Contents
- COPYING
- COPYING.LIB
- README
- colors.txt
- include/capture.h
- include/cmvision.h
- src/capture.cc
- src/cmvision.cc
- utils/COPYING
- utils/HELP.TXT
- utils/cmv_thresh/Makefile
- utils/cmv_thresh/colors.txt
- utils/cmv_thresh/thresh.cc
- utils/cmv_thresh/thresh.h
- utils/cmv_thresh/win.cc
- utils/grab/Makefile
- utils/grab/grab.cc
- utils/mtest/Makefile
- utils/mtest/colors.txt
- utils/mtest/mtest.cc
- utils/mtest/win.cc
- utils/mtest/win.h
COPYING 1/22
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GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The licenses for most software are designed to take away your
freedom to share and change it. By contrast, the GNU General Public
License is intended to guarantee your freedom to share and change free
software--to make sure the software is free for all its users. This
General Public License applies to most of the Free Software
Foundation's software and to any other program whose authors commit to
using it. (Some other Free Software Foundation software is covered by
the GNU Library General Public License instead.) You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
this service if you wish), that you receive source code or can get it
if you want it, that you can change the software or use pieces of it
in new free programs; and that you know you can do these things.
To protect your rights, we need to make restrictions that forbid
anyone to deny you these rights or to ask you to surrender the rights.
These restrictions translate to certain responsibilities for you if you
distribute copies of the software, or if you modify it.
For example, if you distribute copies of such a program, whether
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you have. You must make sure that they, too, receive or can get the
source code. And you must show them these terms so they know their
rights.
We protect your rights with two steps: (1) copyright the software, and
(2) offer you this license which gives you legal permission to copy,
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GNU GENERAL PUBLIC LICENSE
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
0. This License applies to any program or other work which contains
a notice placed by the copyright holder saying it may be distributed
under the terms of this General Public License. The "Program", below,
refers to any such program or work, and a "work based on the Program"
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Whether that is true depends on what the Program does.
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when run, you must cause it, when started running for such
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NO WARRANTY
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END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
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<one line to give the program's name and a brief idea of what it does.>
Copyright (C) 19yy <name of author>
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This program is distributed in the hope that it will be useful,
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Also add information on how to contact you by electronic and paper mail.
If the program is interactive, make it output a short notice like this
when it starts in an interactive mode:
Gnomovision version 69, Copyright (C) 19yy name of author
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
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You should also get your employer (if you work as a programmer) or your
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Yoyodyne, Inc., hereby disclaims all copyright interest in the program
`Gnomovision' (which makes passes at compilers) written by James Hacker.
<signature of Ty Coon>, 1 April 1989
Ty Coon, President of Vice
This General Public License does not permit incorporating your program into
proprietary programs. If your program is a subroutine library, you may
consider it more useful to permit linking proprietary applications with the
library. If this is what you want to do, use the GNU Library General
Public License instead of this License.
COPYING.LIB 2/22
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GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Everyone is permitted to copy and distribute verbatim copies
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[This is the first released version of the Lesser GPL. It also counts
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possible use to the public, we recommend making it free software that
everyone can redistribute and change. You can do so by permitting
redistribution under these terms (or, alternatively, under the terms of the
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To apply these terms, attach the following notices to the library. It is
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This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Also add information on how to contact you by electronic and paper mail.
You should also get your employer (if you work as a programmer) or your
school, if any, to sign a "copyright disclaimer" for the library, if
necessary. Here is a sample; alter the names:
Yoyodyne, Inc., hereby disclaims all copyright interest in the
library `Frob' (a library for tweaking knobs) written by James Random Hacker.
<signature of Ty Coon>, 1 April 1990
Ty Coon, President of Vice
That's all there is to it!
README 3/22
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================
PROJECT GOALS
----------------
To create a simple, robust vision system suitable for real time
robotics applications. The system aims to perform global low
level color vision at video rates without the use of special
purpose harware.
================
STATUS
----------------
This is version 1.2 of the library, with additional enhancements, and
a few more bug fixes since the 1.0-1.1 releases.
The library proper is now under the LGPL, although newer major
versions will fall under the GPL until they mature. The example
programs still fall under the GPL, since many contributors make this
difficult to change, and the fact they are not necessary for linking
for third party programs using CMVision.
CMVision's performance allows it to track up to 32 colors at
approximately 4,000,000 pixels/sec on a 200MHz machine. If you try
CMVision and see an improvement in your project, send me the
performance data!
CMVision is the fastest freely available library of its type.
================
CONTACT INFO
----------------
The project web page:
www.coral.cs.cmu.edu/cmvision
Contact:
jbruce<at>cs,cmu,edu
================
CONTRIBUTORS
----------------
James Bruce
Zia Khan
Petter Reinholdtsen
Tucker Balch
Anna Costa
Manuela Veloso
colors.txt 4/22
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[Colors]
(255,128, 0) 0.000000 Ball
(255,255, 0) 0.000000 Yellow_Team
( 0, 0,255) 0.000000 Blue_Team
(255,255,255) 0.000000 White
(255, 0,255) 0.000000 Marker_1_(Pink)
(160, 0,160) 0.000000 Marker_2_(Purple)
[Thresholds]
( 12:153, 99:127,143:168)
(101:196, 60:115,114:148)
( 64:157,144:164, 85:129)
(105:192, 68:187,120:131)
( 85:190, 82:189,141:269)
( 30: 85,130:145,135:145)
include/capture.h 5/22
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/*=========================================================================
capture.cc
-------------------------------------------------------------------------
Example code for video capture under Video4Linux II
-------------------------------------------------------------------------
Copyright 1999, 2000
Anna Helena Reali Costa, James R. Bruce
School of Computer Science
Carnegie Mellon University
-------------------------------------------------------------------------
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
=========================================================================*/
#ifndef __CAPTURE_H__
#define __CAPTURE_H__
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <sys/time.h>
#include <fcntl.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdio.h>
#include <errno.h>
#include <linux/fs.h>
#include <linux/kernel.h>
#include <linux/videodev.h>
#define DEFAULT_VIDEO_DEVICE "/dev/video"
#define VIDEO_STANDARD "NTSC"
#ifdef USE_METEOR
#define DEFAULT_VIDEO_FORMAT V4L2_PIX_FMT_UYVY
#else
#define DEFAULT_VIDEO_FORMAT V4L2_PIX_FMT_YUYV
#endif
#define DEFAULT_IMAGE_WIDTH 320
#define DEFAULT_IMAGE_HEIGHT 240
// if you get a message like "DQBUF returned error", "DQBUF error: invalid"
// then you need to use a higher value for STREAMBUFS or process frames faster
#define STREAMBUFS 8
class capture{
struct vimage_t{
v4l2_buffer vidbuf;
char *data;
};
int vid_fd; // video device
vimage_t vimage[STREAMBUFS]; // buffers for images
struct v4l2_format fmt; // video format request
unsigned char *current; // most recently captured frame
stamp_t timestamp; // frame time stamp
int width,height; // dimensions of video frame
struct v4l2_buffer tempbuf;
bool captured_frame;
public:
capture() {vid_fd = 0; current=NULL; captured_frame = false;}
~capture() {close();}
bool initialize(char *device,int nwidth,int nheight,int nfmt);
bool initialize(int nwidth,int nheight)
{return(initialize(NULL,nwidth,nheight,0));}
bool initialize()
{return(initialize(NULL,0,0,0));}
void close();
unsigned char *captureFrame(int &index);
unsigned char *captureFrame();
void releaseFrame(unsigned char* frame, int index);
unsigned char *getFrame() {return(current);}
stamp_t getFrameTime() {return(timestamp);}
int getWidth() {return(width);}
int getHeight() {return(height);}
};
#endif // __CAPTURE_H__
include/cmvision.h 6/22
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/*=========================================================================
CMVision.h
-------------------------------------------------------------------------
API definition for the CMVision real time Color Machine Vision library
-------------------------------------------------------------------------
Copyright 1999, 2000 #### ### ### ## ## ## #### ## ### ## ##
James R. Bruce ## ####### ## ## ## ## ## ## ## ######
School of Computer Science ## ## # ## ## ## ## ### ## ## ## ## ###
Carnegie Mellon University #### ## ## ### ## #### ## ### ## ##
-------------------------------------------------------------------------
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
=========================================================================*/
#ifndef __CMVISION_H__
#define __CMVISION_H__
// uncomment if your compiler supports the "restrict" keyword
// #define restrict __restrict__
#define restrict
#include <stdlib.h>
#include <string.h>
#include <stdio.h>
/*
Ultra-fast intro to processing steps:
- Color segmentation
- load / save
- set new values
- process frame
- Connected Regions
- RLE
- merge
- extract blobs
- separate blobs
- sort blobs
- merge blobs
- Blob merging (not currently in release)
- merge by area occupied
Options File Format: (RGB merge name)
[Colors]
(00,00,00) 0.95 'Orange'
(00,00,00) 0.00 'Pink'
(00,00,00) 0.00 'Red'
(00,00,00) 0.00 'DarkBlue'
(00,00,00) 0.00 'Blue'
[Thresholds]
(<lo>:<hi>,<lo>:<hi>,<lo>:<hi>)
(<lo>:<hi>,<lo>:<hi>,<lo>:<hi>)
(<lo>:<hi>,<lo>:<hi>,<lo>:<hi>)
*/
#define CMV_COLOR_LEVELS 256
#define CMV_MAX_COLORS 32
// sets tweaked optimal values for image size
#define CMV_DEFAULT_WIDTH 320
#define CMV_DEFAULT_HEIGHT 240
// values may need tweaked, although these seem to work usually
#define CMV_MAX_RUNS (CMV_DEFAULT_WIDTH * CMV_DEFAULT_HEIGHT) / 4
#define CMV_MAX_REGIONS CMV_MAX_RUNS / 4
#define CMV_MIN_AREA 4
#define CMV_NONE ((unsigned)(-1))
#ifndef NULL
#define NULL (0)
#endif
struct yuv{
unsigned char y,u,v;
};
struct yuv422{
unsigned char y1,u,y2,v;
};
struct uyvy{
unsigned char u,y1,v,y2;
};
#ifdef USE_METEOR
typedef struct uyvy image_pixel;
#else
typedef struct yuv422 image_pixel;
#endif
#ifndef RGB_STRUCT
#define RGB_STRUCT
struct rgb{
unsigned char red,green,blue;
};
#endif
// Options for level of processing
// use enable()/disable() to change
#define CMV_THRESHOLD 0x01
#define CMV_COLOR_AVERAGES 0x02
#define CMV_DUAL_THRESHOLD 0x04
#define CMV_DENSITY_MERGE 0x08
#define CMV_VALID_OPTIONS 0x0F
class CMVision{
public:
struct region{
int color; // id of the color
int area; // occupied area in pixels
int x1,y1,x2,y2; // bounding box (x1,y1) - (x2,y2)
float cen_x,cen_y; // centroid
yuv average; // average color (if CMV_COLOR_AVERAGES enabled)
int sum_x,sum_y,sum_z; // temporaries for centroid and avg color
// int area_check; // DEBUG ONLY
region *next; // next region in list
// int number; // DEBUG ONLY
};
struct rle{
unsigned color; // which color(s) this run represents
int length; // the length of the run (in pixels)
int parent; // run's parent in the connected components tree
};
struct color_info{
rgb color; // example color (such as used in test output)
char *name; // color's meaninful name (e.g. ball, goal)
double merge; // merge density threshold
int expected_num; // expected number of regions (used for merge)
int y_low,y_high; // Y,U,V component thresholds
int u_low,u_high;
int v_low,v_high;
};
struct point{
double x,y;
};
struct line{
point a,b;
};
struct rectangle{
int x,y,w,h;
};
protected:
unsigned y_class[CMV_COLOR_LEVELS];
unsigned u_class[CMV_COLOR_LEVELS];
unsigned v_class[CMV_COLOR_LEVELS];
region region_table[CMV_MAX_REGIONS];
region *region_list[CMV_MAX_COLORS];
int region_count[CMV_MAX_COLORS];
rle rmap[CMV_MAX_RUNS];
color_info colors[CMV_MAX_COLORS];
int width,height;
unsigned *map;
unsigned options;
protected:
// Private functions
void classifyFrame(image_pixel * restrict img,unsigned * restrict map);
int encodeRuns(rle * restrict out,unsigned * restrict map);
void connectComponents(rle * restrict map,int num);
int extractRegions(region * restrict reg,rle * restrict rmap,int num);
void calcAverageColors(region * restrict reg,int num_reg,
image_pixel * restrict img,
rle * restrict rmap,int num_runs);
int separateRegions(region * restrict reg,int num);
region *sortRegionListByArea(region * restrict list,int passes);
void sortRegions(int max_area);
// density based merging support
int mergeRegions(region *p,int num,double density_thresh);
