const std::string& txt) const
{
IplImage tmp = img;
const size_t w = img.size().width - wSpace_;
const size_t h = hSpace_ + lineNo*((fontHeight_*150)/100);
const cv::Point p(w, h);
cvPutText( &tmp, txt.c_str(), p, &font_, color_ );
}
int main(int argc, char **argv) {
cvNamedWindow("My Window", 1);
IplImage *img = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 1);
CvFont font;
double hScale = 1.0;
double vScale = 1.0;
int lineWidth = 1;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX | CV_FONT_ITALIC,
hScale, vScale, 0, lineWidth);
cvPutText(img, "Hello World!, I can now code openCV ", cvPoint(0, 200), &font,
cvScalar(255, 255, 0));
cvPutText(img, "in a kickass IDE ", cvPoint(150, 300), &font,
cvScalar(255, 255, 0));
cvShowImage("My Window", img);
cvWaitKey();
return 0;
}
