void Calibration::calibrationVisionColor(){
namedWindow("input");
namedWindow("values");
createTrackbar("HMin", "values", &staticVisionColorHelper[0], 180, callbackHueMin, &staticVisionColorHelper[0]);
createTrackbar("HMax", "values", &staticVisionColorHelper[3], 180, callbackHueMax, &staticVisionColorHelper[3]);
createTrackbar("SMin", "values", &staticVisionColorHelper[1], 255, callbackSaturationMin, &staticVisionColorHelper[1]);
createTrackbar("SMax", "values", &staticVisionColorHelper[4], 255, callbackSaturationMax, &staticVisionColorHelper[4]);
createTrackbar("VMin", "values", &staticVisionColorHelper[2], 255, callbackValueMin, &staticVisionColorHelper[2]);
createTrackbar("VMax", "values", &staticVisionColorHelper[5], 255, callbackValueMax, &staticVisionColorHelper[5]);
while(true){
if(!device){
inputImage = imread(imagePath);
}else{
cam >> inputImage;
}
applyFilters();
setMouseCallback("input", callbackMouseClickColor, 0);
draw();
imshow("input", inputImage);
medianBlur(outputImage, outputImage, 3);
imshow("output", outputImage);
char key = waitKey(10);
if(key == 27){
break;
}else if(key == 32){
for(int i = 0 ; i < 3 ; i++){
staticVisionColor.min.rgb[i] = staticVisionColorHelper[i];
staticVisionColor.max.rgb[i] = staticVisionColorHelper[i+3];
}
handleHSV(staticVisionColor.min);
handleHSV(staticVisionColor.max);
saveHSV();
saveRGB();
break;
}
}
}
int main (){
//2592x1944 by default
OMXCAM_STILL_SETTINGS settings;
//Capture a raw RGB image
OMXCAM_initStillSettings (&settings);
settings.bufferCallback = bufferCallbackRGB;
settings.camera.shutterSpeedAuto = OMXCAM_FALSE;
//Shutter speed in milliseconds (1/8 by default: 125)
settings.camera.shutterSpeed = (uint32_t)((1.0/8.0)*1000);
settings.format = OMXCAM_FormatRGB888;
if (saveRGB ("still.rgb", &settings)) return 1;
//Capture a raw YUV420 image
settings.bufferCallback = bufferCallbackYUV;
settings.format = OMXCAM_FormatYUV420;
if (saveYUV ("still.yuv", &settings)) return 1;
printf ("ok\n");
return 0;
}