int mergeRegions();
void clear();
public:
CMVision() {clear();}
~CMVision() {close();}
bool initialize(int nwidth,int nheight);
bool loadOptions(char *filename);
bool saveOptions(char *filename);
bool enable(unsigned opt);
bool disable(unsigned opt);
void close();
bool testClassify(rgb * restrict out,image_pixel * restrict image);
bool getThreshold(int color,
int &y_low,int &y_high,
int &u_low,int &u_high,
int &v_low,int &v_high);
bool setThreshold(int color,
int y_low,int y_high,
int u_low,int u_high,
int v_low,int v_high);
unsigned *getMap()
{return(map);}
char *getColorName(int color)
{return(colors[color].name);}
rgb getColorVisual(int color)
{return(colors[color].color);}
color_info *getColorInfo(int color)
{return(&colors[color]);}
void getColorInfo(int color,color_info &info)
{info = colors[color];}
void setColorInfo(int color,color_info &info)
{colors[color] = info;}
bool processFrame(image_pixel *image);
bool processFrame(unsigned *map);
int numRegions(int color_id);
region *getRegions(int color_id);
};
#endif
src/capture.cc 7/22
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/*=========================================================================
capture.cc
-------------------------------------------------------------------------
Example code for video capture under Video4Linux II
-------------------------------------------------------------------------
Copyright 1999, 2000
Anna Helena Reali Costa, James R. Bruce
School of Computer Science
Carnegie Mellon University
-------------------------------------------------------------------------
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-------------------------------------------------------------------------
Revision History:
2000-02-05: Ported to work with V4L2 API
1999-11-23: Quick C++ port to simplify & wrap in an object (jbruce)
1999-05-01: Initial version (annar)
=========================================================================*/
#include "capture.h"
//==== Capture Class Implementation =======================================//
void grabSetFps(int fd, int fps)
{
struct v4l2_streamparm params;
//printf("called v4l2_set_fps with fps=%d\n",fps);
params.type = V4L2_BUF_TYPE_CAPTURE;
ioctl(fd, VIDIOC_G_PARM, ¶ms);
//printf("time per frame is: %ld\n", params.parm.capture.timeperframe);
params.parm.capture.capturemode |= V4L2_CAP_TIMEPERFRAME;
params.parm.capture.timeperframe = 10000000 / fps;
if (fps == 30)
params.parm.capture.timeperframe = 333667;
// printf("time per frame is: %ld\n", params.parm.capture.timeperframe);
ioctl(fd, VIDIOC_S_PARM, ¶ms);
params.parm.capture.timeperframe = 0;
ioctl(fd, VIDIOC_G_PARM, ¶ms);
// printf("time per frame is: %ld\n", params.parm.capture.timeperframe);
}
bool capture::initialize(char *device,int nwidth,int nheight,int nfmt)
{
struct v4l2_requestbuffers req;
int err;
int i;
// Set defaults if not given
if(!device) device = DEFAULT_VIDEO_DEVICE;
if(!nfmt) nfmt = DEFAULT_VIDEO_FORMAT;
if(!nwidth || !nheight){
nwidth = DEFAULT_IMAGE_WIDTH;
nheight = DEFAULT_IMAGE_HEIGHT;
}
// Open the video device
vid_fd = open(device, O_RDONLY);
if(vid_fd == -1){
printf("Could not open video device [%s]\n",device);
return(false);
}
fmt.type = V4L2_BUF_TYPE_CAPTURE;
err = ioctl(vid_fd, VIDIOC_G_FMT, &fmt);
if(err){
printf("G_FMT returned error %d\n",errno);
return(false);
}
// Set video format
fmt.fmt.pix.width = nwidth;
fmt.fmt.pix.height = nheight;
fmt.fmt.pix.pixelformat = nfmt;
// Set the capture format
err = ioctl(vid_fd, VIDIOC_S_FMT, &fmt);
if(err){
printf("S_FMT returned error %d\n",errno);
perror("S_FMT:");
return(false);
}
// grabSetFps(vid_fd, 30);
// Request mmap-able capture buffers
req.count = STREAMBUFS;
req.type = V4L2_BUF_TYPE_CAPTURE;
err = ioctl(vid_fd, VIDIOC_REQBUFS, &req);
if(err < 0 || req.count < 1){
printf("REQBUFS returned error %d, count %d\n",
errno,req.count);
return(false);
}
for(i=0; i<req.count; i++){
vimage[i].vidbuf.index = i;
vimage[i].vidbuf.type = V4L2_BUF_TYPE_CAPTURE;
err = ioctl(vid_fd, VIDIOC_QUERYBUF, &vimage[i].vidbuf);
if(err < 0){
printf("QUERYBUF returned error %d\n",errno);
return(false);
}
vimage[i].data = (char*)mmap(0, vimage[i].vidbuf.length, PROT_READ,
MAP_SHARED, vid_fd,
vimage[i].vidbuf.offset);
if((int)vimage[i].data == -1){
printf("mmap() returned error %d\n", errno);
return(false);
}
}
for(i=0; i<req.count; i++){
if((err = ioctl(vid_fd, VIDIOC_QBUF, &vimage[i].vidbuf))){
printf("1QBUF returned error %d\n",errno);
perror("QBUF error");
return(false);
}
}
// Turn on streaming capture
err = ioctl(vid_fd, VIDIOC_STREAMON, &vimage[0].vidbuf.type);
if(err){
printf("STREAMON returned error %d\n",errno);
return(false);
}
width = nwidth;
height = nheight;
current = NULL;
return(true);
}
void capture::close()
{
int i,t;
if(vid_fd >= 0){
t = V4L2_BUF_TYPE_CAPTURE;
ioctl(vid_fd, VIDIOC_STREAMOFF, &t);
for(i=0; i<STREAMBUFS; i++){
if(vimage[i].data){
munmap(vimage[i].data,vimage[i].vidbuf.length);
}
}
}
}
unsigned char *capture::captureFrame(int &index)
{
//if(captured_frame){
// printf("there may be a problem capturing frame w/o releasing previous frame");
//}
// struct v4l2_buffer tempbuf;
int err;
fd_set rdset;
struct timeval timeout;
int n;
struct v4l2_buffer tempbuf;
FD_ZERO(&rdset);
FD_SET(vid_fd, &rdset);
timeout.tv_sec = 1;
timeout.tv_usec = 0;
n = select(vid_fd + 1, &rdset, NULL, NULL, &timeout);
err = -1;
if (n == -1) {
fprintf(stderr, "select error.\n");
perror("select msg:");
}
else if (n == 0)
fprintf(stderr, "select timeout\n");
else if (FD_ISSET(vid_fd, &rdset))
err = 0;
if(err) return(NULL);
// Grab last frame
do {
//printf("D");
tempbuf.type = vimage[0].vidbuf.type;
err = ioctl(vid_fd, VIDIOC_DQBUF, &tempbuf);
if(err) {
printf("4DQBUF returned error %d\n",errno);
perror("DQBUF error:");
}
//printf("S");
FD_ZERO(&rdset);
FD_SET(vid_fd, &rdset);
timeout.tv_sec = 0;
timeout.tv_usec = 0;
n = select(vid_fd + 1, &rdset, NULL, NULL, &timeout);
// Uncomment this next line to see how many frames are being skipped.
// 1=frame skipped, 0=frame used
//printf("n%d",n);
if(n==-1) {
fprintf(stderr, "select error.\n");
perror("2select msg:");
}
else if(n==0)
break;
if (!FD_ISSET(vid_fd, &rdset))
printf("huh\n");
//printf("Q");
err = ioctl(vid_fd, VIDIOC_QBUF, &tempbuf);
if(err) {
printf("3QBUF returned error %d\n",errno);
perror("QBUF error:");
}
} while(true);
// Set current to point to captured frame data
current = (unsigned char *)vimage[tempbuf.index].data;
timestamp = tempbuf.timestamp;
index = tempbuf.index;
// Initiate the next capture
//tempbuf.index = (++index - 1) % STREAMBUFS;
//err = ioctl(vid_fd, VIDIOC_QBUF, &tempbuf);
//if(err) printf("QBUF returned error %d\n",errno);
captured_frame = true;
return(current);
}
void capture::releaseFrame(unsigned char* frame, int index)
{
int err;
struct v4l2_buffer tempbuf;
//if(frame != current){
// printf("frame != current, possibly releasing the wrong frame.");
//}
captured_frame = false;
// Initiate the next capture
tempbuf.type = vimage[0].vidbuf.type;
tempbuf.index=index;
//printf("%lx %d\n",tempbuf.type,tempbuf.index);
err = ioctl(vid_fd, VIDIOC_QBUF, &tempbuf);
if(err) {
printf("2QBUF returned error %d\n",errno);
perror("QBUF error:");
}
}
struct v4l2_buffer tempbuf;
unsigned char *capture::captureFrame()
{
// struct v4l2_buffer tempbuf;
int err;
fd_set rdset;
struct timeval timeout;
int n;
FD_ZERO(&rdset);
FD_SET(vid_fd, &rdset);
timeout.tv_sec = 1;
timeout.tv_usec = 0;
n = select(vid_fd + 1, &rdset, NULL, NULL, &timeout);
err = -1;
if (n == -1)
fprintf(stderr, "select error.\n");
else if (n == 0)
fprintf(stderr, "select timeout\n");
else if (FD_ISSET(vid_fd, &rdset))
err = 0;
if(err) return(NULL);
// Grab last frame
tempbuf.type = vimage[0].vidbuf.type;
err = ioctl(vid_fd, VIDIOC_DQBUF, &tempbuf);
if(err) printf("DQBUF returned error %d\n",errno);
// Set current to point to captured frame data
current = (unsigned char *)vimage[tempbuf.index].data;
timestamp = tempbuf.timestamp;
// Initiate the next capture
err = ioctl(vid_fd, VIDIOC_QBUF, &tempbuf);
if(err) printf("QBUF returned error %d\n",errno);
return(current);
}
src/cmvision.cc 8/22
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/*=========================================================================
CMVision.cc
-------------------------------------------------------------------------
Implementation of the CMVision real time Color Machine Vision library
-------------------------------------------------------------------------
Copyright 1999, 2000 #### ### ### ## ## ## #### ## ### ## ##
James R. Bruce ## ####### ## ## ## ## ## ## ## ######
School of Computer Science ## ## # ## ## ## ## ### ## ## ## ## ###
Carnegie Mellon University #### ## ## ### ## #### ## ### ## ##
-------------------------------------------------------------------------
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-------------------------------------------------------------------------
Revision History:
1999-11-18: Initial release version (JRB)
2000-05-20: Added Bugfixes from Peter,
fixed bounding box bug (JRB)
2000-06-04: Some other minor fixes (JRB)
2000-07-02: Added average color and density merging (JRB)
2000-07-20: Added dual threshold capability (JRB)
=========================================================================*/
#include "cmvision.h"
//==== Utility Functions ===========================================//
// These could be coded as macros, but the inline versions seem to
// optimize better, and tend to have cleaner definitions
// sum of integers over range [x,x+w)
inline int range_sum(int x,int w)
{
return(w*(2*x + w-1) / 2);
}
// returns maximal value of two parameters
template <class num>
inline num max(num a,num b)
{
return((a > b)? a : b);
}
// returns minimal value of two parameters
template <class num>
inline num min(num a,num b)
{
return((a < b)? a : b);
}
// returns index of least significant set bit
int log2modp[37] = {
0, 1, 2,27, 3,24,28, 0, 4,17,25,31,29,12, 0,14, 5, 8,18,
0,26,23,32,16,30,11,13, 7, 0,22,15,10, 6,21, 9,20,19
};
template <class num>
inline int bottom_bit(num n)
{
return(log2modp[(n & -n) % 37]);
}
/* Marginally slower naive version of above function
template <class num>
inline num bottom_bit(num n)
{
int i = 0;
if(!n) return(0);
while(!(n&(1<<i))) i++;
return(i + 1);
}
*/
// returns index of most significant set bit
template <class num>
inline num top_bit(num n)
{
int i = 1;
if(!n) return(0);
while(n>>i) i++;
return(i);
}
//==== Class Implementation ========================================//
void CMVision::classifyFrame(image_pixel * restrict img,unsigned * restrict map)
// Classifies an image passed in as img, saving bits in the entries
// of map representing which thresholds that pixel satisfies.
{
int i,m,s;
int m1,m2;
image_pixel p;
unsigned *uclas = u_class; // Ahh, the joys of a compiler that
unsigned *vclas = v_class; // has to consider pointer aliasing
unsigned *yclas = y_class;
s = width * height;
if(options & CMV_DUAL_THRESHOLD){
for(i=0; i<s; i+=2){
p = img[i/2];
m = uclas[p.u] & vclas[p.v];
m1 = m & yclas[p.y1];
m2 = m & yclas[p.y2];
map[i + 0] = m1 | (m1 >> 16);
map[i + 1] = m2 | (m2 >> 16);
}
}else{
for(i=0; i<s; i+=2){
p = img[i/2];
m = uclas[p.u] & vclas[p.v];
map[i + 0] = m & yclas[p.y1];
map[i + 1] = m & yclas[p.y2];
}
}
}
int CMVision::encodeRuns(rle * restrict out,unsigned * restrict map)
// Changes the flat array version of the threshold satisfaction map
// into a run length encoded version, which speeds up later processing
// since we only have to look at the points where values change.
{
int x,y,j,l;
unsigned m,save;
int size;
unsigned *row;
rle r;
size = width * height;
// initialize terminator restore
save = map[0];
j = 0;
for(y=0; y<height; y++){
row = &map[y * width];
// restore previous terminator and store next
// one in the first pixel on the next row
row[0] = save;
save = row[width];
row[width] = CMV_NONE;
x = 0;
while(x < width){
m = row[x];
// m = m & (~m + 1); // get last bit
l = x;
while(row[x] == m) x++;
// x += (row[x] == CMV_NONE); // && (last & m);
r.color = m;
r.length = x - l;
r.parent = j;
out[j++] = r;
if(j >= CMV_MAX_RUNS) return(0);
}
}
return(j);
}
void CMVision::connectComponents(rle * restrict map,int num)
// Connect components using four-connecteness so that the runs each
// identify the global parent of the connected region they are a part
// of. It does this by scanning adjacent rows and merging where similar
// colors overlap. Used to be union by rank w/ path compression, but now
// is just uses path compression as the global parent index seems to be
// a simpler fast approximation of rank in practice.
// WARNING: This code is *extremely* complicated and twitchy. It appears
// to be a correct implementation, but minor changes can easily cause
// big problems. Read the papers on this library and have a good
// understanding of tree-based union find before you touch it
{
int x1,x2;
int l1,l2;
rle r1,r2;
int i,p,s,n;
l1 = l2 = 0;
x1 = x2 = 0;
// Lower scan begins on second line, so skip over first
while(x1 < width){
x1 += map[l1++].length;
}
x1 = 0;
// Do rest in lock step
r1 = map[l1];
r2 = map[l2];
s = l1;
while(l1 < num){
if(r1.color==r2.color && r1.color){
if((x1>=x2 && x1<x2+r2.length) || (x2>=x1 && x2<x1+r1.length)){
if(s != l1){
map[l1].parent = r1.parent = r2.parent;
s = l1;
}else{
// find terminal roots of each path
n = r1.parent;
while(n != map[n].parent) n = map[n].parent;
p = r2.parent;
while(p != map[p].parent) p = map[p].parent;
// must use smaller of two to preserve DAGness!
if(n < p){
map[p].parent = n;
}else{
map[n].parent = p;
}
}
}
}
// Move to next point where values may change
if(x1+r1.length < x2+r2.length){
x1 += r1.length;
r1 = map[++l1];
}else{
x2 += r2.length;
r2 = map[++l2];
}
}
// Now we need to compress all parent paths
for(i=0; i<num; i++){
p = map[i].parent;
if(p > i){
while(p != map[p].parent) p = map[p].parent;
map[i].parent = p;
}else{
map[i].parent = map[p].parent;
}
}
// Ouch, my brain hurts.
}
int CMVision::extractRegions(region * restrict reg,rle * restrict rmap,int num)
// Takes the list of runs and formats them into a region table,
// gathering the various statistics we want along the way.
// num is the number of runs in the rmap array, and the number of
// unique regions in reg[] (< CMV_MAX_REGIONS) is returned.
// Implemented as a single pass over the array of runs.
{
int x,y,i;
int b,n,a;
rle r;
yuv black = {0,0,0};
x = y = n = 0;
for(i=0; i<num; i++){
r = rmap[i];
if(r.color){
if(r.parent == i){
// Add new region if this run is a root (i.e. self parented)
rmap[i].parent = b = n; // renumber to point to region id
reg[b].color = bottom_bit(r.color) - 1;
reg[b].area = r.length;
reg[b].x1 = x;
reg[b].y1 = y;
reg[b].x2 = x + r.length;
reg[b].y2 = y;
reg[b].sum_x = range_sum(x,r.length);
reg[b].sum_y = y * r.length;
reg[b].average = black;
// reg[b].area_check = 0; // DEBUG ONLY
n++;
if(n >= CMV_MAX_REGIONS) return(CMV_MAX_REGIONS);
}else{
// Otherwise update region stats incrementally
b = rmap[r.parent].parent;
rmap[i].parent = b; // update to point to region id
reg[b].area += r.length;
reg[b].x2 = max(x + r.length,reg[b].x2);
reg[b].x1 = min(x,reg[b].x1);
reg[b].y2 = y; // last set by lowest run
reg[b].sum_x += range_sum(x,r.length);
reg[b].sum_y += y * r.length;
}
/* DEBUG
if(r.color == 1){
printf("{%d,%d,%d} ",i,rmap[i].parent,b);
}
*/
}
// step to next location
x = (x + r.length) % width;
y += (x == 0);
}
// printf("\n");
// calculate centroids from stored temporaries
for(i=0; i<n; i++){
a = reg[i].area;
reg[i].cen_x = (float)reg[i].sum_x / a;
reg[i].cen_y = (float)reg[i].sum_y / a;
}
return(n);
}
void CMVision::calcAverageColors(region * restrict reg,int num_reg,
image_pixel * restrict img,
rle * restrict rmap,int num_runs)
// calculates the average color for each region.
// num is the number of runs in the rmap array, and the number of
// unique regions in reg[] (< CMV_MAX_REGIONS) is returned.
// Implemented as a single pass over the image, and a second pass over
// the regions.
{
int i,j,x,l;
image_pixel p;
rle r;
int sum_y,sum_u,sum_v;
int b,xs;
yuv avg;
int area;
// clear out temporaries
for(i=0; i<num_reg; i++){
reg[i].sum_x = 0;
reg[i].sum_y = 0;
reg[i].sum_z = 0;
}
x = 0;
// printf("FRAME_START\n");
// sum up color components for each region, by traversing image and runs
for(i=0; i<num_runs; i++){
r = rmap[i];
l = r.length;
if(!r.color){
x += l;
}else{
xs = x;
p = img[x / 2];
if(x & 1){
sum_y = p.y2;
sum_u = p.u;
sum_v = p.v;
// area = 1;
x++;
l--;
}else{
sum_y = sum_u = sum_v = 0;
area = 0;
}
for(j=0; j<l/2; j++){
p = img[x / 2];
sum_y += p.y1 + p.y2;
sum_u += 2 * p.u;
sum_v += 2 * p.v;
x+=2;
// area += 2;
}
if(l & 1){
x++;
p = img[x / 2];
sum_y += p.y1;
sum_u += p.u;
sum_v += p.v;
// area++;
}
// add sums to region
b = r.parent;
reg[b].sum_x += sum_y;
reg[b].sum_y += sum_u;
reg[b].sum_z += sum_v;
// reg[b].area_check += area;
/*
if((r.color & (1 << reg[b].color)) != (1 << reg[b].color)){
printf("(%d,%d)",r.color,reg[b].color);
}
if(x != xs + r.length){
printf("Length mismatch %d:%d\n",x,xs + r.length);
}
*/
x = xs + r.length;
}
}
// Divide sums by area to calculate average colors
for(i=0; i<num_reg; i++){
area = reg[i].area;
avg.y = reg[i].sum_x / area;
avg.u = reg[i].sum_y / area;
avg.v = reg[i].sum_z / area;
/*
if(reg[i].area != reg[i].area_check){
printf("Area Mismatch: %d %d\n",reg[i].area,reg[i].area_check);
}
x = (y_class[avg.y] & u_class[avg.u] & v_class[avg.v]);
j = reg[i].color;
l = (1 << j);
if((x & l) != l){
printf("Error: c=%d a=%d (%d,%d) (%d,%d,%d)\n",
reg[i].color,area,
(int)reg[i].cen_x,(int)reg[i].cen_y,
avg.y,avg.u,avg.v);
}
*/
reg[i].average = avg;
}
}
int CMVision::separateRegions(region * restrict reg,int num)
// Splits the various regions in the region table a separate list
// for each color. The lists are threaded through the table using
// the region's 'next' field. Returns the maximal area of the
// regions, which we use below to speed up sorting.
{
region *p;
int i,l;
int area,max_area;
// clear out the region table
for(i=0; i<CMV_MAX_COLORS; i++){
region_count[i] = 0;
region_list[i] = NULL;
}
// step over the table, adding successive
// regions to the front of each list
max_area = 0;
for(i=0; i<num; i++){
p = ®[i];
area = p->area;
if(area >= CMV_MIN_AREA){
if(area > max_area) max_area = area;
l = p->color;
region_count[l]++;
p->next = region_list[l];
region_list[l] = p;
}
}
return(max_area);
}
// These are the tweaking values for the radix sort given below
// Feel free to change them, though these values seemed to work well
// in testing. Don't worry about extra passes to get all 32 bits of
// the area; the implementation only does as many passes as needed to
// touch the most significant set bit (MSB of biggest region's area)
#define CMV_RBITS 6
#define CMV_RADIX (1 << CMV_RBITS)
#define CMV_RMASK (CMV_RADIX-1)
CMVision::region *CMVision::sortRegionListByArea(region * restrict list,int passes)
// Sorts a list of regions by their area field.
// Uses a linked list based radix sort to process the list.
{
region *tbl[CMV_RADIX],*p,*pn;
int slot,shift;
int i,j;
// Handle trivial cases
if(!list || !list->next) return(list);
// Initialize table
for(j=0; j<CMV_RADIX; j++) tbl[j] = NULL;
for(i=0; i<passes; i++){
// split list into buckets
shift = CMV_RBITS * i;
p = list;
while(p){
pn = p->next;
slot = ((p->area) >> shift) & CMV_RMASK;
p->next = tbl[slot];
tbl[slot] = p;
p = pn;
}
// integrate back into partially ordered list
list = NULL;
for(j=0; j<CMV_RADIX; j++){
p = tbl[j];
tbl[j] = NULL; // clear out table for next pass
while(p){
pn = p->next;
p->next = list;
list = p;
p = pn;
}
}
}
return(list);
}
void CMVision::sortRegions(int max_area)
// Sorts entire region table by area, using the above
// function to sort each threaded region list.
{
int i,p;
// do minimal number of passes sufficient to touch all set bits
p = top_bit((max_area + CMV_RBITS-1) / CMV_RBITS);
// sort each list
for(i=0; i<CMV_MAX_COLORS; i++){
region_list[i] = sortRegionListByArea(region_list[i],p);
}
}
int CMVision::mergeRegions(region *p,int num,double density_thresh)
// Looks through regions and merges pairs of the same color that would
// have a high density after combining them (where density is the area
// in pixels of the region divided by the bounding box area). This
// implementation sucks, and I promise real spatial data structures in
// the future so n^2 ugliness like this is not necessary.
{
region *q,*s;
int l,r,t,b;
int a;
int merged;
double tmp;
merged = 0;
while(p && merged<num){
q = p->next;
s = p;
while(q){
// find union box and get its total area
l = min(p->x1,q->x1);
r = max(p->x2,q->x2);
t = min(p->y1,q->y1);
b = max(p->y2,q->y2);
a = (r-l) * (b-t);
// if density of merged region is still above threshold
if((double)(p->area + q->area) / a > density_thresh){
// merge them to create a new region
a = p->area + q->area;
p->x1 = l;
p->x2 = r;
p->y1 = t;
p->y2 = b;
p->cen_x = ((p->cen_x * p->area) + (q->cen_x * q->area)) / a;
p->cen_y = ((p->cen_y * p->area) + (q->cen_y * q->area)) / a;
p->area = a;
// remove q from list (old smaller region)
q = q->next;
s->next = q;
merged++;
}else{
s = q;
q = q->next;
}
}
p = p->next;
}
return(merged);
}
int CMVision::mergeRegions()
// Apply merge operation to all regions using the above function.
{
int i,m;
int num;
num = 0;
for(i=0; i<CMV_MAX_COLORS; i++){
m = mergeRegions(region_list[i],colors[i].expected_num,colors[i].merge);
region_count[i] -= m;
num += m;
}
return(num);
}
//==== Interface/Public Functions ==================================//
#define ZERO(x) memset(x,0,sizeof(x))
void CMVision::clear()
{
ZERO(y_class);
ZERO(u_class);
ZERO(v_class);
ZERO(region_list);
ZERO(region_count);
ZERO(colors);
map = NULL;
}
bool CMVision::initialize(int nwidth,int nheight)
// Initializes library to work with images of specified size
{
width = nwidth;
height = nheight;
if(map) delete(map);
map = new unsigned[width * height + 1];
// Need 1 extra element to store terminator value in encodeRuns()
options = CMV_THRESHOLD;
return(map != NULL);
}
// sets bits in k in array arr[l..r]
template <class num>
void set_bits(num *arr,int len,int l,int r,num k)
{
int i;
l = max(l,0);
r = min(r+1,len);
for(i=l; i<r; i++) arr[i] |= k;
}
template <class num>
void clear_bits(num *arr,int len,int l,int r,num k)
{
int i;
l = max(l,0);
r = min(r+1,len);
k = ~k;
for(i=l; i<r; i++) arr[i] &= k;
}
#define CMV_STATE_SCAN 0
#define CMV_STATE_COLORS 1
#define CMV_STATE_THRESH 2
#define CMV_MAX_BUF 256
bool CMVision::loadOptions(char *filename)
// Loads in options file specifying color names and representative
// rgb triplets. Also loads in color class threshold values.
{
char buf[CMV_MAX_BUF],str[CMV_MAX_BUF];
FILE *in;
int state,i,n;
int r,g,b;
int exp_num;
double merge;
color_info *c;
int y1,y2,u1,u2,v1,v2;
unsigned k;
// Open options file
in = fopen(filename,"rt");
if(!in) return(false);
// Clear out previously set options
for(i=0; i<CMV_COLOR_LEVELS; i++){
y_class[i] = u_class[i] = v_class[i] = 0;
}
for(i=0; i<CMV_MAX_COLORS; i++){
if(colors[i].name){
delete(colors[i].name);
colors[i].name = NULL;
}
}
// Loop ever lines, processing via a simple parser
state = 0;
while(fgets(buf,CMV_MAX_BUF,in)){
switch(state){
case CMV_STATE_SCAN:
n = sscanf(buf,"[%s",str);
if(n == 1){
if(!strncasecmp(str,"colors]",CMV_MAX_BUF)){
state = CMV_STATE_COLORS;
i = 0;
}else if(!strncasecmp(str,"thresholds]",CMV_MAX_BUF)){
state = CMV_STATE_THRESH;
i = 0;
}else{
printf("CMVision: Ignoring unknown option header '%s'.\n",str);
}
}
break;
case CMV_STATE_COLORS:
n = sscanf(buf,"(%d,%d,%d) %lf %d %s",&r,&g,&b,&merge,&exp_num,str);
if(n == 6){
// printf("(%d,%d,%d) %lf %d '%s'\n",
// r,g,b,merge,exp_num,str); fflush(stdout);
if(i < CMV_MAX_COLORS){
c = &colors[i];
c->color.red = r;
c->color.green = g;
c->color.blue = b;
c->name = strdup(str);
c->merge = merge;
c->expected_num = exp_num;
i++;
}else{
printf("CMVision: Too many colors, ignoring '%s'.\n",str);
}
}else if(n == 0){
state = CMV_STATE_SCAN;
}
break;
case CMV_STATE_THRESH:
n = sscanf(buf,"(%d:%d,%d:%d,%d:%d)",&y1,&y2,&u1,&u2,&v1,&v2);
if(n == 6){
// printf("(%d:%d,%d:%d,%d:%d)\n",y1,y2,u1,u2,v1,v2);
if(i < CMV_MAX_COLORS){
c = &colors[i];
c->y_low = y1; c->y_high = y2;
c->u_low = u1; c->u_high = u2;
c->v_low = v1; c->v_high = v2;
k = (1 << i);
set_bits(y_class,CMV_COLOR_LEVELS,y1,y2,k);
set_bits(u_class,CMV_COLOR_LEVELS,u1,u2,k);
set_bits(v_class,CMV_COLOR_LEVELS,v1,v2,k);
i++;
}else{
printf("CMVision: Too many thresholds.\n");
}
}else if(n == 0){
state = CMV_STATE_SCAN;
}
break;
}
}
/*
for(i=0; i<CMV_COLOR_LEVELS; i++){
printf("%08X %08X %08X\n",y_class[i],u_class[i],v_class[i]);
}
*/
fclose(in);
return(true);
}
bool CMVision::saveOptions(char *filename)
{
color_info *c;
FILE *out;
int i;
out = fopen(filename,"wt");
if(!out) return(false);
fprintf(out,"[Colors]\n");
i = 0;
while(colors[i].name){
c = &colors[i];
fprintf(out,"(%3d,%3d,%3d) %6.4lf %d %s\n",
c->color.red,c->color.green,c->color.blue,
c->merge,c->expected_num,c->name);
i++;
}
fprintf(out,"\n[Thresholds]\n");
i = 0;
while(colors[i].name){
c = &colors[i];
fprintf(out,"(%3d:%3d,%3d:%3d,%3d:%3d)\n",
c->y_low,c->y_high,
c->u_low,c->u_high,
c->v_low,c->v_high);
i++;
}
fclose(out);
return(true);
}
bool CMVision::enable(unsigned opt)
{
int valid;
valid = opt & CMV_VALID_OPTIONS;
options |= valid;
return(opt == valid);
}
bool CMVision::disable(unsigned opt)
{
int valid;
valid = opt & CMV_VALID_OPTIONS;
options &= ~valid;
return(opt == valid);
}
void CMVision::close()
{
if(map) delete(map);
map = NULL;
}
//==== Vision Testing Functions ====================================//
bool CMVision::testClassify(rgb * restrict out,image_pixel * restrict image)
{
int i,s;
rgb black = {0,0,0};
if(!image || !out) return(false);
classifyFrame(image,map);
s = width * height;
i = 0;
while(i < s){
while(i<s && !map[i]){
out[i] = black;
i++;
}
while(i<s && map[i]){
out[i] = colors[bottom_bit(map[i])-1].color;
i++;
}
}
return(true);
}
bool CMVision::getThreshold(int color,
int &y_low,int &y_high,
int &u_low,int &u_high,
int &v_low,int &v_high)
{
color_info *c;
if(color<0 || color>=CMV_MAX_COLORS) return(false);
c = &colors[color];
y_low = c->y_low; y_high = c->y_high;
u_low = c->u_low; u_high = c->u_high;
v_low = c->v_low; v_high = c->v_high;
return(true);
}
bool CMVision::setThreshold(int color,
int y_low,int y_high,
int u_low,int u_high,
int v_low,int v_high)
{
color_info *c;
unsigned k;
if(color<0 || color>=CMV_MAX_COLORS) return(false);
c = &colors[color];
k = 1 << color;
clear_bits(y_class,CMV_COLOR_LEVELS,c->y_low,c->y_high,k);
clear_bits(u_class,CMV_COLOR_LEVELS,c->u_low,c->u_high,k);
clear_bits(v_class,CMV_COLOR_LEVELS,c->v_low,c->v_high,k);
c->y_low = y_low; c->y_high = y_high;
c->u_low = u_low; c->u_high = u_high;
c->v_low = v_low; c->v_high = v_high;
set_bits(y_class,CMV_COLOR_LEVELS,y_low,y_high,k);
set_bits(u_class,CMV_COLOR_LEVELS,u_low,u_high,k);
set_bits(v_class,CMV_COLOR_LEVELS,v_low,v_high,k);
return(true);
}
//==== Main Vision Functions =======================================//
bool CMVision::processFrame(image_pixel *image)
{
int runs;
int regions;
int max_area;
if(!image) return(false);
if(options & CMV_THRESHOLD){
classifyFrame(image,map);
runs = encodeRuns(rmap,map);
connectComponents(rmap,runs);
regions = extractRegions(region_table,rmap,runs);
if(options & CMV_COLOR_AVERAGES){
calcAverageColors(region_table,regions,image,rmap,runs);
}
max_area = separateRegions(region_table,regions);
sortRegions(max_area);
if(options & CMV_DENSITY_MERGE){
mergeRegions();
}
}
return(true);
}
bool CMVision::processFrame(unsigned *map)
{
int runs;
int regions;
int max_area;
if(!map) return(false);
runs = encodeRuns(rmap,map);
connectComponents(rmap,runs);
regions = extractRegions(region_table,rmap,runs);
// if(options & CMV_COLOR_AVERAGES){
// calcAverageColors(region_table,regions,image,rmap,runs);
// }
max_area = separateRegions(region_table,regions);
sortRegions(max_area);
if(options & CMV_DENSITY_MERGE){
mergeRegions();
}
return(true);
}
int CMVision::numRegions(int color_id)
{
if(color_id<0 || color_id>=CMV_MAX_COLORS) return(CMV_NONE);
return(region_count[color_id]);
}
CMVision::region *CMVision::getRegions(int color_id)
{
if(color_id<0 || color_id>=CMV_MAX_COLORS) return(NULL);
return(region_list[color_id]);
}
utils/COPYING 9/22
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All these examples fall under the GPL unless otherwise specified.
