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cmvision.h Go to the documentation of this file. /*========================================================================= 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 20 #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