cmvision.h
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00001 /*=========================================================================
00002     CMVision.h
00003   -------------------------------------------------------------------------
00004     API definition for the CMVision real time Color Machine Vision library
00005   -------------------------------------------------------------------------
00006     Copyright 1999, 2000         #### ### ### ## ## ## #### ##  ###  ##  ##
00007     James R. Bruce              ##    ####### ## ## ## ##   ## ## ## ######
00008     School of Computer Science  ##    ## # ## ## ## ##  ### ## ## ## ## ###
00009     Carnegie Mellon University   #### ##   ##  ###  ## #### ##  ###  ##  ##
00010   -------------------------------------------------------------------------
00011     This library is free software; you can redistribute it and/or
00012     modify it under the terms of the GNU Lesser General Public
00013     License as published by the Free Software Foundation; either
00014     version 2.1 of the License, or (at your option) any later version.
00015 
00016     This library is distributed in the hope that it will be useful,
00017     but WITHOUT ANY WARRANTY; without even the implied warranty of
00018     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00019     Lesser General Public License for more details.
00020 
00021     You should have received a copy of the GNU Lesser General Public
00022     License along with this library; if not, write to the Free Software
00023     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
00024   =========================================================================*/
00025 
00026 #ifndef __CMVISION_H__
00027 #define __CMVISION_H__
00028 
00029 // uncomment if your compiler supports the "restrict" keyword
00030 // #define restrict __restrict__
00031 #define restrict
00032 
00033 #include <stdlib.h>
00034 #include <string.h>
00035 #include <stdio.h>
00036 
00037 /*
00038 Ultra-fast intro to processing steps:
00039  - Color segmentation
00040    - load / save
00041    - set new values
00042    - process frame
00043  - Connected Regions
00044    - RLE
00045    - merge
00046    - extract blobs
00047    - separate blobs
00048    - sort blobs
00049    - merge blobs
00050  - Blob merging (not currently in release)
00051    - merge by area occupied
00052 
00053 Options File Format: (RGB merge name)
00054 [Colors]
00055 (00,00,00) 0.95 'Orange'
00056 (00,00,00) 0.00 'Pink'
00057 (00,00,00) 0.00 'Red'
00058 (00,00,00) 0.00 'DarkBlue'
00059 (00,00,00) 0.00 'Blue'
00060 
00061 [Thresholds]
00062 (<lo>:<hi>,<lo>:<hi>,<lo>:<hi>)
00063 (<lo>:<hi>,<lo>:<hi>,<lo>:<hi>)
00064 (<lo>:<hi>,<lo>:<hi>,<lo>:<hi>)
00065 */
00066 
00067 #define CMV_COLOR_LEVELS  256
00068 #define CMV_MAX_COLORS     32
00069 
00070 // sets tweaked optimal values for image size
00071 #define CMV_DEFAULT_WIDTH  320
00072 #define CMV_DEFAULT_HEIGHT 240
00073 
00074 // values may need tweaked, although these seem to work usually
00075 #define CMV_MAX_RUNS     (CMV_DEFAULT_WIDTH * CMV_DEFAULT_HEIGHT) / 4
00076 #define CMV_MAX_REGIONS  CMV_MAX_RUNS / 4
00077 #define CMV_MIN_AREA     20
00078 
00079 #define CMV_NONE ((unsigned)(-1))
00080 
00081 #ifndef NULL
00082 #define NULL (0)
00083 #endif
00084 
00085 struct yuv{
00086   unsigned char y,u,v;
00087 };
00088 
00089 struct yuv422{
00090   unsigned char y1,u,y2,v;
00091 };
00092 
00093 struct uyvy{
00094   unsigned char u,y1,v,y2;
00095 };
00096 
00097 typedef struct uyvy image_pixel;
00098 
00099 #ifndef RGB_STRUCT
00100 #define RGB_STRUCT
00101 struct rgb{
00102   unsigned char red,green,blue;
00103 };
00104 #endif
00105 
00106 // Options for level of processing
00107 //   use enable()/disable() to change 
00108 #define CMV_THRESHOLD      0x01
00109 #define CMV_COLOR_AVERAGES 0x02
00110 #define CMV_DUAL_THRESHOLD 0x04
00111 #define CMV_DENSITY_MERGE  0x08
00112 
00113 #define CMV_VALID_OPTIONS  0x0F
00114 
00115 
00116 class CMVision{
00117 public:
00118   struct region{
00119     int color;          // id of the color
00120     int area;           // occupied area in pixels