See the parent of this directory for details.
utils/HELP.TXT 10/22
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Got any examples to contribute?
Donate it and we will put it here!
utils/cmv_thresh/Makefile 11/22
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# location of CMVision
CMVDIR = ../..
# libraries to use
GTKLIBS = `gtk-config --libs`
GTKINC = `gtk-config --cflags`
LIB = -L/usr/lib $(GTKLIBS) -lm -lpthread
INCLUDE = $(GTKINC) -I$(CMVDIR)/include
# compiler and settings to use
CC = g++
CFLAGS = -O3 $(INCLUDE) -DUSE_METEOR
# -g -pg -O2 -ffast-math
# project settings
TARGET = thresh
SOURCES = $(wildcard *.cc) $(wildcard $(CMVDIR)/src/*.cc)
OBJ = $(SOURCES:%.cc=%.o)
# rules and other cruft
all: $(TARGET)
dep: depend
.SUFFIXES: .cc
%.o: %.cc
$(CC) $(CFLAGS) -c $< -o $@
$(TARGET): $(OBJ)
$(CC) $(CFLAGS) -o $@ $(OBJ) $(LIB) $(INCLUDE)
clean:
-rm -rf core *.o *~ "#"*"#" $(CMVDIR)/src/*.o Makefile.bak
depend:
makedepend -fMakefile $(INCLUDE) $(SOURCES)
# autogenerated dependencies:
utils/cmv_thresh/colors.txt 12/22
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[Colors]
(255,128, 0) 0.0000 0 Ball
(255,255, 0) 0.0000 0 Yellow_Team
( 0, 0,255) 0.0000 0 Blue_Team
(255,255,255) 0.0000 0 White
(255, 0,255) 0.0000 0 Marker_Pink
(160, 0,160) 0.0000 0 Marker_Purple
( 0,160, 0) 0.0000 0 Marker_Green
( 0, 0, 0) 0.0000 0 C08
( 0, 0, 0) 0.0000 0 C09
( 0, 0, 0) 0.0000 0 C10
( 0, 0, 0) 0.0000 0 C11
( 0, 0, 0) 0.0000 0 C12
( 0, 0, 0) 0.0000 0 C13
( 0, 0, 0) 0.0000 0 C14
( 0, 0, 0) 0.0000 0 C15
( 0, 0, 0) 0.0000 0 C16
(255,128, 0) 0.0000 0 Ball_2
(255,255, 0) 0.0000 0 Yellow_Team_2
( 0, 0,255) 0.0000 0 Blue_Team_2
(255,255,255) 0.0000 0 White_2
(255, 0,255) 0.0000 0 Marker_Pink_2
(160, 0,160) 0.0000 0 Marker_Purple_2
( 0,160, 0) 0.0000 0 Marker_Green_2
[Thresholds]
( 32:168, 71:135,164:228)
( 71:246, 30:107,136:168)
( 76:122,205:221, 67:128)
(172:255,104:169, 93:156)
( 64:172,133:181,153:206)
(103: 96,118:140,144:166)
( 12:145, 89:157, 85:119)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 86:221, 35: 79,102:150)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
utils/cmv_thresh/thresh.cc 13/22
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#include "thresh.h"
inline int min(int a,int b)
{
return((a < b)? a : b);
}
inline int max(int a,int b)
{
return((a > b)? a : b);
}
int bound(int low,int high,int n)
{
if(n < low ) n = low;
if(n > high) n = high;
return(n);
}
/*====================================================================
Main program
====================================================================*/
windows win;
appstate app;
bool capture_frame;
bool captured_image = false;
bool white_background;
extern bool button_press;
extern int mouse_x;
extern int mouse_y;
typedef void*(*pthread_start_routine)(void *);
bool run_frame_daemon;
class capture cap;
class CMVision vision;
int frame = 0;
int uframe = 0;
int permute[HIST_SIZE];
int rx,ry;
image_pixel *c_img;
void vision_draw_crosshairs(int color, int val);
rgb yuv_to_rgb(int y,int u,int v)
{
rgb c;
u = 2*u - 256;
v = 2*v - 256;
c.red = bound(0,255,y + v);
c.green = bound(0,255,(int)(y - 0.51*v - 0.19*u));
c.blue = bound(0,255,y + u);
//c.alpha = 0;
return(c);
}
#define SET_HIST_X(A,I,J,Y,U,V) \
A[(I)*256 + (J)] = A[(I)*256 + (J) + 1] = yuv_to_rgb(Y,U,V)
#define SET_HIST_Y(A,I,J,Y,U,V) \
A[(I)*256 + (J)] = A[((I)+1)*256 + (J)] = yuv_to_rgb(Y,U,V)
void init_histograms()
{
int i,t,r;
/*memset(app.uv_hist,0,HIST_SIZE*HIST_SIZE*4);
memset(app.uy_hist,0,HIST_SIZE*HIST_SIZE*4);
memset(app.yv_hist,0,HIST_SIZE*HIST_SIZE*4);*/
memset(app.uv_hist,0,HIST_SIZE*HIST_SIZE*3); // set background color of histograms here
memset(app.uy_hist,0,HIST_SIZE*HIST_SIZE*3);
memset(app.yv_hist,0,HIST_SIZE*HIST_SIZE*3);
for(i=1; i<HIST_SIZE-1; i++){
SET_HIST_Y(app.uv_hist, 1,i, 128,0,i);
SET_HIST_X(app.uv_hist, i,1, 128,i,0);
SET_HIST_Y(app.uv_hist, 253,i, 128,255,i);
SET_HIST_X(app.uv_hist, i,253, 128,i,255);
SET_HIST_Y(app.uy_hist, 1,i, i,0,128);
SET_HIST_X(app.uy_hist, i,1, 0,i,128);
SET_HIST_Y(app.uy_hist, 253,i, i,255,128);
SET_HIST_X(app.uy_hist, i,253, 255,i,128);
SET_HIST_Y(app.yv_hist, 1,i, 0,128,i);
SET_HIST_X(app.yv_hist, i,1, i,128,0);
SET_HIST_Y(app.yv_hist, 253,i, 255,128,i);
SET_HIST_X(app.yv_hist, i,253, i,128,255);
}
// Generate randomly ordered index array
for(i=0; i<HIST_SIZE-6; i++) permute[i] = i;
for(i=0; i<HIST_SIZE-7; i++){
r = rand() % (HIST_SIZE - 6 - i);
t = permute[r];
permute[r] = permute[i];
permute[i] = t;
}
}
void add_to_hist(image_pixel *src,int w,int h)
{
int i,j;
int l,x ;
int y,u,v;
rgb c;
image_pixel p;
//c.alpha = 0;
for(i=0; i<w*h/2; i++){
p = src[i];
y = (p.y1 + p.y2) / 2;
v = 2*p.u - 256;
u = 2*p.v - 256;
c.red = bound(0,255,y + u);
c.green = bound(0,255,(int)(y - 0.51*u - 0.19*v));
c.blue = bound(0,255,y + v);
// c.alpha = 0;
app.uv_hist[256*p.u + p.v] = c;
app.uy_hist[256*p.u + y] = c;
app.yv_hist[256* y + p.v] = c;
}
// set background pixels here
if(white_background) // make background white if user requests it
c.red = c.green = c.blue = 255;
else
c.red = c.green = c.blue = 0;
// erase a pseudo-random set of pixels.
for(i=0; i<4; i++){
for(j=0; j<HIST_SIZE-6; j++){
rx = (rx + 1) % (HIST_SIZE - 6);
ry = (ry + HIST_SIZE - 7) % (HIST_SIZE - 6);
x = permute[rx] + 3;
y = permute[ry] + 3;
l = y*HIST_SIZE + x;
app.uv_hist[l] = c;
app.uy_hist[l] = c;
app.yv_hist[l] = c;
}
ry++; // skip to next row sequence
}
// prevent threshold boxes from erasure
if(white_background){
vision_draw_thresholds(app.color,0);
}else{
vision_draw_thresholds(app.color,255);
}
}
void draw_hist_rect(rgb *img,int x1,int y1,int x2,int y2,rgb c)
{
int x,y;
x1 = bound(4,HIST_SIZE-4,x1);
y1 = bound(4,HIST_SIZE-4,y1);
x2 = bound(4,HIST_SIZE-4,x2);
y2 = bound(4,HIST_SIZE-4,y2);
for(x=x1; x<x2; x++){
img[HIST_SIZE*y1 + x] = c;
img[HIST_SIZE*y2 + x] = c;
}
for(y=y1; y<y2; y++){
img[HIST_SIZE*y + x1] = c;
img[HIST_SIZE*y + x2] = c;
}
}
rgb yuv_to_rgb(image_pixel p)
{
int y,u,v;
rgb c;
y = (p.y1 + p.y2) / 2;
v = 2*p.u - 256;
u = 2*p.v - 256;
c.red = bound(0,255,y + u);
c.green = bound(0,255,(int)(y - 0.51*u - 0.19*v));
c.blue = bound(0,255,y + v);
return(c);
}
unsigned int matrix_coefficients = 6;
const signed int Inverse_Table_6_9[8][4] =
{
{117504, 138453, 13954, 34903}, /* no sequence_display_extension */
{117504, 138453, 13954, 34903}, /* ITU-R Rec. 709 (1990) */
{104597, 132201, 25675, 53279}, /* unspecified */
{104597, 132201, 25675, 53279}, /* reserved */
{104448, 132798, 24759, 53109}, /* FCC */
{104597, 132201, 25675, 53279}, /* ITU-R Rec. 624-4 System B, G */
{104597, 132201, 25675, 53279}, /* SMPTE 170M */
{117579, 136230, 16907, 35559} /* SMPTE 240M (1987) */
};
unsigned char * table_rV[256];
unsigned char * table_gU[256];
int table_gV[256];
unsigned char * table_bU[256];
static int div_round (int dividend, int divisor){
if (dividend > 0)
return (dividend + (divisor>>1)) / divisor;
else
return -((-dividend + (divisor>>1)) / divisor);
}
static void yuv_to_rgb_init()
{
int i;
unsigned char table_Y[1024];
unsigned char *table_8 = 0;
unsigned int entry_size = 0;
unsigned char *table_r = 0, *table_g = 0, *table_b = 0;
int crv = Inverse_Table_6_9[matrix_coefficients][0];
int cbu = Inverse_Table_6_9[matrix_coefficients][1];
int cgu = -Inverse_Table_6_9[matrix_coefficients][2];
int cgv = -Inverse_Table_6_9[matrix_coefficients][3];
for (i = 0; i < 1024; i++){
int j;
j = (76309 * (i - 384 - 16) + 32768) >> 16;
j = (j < 0) ? 0 : ((j > 255) ? 255 : j);
table_Y[i] = j;
}
table_8 = (unsigned char*) malloc ((256 + 2*232) * sizeof (unsigned char));
entry_size = sizeof (unsigned char);
table_r = table_g = table_b = table_8 + 232;
for (i = -232; i < 256+232; i++)
((unsigned char * )table_b)[i] = table_Y[i+384];
for (i = 0; i < 256; i++){
table_rV[i] = table_r + entry_size * div_round (crv * (i-128), 76309);
table_gU[i] = table_g + entry_size * div_round (cgu * (i-128), 76309);
table_gV[i] = entry_size * div_round (cgv * (i-128), 76309);
table_bU[i] = table_b + entry_size * div_round (cbu * (i-128), 76309);
}
}
void yuv_to_rgb(rgb *dest , image_pixel *src, int w,int h)
{
int i,s;
int U, V, Y;
image_pixel p;
rgb c;
unsigned char * r, * g, * b;
s = w * h;
for(i=0; i<s; i++){
p = src[i / 2];
U = p.u;
V = p.v;
r = table_rV[V];
g = table_gU[U] + table_gV[V];
b = table_bU[U];
Y = p.y1;
c.red = r[Y];
c.green = g[Y];
c.blue = b[Y];
dest[i] = c;
Y = p.y2;
c.red = r[Y];
c.green = g[Y];
c.blue = b[Y];
dest[i+1] = c;
}
}
void frame_daemon(void *data)
{
while(run_frame_daemon){
if(capture_frame){
c_img = (image_pixel*)cap.captureFrame();
captured_image = true;
frame++;
}
if(app.show_hist /* && sem_trywait(&app.hist_lock)!=EAGAIN*/){
sem_wait(&app.hist_lock);
add_to_hist(c_img,VIEW_WIDTH,VIEW_HEIGHT);
sem_post(&app.hist_lock);
}
yuv_to_rgb((rgb*)app.video_buf,c_img,VIEW_WIDTH,VIEW_HEIGHT);
vision.testClassify((rgb*)app.output_buf,c_img);
//memcpy(app.video_buf,img,320*240*4);
/*
printf(".");
if(frame%30 == 0) printf("\n");
fflush(stdout);
*/
// update_windows(win);
}
}
int update_daemon(void *data)
{
uframe++;
update_windows(win,uframe);
return(run_frame_daemon);
}
bool vision_load(char *filename)
{
return(vision.loadOptions(filename));
}
bool vision_save(char *filename)
{
return(vision.saveOptions(filename));
}
#define THRESH_VAL(T) \
(int)(GTK_ADJUSTMENT(win.control.T.adj)->value)
#define THRESH_SLIDER(T) \
gtk_adjustment_set_value(GTK_ADJUSTMENT(win.control.T.adj),T)
void vision_draw_thresholds(int color,int val)
{
rgb c;
int y_min,y_max;
int u_min,u_max;
int v_min,v_max;
vision.getThreshold(app.color,
y_min,y_max,
u_min,u_max,
v_min,v_max);
c.red = c.green = c.blue = val; //c.alpha = val;
draw_hist_rect(app.uv_hist,v_min,u_min,v_max,u_max,c);
draw_hist_rect(app.uy_hist,y_min,u_min,y_max,u_max,c);
draw_hist_rect(app.yv_hist,v_min,y_min,v_max,y_max,c);
}
void vision_set_thresholds(int color)
{
int y_min,y_max;
int u_min,u_max;
int v_min,v_max;
// erase old thresholds
if(white_background){
vision_draw_thresholds(app.color,255);
}else{
vision_draw_thresholds(app.color,0);
}
// set new thresholds
y_min = THRESH_VAL(y_min); y_max = THRESH_VAL(y_max);
u_min = THRESH_VAL(u_min); u_max = THRESH_VAL(u_max);
v_min = THRESH_VAL(v_min); v_max = THRESH_VAL(v_max);
vision.setThreshold(color,
y_min,y_max,
u_min,u_max,
v_min,v_max);
// draw new thresholds
if(white_background){
vision_draw_thresholds(color,0);
}else{
vision_draw_thresholds(color,255);
}
}
void vision_get_thresholds(int color)
{
int y_min,y_max;
int u_min,u_max;
int v_min,v_max;
vision.getThreshold(app.color,
y_min,y_max,
u_min,u_max,
v_min,v_max);
THRESH_SLIDER(y_min); THRESH_SLIDER(y_max);
THRESH_SLIDER(u_min); THRESH_SLIDER(u_max);
THRESH_SLIDER(v_min); THRESH_SLIDER(v_max);
// draw new thresholds
if(white_background)
vision_draw_thresholds(app.color,0);
else
vision_draw_thresholds(app.color,255);
}
char *vision_color_name(int color)
{
return(vision.getColorName(color));
}
int main(int argc,char **argv)
{
pthread_t thr;
guint timer;
app.video_buf = new unsigned char[VIEW_WIDTH * VIEW_HEIGHT * 4];
app.output_buf = new unsigned char[VIEW_WIDTH * VIEW_HEIGHT * 4];
app.uv_hist = new rgb[256 * 256];
app.uy_hist = new rgb[256 * 256];
app.yv_hist = new rgb[256 * 256];
app.cross_x = 5;
app.cross_y = 5;
strcpy(app.filename,"colors.txt");
// initialize capture
if(!cap.initialize("/dev/video",VIEW_WIDTH,VIEW_HEIGHT,
DEFAULT_VIDEO_FORMAT)){
printf("Capture initialization failed!\n");
exit(1);
}
if(!vision.initialize(VIEW_WIDTH,VIEW_HEIGHT)
|| !vision.loadOptions(app.filename)){
printf("Vision initialization failed!\n");
exit(2);
}
init_histograms();
// initialize gtk
//g_thread_init(NULL);
gtk_init(&argc,&argv);
gdk_rgb_init();
create_windows(win);
// initialize partial look yuv to rgb routine
yuv_to_rgb_init();
// spawn refresh thread
run_frame_daemon = true;
capture_frame = true;
sem_init(&app.hist_lock,0,1);
pthread_create(&thr,NULL,(pthread_start_routine)frame_daemon,NULL);
timer = gtk_timeout_add(1000/5,(GtkFunction)update_daemon,NULL);
// black threshold background by default
white_background = false;
app.show_hist = true;
// Main Function
gdk_threads_enter();
gtk_main();
gdk_threads_leave();
// shutwown
run_frame_daemon = false;
pthread_join(thr,NULL);
sem_destroy(&app.hist_lock);
cap.close();
vision.close();
return(0);
}
utils/cmv_thresh/thresh.h 14/22
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#include <stdlib.h>
#include <stdio.h>
#include <pthread.h>
#include <semaphore.h>
#include <math.h>
#include <string.h>
#include <gtk/gtk.h>
// CMVision headers
#include <capture.h>
#include <cmvision.h>
/*====================================================================
Windowing definitions
====================================================================*/
#define VIEW_WIDTH 640
#define VIEW_HEIGHT 480
#define HIST_SIZE 256
struct file_window{
GtkWidget *file_selector;
};
struct slider{
GtkWidget *label;
GtkWidget *scale;
GtkObject *adj;
};
struct control_window{
GtkWidget *window;
GtkWidget *vbox;
GtkWidget *table;
// GtkWidget *hbox;
GtkWidget *toolbar;
GtkWidget *new_button;
GtkWidget *open_button;
GtkWidget *reload_button;
GtkWidget *save_button;
GtkWidget *saveas_button;
GtkWidget *color;
GtkWidget *color_menu;
slider y_min,y_max;
slider u_min,u_max;
slider v_min,v_max;
};
struct vid_window{
bool can_update;
GtkWidget *window;
//GtkWidget *vbox;
GtkWidget *video;
};
struct output_window{
bool can_update;
GtkWidget *window;
GtkWidget *output; // drawing area
};
struct hist_window{
bool can_update;
GtkWidget *window;
GtkWidget *table;
GtkWidget *uv_hist;
GtkWidget *uy_hist;
GtkWidget *yv_hist;
};
struct windows{
struct file_window file;
struct control_window control;
struct vid_window video;
struct hist_window hist;
struct output_window output;
};
void create_windows(windows &w);
void destroy_windows(windows &w);
/*====================================================================
File IO definitions
====================================================================*/
// bool save_screen(char *filename);
/*====================================================================
Global data definitions
====================================================================*/
#define FILE_MODE_OPEN 1
#define FILE_MODE_SAVE 2
struct appstate{
int file_mode;
char filename[256];
int color;
unsigned char *video_buf;
unsigned char *output_buf;
sem_t hist_lock;
rgb *uv_hist,*uy_hist,*yv_hist;
int frame;
int cross_x;
int cross_y;
int framerate;
bool show_hist;
};
/*====================================================================
Main functions
====================================================================*/
void update_windows(windows &w,int frame);
bool vision_load(char *filename);
bool vision_save(char *filename);
void vision_set_thresholds(int color);
void vision_get_thresholds(int color);
char *vision_color_name(int color);
void vision_draw_thresholds(int color,int val);
utils/cmv_thresh/win.cc 15/22
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#include "thresh.h"
extern appstate app;
extern windows win;
extern bool capture_frame;
extern bool white_background;
extern image_pixel *c_img;
extern bool captured_image;
bool crosshair_mode = false;
int mouse_x = 0;
int mouse_y = 0;
bool button_press = false;
void destroy_windows(windows &w);
void delete_event()
{
destroy_windows(win);
gtk_main_quit();
}
//==== File Selection Dialog =========================================//
void file_done(GtkWidget *selector,gpointer data)
{
// call load_spline_file() / save_current_view()
char *s;
s = gtk_file_selection_get_filename(GTK_FILE_SELECTION(selector));
strncpy(app.filename,s,256);
printf("Got filename:[%s]\n",app.filename);
gtk_widget_hide(selector);
switch(app.file_mode){
case FILE_MODE_OPEN:
vision_load(app.filename);
break;
case FILE_MODE_SAVE:
vision_save(app.filename);
break;
}
}
void file_cancel(GtkWidget *selector,gpointer data)
{
gtk_widget_destroy(selector);
}
/*
void file_show(GtkWidget *selector)
{
gtk_widget_show(selector);
}
*/
void create_file_window(file_window &w,char *label)
{
w.file_selector = gtk_file_selection_new(label);
gtk_signal_connect_object(GTK_OBJECT(GTK_FILE_SELECTION(w.file_selector)->
ok_button),
"clicked", GTK_SIGNAL_FUNC(file_done),
GTK_OBJECT(w.file_selector));
gtk_signal_connect_object(GTK_OBJECT(GTK_FILE_SELECTION(w.file_selector)->
cancel_button),
"clicked", GTK_SIGNAL_FUNC(file_cancel),
GTK_OBJECT(w.file_selector));
gtk_widget_show(w.file_selector);
}
//==== Toolbar Events ================================================//
// quit aplication
void toolbar_crosshair_event(GtkWidget *widget, gpointer data)
{
// switch crosshair mode on and off
printf("crosshair mode event\n");
crosshair_mode = !crosshair_mode;
}
void toolbar_quit_event(GtkWidget *widget, gpointer data){
printf("quit event\n");
destroy_windows(win);
gtk_main_quit();
}
void toolbar_background_event(GtkWidget *widget, gpointer data){
printf("toggle background event\n");
