VCSBC4018 vision board - Revision history

AntonioMicali: /* Part 6: Example Program */

2010-08-02T10:08:12Z

‎Part 6: Example Program

AntonioMicali: /* Part 6: Example Program */

2010-08-02T10:00:51Z

‎Part 6: Example Program

AntonioMicali: /* Part 6: Example Program */

2010-08-02T09:57:17Z

‎Part 6: Example Program

AntonioMicali: /* Part 6: Example Program */

2010-08-02T09:37:58Z

‎Part 6: Example Program

AntonioMicali: /* Part 6: Example Program */

2010-08-02T09:20:10Z

‎Part 6: Example Program

AntonioMicali: /* Part 6: Example Program */

2010-08-02T09:19:41Z

‎Part 6: Example Program

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AntonioMicali: /* Part 6: Example Program */

2010-08-02T09:16:48Z

‎Part 6: Example Program

AntonioMicali: /* Part 6: Example Program */

2010-08-02T09:16:35Z

‎Part 6: Example Program

AntonioMicali: /* Part 6: Example Program */

2010-08-02T09:16:23Z

‎Part 6: Example Program

AntonioMicali at 09:15, 2 August 2010

2010-08-02T09:15:11Z

@@ Line 436: / Line 436: @@
+  	}
+  }
-−
   //Compare histogram using mean square error
   float compHist(U32* h1, U32 *h2)

← Older revision		Revision as of 10:00, 2 August 2010
Line 191:		Line 191:
	#define MINY 16 //Minimum track window dimension		#define MINY 16 //Minimum track window dimension
	void mouseFunc(int, int, int, int, void*); //Mouse callback function		void mouseFunc(int, int, int, int, void*); //Mouse callback function
		+	void drawRect(image* i, int x1, int y1, int x2, int y2, int color);
		+	void calcHist(image* i, U32* h, int x1, int y1, int x2, int y2);
		+	float compHist(U32* h1, U32 *h2);
	int x1, x2, y1, y2, waitSelected = 0; //Coordinates of tracking rectangle		int x1, x2, y1, y2, waitSelected = 0; //Coordinates of tracking rectangle
	int main(void)		int main(void)
Line 380:		Line 383:
	}		}
	}		}
−		+
		+	//Draw new rectangle in image i
	void drawRect(image* i, int x1, int y1, int x2, int y2, int color)		void drawRect(image* i, int x1, int y1, int x2, int y2, int color)
	{		{
−	int x, y;	+	int x, y;
−		+
−	if (x1 > x2)	+	if (x1 > x2)
−	{	+	{
−	x = x1;	+	x = x1;
−	x1 = x2;	+	x1 = x2;
−	x2 = x;	+	x2 = x;
−	}	+	}
−	if (y1 > y2)	+	if (y1 > y2)
−	{	+	{
−	y = y1;	+	y = y1;
−	y1 = y2;	+	y1 = y2;
−	y2 = y;	+	y2 = y;
−	}	+	}
−		+
−	for (x = 0; x1 + x <= x2; x++)	+	for (x = 0; x1 + x <= x2; x++)
−	{	+	{
−	ImageSetPixel(i, x1 + x, y1, color);	+	ImageSetPixel(i, x1 + x, y1, color);
−	}	+	}
−	for (x = 0; x1 + x <= x2; x++)	+	for (x = 0; x1 + x <= x2; x++)
−	{	+	{
−	ImageSetPixel(i, x1 + x, y2, color);	+	ImageSetPixel(i, x1 + x, y2, color);
−	}	+	}
−	for (y = 0; y1 + y <= y2; y++)	+	for (y = 0; y1 + y <= y2; y++)
−	{	+	{
−	ImageSetPixel(i, x1, y1 + y, color);	+	ImageSetPixel(i, x1, y1 + y, color);
−	}	+	}
−	for (y = 0; y1 + y <= y2; y++)	+	for (y = 0; y1 + y <= y2; y++)
−	{	+	{
−	ImageSetPixel(i, x2, y1 + y, color);	+	ImageSetPixel(i, x2, y1 + y, color);
−	}	+	}
	}		}
−		+
		+	//Create new histogram in image i in the rectangle with coordinates (x1, y1), (x2, y2)
	void calcHist(image* i, U32* h, int x1, int y1, int x2, int y2)		void calcHist(image* i, U32* h, int x1, int y1, int x2, int y2)
	{		{
−	int x, y;	+	int x, y;
−		+
−	for (x = 0; x < 256; x++)	+	for (x = 0; x < 256; x++)
−	h[x] = 0;	+	h[x] = 0;
−		+
−	for (x = x1; x <= x2; x++)	+	for (x = x1; x <= x2; x++)
−	{	+	{
−	for (y = y1; y <= y2; y++)	+	for (y = y1; y <= y2; y++)
−	{	+	{
−	h[(((U8 )((long)((i)->st+(x)+(y)*(i)->pitch))))]++;	+	h[(((U8 )((long)((i)->st+(x)+(y)*(i)->pitch))))]++;
−	}	+	}
−	}	+	}
	}		}

		+	//Compare histogram using mean square error
	float compHist(U32* h1, U32 *h2)		float compHist(U32* h1, U32 *h2)
	{		{
−	int tot = 0, c = 0, sum = 0;	+	int tot = 0, c = 0, sum = 0;
−		+
−	for (; c < 256; c++)	+	for (; c < 256; c++)
−	{	+	{
−	tot += (h1[c] - h2[c]) * (h1[c] - h2[c]);	+	tot += (h1[c] - h2[c]) * (h1[c] - h2[c]);
−	sum += h1[c] + h2[c];	+	sum += h1[c] + h2[c];
−	}	+	}
−		+
−	return - tot / sum;	+	return - tot / sum;
	}		}

