diff options
Diffstat (limited to 'Configuracion')
| -rw-r--r-- | Configuracion/.cproject | 954 | ||||
| -rw-r--r-- | Configuracion/.project | 87 | ||||
| -rw-r--r-- | Configuracion/SRC/Makefile | 40 | ||||
| -rw-r--r-- | Configuracion/SRC/configuracion.c | 266 | ||||
| -rw-r--r-- | Configuracion/SRC/configuracionHSV.cpp | 303 | ||||
| -rwxr-xr-x | Configuracion/bin/Data/camera_para.dat | bin | 136 -> 0 bytes | |||
| -rw-r--r-- | Configuracion/bin/conf.con | 6 | ||||
| -rwxr-xr-x | Configuracion/bin/configuracion | bin | 286663 -> 0 bytes | |||
| -rwxr-xr-x | Configuracion/bin/configuracionHSV | bin | 323503 -> 0 bytes |
9 files changed, 0 insertions, 1656 deletions
diff --git a/Configuracion/.cproject b/Configuracion/.cproject deleted file mode 100644 index 8429799..0000000 --- a/Configuracion/.cproject +++ /dev/null @@ -1,954 +0,0 @@ -<?xml version="1.0" encoding="UTF-8" standalone="no"?> -<?fileVersion 4.0.0?> - -<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage"> -<storageModule moduleId="org.eclipse.cdt.core.settings"> -<cconfiguration id="cdt.managedbuild.config.gnu.exe.debug.749223556"> -<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.exe.debug.749223556" moduleId="org.eclipse.cdt.core.settings" name="Debug"> -<externalSettings/> -<extensions> -<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/> -<extension id="org.eclipse.cdt.core.MakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> -<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> -<extension 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b/Configuracion/.project deleted file mode 100644 index d219739..0000000 --- a/Configuracion/.project +++ /dev/null @@ -1,87 +0,0 @@ -<?xml version="1.0" encoding="UTF-8"?> -<projectDescription> - <name>Configuracion</name> - <comment></comment> - <projects> - <project>Utilidades</project> - </projects> - <buildSpec> - <buildCommand> - <name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name> - <triggers>clean,full,incremental,</triggers> - <arguments> - <dictionary> - <key>?children?</key> - <value>?name?=outputEntries\|?children?=?name?=entry\\\\\\\|\\\|?name?=entry\\\\\\\|\\\|\||</value> - </dictionary> - <dictionary> - <key>?name?</key> - <value></value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.append_environment</key> - <value>true</value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.autoBuildTarget</key> - <value>all</value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.buildArguments</key> - <value></value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.buildCommand</key> - <value>make</value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.buildLocation</key> - <value>${workspace_loc:/Configuracion/SRC}</value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.cleanBuildTarget</key> - <value>clean</value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.contents</key> - <value>org.eclipse.cdt.make.core.activeConfigSettings</value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.enableAutoBuild</key> - <value>false</value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.enableCleanBuild</key> - <value>true</value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.enableFullBuild</key> - <value>true</value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.fullBuildTarget</key> - <value>all</value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.stopOnError</key> - <value>true</value> - </dictionary> - <dictionary> - <key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key> - <value>true</value> - </dictionary> - </arguments> - </buildCommand> - <buildCommand> - <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name> - <arguments> - </arguments> - </buildCommand> - </buildSpec> - <natures> - <nature>org.eclipse.cdt.core.cnature</nature> - <nature>org.eclipse.cdt.core.ccnature</nature> - <nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature> - <nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature> - </natures> -</projectDescription> diff --git a/Configuracion/SRC/Makefile b/Configuracion/SRC/Makefile deleted file mode 100644 index 5915041..0000000 --- a/Configuracion/SRC/Makefile +++ /dev/null @@ -1,40 +0,0 @@ -INC_DIR= ../../ARToolkit/include -LIB_DIR= ../../ARToolkit/lib/ - -INC_DIR_UTIL= ../../Utilidades/src -LIB_DIR_UTIL= ../../Utilidades/src - -BIN_DIR= ../bin - -LDFLAG=-pthread -lgstreamer-0.10 -lgobject-2.0 -lgmodule-2.0 -lgthread-2.0 -lrt -lxml2 -lglib-2.0 -L/usr/X11R6/lib -L/usr/local/lib -L$(LIB_DIR) -L$(LIB_DIR_UTIL) -LIBS= -lARgsub -lARvideo -lARMulti -lAR -lpthread -lglut -lGLU -lGL -lXi -lX11 -lm -lXmu -lcv -lcvaux -CFLAG= -O -pthread -I/usr/include/gstreamer-0.10 -I/usr/include/glib-2.0 -I/usr/lib/glib-2.0/include -I/usr/include/libxml2 -I/usr/X11R6/include -I/usr/include/opencv -g -I$(INC_DIR) -I$(INC_DIR_UTIL) - -OBJS = -HEADDERS = - -all: $(BIN_DIR)/configuracion $(BIN_DIR)/configuracionHSV - -$(BIN_DIR)/configuracion: configuracion.o $(OBJS) - g++ -o $(BIN_DIR)/configuracion configuracion.o $(OBJS) $(LDFLAG) $(LIBS) - -configuracion.o: configuracion.c $(HEADDERS) - g++ -c -g $(CFLAG) configuracion.c - -$(BIN_DIR)/configuracionHSV: configuracionHSV.o $(OBJS) - g++ -o $(BIN_DIR)/configuracionHSV configuracionHSV.o $(LIB_DIR_UTIL)/Utilidades.o $(LIB_DIR_UTIL)/cvUtilities.o $(OBJS) $(LDFLAG) $(LIBS) - -configuracionHSV.o: configuracionHSV.cpp $(HEADDERS) - g++ -c -g $(CFLAG) configuracionHSV.cpp - - -clean: - rm -f *.o - rm -f $(BIN_DIR)/configuracion - rm -f $(BIN_DIR)/configuracionHSV - -allclean: - rm -f *.o - rm -f $(BIN_DIR)/configuracion - rm -f $(BIN_DIR)/configuracionHSV - rm -f Makefile diff --git a/Configuracion/SRC/configuracion.c b/Configuracion/SRC/configuracion.c deleted file mode 100644 index db5c176..0000000 --- a/Configuracion/SRC/configuracion.c +++ /dev/null @@ -1,266 +0,0 @@ -#ifdef _WIN32 -# include <windows.h> -#endif -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include <math.h> -#ifndef __APPLE__ -# include <GL/glut.h> -#else -# include <GLUT/glut.h> -#endif -#include <AR/gsub.h> -#include <AR/ar.h> -#include <AR/video.h> -#include <opencv/cv.h> -#include "highgui.h" -#include <formatopixel.h> - -#define MIN_H 0 -#define MAX_H 0 -#define MIN_S 0 -#define MAX_S 0 -#define MIN_B 0 -#define MAX_B 0 -#define UMBRAL 5 -int xsize, ysize; -int thresh = 100; -int count = 0; -int minH = MIN_H, maxH = MAX_H, minS = MIN_S, maxS = MAX_S, minB = MIN_B, - maxB = MAX_B, umbral = UMBRAL; -int invert = 0; -ARUint8 *dataPtr; -/* set video capture configuration */ -#ifdef _WIN32 -char *vconf = "flipV,showDlg"; // see video.h for a list of supported parameters -#else -char vconf[256]; -#endif -char *cparam_name = "Data/camera_para.dat"; -ARParam cparam; -static void init(void); -static void cleanup(void); -static void keyEvent( unsigned char key, int x, int y); -static void mouseEvent(int button, int state, int x, int y); -static void mainLoop(void); -static int guardarEnFichero(void); -static int cargarDeFichero(void); - - - -int main(int argc, char** args) -{ - //initialize applications - printf("\nEste programa sirve para entrenar al sistema a reconocer el objetivo a seguir:"); - printf("\n\n\n\t1.Situe el objetivo delante de la camara."); - printf("\n\n\t2.Cuando vea su objetivo en la pantalla, haga click sobre el\n\tcon el boton derecho del raton."); - printf("\n\n\t3.Realice varios clicks sobre la superficie del objetivo a seguir\n\tcon el boton izquierdo del raton, hasta que la superficie de este\n\taparezca totalmente bordeada."); - printf("\n\n\t4.Tambien puede ajustar manualmente los rangos de H, S y V que\n\tse detectaran,pulsando respectivamente las teclas 'h', 's' y 'b'."); - printf("\n\n\t5.Puede ajustar un umbral pulsando 'u'. Cuanto mayor sea el umbral,\n\tmayor sera la desviacion permitida respecto de las componentes\n\tHSV elegidas."); - printf("\n\n\t6.Cuando termine pulse 'g' para guardar la configuracion en el\n\tfichero conf.con.\n\n\n"); - - glutInit(&argc, args); - init(); - //start video capture - arVideoCapStart(); - //start the main event loop - argMainLoop( mouseEvent, keyEvent, mainLoop ); - return 0; -} -static void keyEvent( unsigned char key, int x, int y) -{ char resp; -/* quit if the ESC key is pressed */ -if( key == 0x1b ) { - cleanup(); - exit(0); -} -if( key == 'h' ) { - printf("\nminH = %d, maxH = %d\n",minH,maxH); - printf("\nIntroduce el valor minimo de H(tono):\n"); - scanf("%d",&minH); - printf("\nIntroduce el valor maximo de H(tono):\n"); - scanf("%d",&maxH); -} -if( key == 'b' ) { - printf("\nminB = %d, maxB = %d\n",minB,maxB); - printf("\nIntroduce el valor minimo de B(brillo):\n"); - scanf("%d",&minB); - printf("\nIntroduce el valor maximo de B(brillo):\n"); - scanf("%d",&maxB); -} -if( key == 's' ) { - printf("\nminS = %d, maxS = %d\n",minS,maxS); - printf("\nIntroduce el valor minimo de S(Saturacion):\n"); - scanf("%d",&minS); - printf("\nIntroduce el valor maximo de S(Saturacion):\n"); - scanf("%d",&maxS); -} -if( key == 'i' ) { - if(invert) invert = 0; - else invert = 1; - printf("\nInversion realizada\n"); -} -if( key == 'u' ) { - printf("\nIntroduce el umbral:\n"); - scanf("%d",&umbral); -} -if( key == 'g' ) { - printf("\nValores actuales: \nH: [%d-%d]\nS: [%d-%d]\nB: [%d-%d] \n",minH,maxH,minS,maxS,minB,maxB); - printf("\nDesea guardar los datos de configuracion de la sesion actual? (s/n)\n"); - scanf("%c",&resp); - if(resp=='s') { - if(guardarEnFichero()) printf("\nConfiguracion guardada en fichero.\n"); - else {printf("\nError!. No se pudo guardar la configuracion en el fichero.\n");} - } -} -} -static void mouseEvent(int button, int state, int x, int y) { - double H, S, V; - ARUint8 *pnt; - //x=x/2; - //y=y/2; - //varios clicks para autoajustar los valores H, S y V - if (button == GLUT_LEFT_BUTTON && state == GLUT_DOWN) { - pnt = (dataPtr+(arImXsize*VALORES_POR_PIXEL*(y-1))+(x*VALORES_POR_PIXEL)); - RGBtoHSV(R_COMP, G_COMP, B_COMP, &H, &S, &V); - if(H>=(maxH-umbral)) {maxH=(H+umbral);} - if(H<=(minH+umbral)) {minH=(H-umbral);} - if(S>=(maxS-umbral)) {maxS=(S+umbral);} - if(S<=(minS+umbral)) {minS=(S+umbral);} - if(V>=(maxB-umbral)) {maxB=(V+umbral);} - if(V<=(minB+umbral)) {minB=(V-umbral);} - printf("\nValores del pixel (RGB):\n%f %f %f\n",(double)R_COMP, (double)G_COMP, (double)B_COMP); - printf("\nValores del pixel (HSV):\n%f %f %f\n",H, S, V); - printf("\nNuevos rangos: \nH: [%d-%d]\nS: [%d-%d]\nB: [%d-%d] \n",minH,maxH,minS,maxS,minB,maxB); - } - //para declarar el punto inicial del objetivo - if (button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN) { - pnt = (dataPtr+(arImXsize*VALORES_POR_PIXEL*(y-1))+(x*VALORES_POR_PIXEL)); - RGBtoHSV(R_COMP, G_COMP, B_COMP, &H, &S, &V); - minH=H-umbral; - maxH=H+umbral; - minS=S-umbral; - maxS=S+umbral; - minB=V-umbral; - maxB=V+umbral; - printf("\nValores del pixel (RGB):\n%f %f %f\n",(double)R_COMP, (double)G_COMP, (double)B_COMP); - printf("\nValores del pixel:\n%f %f %f\n",H, S, V); - } -} -/* main loop */ -static void mainLoop(void) -{ - // ARMarkerInfo *marker_info; - ARMarkerInfo2 *marker2; - int marker_num2; - //int marker_num; - int i,j; - ARInt16 *limage; - int label_num; - int *area, *clip, *label_ref; - double *pos; - marker_num2 = 0; - /* grab a video frame */ - if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) { - arUtilSleep(2); - return; - } - if( count == 0 ) arUtilTimerReset(); - count++; - /*draw the video*/ - argDrawMode2D(); - argDispImage( dataPtr, 0,0 ); - /* capture the next video frame */ - arVideoCapNext(); - glColor3f( 1.0, 0.0, 0.0 ); - glLineWidth(6.0); - - - limage = arLabelingHSB(dataPtr, &label_num, &area, &pos, &clip, &label_ref, 1, minH, maxH, minS, maxS, minB,maxB, invert); - if( limage == 0 ) { - cleanup(); - exit(0); - } - marker2 = arDetectMarker3( limage, label_num, label_ref,area, pos, clip, AR_AREA_MAX, AR_AREA_MIN, &marker_num2); - if( marker2 == 0 ) { - cleanup(); - exit(0); - } - - printf("Numero de marcadores detectados por arDetectMarker3=%d\n",marker_num2); - argDrawMode2D(); - glColor3f( 1.0, 0.0, 0.0 ); - for( i = 0; i < marker_num2; i++ ) { - for(j=0; j<marker2[i].coord_num-1; j++) { - argLineSeg( marker2[i].x_coord[j] , marker2[i].y_coord[j], marker2[i].x_coord - [j+1], marker2[i].y_coord[j+1], 0, 0); - } - } - /*swap the graphics buffers*/ - argSwapBuffers(); -} -static void init( void ) -{ - ARParam wparam; - cargarDeFichero(); - /* open the video path */ - if( arVideoOpen( vconf ) < 0 ) exit(0); - /* find the size of the window */ - if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0); - printf("Image size (x,y) = (%d,%d)\n", xsize, ysize); - /* set the initial camera parameters */ - if( arParamLoad(cparam_name, 1, &wparam) < 0 ) { - printf("Camera parameter load error !!\n"); - exit(0); - } - arParamChangeSize( &wparam, xsize, ysize, &cparam ); - arInitCparam( &cparam ); - printf("*** Camera Parameter ***\n"); - arParamDisp( &cparam ); - /* open the graphics window */ - argInit( &cparam, 1.0, 0, 2, 1, 0 ); - //argInit( &cparam, 2.0, 0, 0, 0, 0 ); -} -/* cleanup function called when program exits */ -static void cleanup(void) -{ - arVideoCapStop(); - arVideoClose(); - argCleanup(); -} -/* draw the the AR objects */ -static int cargarDeFichero(void) { - FILE *fich; - char c; - fich=fopen("conf.con","r"); - if(fich != NULL) { - fscanf(fich,"%d",&umbral); - fscanf(fich," %c",&c); - if(c=='#'){ //si el separador es correcto y no es fin de fichero carga valores; - fscanf(fich,"%d",&minH); - fscanf(fich,"%d",&maxH); - fscanf(fich,"%d",&minS); - fscanf(fich,"%d",&maxS); - fscanf(fich,"%d",&minB); - fscanf(fich,"%d",&maxB); - } - fclose(fich); - printf("Configuracion HSV cargada:\n"); - printf("minH = %d , maxH = %d\n",minH,maxH); - printf("minS = %d , maxS = %d\n",minS,maxS); - printf("minB = %d , maxB = %d\n",minB,maxB); - return 1; - } - return 0; -} -static int guardarEnFichero(void) { - FILE *fich; - fich=fopen("conf.con","w"); - if(fich != NULL) { - fprintf(fich,"%d\n#\n%d %d\n%d %d\n%d %d\n-\n",umbral,minH,maxH,minS,maxS,minB,maxB); - fclose(fich); - return 1; - } - return 0; -} diff --git a/Configuracion/SRC/configuracionHSV.cpp b/Configuracion/SRC/configuracionHSV.cpp deleted file mode 100644 index bbe0160..0000000 --- a/Configuracion/SRC/configuracionHSV.cpp +++ /dev/null @@ -1,303 +0,0 @@ -/* - * configuracionHSV.cpp - * - * Created on: 16/06/2010 - * Author: seba - * - * - * Ss el mismo programa de configuracion solamente que convierte para la deteccion de los - * colores primero convierte la imagen usando opencv y luego invoca a arLabelingHSB3 el - * cual ya espera la imagen convertida. Por ultimo los valores H,S,V que maneja y guarda en el - * archivo de configuracion son del rango de opencv, es decir 0-180, 0-255, 0-255 respectivamente. - */ - -#ifdef _WIN32 -# include <windows.h> -#endif -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include <math.h> -#ifndef __APPLE__ -# include <GL/glut.h> -#else -# include <GLUT/glut.h> -#endif -#include <AR/gsub.h> -#include <AR/ar.h> -#include <AR/video.h> -#include <opencv/cv.h> -#include "highgui.h" -#include <formatopixel.h> -#include "cvUtilities.h" -#define MIN_H 0 -#define MAX_H 0 -#define MIN_S 0 -#define MAX_S 0 -#define MIN_B 0 -#define MAX_B 0 -#define UMBRAL 5 -int xsize, ysize; -int thresh = 100; -int count = 0; -int minH = MIN_H, maxH = MAX_H, minS = MIN_S, maxS = MAX_S, minB = MIN_B, - maxB = MAX_B, umbral = UMBRAL; -int invert = 0; -ARUint8 *dataPtr; -/* set video capture configuration */ -#ifdef _WIN32 -char *vconf = "flipV,showDlg"; // see video.h for a list of supported parameters -#else -char vconf[256]; -#endif -char *cparam_name = "Data/camera_para.dat"; -ARParam cparam; -int armarImagenesDebug =0; -static void init(void); -static void cleanup(void); -static void keyEvent( unsigned char key, int x, int y); -static void mouseEvent(int button, int state, int x, int y); -static void mainLoop(void); -static int guardarEnFichero(void); -static int cargarDeFichero(void); - - -IplImage* img =NULL; -IplImage* img2 =NULL; -cvUtilities* util; -ARUint8 *data1 = NULL; -int main(int argc, char** args) -{ - util = new cvUtilities(); - //initialize applications - printf("\nEste programa sirve para entrenar al sistema a reconocer el objetivo a seguir:"); - printf("\n\n\n\t1.Situe el objetivo delante de la camara."); - printf("\n\n\t2.Cuando vea su objetivo en la pantalla, haga click sobre el\n\tcon el boton derecho del raton."); - printf("\n\n\t3.Realice varios clicks sobre la superficie del objetivo a seguir\n\tcon el boton izquierdo del raton, hasta que la superficie de este\n\taparezca totalmente bordeada."); - printf("\n\n\t4.Tambiï¿1⁄2 puede ajustar manualmente los rangos de H, S y V que\n\tse detectaran,pulsando respectivamente las teclas 'h', 's' y 'b'."); - printf("\n\n\t5.Puede ajustar un umbral pulsando 'u'. Cuanto mayor sea el umbral,\n\tmayor sera la desviacion permitida respecto de las componentes\n\tHSV elegidas."); - printf("\n\n\t6.Cuando termine pulse 'g' para guardar la configuracion en el\n\tfichero conf.con.\n\n\n"); - - glutInit(&argc, args); - init(); - //start video capture - arVideoCapStart(); - //start the main event loop - argMainLoop( mouseEvent, keyEvent, mainLoop ); - return 0; -} -static void keyEvent( unsigned char key, int x, int y) -{ char resp; -/* quit if the ESC key is pressed */ -if( key == 0x1b ) { - cleanup(); - exit(0); -} -if( key == 'h' ) { - printf("\nminH = %d, maxH = %d\n",minH,maxH); - printf("\nIntroduce el valor minimo de H(tono):\n"); - scanf("%d",&minH); - printf("\nIntroduce el valor maximo de H(tono):\n"); - scanf("%d",&maxH); -} -if( key == 'b' ) { - printf("\nminB = %d, maxB = %d\n",minB,maxB); - printf("\nIntroduce el valor minimo de B(brillo):\n"); - scanf("%d",&minB); - printf("\nIntroduce el valor maximo de B(brillo):\n"); - scanf("%d",&maxB); -} -if( key == 's' ) { - printf("\nminS = %d, maxS = %d\n",minS,maxS); - printf("\nIntroduce el valor minimo de S(Saturacion):\n"); - scanf("%d",&minS); - printf("\nIntroduce el valor maximo de S(Saturacion):\n"); - scanf("%d",&maxS); -} -if( key == 'i' ) { - if(invert) invert = 0; - else invert = 1; - printf("\nInversion realizada\n"); -} -if( key == 'u' ) { - printf("\nIntroduce el umbral:\n"); - scanf("%d",&umbral); -} -if( key == 'g' ) { - printf("\nValores actuales: \nH: [%d-%d]\nS: [%d-%d]\nB: [%d-%d] \n",minH,maxH,minS,maxS,minB,maxB); - printf("\nDesea guardar los datos de configuracion de la sesion actual? (s/n)\n"); - scanf("%c",&resp); - if(resp=='s') { - if(guardarEnFichero()) printf("\nConfiguracion guardada en fichero.\n"); - else {printf("\nError!. No se pudo guardar la configuracion en el fichero.