Revision: 8018
http://playerstage.svn.sourceforge.net/playerstage/?rev=8018&view=rev
Author: gbiggs
Date: 2009-07-14 22:55:20 +0000 (Tue, 14 Jul 2009)
Log Message:
-----------
Applied patch #2821469
Modified Paths:
--------------
code/player/trunk/libplayerinterface/interfaces/007_blobfinder.def
code/player/trunk/server/drivers/blobfinder/cmvision/P2CMV.cc
code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.cc
code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.h
Modified: code/player/trunk/libplayerinterface/interfaces/007_blobfinder.def
===================================================================
--- code/player/trunk/libplayerinterface/interfaces/007_blobfinder.def
2009-07-14 19:25:38 UTC (rev 8017)
+++ code/player/trunk/libplayerinterface/interfaces/007_blobfinder.def
2009-07-14 22:55:20 UTC (rev 8018)
@@ -10,6 +10,7 @@
message { REQ, SET_COLOR, 1, player_blobfinder_color_config_t };
message { REQ, SET_IMAGER_PARAMS, 2, player_blobfinder_imager_config_t };
+message { REQ, GET_COLOR, 3, player_blobfinder_color_config_t };
/** @brief Structure describing a single blob. */
Modified: code/player/trunk/server/drivers/blobfinder/cmvision/P2CMV.cc
===================================================================
--- code/player/trunk/server/drivers/blobfinder/cmvision/P2CMV.cc
2009-07-14 19:25:38 UTC (rev 8017)
+++ code/player/trunk/server/drivers/blobfinder/cmvision/P2CMV.cc
2009-07-14 22:55:20 UTC (rev 8018)
@@ -65,13 +65,20 @@
- Default: 0
- If set to 1, the blobfinder will output a testpattern of three blobs.
-
- colorfile (string)
- Default: ""
- CMVision configuration file. In the colors section, the tuple is the RGB
value of the intended color. In the thresholds section, the values are the
min:max of the respective YUV channels.
+- minblobarea (int)
+ - Default: CMV_MIN_AREA (20)
+ - minimum number of pixels required to qualify as a blob
+
+- maxblobarea (int)
+ - Default: 0 (off)
+ - maximum number of pixels allowed to qualify as a blob
+
@verbatim
[Colors]
(255, 0, 0) 0.000000 10 Red
@@ -92,6 +99,9 @@
name "cmvision"
provides ["blobfinder:0"]
requires ["camera:0"]
+ colorfile "/path/to/colorfile"
+ minblobarea 1
+ maxblobarea 100
)
@endverbatim
@@ -135,6 +145,17 @@
#define DEFAULT_CMV_WIDTH CMV_DEFAULT_WIDTH
#define DEFAULT_CMV_HEIGHT CMV_DEFAULT_HEIGHT
+#define RGB2YUV(r, g, b, y, u, v)\
+ y = (306*r + 601*g + 117*b) >> 10;\
+ u = ((-172*r - 340*g + 512*b) >> 10) + 128;\
+ v = ((512*r - 429*g - 83*b) >> 10) + 128;\
+ y = y < 0 ? 0 : y;\
+ u = u < 0 ? 0 : u;\
+ v = v < 0 ? 0 : v;\
+ y = y > 255 ? 255 : y;\
+ u = u > 255 ? 255 : u;\
+ v = v > 255 ? 255 : v
+
/********************************************************************/
class CMVisionBF: public ThreadedDriver
@@ -148,6 +169,8 @@
uint8_t* mImg;
uint8_t* mTmp;
const char* mColorFile;
+ uint16_t mMinArea;
+ uint16_t mMaxArea;
player_blobfinder_data_t mData;
unsigned int allocated_blobs;
@@ -175,6 +198,10 @@
void MainQuit();
void ProcessImageData();
+ int ProcessBlobfinderReqSetColor(player_msghdr_t *hdr,
+ player_blobfinder_color_config_t *data);
+ int ProcessBlobfinderReqGetColor(player_msghdr_t *hdr,
+ player_blobfinder_color_config_t *data);
};
// a factory creation function
@@ -204,6 +231,8 @@
{
mColorFile = cf->ReadString(section, "colorfile", "");
mDebugLevel = cf->ReadInt(section, "debuglevel", 0);
+ mMinArea = cf->ReadInt(section, "minblobarea", CMV_MIN_AREA);
+ mMaxArea = cf->ReadInt(section, "maxblobarea", 0);
// Must have an input camera
if (cf->ReadDeviceAddr(&mCameraAddr, section, "requires",
PLAYER_CAMERA_CODE, -1, NULL) != 0)
@@ -243,6 +272,8 @@
}
mVision = new CMVision();
+ mVision->set_cmv_min_area(mMinArea);
+ mVision->set_cmv_max_area(mMaxArea);
// clean our data
memset(&mData,0,sizeof(mData));
allocated_blobs = 0;
@@ -498,7 +529,110 @@
}
return(0);
}
+ else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_BLOBFINDER_REQ_SET_COLOR, device_addr))
+ {
+ assert(hdr->size == sizeof(player_blobfinder_color_config_t));
+ player_blobfinder_color_config_t* color_data =
reinterpret_cast<player_blobfinder_color_config_t *>(data);
+ if (this->ProcessBlobfinderReqSetColor(hdr,color_data) < 0)
+ {
+ Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK, hdr->subtype);
+ return(-1);