if(white_background){
// set background color of histograms here
memset(app.uv_hist,0,HIST_SIZE*HIST_SIZE*3);
memset(app.uy_hist,0,HIST_SIZE*HIST_SIZE*3);
memset(app.yv_hist,0,HIST_SIZE*HIST_SIZE*3);
white_background = false;
}else{
// set background color of histograms here
memset(app.uv_hist,255,HIST_SIZE*HIST_SIZE*3);
memset(app.uy_hist,255,HIST_SIZE*HIST_SIZE*3);
memset(app.yv_hist,255,HIST_SIZE*HIST_SIZE*3);
white_background = true;
}
}
void toolbar_pause_event(GtkWidget *widget, gpointer data)
{
printf("pause event\n");
if(capture_frame){
capture_frame = false;
}else{
capture_frame = true;
}
}
void toolbar_new_event(GtkWidget *widget,gpointer data)
{
printf("new event.\n");
// clear_image();
}
void toolbar_open_event(GtkWidget *widget,gpointer data)
{
printf("open event.\n");
app.file_mode = FILE_MODE_OPEN;
create_file_window(win.file,"Choose a threshold file to open.");
}
void toolbar_reload_event(GtkWidget *widget,gpointer data)
{
printf("reload event.\n");
vision_load(app.filename);
}
void toolbar_save_event(GtkWidget *widget,gpointer data)
{
printf("save event.\n");
vision_save(app.filename);
}
void toolbar_saveas_event(GtkWidget *widget,gpointer data)
{
printf("saveas event.\n");
app.file_mode = FILE_MODE_SAVE;
create_file_window(win.file,"Choose a file to save thresholds.");
}
//==== Control Window ================================================//
void control_thresh_set_event(GtkWidget *widget,GtkAdjustment *adj)
{
//printf("set threhold %d.\n",(int)(adj->value));
vision_set_thresholds(app.color);
//update_view();
}
void control_select_color_event(GtkWidget *widget,int id)
{
char *str;
int i;
if(id<0 || id>=CMV_MAX_COLORS) return;
/*
if(!str) return;
i = 0;
while(i<32 && strcmp(str,vision_color_name(i))) i++;
if(i >= 32) return;
*/
str = vision_color_name(id);
printf("set color [%s]:%d.\n",str,id);
vision_draw_thresholds(app.color,0);
app.color = id;
vision_get_thresholds(i);
}
void control_add_hseparator(GtkWidget *table,int &y)
{
GtkWidget *sep;
sep = gtk_hseparator_new();
GtkAttachOptions opfe = (GtkAttachOptions)(GTK_FILL|GTK_EXPAND);
int pad = 4;
gtk_table_attach(GTK_TABLE(table),sep,0,2,y,y+1,opfe,opfe,pad,pad);
y++;
gtk_widget_show(sep);
}
void control_add_hslider(GtkWidget *table,int &y,slider &s,char *label,double val)
{
// create widgets
s.label = gtk_label_new(label);
s.adj = gtk_adjustment_new(val,0,256,1,16,1);
s.scale = gtk_hscale_new(GTK_ADJUSTMENT(s.adj));
gtk_scale_set_digits(GTK_SCALE(s.scale),0);
gtk_scale_set_value_pos(GTK_SCALE(s.scale),GTK_POS_TOP);
// gtk_range_set_update_policy(GTK_RANGE(s.scale),GTK_UPDATE_DELAYED);
// attach to table
GtkAttachOptions opfe = (GtkAttachOptions)(GTK_FILL|GTK_EXPAND);
GtkAttachOptions opf = (GtkAttachOptions)(GTK_FILL);
int pad = 4;
gtk_table_attach(GTK_TABLE(table),s.label,0,1,y,y+1,opf ,opfe,pad,pad);
gtk_table_attach(GTK_TABLE(table),s.scale,1,2,y,y+1,opfe,opfe,pad,pad);
y++;
// Set up signal
gtk_signal_connect(GTK_OBJECT(s.adj),"value_changed",
GTK_SIGNAL_FUNC(control_thresh_set_event),(gpointer)s.adj);
// Show widgets
gtk_widget_show(s.label);
gtk_widget_show(s.scale);
}
GtkWidget *control_add_menu(GtkWidget *table,int &y,char *label)
{
// create widgets
GtkWidget *lab,*menu,*option_menu;
lab = gtk_label_new(label);
option_menu = gtk_option_menu_new();
// attach to table
GtkAttachOptions opfe = (GtkAttachOptions)(GTK_FILL|GTK_EXPAND);
GtkAttachOptions opf = (GtkAttachOptions)(GTK_FILL);
int pad = 4;
gtk_table_attach(GTK_TABLE(table),lab ,0,1,y,y+1,opf ,opfe,pad,pad);
gtk_table_attach(GTK_TABLE(table),option_menu,1,2,y,y+1,opfe,opfe,pad,pad);
y++;
// Show widgets
gtk_widget_show(lab);
gtk_widget_show(option_menu);
return(option_menu);
}
#define LOAD_ICON(str) \
gdk_pixmap_colormap_create_from_xpm(w.window->window, \
colormap,&mask,NULL,str)
void create_control_window(control_window &w)
{
GdkPixmap *icon;
GdkBitmap *mask;
GtkWidget *iconw;
GdkColormap *colormap;
// Create widgets
w.window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
gtk_window_set_title(GTK_WINDOW(w.window),"CMV Threshold Editor");
gtk_container_set_border_width(GTK_CONTAINER(w.window),4);
w.vbox = gtk_vbox_new(FALSE,0);
w.table = gtk_table_new(11,2,FALSE);
// Create toolbar and add icons
w.toolbar = gtk_toolbar_new(GTK_ORIENTATION_HORIZONTAL,GTK_TOOLBAR_BOTH);
gtk_box_pack_start(GTK_BOX(w.vbox),w.toolbar,TRUE,TRUE,0);
colormap = gdk_colormap_get_system();
icon = LOAD_ICON("img/new.xpm");
iconw = gtk_pixmap_new(icon,mask);
w.new_button = gtk_toolbar_append_item(GTK_TOOLBAR(w.toolbar),
"New","Initialize new threshold file",NULL,
iconw,GTK_SIGNAL_FUNC(toolbar_new_event),NULL);
icon = LOAD_ICON("img/open.xpm");
iconw = gtk_pixmap_new(icon,mask);
w.open_button = gtk_toolbar_append_item(GTK_TOOLBAR(w.toolbar),
"Open","Opens existing threshold file",NULL,
iconw,GTK_SIGNAL_FUNC(toolbar_open_event),NULL);
icon = LOAD_ICON("img/reload.xpm");
iconw = gtk_pixmap_new(icon,mask);
w.reload_button = gtk_toolbar_append_item(GTK_TOOLBAR(w.toolbar),
"Reload","Reloads current threshold file",NULL,
iconw,GTK_SIGNAL_FUNC(toolbar_reload_event),NULL);
icon = LOAD_ICON("img/save.xpm");
iconw = gtk_pixmap_new(icon,mask);
w.save_button = gtk_toolbar_append_item(GTK_TOOLBAR(w.toolbar),
"Save","Saves thresholds to current file",NULL,
iconw,GTK_SIGNAL_FUNC(toolbar_save_event),NULL);
icon = LOAD_ICON("img/saveas.xpm");
iconw = gtk_pixmap_new(icon,mask);
w.saveas_button = gtk_toolbar_append_item(GTK_TOOLBAR(w.toolbar),
"Save As","Saves thresholds to a new file",NULL,
iconw,GTK_SIGNAL_FUNC(toolbar_saveas_event),NULL);
icon = LOAD_ICON("img/pause.xpm");
iconw = gtk_pixmap_new(icon,mask);
w.saveas_button = gtk_toolbar_append_item(GTK_TOOLBAR(w.toolbar),
"Pause","Pauses CMVision",NULL,
iconw,GTK_SIGNAL_FUNC(toolbar_pause_event),NULL);
icon = LOAD_ICON("img/background.xpm");
iconw = gtk_pixmap_new(icon,mask);
w.saveas_button = gtk_toolbar_append_item(GTK_TOOLBAR(w.toolbar),
"Background","Toggle Background Color",NULL,
iconw,GTK_SIGNAL_FUNC(toolbar_background_event),NULL);
icon = LOAD_ICON("img/crosshair.xpm");
iconw = gtk_pixmap_new(icon,mask);
w.saveas_button = gtk_toolbar_append_item(GTK_TOOLBAR(w.toolbar),
"Crosshair","Toggle into crosshair mode",NULL,
iconw,GTK_SIGNAL_FUNC(toolbar_crosshair_event),NULL);
icon = LOAD_ICON("img/quit.xpm");
iconw = gtk_pixmap_new(icon,mask);
w.saveas_button = gtk_toolbar_append_item(GTK_TOOLBAR(w.toolbar),
"Quit","Quit program",NULL,
iconw,GTK_SIGNAL_FUNC(toolbar_quit_event),NULL);
/*
gtk_toolbar_append_space(GTK_TOOLBAR(w.toolbar));
icon = LOAD_ICON("img/paint.xpm");
iconw = gtk_pixmap_new(icon,mask);
w.paint_button = gtk_toolbar_append_item(GTK_TOOLBAR(w.toolbar),
"Paint","Sets current mode to paint",NULL,
iconw,GTK_SIGNAL_FUNC(toolbar_paint_event),NULL);
icon = LOAD_ICON("img/blur.xpm");
iconw = gtk_pixmap_new(icon,mask);
w.blur_button = gtk_toolbar_append_item(GTK_TOOLBAR(w.toolbar),
"Blur","Sets current mode to blur",NULL,
iconw,GTK_SIGNAL_FUNC(toolbar_blur_event),NULL);
*/
GtkWidget *l;
char *str;
int i,y;
w.color_menu = gtk_menu_new();
for(i=0; i<32; i++){
str = vision_color_name(i);
if(str){
l = gtk_menu_item_new_with_label(str);
gtk_signal_connect(GTK_OBJECT(l),"activate",
GTK_SIGNAL_FUNC(control_select_color_event),(gpointer)i);
gtk_widget_show(l);
// printf("Added [%s]\n",vision_color_name(i));
gtk_menu_append(GTK_MENU(w.color_menu),l);
}
}
/*
// Add color dropdown
GList *l = w.colors;
l = g_list_append(l,(void*)"First Item");
l = g_list_append(l,(void*)"Second Item");
l = g_list_append(l,(void*)"Third Item");
l = g_list_append(l,(void*)"Fourth Item");
l = g_list_append(l,(void*)"Fifth Item");
w.colors = l;
w.color = control_add_hslider(w.table,y,"Color:");
gtk_combo_set_popdown_strings(GTK_COMBO(w.color),w.colors);
control_add_hseparator(w.table,y);
*/
y = 0;
w.color = control_add_menu(w.table,y,"Color:");
gtk_option_menu_set_menu(GTK_OPTION_MENU(w.color),w.color_menu);
control_add_hseparator(w.table,y);
// Add sliders
control_add_hslider(w.table,y,w.y_min,"Y Min",0);
control_add_hslider(w.table,y,w.y_max,"Y Max",255);
control_add_hseparator(w.table,y);
control_add_hslider(w.table,y,w.u_min,"U Min",0);
control_add_hslider(w.table,y,w.u_max,"U Max",255);
control_add_hseparator(w.table,y);
control_add_hslider(w.table,y,w.v_min,"V Min",0);
control_add_hslider(w.table,y,w.v_max,"V Max",255);
control_add_hseparator(w.table,y);
// set initial values
control_select_color_event(NULL,0);
// Pack widgets
gtk_container_add(GTK_CONTAINER(w.window),w.vbox);
gtk_box_pack_start(GTK_BOX(w.vbox),w.table,FALSE,FALSE,0);
// Add destroy-on-close behavior
gtk_signal_connect(GTK_OBJECT(w.window), "delete_event",
GTK_SIGNAL_FUNC(delete_event), NULL);
gtk_quit_add_destroy(1, GTK_OBJECT(w.window));
// Set up signals
// Show widgets
gtk_widget_show(w.toolbar);
gtk_widget_show(w.table);
//gtk_widget_show(w.hbox);
gtk_widget_show(w.vbox);
gtk_widget_show(w.window);
}
//==== Video Window ==================================================//
int cal_id = 0;
double cal[13][3] = {
-137.00, 76.25, 0.00,
0.00, 76.25, 0.00,
137.00, 76.25, 0.00,
-114.50, 50.00, 0.00,
114.50, 50.00, 0.00,
-137.00, 0.00, 0.00,
0.00, 0.00, 0.00,
137.00, 0.00, 0.00,
-114.50, -50.00, 0.00,
114.50, -50.00, 0.00,
-137.00, -76.25, 0.00,
0.00, -76.25, 0.00,
137.00, -76.25, 0.00
};
gboolean crosshair_button_press(GtkWidget *widget,GdkEventButton *event,
gpointer user_data)
{
//printf("crosshair button press event (%f, %f)\n", event->x, event->y);
printf("(%8.2f,%8.2f,%8.2f) (%8.2f,%8.2f)\n",
cal[cal_id][0],cal[cal_id][1],cal[cal_id][2],
event->x, event->y);
cal_id++;
app.cross_x = (int)event->x;
app.cross_y = (int)event->y;
button_press = true;
return(TRUE);
}
void draw_crosshair(GdkDrawable *output, int x, int y)
{
GdkGC *gc_output = gdk_gc_new(output);
GdkColor color;
//b | (g << 8) | (r << 16);
color.pixel = 0 | ( 255 << 8) | (0 << 16);
color.red = 0;
color.blue = 0;
color.green = 255;
gdk_gc_set_foreground(gc_output, &color);
gdk_gc_set_line_attributes(gc_output, 2, GDK_LINE_SOLID, GDK_CAP_BUTT, GDK_JOIN_BEVEL);
gdk_draw_line(output,gc_output,x - 2, y, x+2, y);
gdk_draw_line(output,gc_output,x, y - 2, x, y+2);
gdk_gc_unref(gc_output);
}
gboolean video_video_expose(GtkWidget *widget,GdkEventExpose *event)
{
// widget = win.video.video;
//gdk_gc_set_clip_rectangle(widget->style->fg_gc[widget->state],
// NULL);
gdk_draw_rgb_image(widget->window,widget->style->fg_gc[GTK_STATE_NORMAL],
0,0,VIEW_WIDTH,VIEW_HEIGHT,GDK_RGB_DITHER_NONE,
(guchar*)app.video_buf,VIEW_WIDTH*3);
if(crosshair_mode)
draw_crosshair(widget->window, app.cross_x, app.cross_y);
return(TRUE);
}
gboolean video_output_expose(GtkWidget *widget,GdkEventExpose *event)
{
// gdk_gc_set_clip_rectangle(widget->style->fg_gc[widget->state],
// NULL);
gdk_draw_rgb_image(widget->window,widget->style->fg_gc[GTK_STATE_NORMAL],
0,0,VIEW_WIDTH,VIEW_HEIGHT,GDK_RGB_DITHER_NONE,
(guchar*)app.output_buf,VIEW_WIDTH*3);
return(TRUE);
}
gboolean video_button_press_event (GtkWidget *widget,
GdkEventButton *event,
gpointer user_data)
{
printf("video_button_press\n");
if(!capture_frame){
mouse_x = (int)event->x;
mouse_y = (int)event->y;
if(mouse_x < VIEW_WIDTH && mouse_y < VIEW_HEIGHT){
button_press = true;
}
}
}
// void create_output_window()
// create a output window and store information in output_window
void create_output_window(output_window &w){
// create the window
w.window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
gtk_window_set_title(GTK_WINDOW(w.window),"CMV Threshold Editor: Output");
gtk_widget_set_usize (w.window, VIEW_WIDTH, VIEW_HEIGHT);
gtk_window_set_policy (GTK_WINDOW (w.window), FALSE, FALSE, FALSE); // not resizable
// contstruct output drawing area
w.output = gtk_drawing_area_new();
gtk_drawing_area_size(GTK_DRAWING_AREA(w.output),VIEW_WIDTH,VIEW_HEIGHT);
gtk_container_add(GTK_CONTAINER(w.window),w.output);
