/**
* @brief Copy part of display
*
* @param display gui_diaplay instance
* @param rect rectangle to copy
* @param img
*
* @return
*/
wg_status
gui_display_copy(Gui_display *display, Wg_rect *rect, Wg_image *img)
{
wg_uchar *buffer = NULL;
Wg_image image;
Wg_image rect_image;
wg_uint width = 0;
wg_uint height = 0;
cam_status status = CAM_FAILURE;
gdk_threads_enter();
width = gdk_pixbuf_get_width(display->pixbuf);
height = gdk_pixbuf_get_height(display->pixbuf);
buffer = gdk_pixbuf_get_pixels(display->pixbuf);
status = img_rgb_from_buffer(buffer, width, height, &image);
if (CAM_FAILURE == status){
return WG_FAILURE;
}
gdk_threads_leave();
status = img_fill(rect->width, rect->height,
RGB24_COMPONENT_NUM, IMG_RGB, &rect_image);
if (CAM_FAILURE == status){
img_cleanup(&image);
return WG_FAILURE;
}
status = img_get_subimage(&image, rect->x, rect->y, &rect_image);
if (CAM_FAILURE == status){
img_cleanup(&image);
img_cleanup(&rect_image);
return WG_FAILURE;
}
status = img_rgb_2_hsv_gtk(&rect_image, img);
if (CAM_FAILURE == status){
img_cleanup(&image);
img_cleanup(&rect_image);
return WG_FAILURE;
}
img_cleanup(&image);
img_cleanup(&rect_image);
return WG_SUCCESS;
}
void process()
{
/*
static int tmc=0;
tmc++;
if(tmc==30)
{
tmc=0;
set_indoor();
}
*/
int x, y;
//初始化背景
if(bInited==0)
{
static int initCount=0;
if(initCount<30)
{
initCount++;
img_copy(&BACK, &Y);
}
else
{
bInited=1;
img_fill(&UBAK, 0);
set_target_pan_tilt(0, 0);
set_zoom(1);
}
return;
}
img_fill(&COMP, 0);
img_fill(&COMPB, 0);
img_fill(&CLUS, 0);
img_fill(&LABEL, 0);
//计算准备
for (y = masky1; y < masky2; y++)
for (x = maskx1; x < maskx2; x++)
{
COMP.data[y][x] = abs(Y.data[y][x] - PREV.data[y][x]) > compare_th ? 255 : 0;
if(Y.data[y][x] < dark || PREV.data[y][x] < dark)
COMP.data[y][x] = abs(Y.data[y][x] - PREV.data[y][x]) > compare_th*dark_th ? 255 : 0;
COMPB.data[y][x] = abs(Y.data[y][x] - BACK.data[y][x]) > compare_th2 ? 255 : 0;
if(Y.data[y][x] < dark || BACK.data[y][x] < dark)
COMPB.data[y][x] = abs(Y.data[y][x] - BACK.data[y][x]) > compare_th2*dark_th ? 255 : 0;
}
img_copy(&PREV, &Y);
//选择性更新背景
updataBack();
//聚类
cluster();
img_copy(&LABEL, &CLUS);
//连通域
int k=label();
img_plot_rect(&Y, maskx1, masky1,
maskx2 - maskx1, masky2 - masky1, 128);
//输出连通域信息
int i=0;
mon("count: %d\n", k);
for(i=0;i<k;i++)
{
mon("area%d: %d\n", i, Box[i].area);
}
float p=0,t=0,z=1;
int ml=IMG_W,mr=0,cx=0,dx;
for(i=0;i<k;i++)
{
if(Box[i].left < ml) ml = Box[i].left;
if(Box[i].right > mr) mr = Box[i].right;
}
cx=(ml+mr)/2;
dx=(mr-ml)*1.3;
p = (float)(cx - IMG_W/2) / (IMG_W/2) * (PAN_RANGE/2);
z = CAM_RANGE / ((float)dx / IMG_W * PAN_RANGE);
if(z<1.0)
z=1;
printf("--------%d\n",k);
myTimer(&p,&t,&z,k);
set_target_pan_tilt(p, t);
set_zoom(z);
mon("PZ:%f,%f\n", p, z);
}
