Changeset 9 for liacs/mss/project/colour-tracking.c

Timestamp:

Nov 30, 2009, 10:18:39 PM (15 years ago)

Author:

Rick van der Zwet

Message:

The main question is: How to get around with the single 'I look like laser pointer' shapes

File:

• liacs/mss/project/colour-tracking.c (modified) (7 diffs)

liacs/mss/project/colour-tracking.c

@@ -10 +10 @@
 #include <stdio.h>
 
+#define DEBUG 1
+
+#define RVALUE(x,y,step) (x*step+y*3+2)
+#define GVALUE(x,y,step) (x*step+y*3+1)
+#define BVALUE(x,y,step) (x*step+y*3+0)
+
+/* Used for playing with bounderies, returned max value of the pair */
+int max(const int x, const int y) {
+  return ((x > y) ? x : y);
+}
+
+/* Used for playing with bounderies, returned min value of the pair */
+int min(const int x, const int y) {
+  return ((x < y) ? x : y);
+
+}
 
 int cvInitSystem(int argc, char *argv[]) {
@@ -19 +35 @@
 
 
-    uchar *routdata, *goutdata, *boutdata, *target;
+    uchar *filterdata, *outdata, *routdata, *goutdata, *boutdata;
 
     
@@ -41 +57 @@
     IplImage *goutput = cvCreateImage( cvSize(width,height), 8, 3);
     IplImage *filter  = cvCreateImage( cvSize(width,height), 8, 3);
+    IplImage *target  = cvCreateImage( cvSize(width,height), 8, 3);
 
 
     // Some temp pointers
-    int j, k, m, n, p;
+    int i, j, k, m, n, o, p;
+    int r, g, b;
+    int q;
+        
     
     // Video run starts here ...
@@ -66 +86 @@
         
 
+        outdata = (uchar *) output->imageData;
         routdata = (uchar *) routput->imageData;
         goutdata = (uchar *) goutput->imageData;
@@ -75 +96 @@
             for( n = 0; n < image->width; n++) //column
             {
-                routdata[m*step+n*3+0] = 0; // clear blue part
-                routdata[m*step+n*3+1] = 0; // clear green part
-
-                goutdata[m*step+n*3+0] = 0; // clear blue part
-                goutdata[m*step+n*3+2] = 0; // clear red part
-
-                boutdata[m*step+n*3+1] = 0; // clear green part
-                boutdata[m*step+n*3+2] = 0; // clear red part
+                routdata[BVALUE(m,n,step)] = 0; // clear blue part
+                routdata[GVALUE(m,n,step)] = 0; // clear green part
+
+                goutdata[BVALUE(m,n,step)] = 0; // clear blue part
+                goutdata[RVALUE(m,n,step)] = 0; // clear red part
+
+                boutdata[GVALUE(m,n,step)] = 0; // clear green part
+                boutdata[RVALUE(m,n,step)] = 0; // clear red part
             }
         } 
 
         // Clear filter for new use
-        cvSetZero(filter);
+        // cvSetZero(filter);
+        // ... or clone orginal image for mapping over it
+        //cvCopy(goutput, filter, NULL);
 
         // Make it yellow
         //cvOr( routput, goutput, filter, NULL);
 
+        // 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
-        for(m = 0; m < image->height; m++)
+        const int stepSize = 5;
+        for(m = 0; m < image->height; m = m+stepSize)
         {
-            for(n = 0; n < image->width; n++)
+            for(n = 0; n < image->width; n = n+stepSize)
             {
                 // Make it stop processing all points, pick the ones with high value
-                if(goutdata[m*step+n*3+1] > 200)
-                {
-                    if(n < xmin)
-                        xmin = n;
-                    if(n > xmax)
-                        xmax = n;
-                    if(m < ymin)
-                        ymin = m;
-                    if(m > ymax)
-                        ymax = m;
+                value = filterdata[GVALUE(m,n,step)];
+                if (value > cmax) 
+                {
+                    // detect 'square'
+                    p = 0;
+                    const int SIZE = 2;
+                    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++;
+                            }
+                        }
+                    }
+
+                    /* 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;
+                    }
                 }
             }
         }
-             
-        cvRectangle(output, cvPoint(xmin, ymin), cvPoint(xmax,ymax), CV_RGB(0,255,0),2, 8, 0);
-        cvCircle(filter, cvPoint((xmin+xmax)/2, (ymin+ymax)/2), 0, CV_RGB(255,0,0),2, 8, 0);
+        
+        // Prepare combined output
+        cvCopy(filter, target, NULL);
+        cvCircle(target, cvPoint(xmax, ymax), 10, CV_RGB(255,0,0),4, 8, 0);
                         
-
-
 
         // Show all the images
@@ -127 +208 @@
         cvShowImage("B_Image", boutput);       
         cvShowImage("G_Image", goutput);       
-        cvShowImage("F_Image", filter);       
+        cvShowImage("F_Image", target);       
                     
                 
-        //wait for a key to press, Eeks! HACK to make it refresh properly
+        // wait for any to press to quit
+        // Eeks! also HACK to make it refresh properly
         if (cvWaitKey(20) != -1) {
                 break;
@@ -148 +230 @@
 }
 
+// Get ourself into the highGUI main stuff
 int main(int argc, char *argv[]) {
    return cvInitSystem(argc, argv);