gtk_signal_connect(GTK_OBJECT(w.window), "delete_event",
GTK_SIGNAL_FUNC(delete_event), NULL);
// don't know
gtk_quit_add_destroy(1, GTK_OBJECT(w.window));
// Show widgets
gtk_widget_show(w.output);
// show output window
gtk_widget_show(w.window);
w.can_update = true;
gtk_signal_connect(GTK_OBJECT(w.output), "expose_event",
GTK_SIGNAL_FUNC(video_output_expose),NULL);
}
void create_video_window(vid_window &w)
{
// Create widgets
w.window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
gtk_widget_set_events (w.window, GDK_BUTTON_PRESS_MASK | GDK_EXPOSURE_MASK);
gtk_window_set_title(GTK_WINDOW(w.window),"CMV Threshold Editor: Video");
gtk_widget_set_usize (w.window, VIEW_WIDTH, VIEW_HEIGHT);
gtk_window_set_policy (GTK_WINDOW (w.window), FALSE, FALSE, FALSE); // not resizable
//gtk_widget_set_uposition (window1, 0, 0);
// gtk_container_set_border_width(GTK_CONTAINER(w.window),4); don't need this
//w.vbox = gtk_vbox_new(FALSE,4);
w.video = gtk_drawing_area_new();
gtk_drawing_area_size(GTK_DRAWING_AREA(w.video),VIEW_WIDTH,VIEW_HEIGHT);
//gtk_widget_set_events (w.video, GDK_BUTTON_PRESS_MASK);
//w.output = gtk_drawing_area_new();
//gtk_drawing_area_size(GTK_DRAWING_AREA(w.output),VIEW_WIDTH,VIEW_HEIGHT);
// Pack widgets
//gtk_container_add(GTK_CONTAINER(w.window),w.vbox);
gtk_container_add(GTK_CONTAINER(w.window),w.video);
gtk_signal_connect(GTK_OBJECT(w.video), "expose_event",
GTK_SIGNAL_FUNC(video_video_expose),NULL);
//gtk_box_pack_start(GTK_BOX(w.vbox),w.video,FALSE,FALSE,0);
//gtk_box_pack_start(GTK_BOX(w.vbox),w.output,FALSE,FALSE,0);
// Set up signals
// Add destroy-on-close behavior
gtk_signal_connect(GTK_OBJECT(w.window), "delete_event",
GTK_SIGNAL_FUNC(delete_event), NULL);
/*gtk_signal_connect (GTK_OBJECT (w.window), "button_press_event",
GTK_SIGNAL_FUNC (video_button_press_event),
NULL);*/
gtk_quit_add_destroy(1, GTK_OBJECT(w.window));
// Show widgets
gtk_widget_show(w.video);
//gtk_widget_show(w.output);
//gtk_widget_show(w.vbox);
gtk_widget_show(w.window);
w.can_update = true;
gtk_signal_connect (GTK_OBJECT (w.window), "button_press_event",
GTK_SIGNAL_FUNC (crosshair_button_press),
NULL);
// gtk_widget_set_events(w.video, GDK_BUTTON_PRESS_MASK);
}
//==== Histogram Window ==============================================//
gboolean hist_uv_expose(GtkWidget *widget,GdkEventExpose *event)
{
gdk_draw_rgb_image(widget->window,widget->style->fg_gc[GTK_STATE_NORMAL],
0,0,HIST_SIZE,HIST_SIZE,GDK_RGB_DITHER_NONE,
(guchar*)app.uv_hist,HIST_SIZE*3);
if(captured_image && crosshair_mode){
image_pixel here = c_img[(app.cross_y * VIEW_WIDTH + app.cross_x)/2];
draw_crosshair(widget->window, here.v, here.u);
}
return(TRUE);
}
gboolean hist_uy_expose(GtkWidget *widget,GdkEventExpose *event)
{
gdk_draw_rgb_image(widget->window,widget->style->fg_gc[GTK_STATE_NORMAL],
0,0,HIST_SIZE,HIST_SIZE,GDK_RGB_DITHER_NONE,
(guchar*)app.uy_hist,HIST_SIZE*3);
if(captured_image && crosshair_mode){
image_pixel here = c_img[(app.cross_y * VIEW_WIDTH + app.cross_x)/2];
int y = (here.y1 + here.y2)/2;
//printf("y=%d, u=%d, v=%d\n", here.y1, here.u, here.v);
draw_crosshair(widget->window, y, here.u);
}
return(TRUE);
}
gboolean hist_yv_expose(GtkWidget *widget,GdkEventExpose *event)
{
gdk_draw_rgb_image(widget->window,widget->style->fg_gc[GTK_STATE_NORMAL],
0,0,HIST_SIZE,HIST_SIZE,GDK_RGB_DITHER_NONE,
(guchar*)app.yv_hist,HIST_SIZE*3);
if(captured_image && crosshair_mode){
image_pixel here = c_img[(app.cross_y * VIEW_WIDTH + app.cross_x)/2];
int y = (here.y1 + here.y2)/2;
draw_crosshair(widget->window, here.v, y);
}
return(TRUE);
}
void create_hist_window(hist_window &w)
{
// Create widgets
w.window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
gtk_window_set_title(GTK_WINDOW(w.window),"CMV Threshold Editor");
gtk_container_set_border_width(GTK_CONTAINER(w.window),2);
w.table = gtk_table_new(2,2,FALSE);
w.uv_hist = gtk_drawing_area_new();
gtk_drawing_area_size(GTK_DRAWING_AREA(w.uv_hist),HIST_SIZE,HIST_SIZE);
w.uy_hist = gtk_drawing_area_new();
gtk_drawing_area_size(GTK_DRAWING_AREA(w.uy_hist),HIST_SIZE,HIST_SIZE);
w.yv_hist = gtk_drawing_area_new();
gtk_drawing_area_size(GTK_DRAWING_AREA(w.yv_hist),HIST_SIZE,HIST_SIZE);
// Pack widgets
gtk_container_add(GTK_CONTAINER(w.window),w.table);
//GtkAttachOptions opfe = (GtkAttachOptions)(GTK_FILL|GTK_EXPAND);
GtkAttachOptions opf = (GtkAttachOptions)(GTK_FILL);
int pad = 2;
gtk_table_attach(GTK_TABLE(w.table),w.uv_hist,0,1,0,1,opf,opf,pad,pad);
gtk_table_attach(GTK_TABLE(w.table),w.uy_hist,1,2,0,1,opf,opf,pad,pad);
gtk_table_attach(GTK_TABLE(w.table),w.yv_hist,0,1,1,2,opf,opf,pad,pad);
// Set up signals
gtk_signal_connect(GTK_OBJECT(w.uv_hist), "expose_event",
GTK_SIGNAL_FUNC(hist_uv_expose),NULL);
gtk_signal_connect(GTK_OBJECT(w.uy_hist), "expose_event",
GTK_SIGNAL_FUNC(hist_uy_expose),NULL);
gtk_signal_connect(GTK_OBJECT(w.yv_hist), "expose_event",
GTK_SIGNAL_FUNC(hist_yv_expose),NULL);
// Add destroy-on-close behavior
gtk_signal_connect(GTK_OBJECT(w.window), "delete_event",
GTK_SIGNAL_FUNC(delete_event), NULL);
gtk_quit_add_destroy(1, GTK_OBJECT(w.window));
// Show widgets
gtk_widget_show(w.uv_hist);
gtk_widget_show(w.uy_hist);
gtk_widget_show(w.yv_hist);
gtk_widget_show(w.table);
gtk_widget_show(w.window);
w.can_update = true;
}
//==== Main Window Functions =========================================//
void create_windows(windows &w)
{
// create_file_window(w.file,"");
create_control_window(w.control);
create_video_window(w.video);
create_output_window(w.output);
create_hist_window(w.hist);
}
void update_windows(windows &w,int frame)
{
// expose video, blob, and hist windows
if(!w.video.can_update && !w.output.can_update) return; // maybe check can_update for output, don't know, ZK
if(frame % 2){
if(app.show_hist){
sem_wait(&app.hist_lock);
hist_uv_expose(w.hist.uv_hist,NULL);
hist_uy_expose(w.hist.uy_hist,NULL);
hist_yv_expose(w.hist.yv_hist,NULL);
sem_post(&app.hist_lock);
}
}else{
video_video_expose(w.video.video,NULL);
video_output_expose(w.output.output,NULL);
}
}
void destroy_windows(windows &w)
{
// printf("DESTROY!\n");
w.video.can_update = false;
w.output.can_update = false;
w.hist.can_update = false;
// add any garbage collection needed
}
utils/grab/Makefile 16/22
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# location of CMVision
CMVDIR = ../..
CC = g++
CFLAGS = -O3
TARGET = grab
SRC = $(wildcard *.cc) $(wildcard $(CMVDIR)/src/*.cc)
OBJ = $(SRC:%.cc=%.o)
LIB =
INC = -I$(CMVDIR)/include
all: $(TARGET)
.SUFFIXES: .cc
%.o: %.cc
$(CC) $(CFLAGS) $(INC) -c $< -o $@
$(TARGET): $(OBJ)
$(CC) $(CFLAGS) -o $@ $(OBJ) $(LIB)
clean:
rm -f *.o $(TARGET) core
utils/grab/grab.cc 17/22
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/*=========================================================================
Copyright 2000 James Bruce
Example program to capture and save images using the capture library
-------------------------------------------------------------------------
REVISION HISTORY:
2000-05-20: Initial release version - ugly, adapted from
something I needed really quickly at some point (JRB)
=========================================================================*/
// NOTE: this file is messy and requires modification to be useful,
// though hopefully it can serve as example code for using the capture
// library.
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
// CMVision capture library
#include <capture.h>
// The printf format string for output filenames
#define FILE_NAME_STYLE "images/image%03d.ppm"
struct rgb{
unsigned char red,green,blue;
};
struct uyvy{
unsigned char u,y1,v,y2;
};
rgb black = {0,0,0};
// These should really be parameters, but aren't yet.
int width = 320;
int height = 240;
int fmt = V4L2_PIX_FMT_UYVY;
// int fmt = V4L2_PIX_FMT_BGR24;
// int fmt = V4L2_PIX_FMT_YUYV;
int num = 120;
rgb *img;
uyvy *buf,*cur;
char file[32];
int bound(int low,int high,int n)
{
if(n < low ) n = low;
if(n > high) n = high;
return(n);
}
rgb yuv_to_rgb(int y,int u,int v)
{
rgb c;
u = 2*u - 256;
v = 2*v - 256;
c.red = bound(0,255,y + v);
c.green = bound(0,255,(int)(y - 0.51*v - 0.19*u));
c.blue = bound(0,255,y + u);
//c.alpha = 0;
return(c);
}
void swap_rgb(rgb *buf,int len)
{
int i;
rgb r;
for(i=0; i<len; i++){
r = buf[i];
buf[i].red = r.blue;
buf[i].blue = r.red;
}
}
void convert(rgb *dest,uyvy *src,int size)
{
int i;
uyvy p;
for(i=0; i<size; i++){
p = src[i];
dest[2*i + 0] = yuv_to_rgb(p.y1,p.u,p.v);
dest[2*i + 1] = yuv_to_rgb(p.y2,p.u,p.v);
}
}
int main()
{
capture cap;
int i,size;
char filename[32];
FILE *file;
timeval t1,t2;
double sec;
bool ok;
ok = cap.initialize("/dev/video",width,height,fmt);
if(!ok) printf("Capture init failed.\n");
size = width*height/2;
img = new rgb[size*2];
buf = new uyvy[size*num];
if(!img || !buf){
printf("Not enough memory");
exit(1);
}
// Initialize mem to bring into core memory
// Could use mlock, but its the simple 1-thread method for now
memset(buf,0,size*num*sizeof(uyvy));
/*
// Wait a bit
printf("Waiting four seconds"); fflush(stdout);
for(i=0; i<4; i++){
sleep(1);
printf("."); fflush(stdout);
}
printf("\n");
*/
// Capture some initial frames
for(i=0; i<10; i++){
cur = (uyvy*)cap.captureFrame();
}
// Capture the frames
printf("Capturing\n");
gettimeofday(&t1,NULL);
for(i=0; i<num; i++){
cur = (uyvy*)cap.captureFrame();
memcpy(buf + size*i,cur,size*sizeof(uyvy));
// memset(buf + size*i,i*4,size*sizeof(rgb));
printf("."); fflush(stdout);
if(i % 30 == 0) printf("\n");
}
gettimeofday(&t2,NULL);
printf("done.\n");
sec = (t2.tv_sec - t1.tv_sec) + (t2.tv_usec - t1.tv_usec) / 1E6;
printf("Elapsed time: %4.3fs (%ffps)\n",sec,num / sec);
// Most capture cards are BGR for some reason
// swap_rgb(buf,size*num);
// Save files to image dir as raw PPMs
printf("Writing\n");
for(i=0; i<num; i++){
convert(img,buf + size*i,size);
sprintf(filename,FILE_NAME_STYLE,i);
if(file = fopen(filename,"w")){
fprintf(file,"P6\n%d %d\n255\n",width,height);
fwrite(img,sizeof(rgb),size*2,file);
fclose(file);
printf("."); fflush(stdout);
}
}
printf("done.\n");
return(0);
}
utils/mtest/Makefile 18/22
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# location of CMVision
CMVDIR = ../..
CC = g++
CFLAGS = -O3 -DUSE_METEOR
TARGET = mtest
SRC = $(wildcard *.cc) $(wildcard $(CMVDIR)/src/*.cc)
OBJ = $(SRC:%.cc=%.o)
LIB = -L/usr/X11/lib -lX11
INC = -I$(CMVDIR)/include -I/usr/include/X11
all: $(TARGET)
.SUFFIXES: .cc
%.o: %.cc
$(CC) $(CFLAGS) $(INC) -c $< -o $@
$(TARGET): $(OBJ)
$(CC) $(CFLAGS) -o $@ $(OBJ) $(LIB)
clean:
rm -f *.o $(TARGET) $(CMVDIR)/src/*.o core
utils/mtest/colors.txt 19/22
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[Colors]
(255,128, 0) 0.5000 2 Ball
(255,255, 0) 0.6000 3 Yellow_Team
( 0, 0,255) 0.6000 3 Blue_Team
(255,255,255) 0.0000 0 White
(255, 0,255) 0.0000 0 Marker_Pink
(160, 0,160) 0.0000 0 Marker_Purple
( 0,160, 0) 0.0000 0 Marker_Green
( 0, 0, 0) 0.0000 0 C08
( 0, 0, 0) 0.0000 0 C09
( 0, 0, 0) 0.0000 0 C10
( 0, 0, 0) 0.0000 0 C11
( 0, 0, 0) 0.0000 0 C12
( 0, 0, 0) 0.0000 0 C13
( 0, 0, 0) 0.0000 0 C14
( 0, 0, 0) 0.0000 0 C15
( 0, 0, 0) 0.0000 0 C16
(255,128, 0) 0.0000 0 Ball_2
(255,255, 0) 0.0000 0 Yellow_Team_2
( 0, 0,255) 0.0000 0 Blue_Team_2
(255,255,255) 0.0000 0 White_2
(255, 0,255) 0.0000 0 Marker_Pink_2
(160, 0,160) 0.0000 0 Marker_Purple_2
( 0,160, 0) 0.0000 0 Marker_Green_2
[Thresholds]
( 7:175, 50: 97,168:219)
( 87:251, 4: 84,170:209)
( 76:122,205:221, 67:128)
(130:255, 81:131,125:178)
( 50:181,102:135,190:222)
(103: 96,118:140,144:166)
( 67:134, 96:129, 85:124)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 86:221, 35: 79,102:150)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
( 0: 0, 0: 0, 0: 0)
utils/mtest/mtest.cc 20/22
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// A simple program demonstrating X output and use of density merging.