\n");} - } -} -} -static void mouseEvent(int button, int state, int x, int y) { - double H, S, V; - ARUint8 *pnt; - //x=x/2; - //y=y/2; - //varios clicks para autoajustar los valores H, S y V - if (button == GLUT_LEFT_BUTTON && state == GLUT_DOWN) { - pnt = (dataPtr+(arImXsize*VALORES_POR_PIXEL*(y-1))+(x*VALORES_POR_PIXEL)); - RGBtoHSV(R_COMP, G_COMP, B_COMP, &H, &S, &V); - //Convierto a escala openCV H:0-180 S:0-255 V:0-255 - util->HSVtoHSVcvUdouble(&H,&S,&V); - if(H>=(maxH-umbral)) {maxH=(H+umbral);} - if(H<=(minH+umbral)) {minH=(H-umbral);} - if(S>=(maxS-umbral)) {maxS=(S+umbral);} - if(S<=(minS+umbral)) {minS=(S+umbral);} - if(V>=(maxB-umbral)) {maxB=(V+umbral);} - if(V<=(minB+umbral)) {minB=(V-umbral);} - printf("\nValores del pixel (RGB):\n%f %f %f\n",(double)R_COMP, (double)G_COMP, (double)B_COMP); - printf("\nValores del pixel (HSVcv):\n%f %f %f\n",H, S, V); - printf("\nNuevos rangos: \nH: [%d-%d]\nS: [%d-%d]\nB: [%d-%d] \n",minH,maxH,minS,maxS,minB,maxB); - } - //para declarar el punto inicial del objetivo - if (button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN) { - pnt = (dataPtr+(arImXsize*VALORES_POR_PIXEL*(y-1))+(x*VALORES_POR_PIXEL)); - RGBtoHSV(R_COMP, G_COMP, B_COMP, &H, &S, &V); - printf("\nValores del pixel HSV:\n%f %f %f\n",H, S, V); - //Convierto a escala openCV H:0-180 S:0-255 V:0-255 - util->HSVtoHSVcvUdouble(&H,&S,&V); - minH=H-umbral; - maxH=H+umbral; - minS=S-umbral; - maxS=S+umbral; - minB=V-umbral; - maxB=V+umbral; - printf("\nValores del pixel (RGB):\n%f %f %f\n",(double)R_COMP, (double)G_COMP, (double)B_COMP); - printf("\nValores del pixel HSVcv:\n%f %f %f\n",H, S, V); - /*printf("\nValores del pixel HSV funcion memoria:\n%f %f %f\n",H, S, V); - uchar Hs,Ss,Vs; - util->convertShervineRGBtoHSV(R_COMP,G_COMP,B_COMP,&Hs,&Ss,&Vs); - printf("\nValores del pixel HSV funcion shervine:\n%d %d %d\n",Hs, Ss, Vs);*/ - } -} -/* main loop */ -static void mainLoop(void) -{ - // ARMarkerInfo *marker_info; - ARMarkerInfo2 *marker2; - int marker_num2; - //int marker_num; - int i,j; - ARInt16 *limage; - int label_num; - int *area, *clip, *label_ref; - double *pos; - marker_num2 = 0; - /* grab a video frame */ - if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) { - arUtilSleep(2); - return; - } - if( count == 0 ) arUtilTimerReset(); - count++; - /*draw the video*/ - argDrawMode2D(); - argDispImage( dataPtr, 0,0 ); - /* capture the next video frame */ - arVideoCapNext(); - glColor3f( 1.0, 0.0, 0.0 ); - glLineWidth(6.0); - - if(img==NULL){ - printf("---------------->CREO LA IMAGEN OPENCV PORQUE ERA NULL 111\n\n\n"); - img = util->crearImagenCv2(dataPtr,xsize,ysize); - } - cvSetImageData( img, dataPtr, img->width* img->nChannels ); - if(data1==NULL){ - data1= new uchar[img->width* img->nChannels *img->height]; - } - - memcpy(data1,(uchar*)dataPtr,img->width* img->nChannels*img->height ); - cvSetImageData( img, data1, img->width* img->nChannels ); - cvCvtColor(img,img,CV_RGB2HSV); - - limage = arLabelingHSB2((ARUint8*)img->imageData, thresh, &label_num, &area, &pos, &clip, &label_ref, 1, minH, maxH, minS, maxS, minB,maxB, invert); - if( limage == 0 ) { - cleanup(); - exit(0); - } - marker2 = arDetectMarker3( limage, label_num, label_ref,area, pos, clip, AR_AREA_MAX, AR_AREA_MIN, &marker_num2); - if( marker2 == 0 ) { - cleanup(); - exit(0); - } - argDrawMode2D(); - glColor3f( 1.0, 0.0, 0.0 ); - for( i = 0; i < marker_num2; i++ ) { - for(j=0; j<marker2[i].coord_num-1; j++) { - argLineSeg( marker2[i].x_coord[j] , marker2[i].y_coord[j], marker2[i].x_coord - [j+1], marker2[i].y_coord[j+1], 0, 0); - } - } - /*swap the graphics buffers*/ - argSwapBuffers(); -} -static void init( void ) -{ - ARParam wparam; - cargarDeFichero(); - /* open the video path */ - if( arVideoOpen( vconf ) < 0 ) exit(0); - /* find the size of the window */ - if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0); - printf("Image size (x,y) = (%d,%d)\n", xsize, ysize); - /* set the initial camera parameters */ - if( arParamLoad(cparam_name, 1, &wparam) < 0 ) { - printf("Camera parameter load error !!\n"); - exit(0); - } - arParamChangeSize( &wparam, xsize, ysize, &cparam ); - arInitCparam( &cparam ); - printf("*** Camera Parameter ***\n"); - arParamDisp( &cparam ); - /* open the graphics window */ - argInit( &cparam, 1.0, 0, 2, 1, 0 ); - //argInit( &cparam, 2.0, 0, 0, 0, 0 ); -} -/* cleanup function called when program exits */ -static void cleanup(void) -{ - arVideoCapStop(); - arVideoClose(); - argCleanup(); -} -/* draw the the AR objects */ -static int cargarDeFichero(void) { - FILE *fich; - char c; - fich=fopen("conf.con","r"); - if(fich != NULL) { - fscanf(fich,"%d",&umbral); - fscanf(fich," %c",&c); - if(c=='#'){ //si el separador es correcto y no es fin de fichero carga valores; - fscanf(fich,"%d",&minH); - fscanf(fich,"%d",&maxH); - fscanf(fich,"%d",&minS); - fscanf(fich,"%d",&maxS); - fscanf(fich,"%d",&minB); - fscanf(fich,"%d",&maxB); - } - fclose(fich); - printf("Configuracion HSV cargada:\n"); - printf("minH = %d , maxH = %d\n",minH,maxH); - printf("minS = %d , maxS = %d\n",minS,maxS); - printf("minB = %d , maxB = %d\n",minB,maxB); - return 1; - } - return 0; -} -static int guardarEnFichero(void) { - FILE *fich; - fich=fopen("conf.con","w"); - if(fich != NULL) { - fprintf(fich,"%d\n#\n%d %d\n%d %d\n%d %d\n-\n",umbral,minH,maxH,minS,maxS,minB,maxB); - fclose(fich); - return 1; - } - return 0; -} diff --git a/Configuracion/bin/Data/camera_para.dat b/Configuracion/bin/Data/camera_para.dat Binary files differdeleted file mode 100755 index eb671b1..0000000 --- a/Configuracion/bin/Data/camera_para.dat +++ /dev/null diff --git a/Configuracion/bin/conf.con b/Configuracion/bin/conf.con deleted file mode 100644 index d3b3e44..0000000 --- a/Configuracion/bin/conf.con +++ /dev/null @@ -1,6 +0,0 @@ -5 -# --5 9 -82 105 -11 50 -- diff --git a/Configuracion/bin/configuracion b/Configuracion/bin/configuracion Binary files differdeleted file mode 100755 index b99f183..0000000 --- a/Configuracion/bin/configuracion +++ /dev/null diff --git a/Configuracion/bin/configuracionHSV b/Configuracion/bin/configuracionHSV Binary files differdeleted file mode 100755 index 2e9f69b..0000000 --- a/Configuracion/bin/configuracionHSV +++ /dev/null |