00121     int x1,y1,x2,y2;    // bounding box (x1,y1) - (x2,y2)
00122     float cen_x,cen_y;  // centroid
00123     yuv average;        // average color (if CMV_COLOR_AVERAGES enabled)
00124 
00125     int sum_x,sum_y,sum_z; // temporaries for centroid and avg color
00126     // int area_check; // DEBUG ONLY
00127 
00128     region *next;       // next region in list
00129 
00130     // int number; // DEBUG ONLY
00131   };
00132 
00133   struct rle{
00134     unsigned color;     // which color(s) this run represents
00135     int length;         // the length of the run (in pixels)
00136     int parent;         // run's parent in the connected components tree
00137   };
00138 
00139   struct color_info{
00140     rgb color;          // example color (such as used in test output)
00141     char *name;         // color's meaninful name (e.g. ball, goal)
00142     double merge;       // merge density threshold
00143     int expected_num;   // expected number of regions (used for merge)
00144     int y_low,y_high;   // Y,U,V component thresholds
00145     int u_low,u_high;
00146     int v_low,v_high;
00147   };
00148 
00149   struct point{
00150     double x,y;
00151   };
00152 
00153   struct line{
00154     point a,b;
00155   };
00156 
00157   struct rectangle{
00158     int x,y,w,h;
00159   };
00160 
00161 protected:
00162   unsigned y_class[CMV_COLOR_LEVELS];
00163   unsigned u_class[CMV_COLOR_LEVELS];
00164   unsigned v_class[CMV_COLOR_LEVELS];
00165 
00166   region region_table[CMV_MAX_REGIONS];
00167   region *region_list[CMV_MAX_COLORS];
00168   int region_count[CMV_MAX_COLORS];
00169 
00170   rle rmap[CMV_MAX_RUNS];
00171 
00172   color_info colors[CMV_MAX_COLORS];
00173   int width,height;
00174   unsigned *map;
00175 
00176   unsigned options;
00177 
00178 protected:
00179 // Private functions
00180   void classifyFrame(image_pixel * restrict img,unsigned * restrict map);
00181   int  encodeRuns(rle * restrict out,unsigned * restrict map);
00182   void connectComponents(rle * restrict map,int num);
00183   int  extractRegions(region * restrict reg,rle * restrict rmap,int num);
00184   void calcAverageColors(region * restrict reg,int num_reg,
00185                          image_pixel * restrict img,
00186                          rle * restrict rmap,int num_runs);
00187   int  separateRegions(region * restrict reg,int num);
00188   region *sortRegionListByArea(region * restrict list,int passes);
00189   void sortRegions(int max_area);
00190 
00191   // density based merging support
00192   int mergeRegions(region *p,int num,double density_thresh);
00193   int mergeRegions();
00194 
00195   void clear();
00196 
00197 public:
00198   CMVision()  {clear();}
00199   ~CMVision() {close();}
00200 
00201   bool initialize(int nwidth,int nheight);
00202   bool loadOptions(const char *filename);
00203   bool saveOptions(char *filename);
00204   bool enable(unsigned opt);
00205   bool disable(unsigned opt);
00206   void close();
00207 
00208   bool testClassify(rgb * restrict out,image_pixel * restrict image);
00209   bool getThreshold(int color,
00210          int &y_low,int &y_high,
00211          int &u_low,int &u_high,
00212          int &v_low,int &v_high);
00213   bool setThreshold(int color,
00214          int y_low,int y_high,
00215          int u_low,int u_high,
00216          int v_low,int v_high);
00217 
00218   unsigned *getMap()
00219     {return(map);}
00220 
00221   char *getColorName(int color)
00222     {return(colors[color].name);}
00223   rgb getColorVisual(int color)
00224     {return(colors[color].color);}
00225 
00226   color_info *getColorInfo(int color)
00227     {return(&colors[color]);}
00228   void getColorInfo(int color,color_info &info)
00229     {info = colors[color];}
00230   void setColorInfo(int color,color_info &info)
00231     {colors[color] = info;}
00232 
00233   bool processFrame(image_pixel *image);
00234   bool processFrame(unsigned *map);
00235   int numRegions(int color_id);
00236   region *getRegions(int color_id);
00237 };
00238 
00239 #endif
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image_algos
Author(s): Dejan Pangercic
autogenerated on Thu May 23 2013 18:41:31