#include <stdlib.h>
#include <unistd.h>
#include <time.h>
#include <math.h>
#include "cmvision.h"
#include "capture.h"
#include "win.h"
#define WIDTH 160
#define HEIGHT 120
int main()
{
xwindows xw;
xwin win;
xpixmap back;
XEvent xev;
KeySym key;
capture cap;
CMVision vision;
image_pixel *img;
CMVision::region *reg;
CMVision::rectangle rect;
CMVision::line line;
int c;
bool run;
xw.initialize();
win = xw.createWindow(WIDTH,HEIGHT,"Density Merging Test");
back = win.createPixmap(WIDTH,HEIGHT);
if(!cap.initialize(WIDTH,HEIGHT) ||
!vision.initialize(WIDTH,HEIGHT)){
printf("Vision init failed.\n");
}
vision.loadOptions("colors.txt");
vision.enable(CMV_DENSITY_MERGE);
run = true;
while(run){
img = (image_pixel*)cap.captureFrame();
vision.processFrame(img);
back.setGray(0);
back.fillRectangle(0,0,WIDTH,HEIGHT);
for(c=0; c<4; c++){
reg = vision.getRegions(c);
back.setColor(vision.getColorVisual(c));
while(reg && reg->area>16){
rect.x = reg->x1;
rect.y = reg->y1;
rect.w = reg->x2 - reg->x1 + 1;
rect.h = reg->y2 - reg->y1 + 1;
back.drawRectangle(rect.x,rect.y,rect.w,rect.h);
reg = reg->next;
}
}
// copy back buffer to front
win.copyArea(back,0,0,WIDTH,HEIGHT,0,0);
while(xw.checkEvent(xev)){
switch(xev.type){
case KeyPress:
key = XLookupKeysym(&xev.xkey,0);
switch(key){
case XK_space: break;
case(XK_Left): break;
case(XK_Up): break;
case(XK_Right): break;
case(XK_Down): break;
case(XK_Escape):
run = false;
break;
}
break;
}
}
}
cap.close();
vision.close();
win.close();
xw.close();
}
utils/mtest/win.cc 21/22
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/*=========================================================================
Win.h
-------------------------------------------------------------------------
Simple C++ wrapper interface for XLib
-------------------------------------------------------------------------
Copyright 1999, 2000 James R. Bruce
School of Computer Science, Carnegie Mellon University
-------------------------------------------------------------------------
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
=========================================================================*/
#include "win.h"
int LeastSetBitNum(int n)
{
int i = 1;
if(!n) return(0);
while(!(n&1)){
n >>= 1;
i++;
}
return(i);
}
//==== XWindows Class Implementation =================================//
bool xwindows::initialize()
{
// General initialization of X
disp = XOpenDisplay(NULL);
if(!disp){
printf("Cannot open display.\n");
return(false);
}
screen = DefaultScreen(disp);
depth = DefaultDepth(disp,screen);
root = RootWindow(disp,screen);
XVisualInfo xvi;
if(!XMatchVisualInfo(disp,screen,24,TrueColor,&xvi) &&
!XMatchVisualInfo(disp,screen,32,TrueColor,&xvi)){
printf("This program requires 24 bit color (%d).\n",depth);
exit(0);
}
red_shift = LeastSetBitNum(xvi.red_mask ) - 1;
green_shift = LeastSetBitNum(xvi.green_mask) - 1;
blue_shift = LeastSetBitNum(xvi.blue_mask ) - 1;
vis = xvi.visual;
// printf("Shift: %d %d %d\n",red_shift,green_shift,blue_shift);
return(true);
}
void xwindows::close()
{
if(disp) XCloseDisplay(disp);
disp = NULL;
}
xwin xwindows::createWindow(int width,int height,char *title)
{
xwin xw;
xw.initialize(this,width,height,title);
return(xw);
}
/*
xpixmap xwindows::createPixmap(int width,int height)
{
xpixmap xp;
xp.initialize(this,width,height);
return(xp);
}
*/
bool xwindows::checkEvent(XEvent &xev)
{
bool r = (XPending(disp) != 0);
if(r) XNextEvent(disp,&xev);
return(r);
}
void xwindows::getEvent(XEvent &xev)
{
XNextEvent(disp,&xev);
}
void xwindows::flush()
{
XFlush(disp);
}
//==== XDrawable Class Implementation ================================//
void xdrawable::setColor(int red,int green,int blue)
{
int id;
id = (red << xw->red_shift ) |
(green << xw->green_shift) |
(blue << xw->blue_shift );
XSetForeground(xw->disp,gc,id);
}
void xdrawable::setColor(rgb color)
{
int id;
id = (color.red << xw->red_shift ) |
(color.green << xw->green_shift) |
(color.blue << xw->blue_shift );
XSetForeground(xw->disp,gc,id);
}
void xdrawable::setGray(int intensity)
{
int id;
id = (intensity << xw->red_shift ) |
(intensity << xw->green_shift) |
(intensity << xw->blue_shift );
XSetForeground(xw->disp,gc,id);
}
void xdrawable::fillRectangle(int x,int y,int w,int h)
{
XFillRectangle(xw->disp,draw,gc,x,y,w,h);
}
void xdrawable::fillCircle(int x,int y,int r)
{
XFillArc(xw->disp,draw,gc,x-r,y-r,2*r+1,2*r+1,0,360*64);
}
void xdrawable::fillPolygon(XPoint *pts,int num)
{
XFillPolygon(xw->disp,draw,gc,pts,num,Convex,CoordModeOrigin);
}
void xdrawable::drawRectangle(int x,int y,int w,int h)
{
XDrawRectangle(xw->disp,draw,gc,x,y,w,h);
}
void xdrawable::drawCircle(int x,int y,int r)
{
XDrawArc(xw->disp,draw,gc,x-r,y-r,2*r+1,2*r+1,0,360*64);
}
void xdrawable::drawLine(int x1,int y1,int x2,int y2)
{
XDrawLine(xw->disp,draw,gc,x1,y1,x2,y2);
}
void xdrawable::drawLines(XPoint *pts,int num)
{
XDrawLines(xw->disp,draw,gc,pts,num,CoordModeOrigin);
}
void xdrawable::copyArea(xdrawable &src,int src_x,int src_y,
int w,int h,int dest_x,int dest_y)
{
XCopyArea(xw->disp,src.draw,draw,gc,src_x,src_y,w,h,dest_x,dest_y);
}
void xdrawable::print(int x,int y,char *str)
{
XTextItem t;
int i;
t.chars = str;
t.nchars = strlen(str);
t.delta = 0;
t.font = None;
XDrawText(xw->disp,draw,gc,x,y,&t,1);
}
bool xdrawable::loadImage(char *filename)
{
FILE *in;
int w,h,m,x,y;
rgb c;
in = fopen(filename,"rb");
if(!in) return(false);
w = h = 0;
fscanf(in,"P6\n%d %d\n%d\n",&w,&h,&m);
// printf("w=%d h=%d max=%d\n",w,h,m);
for(y=0; y<h; y++){
printf("\rloading '%s' %2d%%",filename,(y*100)/h);
fflush(stdout);
for(x=0; x<w; x++){
fread(&c,sizeof(rgb),1,in);
setColor(c);
XDrawPoint(xw->disp,draw,gc,x,y);
}
}
fclose(in);
printf("\rloading '%s' done.\n",filename);
return(true);
}
/*
void printXImage(XImage *i)
{
printf("width: %d\n",i->width);
printf("height: %d\n",i->height);
printf("xoffset: %d\n",i->xoffset);
printf("format: %d\n",i->format);
printf("data: 0x%X\n",i->data);
printf("byte_order: %d\n",i->byte_order);
printf("bitmap_unit: %d\n",i->bitmap_unit);
printf("bitmap_bit_order: %d\n",i->bitmap_bit_order);
printf("bitmap_pad: %d\n",i->bitmap_pad);
printf("depth: %d\n",i->depth);
printf("bytes_per_line: %d\n",i->bytes_per_line);
printf("bits_per_pixel: %d\n",i->bits_per_pixel);
printf("red_mask: 0x%08X\n",i->red_mask);
printf("green_mask: 0x%08X\n",i->green_mask);
printf("blue_mask: 0x%08X\n",i->blue_mask);
}
XImage *xdrawable::newImage(int w,int h)
{
XImage *img;
char *data;
data = new char[w * h * 3];
if(!data) return(NULL);
img = new XImage;
if(!img){
delete(data);
return(NULL);
}
img->width = w;
img->height = h;
img->xoffset = 0;
img->format = ZPixmap;
img->data = data;
img->byte_order = MSBFirst;
img->bitmap_unit = 8;
img->bitmap_bit_order = LSBFirst;
img->bitmap_pad = 8;
img->depth = 24;
img->bytes_per_line = w * (24/8);
img->bits_per_pixel = 24;
img->red_mask = 0xFF << 0;
img->green_mask = 0xFF << 8;
img->blue_mask = 0xFF << 16;
// there, wasn't that easy?
XInitImage(img);
// printf("Status = %d\n",XInitImage(img));
// img = XGetImage(disp,root,0,0,width,height,AllPlanes,ZPixmap);
// img = XCreateImage(disp,vis,24,ZPixmap,0,data,w,h,8,0);
return(img);
}
*/
//==== XPixmap Class Implementation ==================================//
void xpixmap::initialize(xwin *nxw,int w,int h)
{
xw = nxw->xw;
// Create and initialize pixmap
unsigned valuemask = 0;
XGCValues values;
pix = XCreatePixmap(xw->disp,xw->root,w,h,24);
cmap = nxw->cmap; // XCreateColormap(xw->disp,win,xw->vis,AllocNone);
gc = XCreateGC(xw->disp,nxw->win,valuemask,&values);
// XCopyGC(xw->disp, src, valuemask, dest)nxw->gc);
}
void xpixmap::close()
{
XFreePixmap(xw->disp,pix);
}
//==== XWin Class Implementation =====================================//
void xwin::initialize(xwindows *nxw,int width,int height,const char *title)
{
xw = nxw;
// Create and initialize window
XSizeHints size_hints;
unsigned valuemask = 0;
XGCValues values;
XEvent xev;
win = XCreateSimpleWindow(xw->disp,xw->root,0,0,width,height,0,
WhitePixel(xw->disp,xw->screen), BlackPixel(xw->disp,xw->screen));
cmap = XCreateColormap(xw->disp,win,xw->vis,AllocNone);
gc = XCreateGC(xw->disp,win,valuemask,&values);
size_hints.flags = PSize | PMinSize | PMaxSize;
size_hints.min_width = width;
size_hints.max_width = width;
size_hints.min_height = height;
size_hints.max_height = height;
XSetStandardProperties(xw->disp,win,title,title,None,0,0,&size_hints);
XSelectInput(xw->disp,win,
ButtonPressMask |
ButtonMotionMask |
Button1MotionMask | Button2MotionMask | Button3MotionMask |
PointerMotionMask |
KeyPressMask | KeyReleaseMask |
ExposureMask);
XMapWindow(xw->disp,win);
// Block until window is mapped
do{
xw->getEvent(xev);
}while(xev.type != Expose);
}
void xwin::close()
{
XDestroyWindow(xw->disp,win);
}
xpixmap xwin::createPixmap(int width,int height)
{
xpixmap xp;
xp.initialize(this,width,height);
return(xp);
}
void xwin::setBackground(xpixmap &p)
{
XSetWindowBackgroundPixmap(xw->disp,win,p.pix);
}
//==== Event Handling ====//
/*
bool xwin::checkEvent(XEvent &xev)
{
bool r = (XPending(disp) != 0);
if(r) XNextEvent(disp,&xev);
return(r);
}
void xwin::getEvent(XEvent &xev)
{
XNextEvent(disp,&xev);
}
void xwin::flush()
{
XFlush(disp);
}
*/
utils/mtest/win.h 22/22
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/*=========================================================================
Win.h
-------------------------------------------------------------------------
Simple C++ wrapper interface for XLib
-------------------------------------------------------------------------
Copyright 1999, 2000 James R. Bruce
School of Computer Science, Carnegie Mellon University
-------------------------------------------------------------------------
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
=========================================================================*/
#ifndef __WIN_H__
#define __WIN_H__
#include <X11/Xlib.h>
#include <X11/Xutil.h>
#include <X11/keysym.h>
#include <stdio.h>
#ifndef RGB_STRUCT
#define RGB_STRUCT
struct rgb{
unsigned char red,green,blue;
};
#endif
//==== Graphics/Display Routines =====================================//
class xwindows{
friend class xdrawable;
friend class xpixmap;
friend class xwin;
Display *disp;
int screen;
int depth;
Window root;
Visual *vis;
Window win;
GC gc;
int red_shift,green_shift,blue_shift;
public:
bool initialize();
void close();
xwin createWindow(int width,int height,char *title);
// xpixmap createPixmap(int width,int height);
bool checkEvent(XEvent &xev);
void getEvent(XEvent &xev);
void flush();
};
class xdrawable{
protected:
xwindows *xw;
union{
Drawable draw;
Window win;
Pixmap pix;
};
Colormap cmap;
GC gc;
public:
void setColor(rgb color);
void setColor(int red,int green,int blue);
void setGray(int gray);
void fillRectangle(int x,int y,int w,int h);
void fillRectangle(XRectangle r);
void fillCircle(int x,int y,int r);
void fillPolygon(XPoint *pts,int num);
void drawRectangle(int x,int y,int w,int h);
void drawRectangle(XRectangle r);
void drawCircle(int x,int y,int r);
void drawLine(int x1,int y1,int x2,int y2);
void drawLines(XPoint *pts,int num);
void copyArea(xdrawable &src,int src_x,int src_y,
int w,int h,int dest_x,int dest_y);
void print(int x,int y,char *str);
bool loadImage(char *filename);
void flush()
{xw->flush();}
};
class xpixmap : public xdrawable{
friend class xwin;
public:
void initialize(xwin *nxw,int width,int height);
void close();
};
class xwin : public xdrawable{
friend class xpixmap;
public:
void initialize(xwindows *nxw,int width,int height,const char *title);
void close();
void setName(const char *name)
{XStoreName(xw->disp,win,name);}
void clearArea(int x,int y,int w,int h,bool exposures)
{XClearArea(xw->disp,win,x,y,w,h,exposures);}
xpixmap createPixmap(int width,int height);
void setBackground(xpixmap &p);
/*
XImage *newImage(int w,int h);
void deleteImage(XImage *img)
{XDestroyImage(img);}
void putImage(XImage *img,int x,int y)
{XPutImage(xw->disp,win,gc,img,0,0,x,y,img->width,img->height);}
*/
};
#endif
// __WIN_H__
Generated by GNU enscript 1.6.2.