int main (int argv, char** argc[])
{
int ncell = 0, prev_ncontour = 0, same_count = 0;
////while (!worker->CancellationPending) {
////worker->ReportProgress(50, String::Format(rm->GetString("Progress_Analyze_FoundNCell"), title, ncell));
cvConvert(input_morph, tmp8UC1);
cvClearMemStorage(storage);
int ncontour = cvFindContours(tmp8UC1, storage, &first_con, sizeof(CvContour), CV_RETR_EXTERNAL);
if (ncontour == 0)
break; // finish extract cell
if (ncontour == prev_ncontour) {
cvErode(input_morph, input_morph);
same_count++;
} else
same_count = 0;
prev_ncontour = ncontour;
cur = first_con;
while (cur != nullptr) {
double area = fabs(cvContourArea(cur));
if ((area < 3000.0) || (same_count > 10)) {
int npts = cur->total;
CvPoint *p = new CvPoint[npts];
cvCvtSeqToArray(cur, p);
cvFillPoly(out_single, &p, &npts, 1, cvScalar(255.0)); // move to single
cvFillPoly(input_morph, &p, &npts, 1, cvScalar(0.0)); // remove from input
delete[] p;
ncell++;
}
cur = cur->h_next;
}
////}
}
void LevelCorrection::RebuildOutputDlg()
{
//clear
cvSet(m_output_sld_img, cvScalar(255,255,255));
int npts = 3;
CvPoint** pts = (CvPoint**) cvAlloc(sizeof(CvPoint*) * 1);
pts[0] = (CvPoint*) cvAlloc(sizeof(CvPoint) * 3);
//min slider
pts[0][0].x = m_min_out_val - LC_SLD_RAD;
pts[0][0].y = LC_OUTPUT_SLD_H-1;
pts[0][1].x = m_min_out_val;
pts[0][1].y = 0;
pts[0][2].x = m_min_out_val + LC_SLD_RAD;
pts[0][2].y = LC_OUTPUT_SLD_H-1;
cvFillPoly(m_output_sld_img, pts, &npts, 1, LC_OUTPUT_MIN_SLD_COLOR, CV_AA, 0);
cvPolyLine(m_output_sld_img, pts, &npts, 1, 1, CV_RGB(0,0,0), 1, CV_AA, 0);
//max slider
pts[0][0].x = m_max_out_val - LC_SLD_RAD;
pts[0][1].x = m_max_out_val;
pts[0][2].x = m_max_out_val + LC_SLD_RAD;
cvFillPoly(m_output_sld_img, pts, &npts, 1, LC_OUTPUT_MAX_SLD_COLOR, CV_AA, 0);
cvPolyLine(m_output_sld_img, pts, &npts, 1, 1, CV_RGB(0,0,0), 1, CV_AA, 0);
cvFree(&(pts[0]));
cvFree(&pts);
}
void drawFillPoly( ipl_image_wrapper& ipl_image
, const curve_vec_t& curves
, PIXEL color )
{
const std::size_t num_curves = curves.size();
boost::scoped_array<int> num_points_per_curve( new int[num_curves] );
std::size_t total_num_points = 0;
for( std::size_t i = 0; i < num_curves; ++i )
{
num_points_per_curve[i] = curves[i].size();
}
// The curve array vector will deallocate all memory by itself.
cvpoint_array_vec_t pp( num_curves );
CvPoint** curve_array = new CvPoint*[num_curves];
for( std::size_t i = 0; i < num_curves; ++i )
{
pp[i] = make_cvPoint_array( curves[i] );
curve_array[i] = pp[i].get();
}
cvFillPoly( ipl_image.get()
, curve_array // needs to be pointer to C array of CvPoints.
, num_points_per_curve.get() // int array that contains number of points of each curve.
, curves.size()
, make_cvScalar( color ));
}
int main(int argc, char* argv[])
{
//假设需要用到的数据
CvPoint *szPoint1 = new CvPoint[5];
szPoint1[0] = { 78, 65 };
szPoint1[1] = { 45, 164 };
szPoint1[2] = { 102, 234 };
szPoint1[3] = { 368, 173 };
szPoint1[4] = { 126, 32 };
CvPoint szPoint2[6] = { { 89, 323 }, { 0, 134 }, { 171, 262 }, { 126, 32 }, { 85, 85 }, { 75, 69 } };
CvPoint szPoint3[7] = { { 78, 65 }, { 102, 234 }, { 368, 173 }, { 126, 32 }, { 12, 56 }, { 320, 172 }, { 95, 32 } };
CvPoint *pSzArray[] = { szPoint1};
int nArrayNumber[] = { 5 };
//创建矩阵
CvMat *Mat = cvCreateMat(nMatWidth, nMatHeight, CV_8UC3);
assert(Mat != NULL);
//绘制多边形
cvFillPoly(Mat, pSzArray, nArrayNumber, 1, CV_RGB(255, 0, 0));
CvFont font;
char buf_T[256];
cvInitFont(&font, CV_FONT_VECTOR0, 0.65, 0.65, 0, 2, 2);
for (int i = 0; i < 5; i++)
{
sprintf_s(buf_T, 256, "%d", i + 1);
cvPutText(Mat, buf_T, szPoint1[i], &font, CV_RGB(255, 0, 255));
cvCircle(Mat,szPoint1[i],4,CV_RGB(0,255,0),-1);
}
delete[] szPoint1;
//显示图像
cvNamedWindow("Show_Result");
cvShowImage("Show_Result", Mat);
cvWaitKey();
//释放资源
cvReleaseMat(&Mat);
cvDestroyWindow("Show_Resulst");
return 0;
}// ConsoleApplication1.cpp : 定义控制台应用程序的入口点。
/*
* Creates an illumination
* according to an illumination montage and the location of a segmented worm.
*
* To use with protocol, use GetMontageFromProtocolInterp() first
*
* FlipLR is a bool. When set to 1, the illumination pattern is reflected across the worm's centerline.
*/
void IllumWorm(SegmentedWorm* segworm, CvSeq* IllumMontage, IplImage* img,CvSize gridSize, int FlipLR){
int DEBUG=0;
if (DEBUG) printf("In IllumWorm()\n");
CvPoint* polyArr=NULL;
int k;
int numpts=0;
for (k = 0; k < IllumMontage->total; ++k) {
numpts=CreatePointArrFromMontage(&polyArr,IllumMontage,k);
//ReturnHere
int j;
//DisplayPtArr(polyArr,numpts);
CvPoint* ptPtr=polyArr;
for (j = 0; j < numpts; ++j) {
/** make a local copy of the current pt in worm space **/
CvPoint wormPt=*(ptPtr);
/** replace that point with the new pt in image space **/
*(ptPtr)=CvtPtWormSpaceToImageSpace(wormPt,segworm, gridSize,FlipLR);
/** move to the next pointer **/
ptPtr++;
}
if (DEBUG) {
int i;
printf("new polygon\n");
for (i = 0; i < numpts; i++) {
printf(" (%d, %d)\n",polyArr[i].x,polyArr[i].y);
cvCircle(img, polyArr[i], 1, cvScalar(255, 255, 255), 1);
cvShowImage("Debug",img);
cvWaitKey(10);
}
}
/** Actually draw the polygon **/
cvFillPoly(img,&polyArr,&numpts,1,cvScalar(255,255,255),8);
free(polyArr);
polyArr=NULL;
}
if (DEBUG) {
IplImage* TempImage=cvCreateImage(cvGetSize(img),IPL_DEPTH_8U,1);
DrawSequence(&TempImage,segworm->LeftBound);
DrawSequence(&TempImage, segworm->RightBound);
double weighting=0.4;
cvAddWeighted(img,weighting,TempImage,1,0,TempImage);
cvShowImage("Debug",TempImage);
}
}
//--------------------------------------------------------------------------------
void ofxCvGrayscaleAdvanced::drawBlobIntoMe( ofxCvBlob &blob, int color ) {
if( blob.pts.size() > 0 ) {
CvPoint* pts = new CvPoint[blob.nPts];
for( int i=0; i < blob.nPts ; i++ ) {
pts[i].x = (int)blob.pts[i].x;
pts[i].y = (int)blob.pts[i].y;
}
int nPts = blob.nPts;
cvFillPoly( cvImage, &pts, &nPts, 1,
CV_RGB(color,color,color) );
delete pts;
}
}
//---------------------------------------------------------------------------------
// useful for checking for occlusion, etc with another image
// (via image arithmatic. &= etc)
void videoBlob::draw(ofxCvGrayscaleImage &mom, int color){
if (nPts > 0 ){
CvPoint * ptsTemp = new CvPoint[nPts];
for (int i = 0; i < nPts ; i++){
ptsTemp[i].x = pts[i].x;
ptsTemp[i].y = pts[i].y;
}
cvFillPoly( mom.getCvImage(), &ptsTemp, &(nPts),1,
CV_RGB(color,color,color));
delete ptsTemp;
}
}
void LevelCorrection::RebuildLevelDlg()
{
//clear
cvSet(m_level_sld_img, cvScalar(255,255,255));
int npts = 3;
CvPoint** pts = (CvPoint**) cvAlloc(sizeof(CvPoint*) * 1);
pts[0] = (CvPoint*) cvAlloc(sizeof(CvPoint) * 3);
//min slider
pts[0][0].x = m_min_level - LC_SLD_RAD;
pts[0][0].y = LC_LEVEL_SLD_H-1;
pts[0][1].x = m_min_level;
pts[0][1].y = 0;
pts[0][2].x = m_min_level + LC_SLD_RAD;
pts[0][2].y = LC_LEVEL_SLD_H-1;
cvFillPoly(m_level_sld_img, pts, &npts, 1, LC_LEVEL_MIN_SLD_COLOR, 8, 0);
cvPolyLine(m_level_sld_img, pts, &npts, 1, 1, CV_RGB(0,0,0), 1, 8, 0);
//max slider
pts[0][0].x = m_max_level - LC_SLD_RAD;
pts[0][1].x = m_max_level;
pts[0][2].x = m_max_level + LC_SLD_RAD;
cvFillPoly(m_level_sld_img, pts, &npts, 1, LC_LEVEL_MAX_SLD_COLOR, 8, 0);
cvPolyLine(m_level_sld_img, pts, &npts, 1, 1, CV_RGB(0,0,0), 1, 8, 0);
//
int gamma_x = m_gamma*(m_max_level - m_min_level) + m_min_level + 0.5;
pts[0][0].x = gamma_x - LC_SLD_RAD;
pts[0][1].x = gamma_x;
pts[0][2].x = gamma_x + LC_SLD_RAD;
cvFillPoly(m_level_sld_img, pts, &npts, 1, LC_LEVEL_GAM_SLD_COLOR, 8, 0);
cvPolyLine(m_level_sld_img, pts, &npts, 1, 1, CV_RGB(0,0,0), 1, 8, 0);