@@ Line 283: / Line 283: @@
   		y1 = ymax;
-  		//Resize hist rectangle
+  		//Resize histogram rectangle
   		calcHist(&i, h2, x1 + VX / 2, y1, x2, y2);
   		v = compHist(h1, h2);
@@ Line 345: / Line 345: @@
+  		}
   		drawRect(&i, x1, y1, x2, y2, 0xFF);
   		if (vlShowImage(352) != VL_NO_ERROR)
   			return 1;
   		searchForEvents();
   		if(kbhit() && rs232rcv() == 'q')
@@ Line 354: / Line 357: @@
+  	}
   	if (vlDestroyWindows(352) != VL_NO_ERROR)
   		return 1;
   	vmode(vmStill);
   	return 0;
+  }
-−
   void mouseFunc(int event, int x, int y, int flags, void* param)
+  {
   	if (event == VL_EVENT_LBUTTONUP)
+  	{
   		x1 = x - LUNG / 2;
   		y1 = y - LUNG / 2;
@@ Line 372: / Line 379: @@
   		waitSelected = 1;
+  	}
+  }

@@ Line 184: / Line 184: @@
   #include <flib.h>
   #include "vl.h"
-  #define LUNG 30
+  #define LUNG 30 //Initial tracking window with
-  #define CENTRE_DISTANCE 40
+  #define CENTRE_DISTANCE 40 //Maximum distance to search best histogram
-  #define VX 4
+  #define VX 4 //Step to enlarge tracking window on x axis
-  #define VY 4
+  #define VY 4 //Step to enlarge tracking window on y axis
-  #define MINX 16
+  #define MINX 16 //Minimum track window dimension
-  #define MINY 16
+  #define MINY 16 //Minimum track window dimension
-  void mouseFunc(int, int, int, int, void*);
+  void mouseFunc(int, int, int, int, void*); //Mouse callback function
-  int x1, x2, y1, y2, waitSelected = 0;
+  int x1, x2, y1, y2, waitSelected = 0; //Coordinates of tracking rectangle
   int main(void)
+  {
@@ Line 198: / Line 198: @@
   	int x, y, xmax, ymax;
   	U32 h1[256], h2[256];
   	init_licence("LT307EB4FAC1");
   	vmode(vmLive);
   	ScrSetPhysPage((int)ScrGetPhysPage + 1);
   	ScrSetLogPage((int)ScrGetPhysPage);
   	ImageAssign(&i, ScrByteAddr(0 , 0), DX, DY, ScrGetPitch);
   	if (vlNumberedWindow(352) != VL_NO_ERROR)
   		return 1;
   	vlSetMouseCallback(352, mouseFunc, NULL);
   	printf("Select the object to track\n");
   	for (; vlWaitKey(352, 10) != 'q' && !waitSelected;)
+  	{
   		tpict();
   		if (vlShowImage(352) != VL_NO_ERROR)
   			return 1;
   		searchForEvents();
   		if(kbhit() && rs232rcv() == 'q')
   			break;
+  	}
- 	//printf("OK\n");
+        //Draw a rectangle around the object selected
   	drawRect(&i, x1, y1, x2, y2, 0xFF);
   	if (vlShowImage(352) != VL_NO_ERROR)
   		return 1;
- 	printf("%d %d %d %d\n", x1, x2, y1, y2);
+        //Calc the histogram of the object selected
   	calcHist(&i, h1, x1, y1, x2, y2);
   	for (; 1;)
+  	{
   		tpict();
   		vmax = -9999999;
   		for(y = y1 - CENTRE_DISTANCE; y < y1 + CENTRE_DISTANCE; y += 2)
@@ Line 244: / Line 255: @@
   			for(x = x1 + y % 4 - CENTRE_DISTANCE; x < x1 + CENTRE_DISTANCE; x += 4)
+  			{
   				if ((x >= DX) || (y >= DY) || (x < 0) || (y < 0))
+  				{
@@ Line 249: / Line 261: @@
+  				}
   				calcHist(&i, h2, x, y, x + x2 - x1, y + y2 - y1);
   				v = compHist(h1, h2);
   				if (v > vmax)
+  				{
@@ Line 263: / Line 277: @@
+  		}
   		x2 = xmax + x2 - x1;
   		y2 = ymax + y2 - y1;
@@ Line 329: / Line 344: @@
   				y2 -= VY / 2;
+  		}
   		drawRect(&i, x1, y1, x2, y2, 0xFF);

@@ Line 184: / Line 184: @@
   #include <flib.h>
   #include "vl.h"
   #define LUNG 30
   #define CENTRE_DISTANCE 40
@@ Line 191: / Line 190: @@
   #define MINX 16
   #define MINY 16
   void mouseFunc(int, int, int, int, void*);
   int x1, x2, y1, y2, waitSelected = 0;
   int main(void)
+  {

@@ Line 178: / Line 178: @@
 Here is the program code with comments:
-main()
+#include <vcrt.h>
+{
+}

← Older revision		Revision as of 09:16, 2 August 2010
Line 178:		Line 178:
	Here is the program code with comments:		Here is the program code with comments:

−	main()	+	main()
−	{	+	{
−	}	+	}

	Here are some video example of the program result:		Here are some video example of the program result:

@@ Line 171: / Line 171: @@
 putting instead of 352 the id of the window.
-== '''Part 6: Examples''' ==
+== '''Part 6: Example Program''' ==
 Here is an example of a program that track an object [[Media:Traking.zip]].
 Here are some video example of the program result: