path: root/Configuracion/SRC/configuracion.c

#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;
}