cvFree(&(pts[0]));
cvFree(&pts);
}
int main( int argc, char** argv )
{
/* data structure for the image */
IplImage *img = 0;
/* check for supplied argument */
if( argc < 2 ) {
fprintf( stderr, "Usage: loadimg <filename>\n" );
return 1;
}
/* load the image,
use CV_LOAD_IMAGE_GRAYSCALE to load the image in grayscale */
img = cvLoadImage( argv[1], CV_LOAD_IMAGE_COLOR );
/* always check */
if( img == 0 ) {
fprintf( stderr, "Cannot load file %s!\n", argv[1] );
return 1;
}
/* create a window */
cvNamedWindow( "image", CV_WINDOW_AUTOSIZE );
// CvPoint curve1[]={10,10, 10,100, 100,100, 100,10};
// CvPoint curve2[]={30,30, 30,130, 130,130, 130,30, 150,10};
// CvPoint* curveArr[2]={curve1, curve2};
CvPoint curve2[]={0,60, 50,50, 60,60,};
CvPoint* curveArr[1]={curve2};
int nCurvePts[1]={3};
int nCurves=1;
int isCurveClosed=1;
int lineWidth=15;
//cvPolyLine(img,curveArr,nCurvePts,nCurves,isCurveClosed,cvScalar(0,255,255),lineWidth);
cvFillPoly(img,curveArr,nCurvePts,nCurves,cvScalar(0,255,255));
/* display the image */
cvShowImage( "image", img );
/* wait until user press a key */
cvWaitKey(0);
/* free memory */
cvDestroyWindow( "image" );
cvReleaseImage( &img );
return 0;
}
//--------------------------------------------------------------------------------
void ofxCvImage::drawBlobIntoMe( ofxCvBlob& blob, int color ) {
if( !bAllocated ){
ofLogError("ofxCvImage") << "drawBlobIntoMe(): image not allocated";
return;
}
if( blob.pts.size() > 0 ) {
CvPoint* pts = new CvPoint[blob.nPts];
for( int i=0; i < blob.nPts ; i++ ) {
pts[i].x = (int)blob.pts[i].x;
pts[i].y = (int)blob.pts[i].y;
}
int nPts = blob.nPts;
cvFillPoly( cvImage, &pts, &nPts, 1,
CV_RGB(color,color,color) );
delete[] pts;
}
}
//--------------------------------------------------------------------------------
void ofxCvImage::drawBlobIntoMe( ofxCvBlob& blob, int color ) {
if( !bAllocated ){
ofLog(OF_LOG_ERROR, "in drawBlobIntoMe, need to allocate image first");
return;
}
if( blob.pts.size() > 0 ) {
CvPoint* pts = new CvPoint[blob.nPts];
for( int i=0; i < blob.nPts ; i++ ) {
pts[i].x = (int)blob.pts[i].x;
pts[i].y = (int)blob.pts[i].y;
}
int nPts = blob.nPts;
cvFillPoly( cvImage, &pts, &nPts, 1,
CV_RGB(color,color,color) );
delete pts;
}
}
//--------------------------------------------------------------
void DepthHoleFiller::computeBlobImage (){
ofxCv8uC1_Blobs.set(0); // clear any previous blobs.
CvScalar color_white = CV_RGB(255,255,255);
int nHolesToFill = contourFinder.blobs.size();
for (int i=0; i<nHolesToFill; i++){
ofxCvBlob blob = contourFinder.blobs.at(i);
int nPts = MIN(blob.nPts, MAX_N_CONTOUR_POINTS);
for (int j=0; j<nPts; j++){
ofPoint pt = blob.pts.at(j);
int px = (int) pt.x; // 0...imgw
int py = (int) pt.y; // 0...imgh
cvpts[0][j].x = px;
cvpts[0][j].y = py;
}
ncvpts[0] = nPts;
cvFillPoly (ofxCv8uC1_Blobs.getCvImage(), cvpts, ncvpts, 1, color_white, 8, 0 );
}
}
static int aPyrSegmentation(void* agr)
{
CvPoint _cp[] ={33,33, 43,33, 43,43, 33,43};
CvPoint _cp2[] ={50,50, 70,50, 70,70, 50,70};
CvPoint* cp = _cp;
CvPoint* cp2 = _cp2;
CvConnectedComp *dst_comp[3];
CvRect rect[3] = {50,50,21,21, 0,0,128,128, 33,33,11,11};
double a[3] = {441.0, 15822.0, 121.0};
/* ippiPoint cp3[] ={130,130, 150,130, 150,150, 130,150}; */
/* CvPoint cp[] ={0,0, 5,5, 5,0, 10,5, 10,0, 15,5, 15,0}; */
int chanels = (int)agr; /* number of the color chanels */
int width = 128;
int height = 128;
int nPoints = 4;
int block_size = 1000;
int color1 = 30, color2 = 110, color3 = 180;
int level = 5;
long diff, l;
int code;
CvMemStorage *storage; /* storage for connected component writing */
CvSeq *comp;
double lower, upper;
unsigned seed;
char rand;
AtsRandState state;
int i,j;
IplImage *image, *image_f, *image_s;
CvSize size;
uchar *f_cur, *f_row;
uchar *row;
uchar *cur;
int threshold1, threshold2;
code = TRS_OK;
if(chanels != 1 && chanels != 3)
return TRS_UNDEF;
/* read tests params */
if(!trsiRead( &width, "128", "image width" ))
return TRS_UNDEF;
if(!trsiRead( &height, "128", "image height" ))
return TRS_UNDEF;
if(!trsiRead( &level, "5", "pyramid level" ))
return TRS_UNDEF;
/* create Image */
l = width*height;
size.width = width;
size.height = height;
rect[1].height = height;
rect[1].width = width;
a[1] = l - a[0] - a[2];
image = cvCreateImage(cvSize(size.width, size.height), IPL_DEPTH_8U, chanels);
image_s = cvCreateImage(cvSize(size.width, size.height), IPL_DEPTH_8U, chanels);
memset(image->imageData, color1, chanels*l);
image_f = cvCreateImage(cvSize(size.width, size.height), IPL_DEPTH_8U, chanels);
OPENCV_CALL( storage = cvCreateMemStorage( block_size ) );
/* do noise */
upper = 20;
lower = -upper;
seed = 345753;
atsRandInit( &state, lower, upper, seed );
/* segmentation by pyramid */
threshold1 = 50;
threshold2 = 50;
switch(chanels)
{
case 1:
{
cvFillPoly( image, &cp, &nPoints, 1, color2);
cvFillPoly( image, &cp2, &nPoints, 1, color3);
row = (uchar*)image->imageData;
f_row = (uchar*)image_f->imageData;
for(i = 0; i<size.height; i++)
{
cur = row;
f_cur = f_row;
for(j = 0; j<size.width; j++)
{
atsbRand8s( &state, &rand, 1);
*(f_cur)=(uchar)((*cur) + rand);
cur++;
f_cur++;
}
row+=image->widthStep;
f_row+=image_f->widthStep;
}
cvPyrSegmentation( image_f, image_s,
storage, &comp,
level, threshold1, threshold2 );
//if(comp->total != 3) { code = TRS_FAIL; goto exit; }
/* read the connected components */
/*dst_comp[0] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 0 );
dst_comp[1] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 1 );
dst_comp[2] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 2 );*/
break;
}
case 3:
{
cvFillPoly( image, &cp, &nPoints, 1, CV_RGB(color2,color2,color2));
cvFillPoly( image, &cp2, &nPoints, 1, CV_RGB(color3,color3,color3));
row = (uchar*)image->imageData;
f_row = (uchar*)image_f->imageData;
for(i = 0; i<size.height; i++)
{
cur = row;
f_cur = f_row;
for(j = 0; j<size.width; j++)
{
atsbRand8s( &state, &rand, 1);
*(f_cur)=(uchar)((*cur) + rand);
atsbRand8s( &state, &rand, 1);
*(f_cur+1)=(uchar)(*(cur+1) + rand);
atsbRand8s( &state, &rand, 1);
*(f_cur+2)=(uchar)(*(cur+2) + rand);
cur+=3;
f_cur+=3;
}
row+=image->widthStep;
f_row+=image_f->widthStep;
}
cvPyrSegmentation(image_f, image_s, storage, &comp, level,
threshold1, threshold2);
/* read the connected components */
if(comp->total != 3) { code = TRS_FAIL; goto exit; }
dst_comp[0] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 0 );
dst_comp[1] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 1 );
dst_comp[2] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 2 );
break;
}
}
diff = 0;
/*diff = atsCompare1Db( (uchar*)image->imageData, (uchar*)image_s->imageData, chanels*l, 4);
for(i = 0; i < 3; i++)
{
if(dst_comp[i]->area != a[i]) diff++;
if(dst_comp[i]->rect.x != rect[i].x) diff++;
if(dst_comp[i]->rect.y != rect[i].y) diff++;
if(dst_comp[i]->rect.width != rect[i].width) diff++;
if(dst_comp[i]->rect.height != rect[i].height) diff++;
}*/
trsWrite( ATS_CON | ATS_LST | ATS_SUM, "upper =%f diff =%ld \n",upper, diff);
if(diff > 0 )
code = TRS_FAIL;
else
code = TRS_OK;
exit:
cvReleaseMemStorage( &storage );
cvReleaseImage(&image_f);
cvReleaseImage(&image);
cvReleaseImage(&image_s);
/* trsFree(cp); */
/* _getch(); */
return code;
}
static int aAdaptThreshold()
{
CvPoint *cp;
int parameter1 = 3;
double parameter2 = 10;
int width = 128;
int height = 128;
int kp = 5;
int nPoints2 = 20;
int fi = 0;
int a2 = 20;
int b2 = 25,xc,yc;
double pi = 3.1415926;
double lower, upper;
unsigned seed;
char rand;
AtsRandState state;
long diff_binary, diff_binary_inv;
int l,i,j;
IplImage *imBinary, *imBinary_inv, *imTo_zero, *imTo_zero_inv, *imInput, *imOutput;
CvSize size;
int code = TRS_OK;
// read tests params
if(!trsiRead( &width, "128", "image width" ))
return TRS_UNDEF;
if(!trsiRead( &height, "128", "image height" ))
return TRS_UNDEF;
// initialized image
l = width*height*sizeof(uchar);
cp = (CvPoint*) trsmAlloc(nPoints2*sizeof(CvPoint));
xc = (int)( width/2.);
yc = (int)( height/2.);
kp = nPoints2;
size.width = width;
size.height = height;
int xmin = width;
int ymin = height;
int xmax = 0;
int ymax = 0;
for(i=0;i<nPoints2;i++)
{
cp[i].x = (int)(a2*cos(2*pi*i/nPoints2)*cos(2*pi*fi/360.))-
(int)(b2*sin(2*pi*i/nPoints2)*sin(2*pi*fi/360.))+xc;
if(xmin> cp[i].x) xmin = cp[i].x;
if(xmax< cp[i].x) xmax = cp[i].x;
cp[i].y = (int)(a2*cos(2*pi*i/nPoints2)*sin(2*pi*fi/360.))+
(int)(b2*sin(2*pi*i/nPoints2)*cos(2*pi*fi/360.))+yc;
if(ymin> cp[i].y) ymin = cp[i].y;
if(ymax< cp[i].y) ymax = cp[i].y;
}
if(xmax>width||xmin<0||ymax>height||ymin<0) return TRS_FAIL;
// IPL image moment calculation
// create image
imBinary = cvCreateImage( size, 8, 1 );
imBinary_inv = cvCreateImage( size, 8, 1 );
imTo_zero = cvCreateImage( size, 8, 1 );
imTo_zero_inv = cvCreateImage( size, 8, 1 );
imOutput = cvCreateImage( size, 8, 1 );
imInput = cvCreateImage( size, 8, 1 );
int bgrn = 50;
int signal = 150;
memset(imInput->imageData,bgrn,l);
cvFillPoly(imInput, &cp, &kp, 1, cvScalarAll(signal));
// do noise
upper = 22;
lower = -upper;
seed = 345753;
atsRandInit( &state, lower, upper, seed );
uchar *input = (uchar*)imInput->imageData;
uchar *binary = (uchar*)imBinary->imageData;
uchar *binary_inv = (uchar*)imBinary_inv->imageData;
uchar *to_zero = (uchar*)imTo_zero->imageData;
uchar *to_zero_inv = (uchar*)imTo_zero_inv->imageData;
double *parameter = (double*)trsmAlloc(2*sizeof(double));
int step = imInput->widthStep;
for(i = 0; i<size.height; i++, input+=step, binary+=step, binary_inv+=step, to_zero+=step,to_zero_inv+=step)
{
for(j = 0; j<size.width; j++)
{
atsbRand8s( &state, &rand, 1);
if(input[j] == bgrn)
{
binary[j] = to_zero[j] = (uchar)0;
binary_inv[j] = (uchar)255;
to_zero_inv[j] = input [j] = (uchar)(bgrn + rand);
}
else
{
binary[j] = (uchar)255;
binary_inv[j] = to_zero_inv[j] = (uchar)0;
to_zero[j] = input[j] = (uchar)(signal + rand);
}
}
}
cvAdaptiveThreshold( imInput, imOutput, (double)255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, parameter1, parameter2 );
diff_binary = atsCompare1Db( (uchar*)imOutput->imageData, (uchar*)imBinary->imageData, l, 5);
cvAdaptiveThreshold( imInput, imOutput, (double)255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY_INV, parameter1, parameter2 );
diff_binary_inv = atsCompare1Db( (uchar*)imOutput->imageData, (uchar*)imBinary_inv->imageData, l, 5);
if( diff_binary > 5 || diff_binary_inv > 5 )
code = TRS_FAIL;
cvReleaseImage(&imInput);
cvReleaseImage(&imOutput);
cvReleaseImage(&imBinary);
cvReleaseImage(&imBinary_inv);
cvReleaseImage(&imTo_zero);
cvReleaseImage(&imTo_zero_inv);
trsWrite( ATS_CON | ATS_LST | ATS_SUM, "diff_binary =%ld \n", diff_binary);
trsWrite( ATS_CON | ATS_LST | ATS_SUM, "diff_binary_inv =%ld \n", diff_binary_inv);
trsFree(parameter);
trsFree(cp);
return code;
}
static GstFlowReturn
kms_crowd_detector_transform_frame_ip (GstVideoFilter * filter,
GstVideoFrame * frame)
{
KmsCrowdDetector *crowddetector = KMS_CROWD_DETECTOR (filter);
GstMapInfo info;
kms_crowd_detector_initialize_images (crowddetector, frame);
if ((crowddetector->priv->num_rois == 0)
&& (crowddetector->priv->rois != NULL)) {
kms_crowd_detector_extract_rois (crowddetector);
}
if (crowddetector->priv->pixels_rois_counted == TRUE &&
crowddetector->priv->actual_image != NULL) {
kms_crowd_detector_count_num_pixels_rois (crowddetector);
crowddetector->priv->pixels_rois_counted = FALSE;
}
gst_buffer_map (frame->buffer, &info, GST_MAP_READ);
crowddetector->priv->actual_image->imageData = (char *) info.data;
IplImage *frame_actual_gray =
cvCreateImage (cvSize (crowddetector->priv->actual_image->width,
crowddetector->priv->actual_image->height),
IPL_DEPTH_8U, 1);
cvZero (frame_actual_gray);
IplImage *actual_lbp =
cvCreateImage (cvSize (crowddetector->priv->actual_image->width,
crowddetector->priv->actual_image->height),
IPL_DEPTH_8U, 1);
cvZero (actual_lbp);
IplImage *lbp_temporal_result =
cvCreateImage (cvSize (crowddetector->priv->actual_image->width,
crowddetector->priv->actual_image->height),
IPL_DEPTH_8U, 1);
cvZero (lbp_temporal_result);
IplImage *add_lbps_result =
cvCreateImage (cvSize (crowddetector->priv->actual_image->width,
crowddetector->priv->actual_image->height),
IPL_DEPTH_8U, 1);
cvZero (add_lbps_result);
IplImage *lbps_alpha_result_rgb =
cvCreateImage (cvSize (crowddetector->priv->actual_image->width,
crowddetector->priv->actual_image->height),
IPL_DEPTH_8U, 3);
cvSet (lbps_alpha_result_rgb, CV_RGB (0, 0, 0), 0);
IplImage *actual_image_masked =
cvCreateImage (cvSize (crowddetector->priv->actual_image->width,
crowddetector->priv->actual_image->height), IPL_DEPTH_8U, 1);
cvZero (actual_image_masked);
IplImage *substract_background_to_actual =
cvCreateImage (cvSize (crowddetector->priv->actual_image->width,
crowddetector->priv->actual_image->height),
IPL_DEPTH_8U, 1);
cvZero (substract_background_to_actual);
IplImage *low_speed_map =
cvCreateImage (cvSize (crowddetector->priv->actual_image->width,
crowddetector->priv->actual_image->height),
IPL_DEPTH_8U, 1);
cvZero (low_speed_map);
IplImage *high_speed_map =
cvCreateImage (cvSize (crowddetector->priv->actual_image->width,
crowddetector->priv->actual_image->height),
IPL_DEPTH_8U, 1);
cvZero (high_speed_map);
IplImage *actual_motion =
cvCreateImage (cvSize (crowddetector->priv->actual_image->width,
crowddetector->priv->actual_image->height),
IPL_DEPTH_8U, 3);
cvSet (actual_motion, CV_RGB (0, 0, 0), 0);
IplImage *binary_actual_motion =
cvCreateImage (cvSize (crowddetector->priv->actual_image->width,
crowddetector->priv->actual_image->height),
IPL_DEPTH_8U, 1);
cvZero (binary_actual_motion);
uint8_t *low_speed_pointer;
uint8_t *low_speed_pointer_aux;
uint8_t *high_speed_pointer;
uint8_t *high_speed_pointer_aux;
uint8_t *actual_motion_pointer;
uint8_t *actual_motion_pointer_aux;
uint8_t *binary_actual_motion_pointer;
uint8_t *binary_actual_motion_pointer_aux;
int w, h;
if (crowddetector->priv->num_rois != 0) {
cvFillPoly (actual_image_masked, crowddetector->priv->curves,
crowddetector->priv->n_points, crowddetector->priv->num_rois,
cvScalar (255, 255, 255, 0), CV_AA, 0);
}
cvCvtColor (crowddetector->priv->actual_image, frame_actual_gray,
CV_BGR2GRAY);
kms_crowd_detector_mask_image (frame_actual_gray, actual_image_masked, 0);
if (crowddetector->priv->background == NULL) {
cvCopy (frame_actual_gray, crowddetector->priv->background, 0);
} else {
cvAddWeighted (crowddetector->priv->background, BACKGROUND_ADD_RATIO,
frame_actual_gray, 1 - BACKGROUND_ADD_RATIO, 0,
crowddetector->priv->background);
}
kms_crowd_detector_compute_temporal_lbp (frame_actual_gray, actual_lbp,
actual_lbp, FALSE);
kms_crowd_detector_compute_temporal_lbp (frame_actual_gray,
lbp_temporal_result, crowddetector->priv->frame_previous_gray, TRUE);
cvAddWeighted (crowddetector->priv->previous_lbp, LBPS_ADD_RATIO, actual_lbp,
(1 - LBPS_ADD_RATIO), 0, add_lbps_result);
cvSub (crowddetector->priv->previous_lbp, actual_lbp, add_lbps_result, 0);
cvThreshold (add_lbps_result, add_lbps_result, 70.0, 255.0, CV_THRESH_OTSU);
cvNot (add_lbps_result, add_lbps_result);
cvErode (add_lbps_result, add_lbps_result, 0, 4);
cvDilate (add_lbps_result, add_lbps_result, 0, 11);
cvErode (add_lbps_result, add_lbps_result, 0, 3);
cvCvtColor (add_lbps_result, lbps_alpha_result_rgb, CV_GRAY2BGR);
cvCopy (actual_lbp, crowddetector->priv->previous_lbp, 0);
cvCopy (frame_actual_gray, crowddetector->priv->frame_previous_gray, 0);
if (crowddetector->priv->acumulated_lbp == NULL) {
cvCopy (add_lbps_result, crowddetector->priv->acumulated_lbp, 0);
} else {
cvAddWeighted (crowddetector->priv->acumulated_lbp, TEMPORAL_LBPS_ADD_RATIO,
add_lbps_result, 1 - TEMPORAL_LBPS_ADD_RATIO, 0,
crowddetector->priv->acumulated_lbp);
}
cvThreshold (crowddetector->priv->acumulated_lbp, high_speed_map,
150.0, 255.0, CV_THRESH_BINARY);
cvSmooth (high_speed_map, high_speed_map, CV_MEDIAN, 3, 0, 0.0, 0.0);
kms_crowd_detector_substract_background (frame_actual_gray,
crowddetector->priv->background, substract_background_to_actual);
cvThreshold (substract_background_to_actual, substract_background_to_actual,
70.0, 255.0, CV_THRESH_OTSU);
cvCanny (substract_background_to_actual,
substract_background_to_actual, 70.0, 150.0, 3);
if (crowddetector->priv->acumulated_edges == NULL) {
cvCopy (substract_background_to_actual,
crowddetector->priv->acumulated_edges, 0);
} else {
cvAddWeighted (crowddetector->priv->acumulated_edges, EDGES_ADD_RATIO,
substract_background_to_actual, 1 - EDGES_ADD_RATIO, 0,
crowddetector->priv->acumulated_edges);
}
kms_crowd_detector_process_edges_image (crowddetector, low_speed_map, 3);
cvErode (low_speed_map, low_speed_map, 0, 1);
low_speed_pointer = (uint8_t *) low_speed_map->imageData;
high_speed_pointer = (uint8_t *) high_speed_map->imageData;
actual_motion_pointer = (uint8_t *) actual_motion->imageData;
binary_actual_motion_pointer = (uint8_t *) binary_actual_motion->imageData;
for (h = 0; h < low_speed_map->height; h++) {
low_speed_pointer_aux = low_speed_pointer;
high_speed_pointer_aux = high_speed_pointer;
actual_motion_pointer_aux = actual_motion_pointer;
binary_actual_motion_pointer_aux = binary_actual_motion_pointer;
for (w = 0; w < low_speed_map->width; w++) {
if (*high_speed_pointer_aux == 0) {
actual_motion_pointer_aux[0] = 255;
binary_actual_motion_pointer_aux[0] = 255;
}
if (*low_speed_pointer_aux == 255) {
*actual_motion_pointer_aux = 0;
actual_motion_pointer_aux[2] = 255;
binary_actual_motion_pointer_aux[0] = 255;
} else if (*high_speed_pointer_aux == 0) {
actual_motion_pointer_aux[0] = 255;
}
low_speed_pointer_aux++;
high_speed_pointer_aux++;
actual_motion_pointer_aux = actual_motion_pointer_aux + 3;
binary_actual_motion_pointer_aux++;
}
low_speed_pointer += low_speed_map->widthStep;
high_speed_pointer += high_speed_map->widthStep;
actual_motion_pointer += actual_motion->widthStep;
binary_actual_motion_pointer += binary_actual_motion->widthStep;
}
int curve;
for (curve = 0; curve < crowddetector->priv->num_rois; curve++) {
if (crowddetector->priv->rois_data[curve].send_optical_flow_event == TRUE) {
CvRect container =
kms_crowd_detector_get_square_roi_contaniner (crowddetector, curve);
cvSetImageROI (crowddetector->priv->actual_image, container);
cvSetImageROI (crowddetector->priv->previous_image, container);
cvSetImageROI (actual_motion, container);
kms_crowd_detector_compute_optical_flow (crowddetector,
binary_actual_motion, container, curve);
cvResetImageROI (crowddetector->priv->actual_image);
cvResetImageROI (crowddetector->priv->previous_image);
}
}
{
uint8_t *orig_row_pointer =
(uint8_t *) crowddetector->priv->actual_image->imageData;
uint8_t *overlay_row_pointer = (uint8_t *) actual_motion->imageData;
for (h = 0; h < crowddetector->priv->actual_image->height; h++) {
uint8_t *orig_column_pointer = orig_row_pointer;
uint8_t *overlay_column_pointer = overlay_row_pointer;
for (w = 0; w < crowddetector->priv->actual_image->width; w++) {
int c;
for (c = 0; c < crowddetector->priv->actual_image->nChannels; c++) {
if (overlay_column_pointer[c] != 0) {
orig_column_pointer[c] = overlay_column_pointer[c];
}
}
orig_column_pointer += crowddetector->priv->actual_image->nChannels;
overlay_column_pointer += actual_motion->nChannels;
}
orig_row_pointer += crowddetector->priv->actual_image->widthStep;
overlay_row_pointer += actual_motion->widthStep;
}
}
if (crowddetector->priv->num_rois != 0) {
cvPolyLine (crowddetector->priv->actual_image, crowddetector->priv->curves,
crowddetector->priv->n_points, crowddetector->priv->num_rois, 1,
cvScalar (255, 255, 255, 0), 1, 8, 0);
}
cvNot (high_speed_map, high_speed_map);
kms_crowd_detector_roi_analysis (crowddetector, low_speed_map,
high_speed_map);
cvReleaseImage (&frame_actual_gray);
cvReleaseImage (&actual_lbp);
cvReleaseImage (&lbp_temporal_result);
cvReleaseImage (&add_lbps_result);
cvReleaseImage (&lbps_alpha_result_rgb);
cvReleaseImage (&actual_image_masked);
cvReleaseImage (&substract_background_to_actual);
cvReleaseImage (&low_speed_map);
cvReleaseImage (&high_speed_map);
cvReleaseImage (&actual_motion);
cvReleaseImage (&binary_actual_motion);
gst_buffer_unmap (frame->buffer, &info);
return GST_FLOW_OK;
}
static int drawing_test()
{
static int read_params = 0;
static int read = 0;
const int channel = 3;
CvSize size = cvSize(600, 300);
int i, j;
int Errors = 0;
if( !read_params )
{
read_params = 1;
trsCaseRead( &read, "/n/y", "y", "Read from file ?" );
}
// Create image
IplImage* image = cvCreateImage( size, IPL_DEPTH_8U, channel );
// cvLine
cvZero( image );
for( i = 0; i < 100; i++ )
{
CvPoint p1 = cvPoint( i - 30, i * 4 + 10 );
CvPoint p2 = cvPoint( size.width + 30 - i, size.height - 10 - i * 4 );
cvLine( image, p1, p2, CV_RGB(178+i, 255-i, i), i % 10 );
}
Errors += ProcessImage( image, "cvLine", read );
// cvLineAA
cvZero( image );
for( i = 0; i < 100; i++ )
{
CvPoint p1 = cvPoint( i - 30, i * 4 + 10 );
CvPoint p2 = cvPoint( size.width + 30 - i, size.height - 10 - i * 4 );
cvLine( image, p1, p2, CV_RGB(178+i, 255-i, i), 1, CV_AA, 0 );
}
//Errors += ProcessImage( image, "cvLineAA", read );
// cvRectangle
cvZero( image );
for( i = 0; i < 100; i++ )
{
CvPoint p1 = cvPoint( i - 30, i * 4 + 10 );
CvPoint p2 = cvPoint( size.width + 30 - i, size.height - 10 - i * 4 );
cvRectangle( image, p1, p2, CV_RGB(178+i, 255-i, i), i % 10 );
}
Errors += ProcessImage( image, "cvRectangle", read );
#if 0
named_window( "Diff", 0 );
#endif
// cvCircle
cvZero( image );
for( i = 0; i < 100; i++ )
{
CvPoint p1 = cvPoint( i * 3, i * 2 );
CvPoint p2 = cvPoint( size.width - i * 3, size.height - i * 2 );
cvCircle( image, p1, i, CV_RGB(178+i, 255-i, i), i % 10 );
cvCircle( image, p2, i, CV_RGB(178+i, 255-i, i), i % 10 );
#if 0
show_iplimage( "Diff", image );
wait_key(0);
#endif
}
Errors += ProcessImage( image, "cvCircle", read );
// cvCircleAA
cvZero( image );
for( i = 0; i < 100; i++ )
{
CvPoint p1 = cvPoint( i * 3, i * 2 );
CvPoint p2 = cvPoint( size.width - i * 3, size.height - i * 2 );
cvCircleAA( image, p1, i, RGB(i, 255 - i, 178 + i), 0 );
cvCircleAA( image, p2, i, RGB(i, 255 - i, 178 + i), 0 );
}
Errors += ProcessImage( image, "cvCircleAA", read );
// cvEllipse
cvZero( image );
for( i = 10; i < 100; i += 10 )
{
CvPoint p1 = cvPoint( i * 6, i * 3 );
CvSize axes = cvSize( i * 3, i * 2 );
cvEllipse( image, p1, axes,
180 * i / 100, 90 * i / 100, 90 * (i - 100) / 100,
CV_RGB(178+i, 255-i, i), i % 10 );
}
Errors += ProcessImage( image, "cvEllipse", read );
// cvEllipseAA
cvZero( image );
for( i = 10; i < 100; i += 10 )
{
CvPoint p1 = cvPoint( i * 6, i * 3 );
CvSize axes = cvSize( i * 3, i * 2 );
cvEllipseAA( image, p1, axes,
180 * i / 100, 90 * i / 100, 90 * (i - 100) / 100,
RGB(i, 255 - i, 178 + i), i % 10 );
}
Errors += ProcessImage( image, "cvEllipseAA", read );
// cvFillConvexPoly
cvZero( image );
for( j = 0; j < 5; j++ )
for( i = 0; i < 100; i += 10 )
{
CvPoint p[4] = {{ j * 100 - 10, i }, { j * 100 + 10, i },
{ j * 100 + 30, i * 2 }, { j * 100 + 170, i * 3 }};
cvFillConvexPoly( image, p, 4, CV_RGB(178+i, 255-i, i) );
}
Errors += ProcessImage( image, "cvFillConvexPoly", read );
// cvFillPoly
cvZero( image );
for( i = 0; i < 100; i += 10 )
{
CvPoint p0[] = {{-10, i}, { 10, i}, { 30, i * 2}, {170, i * 3}};
CvPoint p1[] = {{ 90, i}, {110, i}, {130, i * 2}, {270, i * 3}};
CvPoint p2[] = {{190, i}, {210, i}, {230, i * 2}, {370, i * 3}};
CvPoint p3[] = {{290, i}, {310, i}, {330, i * 2}, {470, i * 3}};
CvPoint p4[] = {{390, i}, {410, i}, {430, i * 2}, {570, i * 3}};
CvPoint* p[] = {p0, p1, p2, p3, p4};
int n[] = {4, 4, 4, 4, 4};
cvFillPoly( image, p, n, 5, CV_RGB(178+i, 255-i, i) );
}
Errors += ProcessImage( image, "cvFillPoly", read );
// cvPolyLine
cvZero( image );
for( i = 0; i < 100; i += 10 )
{
CvPoint p0[] = {{-10, i}, { 10, i}, { 30, i * 2}, {170, i * 3}};
CvPoint p1[] = {{ 90, i}, {110, i}, {130, i * 2}, {270, i * 3}};
CvPoint p2[] = {{190, i}, {210, i}, {230, i * 2}, {370, i * 3}};
CvPoint p3[] = {{290, i}, {310, i}, {330, i * 2}, {470, i * 3}};
CvPoint p4[] = {{390, i}, {410, i}, {430, i * 2}, {570, i * 3}};
CvPoint* p[] = {p0, p1, p2, p3, p4};
int n[] = {4, 4, 4, 4, 4};
cvPolyLine( image, p, n, 5, 1, CV_RGB(178+i, 255-i, i), i % 10 );
}
Errors += ProcessImage( image, "cvPolyLine", read );
// cvPolyLineAA
cvZero( image );
for( i = 0; i < 100; i += 10 )
{
CvPoint p0[] = {{-10, i}, { 10, i}, { 30, i * 2}, {170, i * 3}};
CvPoint p1[] = {{ 90, i}, {110, i}, {130, i * 2}, {270, i * 3}};
CvPoint p2[] = {{190, i}, {210, i}, {230, i * 2}, {370, i * 3}};
CvPoint p3[] = {{290, i}, {310, i}, {330, i * 2}, {470, i * 3}};
CvPoint p4[] = {{390, i}, {410, i}, {430, i * 2}, {570, i * 3}};
CvPoint* p[] = {p0, p1, p2, p3, p4};
int n[] = {4, 4, 4, 4, 4};
cvPolyLineAA( image, p, n, 5, 1, RGB(i, 255 - i, 178 + i), 0 );
}
Errors += ProcessImage( image, "cvPolyLineAA", read );
// cvPolyLineAA
cvZero( image );
for( i = 1; i < 10; i++ )
{
CvFont font;
cvInitFont( &font, CV_FONT_VECTOR0,
(double)i / 5, (double)i / 5, (double)i / 10, i );
cvPutText( image, "privet. this is test. :)", cvPoint(0, i * 20), &font, CV_RGB(178+i, 255-i, i) );
}
Errors += ProcessImage( image, "cvPutText", read );
cvReleaseImage( &image );
return Errors ? trsResult( TRS_FAIL, "errors" ) : trsResult( TRS_OK, "ok" );
}
void testApp::doVision() {
float startTime = ofGetElapsedTimef();
float img[VISION_WIDTH*VISION_HEIGHT];
float *distPix = kinect.getDistancePixels();
float kinectRangeFar = 4000;
float kinectRangeNear = 500;
float denom = (kinectRangeFar - kinectRangeNear) * (maxWaterDepth - waterThreshold);
if(denom==0) denom = 0.0001;
float subtractor = kinectRangeFar - waterThreshold*(kinectRangeFar - kinectRangeNear);
for(int i = 0; i < VISION_WIDTH*VISION_HEIGHT; i++) {
int x = i % VISION_WIDTH;
int y = i / VISION_WIDTH;
int ii = x*2 + y * 2 * KINECT_WIDTH;
// this is slow
//img[i] = ofMap(ofMap(distPix[i], 500, 4000, 1, 0), maxWaterDepth, waterThreshold, 1, 0);
img[i] = (subtractor - distPix[ii])/denom;
if(img[i]>1) img[i] = 0;
if(img[i]<0) img[i] = 0;
}
depthImg.setFromPixels(img,VISION_WIDTH,VISION_HEIGHT);
if(flipX || flipY) depthImg.mirror(flipY, flipX);
rangeScaledImg = depthImg;
for(int i = 0; i < blurIterations; i++) {
rangeScaledImg.blur(2*blurSize+1);
}
if(erode) {
rangeScaledImg.erode();
}
if(dilate) {
rangeScaledImg.dilate();
}
if(accumulateBackground) {
cvMax(bgImg.getCvImage(), rangeScaledImg.getCvImage(), bgImg.getCvImage());
bgImg.flagImageChanged();
backgroundAccumulationCount++;
if(backgroundAccumulationCount>100) {
accumulateBackground = false;
backgroundAccumulationCount = 0;
}
}
float *fgPix = rangeScaledImg.getPixelsAsFloats();
float *bgPix = bgImg.getPixelsAsFloats();
int numPix = VISION_WIDTH * VISION_HEIGHT;
for(int i = 0; i < numPix; i++) {
if(fgPix[i]<=bgPix[i]+backgroundHysteresis) {
fgPix[i] = 0;
}
}
rangeScaledImg.setFromPixels(fgPix, VISION_WIDTH, VISION_HEIGHT);
maskedImg = rangeScaledImg;
CvPoint points[NUM_MASK_POINTS];
for(int i = 0; i < NUM_MASK_POINTS; i++) {
points[i] = cvPoint(mask[i].x, mask[i].y);
}
CvPoint fill[4];
fill[0] = cvPoint(0, 0);
fill[1] = cvPoint(VISION_WIDTH, 0);
fill[2] = cvPoint(VISION_WIDTH, VISION_HEIGHT);
fill[3] = cvPoint(0, VISION_HEIGHT);
CvPoint *allPoints[2];
allPoints[0] = points;
allPoints[1] = fill;
int numPoints[2];
numPoints[0] = NUM_MASK_POINTS;
numPoints[1] = 4;
// mask out the bit we're interested in
cvFillPoly(
maskedImg.getCvImage(), allPoints,
numPoints,
2, cvScalar(0)
);
maskedImg.flagImageChanged();
contourFinder.findContours(maskedImg, minBlobSize*minBlobSize, maxBlobSize*maxBlobSize, 20, false);
// compare each blob against the other and eradicate any blobs that are too close to eachother
if(blobs.size()>0) {
for(int i = 0; i < contourFinder.blobs.size(); i++) {
for(int j = i+1; j < contourFinder.blobs.size(); j++) {
float dist = tricks::math::getClosestDistanceBetweenTwoContours(
contourFinder.blobs[i].pts,
contourFinder.blobs[j].pts, 3);
// find which one is closest to any other blob and delete the other one
if(dist<20) {
float distToI = FLT_MAX;
float distToJ = FLT_MAX;
for(map<int,Blob>::iterator it = blobs.begin(); it!=blobs.end(); it++) {
distToI = MIN(distToI, (*it).second.distanceSquared(ofVec2f(contourFinder.blobs[i].centroid)));
distToJ = MIN(distToJ, (*it).second.distanceSquared(ofVec2f(contourFinder.blobs[j].centroid)));
}
if(distToI<distToJ) {
// merge the jth into the ith, and delete the jth one
mergeBlobIntoBlob(contourFinder.blobs[i], contourFinder.blobs[j]);
contourFinder.blobs.erase(contourFinder.blobs.begin() + j);
j--;
} else {
// merge the ith into the jth, and delete the ith one
mergeBlobIntoBlob(contourFinder.blobs[j], contourFinder.blobs[i]);
contourFinder.blobs.erase(contourFinder.blobs.begin() + i);
i--;
break;
}
}
}
}
}
blobTracker.trackBlobs(contourFinder.blobs);
}
//获取样本的鼠标操作的窗口过程,生成正负样本
void CMyImage::on_mouseProc( int event, int x, int y, int flags, void* param)
{
myParam *myparam = (myParam*)param;
//如果是左键点击
if(myparam->drawFlag==false && myparam->finishFlag == false && event==CV_EVENT_LBUTTONDOWN)
{
myparam->drawFlag = true;
}
if(myparam->drawFlag==true && myparam->finishFlag == false && event==CV_EVENT_MOUSEMOVE)
{
IplImage *tempImage = 0;
tempImage = cvCreateImage(cvGetSize(myparam->img), IPL_DEPTH_8U, 1);
tempImage = cvCloneImage(myparam->img);
cvRectangle(tempImage,cvPoint(x,y),cvPoint(x+40,y+40),cvScalar(255,255,255),1);
cvShowImage("Image",tempImage);
}
//右键点击，则生成样本
if(myparam->drawFlag==true && myparam->finishFlag == false && event==CV_EVENT_RBUTTONDOWN)
{
CFileStatus rStatus;
CString dirPath = "C:\\OpenCVTrain\\Template";
if(!CFile::GetStatus(dirPath,rStatus)) //目录不存在
{
mkdir(dirPath);
}
CvMat *dst;
dst=cvCreateMat(40,40,CV_8UC1);
CvRect subRect;
subRect=cvRect(x,y,40,40);
cvGetSubRect(myparam->img,dst,subRect);
IplImage *dst1;
dst1=cvCreateImage(cvSize(40,40),IPL_DEPTH_8U,1);
cvGetImage(dst,dst1);
CString filePath;
CString fileName;
fileName.Format("%d%d%s.jpg",x,y,CTime::GetCurrentTime().Format("%Y%m%d%H%M%S"));//保存正样本
filePath = dirPath + "\\" + fileName;
cvSaveImage(filePath,dst1);
// 将目标区域填充成白色，再将整幅图保存为背景图（负样本）
CvPoint curve1[]={x,y, x+40,y, x+42,y+40, x,y+40};
CvPoint* curveArr[1]={curve1};
int nCurvePts[1]={4};
int nCurves=1;
cvFillPoly(myparam->img,curveArr,nCurvePts,nCurves,cvScalar(255,255,255));
CString diroffPath = "C:\\OpenCVTrain\\offTemplate";
if(!CFile::GetStatus(diroffPath,rStatus)) //目录不存在
{
mkdir(diroffPath);
}
CString bgFilePath;
CString bgFileName;
bgFileName.Format("%d%d%s.jpg",x,y,CTime::GetCurrentTime().Format("%Y%m%d%H%M%S"));//保存负样本
bgFilePath = diroffPath + "\\" + fileName;
cvSaveImage(bgFilePath,myparam->img);
myparam->drawFlag = false;
myparam->finishFlag = true;
}
}
void CV_PyrSegmentationTest::run( int /*start_from*/ )
{
const int level = 5;
const double range = 20;
int code = CvTS::OK;
CvPoint _cp[] ={{33,33}, {43,33}, {43,43}, {33,43}};
CvPoint _cp2[] ={{50,50}, {70,50}, {70,70}, {50,70}};
CvPoint* cp = _cp;
CvPoint* cp2 = _cp2;
CvConnectedComp *dst_comp[3];
CvRect rect[3] = {{50,50,21,21}, {0,0,128,128}, {33,33,11,11}};
double a[3] = {441.0, 15822.0, 121.0};
/* ippiPoint cp3[] ={130,130, 150,130, 150,150, 130,150}; */
/* CvPoint cp[] ={0,0, 5,5, 5,0, 10,5, 10,0, 15,5, 15,0}; */
int nPoints = 4;
int block_size = 1000;
CvMemStorage *storage; /* storage for connected component writing */
CvSeq *comp;
CvRNG* rng = ts->get_rng();
int i, j, iter;
IplImage *image, *image_f, *image_s;
CvSize size = {128, 128};
const int threshold1 = 50, threshold2 = 50;
rect[1].width = size.width;
rect[1].height = size.height;
a[1] = size.width*size.height - a[0] - a[2];
OPENCV_CALL( storage = cvCreateMemStorage( block_size ) );
for( iter = 0; iter < 2; iter++ )
{
int channels = iter == 0 ? 1 : 3;
int mask[] = {0,0,0};
image = cvCreateImage(size, 8, channels );
image_s = cvCloneImage( image );
image_f = cvCloneImage( image );
if( channels == 1 )
{
int color1 = 30, color2 = 110, color3 = 180;
cvSet( image, cvScalarAll(color1));
cvFillPoly( image, &cp, &nPoints, 1, cvScalar(color2));
cvFillPoly( image, &cp2, &nPoints, 1, cvScalar(color3));
}
else
{
CvScalar color1 = CV_RGB(30,30,30), color2 = CV_RGB(255,0,0), color3 = CV_RGB(0,255,0);
assert( channels == 3 );
cvSet( image, color1 );
cvFillPoly( image, &cp, &nPoints, 1, color2);
cvFillPoly( image, &cp2, &nPoints, 1, color3);
}
cvRandArr( rng, image_f, CV_RAND_UNI, cvScalarAll(0), cvScalarAll(range*2) );
cvAddWeighted( image, 1, image_f, 1, -range, image_f );
cvPyrSegmentation( image_f, image_s,
storage, &comp,
level, threshold1, threshold2 );
if(comp->total != 3)
{
ts->printf( CvTS::LOG,
"The segmentation function returned %d (not 3) components\n", comp->total );
code = CvTS::FAIL_INVALID_OUTPUT;
goto _exit_;
}
/* read the connected components */
dst_comp[0] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 0 );
dst_comp[1] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 1 );
dst_comp[2] = (CvConnectedComp*)CV_GET_SEQ_ELEM( CvConnectedComp, comp, 2 );
/*{
for( i = 0; i < 3; i++ )
{
CvRect r = dst_comp[i]->rect;
cvRectangle( image_s, cvPoint(r.x,r.y), cvPoint(r.x+r.width,r.y+r.height),
CV_RGB(255,255,255), 3, 8, 0 );
}
cvNamedWindow( "test", 1 );
cvShowImage( "test", image_s );
cvWaitKey(0);
}*/
code = cvTsCmpEps2( ts, image, image_s, 10, false, "the output image" );
if( code < 0 )
goto _exit_;
for( i = 0; i < 3; i++)
{
for( j = 0; j < 3; j++ )
{
if( !mask[j] && dst_comp[i]->area == a[j] &&
dst_comp[i]->rect.x == rect[j].x &&
dst_comp[i]->rect.y == rect[j].y &&
dst_comp[i]->rect.width == rect[j].width &&
dst_comp[i]->rect.height == rect[j].height )
{
mask[j] = 1;
break;
}
}
if( j == 3 )
{
ts->printf( CvTS::LOG, "The component #%d is incorrect\n", i );
code = CvTS::FAIL_BAD_ACCURACY;
goto _exit_;
}
}
cvReleaseImage(&image_f);
cvReleaseImage(&image);
cvReleaseImage(&image_s);
}
_exit_:
cvReleaseMemStorage( &storage );
cvReleaseImage(&image_f);
cvReleaseImage(&image);
cvReleaseImage(&image_s);
if( code < 0 )
ts->set_failed_test_info( code );
}
int main(int argc, char* argv[]) {
CvMemStorage *contStorage = cvCreateMemStorage(0);
CvSeq *contours;
CvTreeNodeIterator polyIterator;
CvMemStorage *mallet_storage;
CvSeq *mallet_circles = 0;
float *mallet_p;
int mi;
int found = 0;
int i;
CvPoint poly_point;
int fps=30;
int npts[2] = { 4, 12 };
CvPoint **pts;
pts = (CvPoint **) cvAlloc (sizeof (CvPoint *) * 2);
pts[0] = (CvPoint *) cvAlloc (sizeof (CvPoint) * 4);
pts[1] = (CvPoint *) cvAlloc (sizeof (CvPoint) * 12);
pts[0][0] = cvPoint(0,0);
pts[0][1] = cvPoint(160,0);
pts[0][2] = cvPoint(320,240);
pts[0][3] = cvPoint(0,240);
pts[1][0] = cvPoint(39,17);
pts[1][1] = cvPoint(126,15);
pts[1][2] = cvPoint(147,26);
pts[1][3] = cvPoint(160,77);
pts[1][4] = cvPoint(160,164);
pts[1][5] = cvPoint(145,224);
pts[1][6] = cvPoint(125,233);
pts[1][7] = cvPoint(39,233);
pts[1][8] = cvPoint(15,217);
pts[1][9] = cvPoint(0,133);
pts[1][10] = cvPoint(0,115);
pts[1][11] = cvPoint(17,28);
// ポリライン近似
CvMemStorage *polyStorage = cvCreateMemStorage(0);
CvSeq *polys, *poly;
// OpenCV variables
CvFont font;
printf("start!\n");
//pwm initialize
if(gpioInitialise() < 0) return -1;
//pigpio CW/CCW pin setup
//X:18, Y1:14, Y2:15
gpioSetMode(18, PI_OUTPUT);
gpioSetMode(14, PI_OUTPUT);
gpioSetMode(15, PI_OUTPUT);
//pigpio pulse setup
//X:25, Y1:23, Y2:24
gpioSetMode(25, PI_OUTPUT);
gpioSetMode(23, PI_OUTPUT);
gpioSetMode(24, PI_OUTPUT);
//limit-switch setup
gpioSetMode(5, PI_INPUT);
gpioWrite(5, 0);
gpioSetMode(6, PI_INPUT);
gpioWrite(6, 0);
gpioSetMode(7, PI_INPUT);
gpioWrite(7, 0);
gpioSetMode(8, PI_INPUT);
gpioWrite(8, 0);
gpioSetMode(13, PI_INPUT);
gpioSetMode(19, PI_INPUT);
gpioSetMode(26, PI_INPUT);
gpioSetMode(21, PI_INPUT);
CvCapture* capture_robot_side = cvCaptureFromCAM(0);
CvCapture* capture_human_side = cvCaptureFromCAM(1);
if(capture_robot_side == NULL){
std::cout << "Robot Side Camera Capture FAILED" << std::endl;
return -1;
}
if(capture_human_side ==NULL){
std::cout << "Human Side Camera Capture FAILED" << std::endl;
return -1;
}
// size設定
cvSetCaptureProperty(capture_robot_side,CV_CAP_PROP_FRAME_WIDTH,CAM_PIX_WIDTH);
cvSetCaptureProperty(capture_robot_side,CV_CAP_PROP_FRAME_HEIGHT,CAM_PIX_HEIGHT);
cvSetCaptureProperty(capture_human_side,CV_CAP_PROP_FRAME_WIDTH,CAM_PIX_WIDTH);
cvSetCaptureProperty(capture_human_side,CV_CAP_PROP_FRAME_HEIGHT,CAM_PIX_HEIGHT);
//fps設定
cvSetCaptureProperty(capture_robot_side,CV_CAP_PROP_FPS,fps);
cvSetCaptureProperty(capture_human_side,CV_CAP_PROP_FPS,fps);
// 画像の表示用ウィンドウ生成
//cvNamedWindow("Previous Image", CV_WINDOW_AUTOSIZE);
cvNamedWindow("Now Image", CV_WINDOW_AUTOSIZE);
cvNamedWindow("pack", CV_WINDOW_AUTOSIZE);
cvNamedWindow("mallet", CV_WINDOW_AUTOSIZE);
cvNamedWindow ("Poly", CV_WINDOW_AUTOSIZE);
//Create trackbar to change brightness
int iSliderValue1 = 50;
cvCreateTrackbar("Brightness", "Now Image", &iSliderValue1, 100);
//Create trackbar to change contrast
int iSliderValue2 = 50;
cvCreateTrackbar("Contrast", "Now Image", &iSliderValue2, 100);
//pack threthold 0, 50, 120, 220, 100, 220
int iSliderValuePack1 = 54; //80;
cvCreateTrackbar("minH", "pack", &iSliderValuePack1, 255);
int iSliderValuePack2 = 84;//106;
cvCreateTrackbar("maxH", "pack", &iSliderValuePack2, 255);
int iSliderValuePack3 = 100;//219;
cvCreateTrackbar("minS", "pack", &iSliderValuePack3, 255);
int iSliderValuePack4 = 255;//175;
cvCreateTrackbar("maxS", "pack", &iSliderValuePack4, 255);
int iSliderValuePack5 = 0;//29;
cvCreateTrackbar("minV", "pack", &iSliderValuePack5, 255);
int iSliderValuePack6 = 255;//203;
cvCreateTrackbar("maxV", "pack", &iSliderValuePack6, 255);
//mallet threthold 0, 255, 100, 255, 140, 200
int iSliderValuemallet1 = 107;
