Changeset 14 for liacs

Timestamp:

Dec 1, 2009, 12:55:10 PM (15 years ago)

Author:

Rick van der Zwet

Message:

We can track an laser if the camera is smart enough to do proper brightness control :-)

File:

• liacs/mss/project/colour-tracking.c (modified) (6 diffs)

liacs/mss/project/colour-tracking.c

@@ -29 +29 @@
 int cvInitSystem(int argc, char *argv[]) {
     // Don't care which camera to use. Use specified number elsewise
-    int cam_number = atoi(argv[1]) > 0 ? atoi(argv[1]) : -1;
+    int cam_number = -1;
+    if (argc > 1)
+        cam_number = atoi(argv[1]) > 0 ? atoi(argv[1]) : -1;
+    printf("Using camera %i\n", cam_number);
     CvCapture *capture = cvCaptureFromCAM(cam_number);
     int width = cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH);
@@ -35 +38 @@
 
 
-    uchar *filterdata, *outdata, *routdata, *goutdata, *boutdata;
+    uchar *filterdata, *outdata, *routdata, *goutdata, *boutdata, *targetdata;
 
     
@@ -66 +69 @@
         
     
+    int cvalue = 0;
+    int xmax = -10;
+    int ymax = -10;
     // Video run starts here ...
     while (1)
@@ -90 +96 @@
         goutdata = (uchar *) goutput->imageData;
         boutdata = (uchar *) boutput->imageData;
+        targetdata = (uchar *) target->imageData;
 
-        k = 0, p = 0;
+        cvSub(output,filter,target,NULL);
+        cvalue = 20;
+        k = 0, p = 0, q = 0;
         for( m = 0; m < image->height; m++) //row
         {
             for( n = 0; n < image->width; n++) //column
             {
+                //p = targetdata[RVALUE(m,n,step)] + targetdata[GVALUE(m,n,step)] + targetdata[BVALUE(m,n,step)];
+                p = targetdata[RVALUE(m,n,step)] + targetdata[GVALUE(m,n,step)];
+                if ( p > cvalue)
+                {
+                        q++;
+                        if (q > 5) {
+                                cvalue = p;
+                                xmax = n;
+                                ymax = m;
+                                printf("Current value: %ix%i=%i\n", xmax, ymax, cvalue);
+                        }
+                } else {
+                        q = 0;
+                }
                 routdata[BVALUE(m,n,step)] = 0; // clear blue part
                 routdata[GVALUE(m,n,step)] = 0; // clear green part
@@ -117 +140 @@
         // XXX: Use stuff like cvMat, cvGetRawData instead of internal hacking
         // Make green 'fade' out by the presence of many red as well
-        filterdata = (uchar *) filter->imageData;
-        for( m = 0; m < image->height; m++) //row
-        {
-            for( n = 0; n < image->width; n++) //column
-            {
-                r = outdata[RVALUE(m,n,step)];
-                g = outdata[GVALUE(m,n,step)];
-                b = outdata[BVALUE(m,n,step)];
-                // Many red, less blue and green. Good for laser pointer tracing
-                p = (r < 220) ? 0 : r;
-                p = (b < 180 || g < 180) ? 0 : p;
-                //p = (abs(p - filterdata[GVALUE(m,n,step)]) > 20) ? p : 0;
-                filterdata[GVALUE(m,n,step)] = p;
-            }
-        }
-
-
-        int xmin = 0, xmax = 0;
-        int ymin = 0, ymax = 0;
-        int value = 0, cmax = 0;
-
-        // Find the 'very' green point and mark it's surroundings
-        const int stepSize = 5;
-        for(m = 0; m < image->height; m = m+stepSize)
-        {
-            for(n = 0; n < image->width; n = n+stepSize)
-            {
-                // Make it stop processing all points, pick the ones with high value
-                value = filterdata[GVALUE(m,n,step)];
-                if (value > cmax) 
-                {
-                    // detect 'square'
-                    p = 0;
-                    int SIZE = 3;
-                    for (i = m; i  < min(m+SIZE,height); i++) 
-                    {
-                        for (j = n; j < min(n+SIZE,width); j++) 
-                        {
-                            value = filterdata[GVALUE(i,j,step)];
-                            if (value > cmax) 
-                            {
-                                p++;
-                            }
-                        }
-                    }
-
-                        
-                    SIZE = 6;
-                    /* Make sure envirionment is 'low' */
-                    for (i = max(m-SIZE,0); i  < m; i++) 
-                    {
-                        for (j = max(n-SIZE,0); j < n; j++) 
-                        {
-                            q = filterdata[GVALUE(i,j,step)];
-                            if (q > value) 
-                            {
-                                p--;
-                            }
-                        }
-                    }
-                    for (i = min(m+SIZE,height); i  < min(m+(2*SIZE),height); i++) 
-                    {
-                        for (j= min(m+SIZE,width); j < min(m+(2*SIZE),width); j++) 
-                        {
-                            q = filterdata[GVALUE(i,j,step)];
-                            if (q > value) 
-                            {
-                                p--;
-                            }
-                        }
-                    }
-
-                    if (p > SIZE) 
-                    {
-                            //printf("%ix%i=%i\n",n,m,value);
-                            cmax = value;
-                            xmax = n;
-                            ymax = m;
-                    }
-                }
-            }
-        }
+        // filterdata = (uchar *) filter->imageData;
         
         // Prepare combined output
         // Some way of making the picture more pretty
         //cvSmooth(filter,target, CV_MEDIAN, 3, 3, 3, 3);
-        cvCopy(filter,target, NULL);
+        cvCopy(output,filter, NULL);
         cvCircle(target, cvPoint(xmax, ymax), 10, CV_RGB(255,0,0),4, 8, 0);
                         
@@ -217 +159 @@
         // wait for any to press to quit
         // Eeks! also HACK to make it refresh properly
-        if (cvWaitKey(20) != -1) {
+        if (cvWaitKey(200) != -1) {
                 break;
         }