+ }
+ Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK, hdr->subtype);
+ return(0);
+ }
+ else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_BLOBFINDER_REQ_GET_COLOR, device_addr))
+ {
+ assert(hdr->size == sizeof(player_blobfinder_color_config_t));
+ player_blobfinder_color_config_t* color_data =
reinterpret_cast<player_blobfinder_color_config_t *>(data);
+ player_blobfinder_color_config_t resp;
+ resp.channel=color_data->channel;
+ int tmp;
+ if ((tmp = this->ProcessBlobfinderReqGetColor(hdr,&resp)) < 0)
+ {
+ printf("ERROR! %d\n",tmp);
+ Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
hdr->subtype,&resp,sizeof(resp),NULL);
+ return(-1);
+ }
+ printf("test: %d %d %d \n",resp.channel,resp.rmin,resp.rmax);
+ Publish(device_addr,
+ resp_queue, PLAYER_MSGTYPE_RESP_ACK,
+ hdr->subtype,
+ &resp,
+ //reinterpret_cast<player_blobfinder_color_config_t*>(&resp),
+ sizeof(resp),NULL);
+ return(0);
+ }
// Tell the caller that you don't know how to handle this message
return(-1);
}
+
+int
+CMVisionBF::ProcessBlobfinderReqSetColor(player_msghdr_t *hdr,
+ player_blobfinder_color_config_t
*data)
+{
+ if(data->channel < 0 || data->channel >= CMV_MAX_COLORS)
+ {
+ PLAYER_ERROR("CMVisionBF::ProcessBlobfinderReqSetColor data->channel out
of range");
+ return(-1);
+ }
+
+ // Get and copy existing color_info for the channel
+ // Should this function skip this and just change the existing color_info?
+ CMVision::color_info *oldinfo;
+ CMVision::color_info newinfo;
+ oldinfo = mVision->getColorInfo(data->channel);
+ memcpy(&newinfo,oldinfo,sizeof(CMVision::color_info));
+
+ // Convert RGB data to YUV
+ RGB2YUV( data->rmin, data->gmin, data->bmin, newinfo.y_low, newinfo.u_low,
newinfo.v_low );
+ RGB2YUV( data->rmax, data->gmax, data->bmax, newinfo.y_high, newinfo.u_high,
newinfo.v_high );
+ printf(" colorinfo (%d:%d,%d,%d,%d,%d,%d)\n",
+ data->channel,
+ newinfo.y_low,
+ newinfo.y_high,
+ newinfo.u_low,
+ newinfo.u_high,
+ newinfo.v_low,
+ newinfo.v_high);
+// mVision->setColorInfo(data->channel,newinfo);
+ mVision->setThreshold(data->channel,
+ newinfo.y_low,
+ newinfo.y_high,
+ newinfo.u_low,
+ newinfo.u_high,
+ newinfo.v_low,
+ newinfo.v_high);
+ return(0);
+}
+
+int
+CMVisionBF::ProcessBlobfinderReqGetColor(player_msghdr_t *hdr,
+ player_blobfinder_color_config_t
*data)
+{
+ assert(hdr);
+ assert(data);
+ if(data->channel < 0 || data->channel >= CMV_MAX_COLORS)
+ {
+ PLAYER_ERROR("CMVisionBF::ProcessBlobfinderReqSetColor data->channel out
of range");
+ return(-1);
+ }
+
+ int v1,v2,v3,v4,v5,v6;
+
+ if (mVision->getThreshold((int)data->channel,v1,v2,v3,v4,v5,v6)) {
+ data->rmin = v1;
+ data->rmax = v2;
+ data->gmin = v3;
+ data->gmax = v4;
+ data->bmin = v5;
+ data->bmax = v6;
+ return(0);
+ }
+ else {
+ PLAYER_ERROR("CMVisionBF::ProcessBlobfinderReqSetColor getThreshold
failed");
+ return(-1);
+ }
+}
+
Modified: code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.cc
===================================================================
--- code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.cc
2009-07-14 19:25:38 UTC (rev 8017)
+++ code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.cc
2009-07-14 22:55:20 UTC (rev 8018)
@@ -464,7 +464,7 @@
for(i=0; i<num; i++){
p = ®[i];
area = p->area;
- if(area >= CMV_MIN_AREA){
+ if(area >= cmv_min_area && (cmv_max_area == 0 || area <= cmv_max_area)){
if(area > max_area) max_area = area;
l = p->color;
region_count[l]++;
Modified: code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.h
===================================================================
--- code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.h
2009-07-14 19:25:38 UTC (rev 8017)
+++ code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.h
2009-07-14 22:55:20 UTC (rev 8018)
@@ -179,6 +179,9 @@
unsigned options;
+ int cmv_min_area;
+ int cmv_max_area;
+
protected:
// Private functions
void classifyFrame(image_pixel * restrict img,unsigned * restrict map);
@@ -238,6 +241,8 @@
bool processFrame(unsigned *map);
int numRegions(int color_id);
region *getRegions(int color_id);
+ void set_cmv_min_area(int area) { cmv_min_area = area; }
+ void set_cmv_max_area(int area) { cmv_max_area = area; }
};
#endif
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