cvCreateTrackbar("minH", "mallet", &iSliderValuemallet1, 255);
int iSliderValuemallet2 = 115;
cvCreateTrackbar("maxH", "mallet", &iSliderValuemallet2, 255);
int iSliderValuemallet3 = 218;//140
cvCreateTrackbar("minS", "mallet", &iSliderValuemallet3, 255);
int iSliderValuemallet4 = 255;
cvCreateTrackbar("maxS", "mallet", &iSliderValuemallet4, 255);
int iSliderValuemallet5 = 0;
cvCreateTrackbar("minV", "mallet", &iSliderValuemallet5, 255);
int iSliderValuemallet6 = 255;
cvCreateTrackbar("maxV", "mallet", &iSliderValuemallet6, 255);
// 画像ファイルポインタの宣言
IplImage* img_robot_side = cvQueryFrame(capture_robot_side);
IplImage* img_human_side = cvQueryFrame(capture_human_side);
IplImage* img_all_round = cvCreateImage(cvSize(CAM_PIX_WIDTH, CAM_PIX_2HEIGHT), IPL_DEPTH_8U, 3);
IplImage* tracking_img = cvCreateImage(cvGetSize(img_all_round), IPL_DEPTH_8U, 3);
IplImage* img_all_round2 = cvCreateImage(cvGetSize(img_all_round), IPL_DEPTH_8U, 3);
IplImage* show_img = cvCreateImage(cvGetSize(img_all_round), IPL_DEPTH_8U, 3);
cv::Mat mat_frame1;
cv::Mat mat_frame2;
cv::Mat dst_img_v;
cv::Mat dst_bright_cont;
int iBrightness = iSliderValue1 - 50;
double dContrast = iSliderValue2 / 50.0;
IplImage* dst_img_frame = cvCreateImage(cvGetSize(img_all_round), IPL_DEPTH_8U, 3);
IplImage* grayscale_img = cvCreateImage(cvGetSize(img_all_round), IPL_DEPTH_8U, 1);
IplImage* poly_tmp = cvCreateImage( cvGetSize( img_all_round), IPL_DEPTH_8U, 1);
IplImage* poly_dst = cvCreateImage( cvGetSize( img_all_round), IPL_DEPTH_8U, 3);
IplImage* poly_gray = cvCreateImage( cvGetSize(img_all_round),IPL_DEPTH_8U,1);
int rotate_times = 0;
//IplImage* -> Mat
mat_frame1 = cv::cvarrToMat(img_robot_side);
mat_frame2 = cv::cvarrToMat(img_human_side);
//上下左右を反転。本番環境では、mat_frame1を反転させる
cv::flip(mat_frame1, mat_frame1, 0); //水平軸で反転（垂直反転）
cv::flip(mat_frame1, mat_frame1, 1); //垂直軸で反転（水平反転）
vconcat(mat_frame2, mat_frame1, dst_img_v);
dst_img_v.convertTo(dst_bright_cont, -1, dContrast, iBrightness); //１枚にした画像をコンバート
//画像の膨張と縮小
// cv::Mat close_img;
// cv::Mat element(3,3,CV_8U, cv::Scalar::all(255));
// cv::morphologyEx(dst_img_v, close_img, cv::MORPH_CLOSE, element, cv::Point(-1,-1), 3);
// cv::imshow("morphologyEx", dst_img_v);
// dst_img_v.convertTo(dst_bright_cont, -1, dContrast, iBrightness); //１枚にした画像をコンバート
//明るさ調整した結果を変換(Mat->IplImage*)して渡す。その後解放。
*img_all_round = dst_bright_cont;
cv_ColorExtraction(img_all_round, dst_img_frame, CV_BGR2HSV, 0, 11, 180, 255, 0, 255);
cvCvtColor(dst_img_frame, grayscale_img, CV_BGR2GRAY);
cv_Labelling(grayscale_img, tracking_img);
cvCvtColor(tracking_img, poly_gray, CV_BGR2GRAY);
cvCopy( poly_gray, poly_tmp);
cvCvtColor( poly_gray, poly_dst, CV_GRAY2BGR);
//画像の膨張と縮小
//cvMorphologyEx(tracking_img, tracking_img,)
// 輪郭抽出
found = cvFindContours( poly_tmp, contStorage, &contours, sizeof( CvContour), CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
// ポリライン近似
polys = cvApproxPoly( contours, sizeof( CvContour), polyStorage, CV_POLY_APPROX_DP, 8, 10);
cvInitTreeNodeIterator( &polyIterator, ( void*)polys, 10);
poly = (CvSeq *)cvNextTreeNode( &polyIterator);
printf("sort before by X\n");
for( i=0; i<poly->total; i++)
{
poly_point = *( CvPoint*)cvGetSeqElem( poly, i);
cvCircle( poly_dst, poly_point, 1, CV_RGB(255, 0 , 255), -1);
cvCircle( poly_dst, poly_point, 8, CV_RGB(255, 0 , 255));
std::cout << "x:" << poly_point.x << ", y:" << poly_point.y << std::endl;
}
printf("Poly FindTotal:%d\n",poly->total);
//枠の座標決定
//左上 の 壁サイド側 upper_left_f
//左上 の ゴール寄り upper_left_g
//右上 の 壁サイド側 upper_right_f
//右上 の ゴール寄り upper_right_g
//左下 の 壁サイド側 lower_left_f
//左下 の ゴール寄り lower_left_g
//右下 の 壁サイド側 lower_right_f
//右下 の ゴール寄り lower_right_g
CvPoint upper_left_f, upper_left_g, upper_right_f, upper_right_g,
lower_left_f, lower_left_g, lower_right_f, lower_right_g,
robot_goal_left, robot_goal_right;
CvPoint frame_points[8];
// if(poly->total == 8){
// for( i=0; i<8; i++){
// poly_point = *( CvPoint*)cvGetSeqElem( poly, i);
// frame_points[i] = poly_point;
// }
// qsort(frame_points, 8, sizeof(CvPoint), compare_cvpoint);
// printf("sort after by X\n");
// for( i=0; i<8; i++){
// std::cout << "x:" << frame_points[i].x << ", y:" << frame_points[i].y << std::endl;
// }
// if(frame_points[0].y < frame_points[1].y){
// upper_left_f = frame_points[0];
// lower_left_f = frame_points[1];
// }
// else{
// upper_left_f = frame_points[1];
// lower_left_f = frame_points[0];
// }
// if(frame_points[2].y < frame_points[3].y){
// upper_left_g = frame_points[2];
// lower_left_g = frame_points[3];
// }
// else{
// upper_left_g = frame_points[3];
// lower_left_g = frame_points[2];
// }
// if(frame_points[4].y < frame_points[5].y){
// upper_right_g = frame_points[4];
// lower_right_g = frame_points[5];
// }
// else{
// upper_right_g = frame_points[5];
// lower_right_g = frame_points[4];
// }
// if(frame_points[6].y < frame_points[7].y){
// upper_right_f = frame_points[6];
// lower_right_f = frame_points[7];
// }
// else{
// upper_right_f = frame_points[7];
// lower_right_f = frame_points[6];
// }
// }
// else{
printf("Frame is not 8 Point\n");
upper_left_f = cvPoint(26, 29);
upper_right_f = cvPoint(136, 29);
lower_left_f = cvPoint(26, 220);
lower_right_f = cvPoint(136, 220);
upper_left_g = cvPoint(38, 22);
upper_right_g = cvPoint(125, 22);
lower_left_g = cvPoint(38, 226);
lower_right_g = cvPoint(125, 226);
robot_goal_left = cvPoint(60, 226);
robot_goal_right = cvPoint(93, 226);
// cvCopy(img_all_round, show_img);
// cvLine(show_img, upper_left_f, upper_right_f, CV_RGB( 255, 255, 0 ));
// cvLine(show_img, lower_left_f, lower_right_f, CV_RGB( 255, 255, 0 ));
// cvLine(show_img, upper_right_f, lower_right_f, CV_RGB( 255, 255, 0 ));
// cvLine(show_img, upper_left_f, lower_left_f, CV_RGB( 255, 255, 0 ));
//
// cvLine(show_img, upper_left_g, upper_right_g, CV_RGB( 0, 255, 0 ));
// cvLine(show_img, lower_left_g, lower_right_g, CV_RGB( 0, 255, 0 ));
// cvLine(show_img, upper_right_g, lower_right_g, CV_RGB( 0, 255, 0 ));
// cvLine(show_img, upper_left_g, lower_left_g, CV_RGB( 0, 255, 0 ));
//while(1){
//cvShowImage("Now Image", show_img);
//cvShowImage ("Poly", poly_dst);
//if(cv::waitKey(1) >= 0) {
//break;
//}
//}
//return -1;
// }
printf("upper_left_fX:%d, Y:%d\n",upper_left_f.x, upper_left_f.y);
printf("upper_left_gX:%d, Y:%d\n",upper_left_g.x, upper_left_g.y);
printf("upper_right_fX:%d,Y:%d\n", upper_right_f.x, upper_right_f.y);
printf("upper_right_gX:%d, Y:%d\n" , upper_right_g.x, upper_right_g.y);
printf("lower_left_fX:%d, Y:%d\n", lower_left_f.x, lower_left_f.y);
printf("lower_left_gX:%d, Y:%d\n", lower_left_g.x, lower_left_g.y);
printf("lower_right_fX:%d, Y:%d\n", lower_right_f.x, lower_right_f.y);
printf("lower_right_gX:%d, Y:%d\n", lower_right_g.x, lower_right_g.y);
printf("robot_goal_left:%d, Y:%d\n", robot_goal_left.x, robot_goal_left.y);
printf("robot_goal_right:%d, Y:%d\n", robot_goal_right.x, robot_goal_right.y);
cvReleaseImage(&dst_img_frame);
cvReleaseImage(&grayscale_img);
cvReleaseImage(&poly_tmp);
cvReleaseImage(&poly_gray);
cvReleaseMemStorage(&contStorage);
cvReleaseMemStorage(&polyStorage);
//return 1;
// Init font
cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX|CV_FONT_ITALIC, 0.4,0.4,0,1);
bool is_pushed_decision_button = 1;//もう一方のラズパイ信号にする
while(1){
//決定ボタンが押されたらスタート
if(gpioRead(8)==0 && is_pushed_decision_button==1){
cvCopy(img_all_round, img_all_round2);
cvCopy(img_all_round, show_img);
img_robot_side = cvQueryFrame(capture_robot_side);
img_human_side = cvQueryFrame(capture_human_side);
//IplImage* -> Mat
mat_frame1 = cv::cvarrToMat(img_robot_side);
mat_frame2 = cv::cvarrToMat(img_human_side);
//上下左右を反転。本番環境では、mat_frame1を反転させる
cv::flip(mat_frame1, mat_frame1, 0); //水平軸で反転（垂直反転）
cv::flip(mat_frame1, mat_frame1, 1); //垂直軸で反転（水平反転）
vconcat(mat_frame2, mat_frame1, dst_img_v);
iBrightness = iSliderValue1 - 50;
dContrast = iSliderValue2 / 50.0;
dst_img_v.convertTo(dst_bright_cont, -1, dContrast, iBrightness); //１枚にした画像をコンバート
//明るさ調整した結果を変換(Mat->IplImage*)して渡す。その後解放。
*img_all_round = dst_bright_cont;
mat_frame1.release();
mat_frame2.release();
dst_img_v.release();
cvFillPoly(img_all_round, pts, npts, 2, CV_RGB(0, 0, 0));
IplImage* dst_img_mallet = cvCreateImage(cvGetSize(img_all_round), IPL_DEPTH_8U, 3);
IplImage* dst_img_pack = cvCreateImage(cvGetSize(img_all_round), IPL_DEPTH_8U, 3);
IplImage* dst_img2_mallet = cvCreateImage(cvGetSize(img_all_round2), IPL_DEPTH_8U, 3);
IplImage* dst_img2_pack = cvCreateImage(cvGetSize(img_all_round2), IPL_DEPTH_8U, 3);
cv_ColorExtraction(img_all_round, dst_img_pack, CV_BGR2HSV, iSliderValuePack1, iSliderValuePack2, iSliderValuePack3, iSliderValuePack4, iSliderValuePack5, iSliderValuePack6);
cv_ColorExtraction(img_all_round, dst_img_mallet, CV_BGR2HSV, iSliderValuemallet1, iSliderValuemallet2, iSliderValuemallet3, iSliderValuemallet4, iSliderValuemallet5, iSliderValuemallet6);
cv_ColorExtraction(img_all_round2, dst_img2_pack, CV_BGR2HSV, iSliderValuePack1, iSliderValuePack2, iSliderValuePack3, iSliderValuePack4, iSliderValuePack5, iSliderValuePack6);
//CvMoments moment_mallet;
CvMoments moment_pack;
CvMoments moment_mallet;
CvMoments moment2_pack;
//cvSetImageCOI(dst_img_mallet, 1);
cvSetImageCOI(dst_img_pack, 1);
cvSetImageCOI(dst_img_mallet, 1);
cvSetImageCOI(dst_img2_pack, 1);
//cvMoments(dst_img_mallet, &moment_mallet, 0);
cvMoments(dst_img_pack, &moment_pack, 0);
cvMoments(dst_img_mallet, &moment_mallet, 0);
cvMoments(dst_img2_pack, &moment2_pack, 0);
//座標計算
double m00_before = cvGetSpatialMoment(&moment2_pack, 0, 0);
double m10_before = cvGetSpatialMoment(&moment2_pack, 1, 0);
double m01_before = cvGetSpatialMoment(&moment2_pack, 0, 1);
double m00_after = cvGetSpatialMoment(&moment_pack, 0, 0);
double m10_after = cvGetSpatialMoment(&moment_pack, 1, 0);
double m01_after = cvGetSpatialMoment(&moment_pack, 0, 1);
double gX_before = m10_before/m00_before;
double gY_before = m01_before/m00_before;
double gX_after = m10_after/m00_after;
double gY_after = m01_after/m00_after;
double m00_mallet = cvGetSpatialMoment(&moment_mallet, 0, 0);
double m10_mallet = cvGetSpatialMoment(&moment_mallet, 1, 0);
double m01_mallet = cvGetSpatialMoment(&moment_mallet, 0, 1);
double gX_now_mallet = m10_mallet/m00_mallet;
double gY_now_mallet = m01_mallet/m00_mallet;
int target_direction = -1; //目標とする向き 時計回り＝1、 反時計回り＝0
//円の大きさは全体の1/10で描画
cvCircle(show_img, cvPoint(gX_before, gY_before), CAM_PIX_HEIGHT/10, CV_RGB(0,0,255), 6, 8, 0);
cvCircle(show_img, cvPoint(gX_now_mallet, gY_now_mallet), CAM_PIX_HEIGHT/10, CV_RGB(0,0,255), 6, 8, 0);
cvLine(show_img, cvPoint(gX_before, gY_before), cvPoint(gX_after, gY_after), cvScalar(0,255,0), 2);
cvLine(show_img, robot_goal_left, robot_goal_right, cvScalar(0,255,255), 2);
printf("gX_after: %f\n",gX_after);
printf("gY_after: %f\n",gY_after);
printf("gX_before: %f\n",gX_before);
printf("gY_before: %f\n",gY_before);
printf("gX_now_mallet: %f\n",gX_now_mallet);
printf("gY_now_mallet: %f\n",gY_now_mallet);
int target_destanceY = CAM_PIX_2HEIGHT - 30; //Y座標の距離を一定にしている。ディフェンスライン。
//パックの移動は直線のため、一次関数の計算を使って、その後の軌跡を予測する。
double a_inclination;
double b_intercept;
int closest_frequency;
int target_coordinateX;
int origin_coordinateY;
int target_coordinateY;
double center_line = (lower_right_f.x + lower_right_g.x + lower_left_f.x + lower_left_g.x)/4;
int left_frame = (upper_left_f.x + lower_left_f.x)/2;
int right_frame = (upper_right_f.x + lower_right_f.x)/2;
double y_line = (upper_left_f.y + lower_right_f.y)/3;
double waiting_position = (robot_goal_left.x + lower_left_g.x) / 2;
if(gY_after - gY_before < -1){
gpioPWM(25, 128);
closest_frequency = gpioSetPWMfrequency(25, 600);
target_coordinateX = waiting_position;
if(waiting_position + 5 < gX_now_mallet){
target_direction = 0;//反時計回り
}
else if(gX_now_mallet < waiting_position - 5){
target_direction = 1;//時計回り
}
}
/*else if(robot_goal_right.x < gX_now_mallet){
gpioPWM(25, 128);
closest_frequency = gpioSetPWMfrequency(25, 1000);
target_direction = 0;//反時計回り
}
else if(gX_now_mallet < robot_goal_left.x){
gpioPWM(25, 128);
closest_frequency = gpioSetPWMfrequency(25, 1000);
target_direction = 1;//時計回り
}*/
else if(y_line < gY_after && y_line > gY_before){
clock_t start = clock();
clock_t end;
end = start + 0.5 * (target_coordinateX - robot_goal_left.x) / 10;
target_direction = 1;
gpioPWM(25, 128);
gpioWrite(18, target_direction);
closest_frequency = gpioSetPWMfrequency(25, 1500);
while(end - start < 0);//時間がくるまでループ
}
else{
gpioPWM(25, 0);
closest_frequency = gpioSetPWMfrequency(25, 0);
}
if(target_direction != -1){
gpioWrite(18, target_direction);
}
//防御ラインの描画
cvLine(show_img, cvPoint(CAM_PIX_WIDTH, target_destanceY), cvPoint(0, target_destanceY), cvScalar(255,255,0), 2);
//マレットの動きの描画
cvLine(show_img, cvPoint((int)gX_now_mallet, (int)gY_now_mallet), cvPoint((int)target_coordinateX, target_destanceY), cvScalar(0,0,255), 2);
/*
int amount_movement = target_coordinateX - gX_now_mallet;
//reacted limit-switch and target_direction rotate
// if(gpioRead(6) == 1){//X軸右
// gpioPWM(25, 128);
// closest_frequency = gpioSetPWMfrequency(25, 1500);
// target_direction = 0;//反時計回り
// printf("X軸右リミット！反時計回り\n");
// }
// else
if(gpioRead(26) == 1){//X軸左
gpioPWM(25, 128);
closest_frequency = gpioSetPWMfrequency(25, 1500);
target_direction = 1;//時計回り
printf("X軸左リミット！時計回り\n");
}
else if(gpioRead(5) == 1){//Y軸右上
gpioPWM(23, 128);
gpioSetPWMfrequency(23, 1500);
gpioWrite(14, 0);
printf("Y軸右上リミット！時計回り\n");
}
else if(gpioRead(13) == 1){//Y軸右下
gpioPWM(23, 128);
gpioSetPWMfrequency(23, 1500);
gpioWrite(14, 1);
printf("Y軸右下リミット！反時計回り\n");
}
else if(gpioRead(19) == 1){//Y軸左下
gpioPWM(24, 128);
gpioSetPWMfrequency(24, 1500);
gpioWrite(15, 0);
printf("Y軸左下リミット！時計回り\n");
}
else if(gpioRead(21) == 1){//Y軸左上
gpioPWM(24, 0);
gpioSetPWMfrequency(24, 1500);
gpioWrite(15, 1);
printf("Y軸左上リミット！反時計回り\n");
}
else{
//Y軸固定のため
gpioSetPWMfrequency(23, 0);
gpioSetPWMfrequency(24, 0);
if(amount_movement > 0){
target_direction = 1;//時計回り
}
else if(amount_movement < 0){
target_direction = 0;//反時計回り
}
}
if(target_direction != -1){
gpioWrite(18, target_direction);
}
else{
gpioPWM(24, 0);
gpioSetPWMfrequency(24, 0);
}
printf("setting_frequency: %d\n", closest_frequency);*/
// 指定したウィンドウ内に画像を表示する
//cvShowImage("Previous Image", img_all_round2);
cvShowImage("Now Image", show_img);
cvShowImage("pack", dst_img_pack);
cvShowImage("mallet", dst_img_mallet);
cvShowImage ("Poly", poly_dst);
cvReleaseImage (&dst_img_mallet);
cvReleaseImage (&dst_img_pack);
cvReleaseImage (&dst_img2_mallet);
cvReleaseImage (&dst_img2_pack);
if(cv::waitKey(1) >= 0) {
break;
}
}
else{ //リセット信号が来た場合
is_pushed_decision_button = 0;
}
}
gpioTerminate();
cvDestroyAllWindows();
//Clean up used CvCapture*
cvReleaseCapture(&capture_robot_side);
cvReleaseCapture(&capture_human_side);
//Clean up used images
cvReleaseImage(&poly_dst);
cvReleaseImage(&tracking_img);
cvReleaseImage(&img_all_round);
cvReleaseImage(&img_human_side);
cvReleaseImage(&img_all_round2);
cvReleaseImage(&show_img);
cvReleaseImage(&img_robot_side);
cvFree(&pts[0]);
cvFree(&pts[1]);
cvFree(pts);
return 0;
}
