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#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">DEFAULT_VIDEO_DEVICE</FONT>  <B><FONT COLOR="#BC8F8F">&quot;/dev/video&quot;</FONT></B>
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">VIDEO_STANDARD</FONT>        <B><FONT COLOR="#BC8F8F">&quot;NTSC&quot;</FONT></B>

#<B><FONT COLOR="#5F9EA0">ifdef</FONT></B> <FONT COLOR="#B8860B">USE_METEOR</FONT>
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">DEFAULT_VIDEO_FORMAT</FONT>  V4L2_PIX_FMT_UYVY
#<B><FONT COLOR="#5F9EA0">else</FONT></B>
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">DEFAULT_VIDEO_FORMAT</FONT>  V4L2_PIX_FMT_YUYV
#<B><FONT COLOR="#5F9EA0">endif</FONT></B>

#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">DEFAULT_IMAGE_WIDTH</FONT>   320
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">DEFAULT_IMAGE_HEIGHT</FONT>  240
<I><FONT COLOR="#B22222">// if you get a message like &quot;DQBUF returned error&quot;, &quot;DQBUF error: invalid&quot;
</FONT></I><I><FONT COLOR="#B22222">// then you need to use a higher value for STREAMBUFS or process frames faster
</FONT></I>#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">STREAMBUFS</FONT>            8

class capture{
  <B><FONT COLOR="#228B22">struct</FONT></B> vimage_t{
    v4l2_buffer vidbuf;
    <B><FONT COLOR="#228B22">char</FONT></B> *data;
  };

  <B><FONT COLOR="#228B22">int</FONT></B> vid_fd;                    <I><FONT COLOR="#B22222">// video device
</FONT></I>  vimage_t vimage[STREAMBUFS];   <I><FONT COLOR="#B22222">// buffers for images
</FONT></I>  <B><FONT COLOR="#228B22">struct</FONT></B> v4l2_format fmt;        <I><FONT COLOR="#B22222">// video format request
</FONT></I>
  <B><FONT COLOR="#228B22">unsigned</FONT></B> <B><FONT COLOR="#228B22">char</FONT></B> *current; <I><FONT COLOR="#B22222">// most recently captured frame
</FONT></I>  stamp_t timestamp;      <I><FONT COLOR="#B22222">// frame time stamp
</FONT></I>  <B><FONT COLOR="#228B22">int</FONT></B> width,height;       <I><FONT COLOR="#B22222">// dimensions of video frame
</FONT></I>  <B><FONT COLOR="#228B22">struct</FONT></B> v4l2_buffer tempbuf;
  bool captured_frame;
<B><FONT COLOR="#5F9EA0">public</FONT></B>:
  capture() {vid_fd = 0; current=NULL; captured_frame = false;}
  ~capture() {close();}

  bool initialize(<B><FONT COLOR="#228B22">char</FONT></B> *device,<B><FONT COLOR="#228B22">int</FONT></B> nwidth,<B><FONT COLOR="#228B22">int</FONT></B> nheight,<B><FONT COLOR="#228B22">int</FONT></B> nfmt);
  bool initialize(<B><FONT COLOR="#228B22">int</FONT></B> nwidth,<B><FONT COLOR="#228B22">int</FONT></B> nheight)
    {<B><FONT COLOR="#A020F0">return</FONT></B>(initialize(NULL,nwidth,nheight,0));}
  bool initialize()
    {<B><FONT COLOR="#A020F0">return</FONT></B>(initialize(NULL,0,0,0));}

  <B><FONT COLOR="#228B22">void</FONT></B> close();

  <B><FONT COLOR="#228B22">unsigned</FONT></B> <B><FONT COLOR="#228B22">char</FONT></B> *captureFrame(<B><FONT COLOR="#228B22">int</FONT></B> &amp;index);
  <B><FONT COLOR="#228B22">unsigned</FONT></B> <B><FONT COLOR="#228B22">char</FONT></B> *captureFrame();
  <B><FONT COLOR="#228B22">void</FONT></B> releaseFrame(<B><FONT COLOR="#228B22">unsigned</FONT></B> <B><FONT COLOR="#228B22">char</FONT></B>* frame, <B><FONT COLOR="#228B22">int</FONT></B> index);

  <B><FONT COLOR="#228B22">unsigned</FONT></B> <B><FONT COLOR="#228B22">char</FONT></B> *getFrame() {<B><FONT COLOR="#A020F0">return</FONT></B>(current);}
  stamp_t getFrameTime() {<B><FONT COLOR="#A020F0">return</FONT></B>(timestamp);}
  <B><FONT COLOR="#228B22">int</FONT></B> getWidth() {<B><FONT COLOR="#A020F0">return</FONT></B>(width);}
  <B><FONT COLOR="#228B22">int</FONT></B> getHeight() {<B><FONT COLOR="#A020F0">return</FONT></B>(height);}
};

#<B><FONT COLOR="#5F9EA0">endif</FONT></B> // <FONT COLOR="#B8860B">__CAPTURE_H__</FONT>
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<H1>include/cmvision.h 6/22</H1>
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<PRE>
<I><FONT COLOR="#B22222">/*=========================================================================
    CMVision.h
  -------------------------------------------------------------------------
    API definition for the CMVision real time Color Machine Vision library
  -------------------------------------------------------------------------
    Copyright 1999, 2000         #### ### ### ## ## ## #### ##  ###  ##  ##
    James R. Bruce              ##    ####### ## ## ## ##   ## ## ## ######
    School of Computer Science  ##    ## # ## ## ## ##  ### ## ## ## ## ###
    Carnegie Mellon University   #### ##   ##  ###  ## #### ##  ###  ##  ##
  -------------------------------------------------------------------------
    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  =========================================================================*/</FONT></I>

#<B><FONT COLOR="#5F9EA0">ifndef</FONT></B> <FONT COLOR="#B8860B">__CMVISION_H__</FONT>
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">__CMVISION_H__</FONT>

<I><FONT COLOR="#B22222">// uncomment if your compiler supports the &quot;restrict&quot; keyword
</FONT></I><I><FONT COLOR="#B22222">// #define restrict __restrict__
</FONT></I>#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">restrict</FONT>

#<B><FONT COLOR="#5F9EA0">include</FONT></B> <B><FONT COLOR="#BC8F8F">&lt;stdlib.h&gt;</FONT></B>
#<B><FONT COLOR="#5F9EA0">include</FONT></B> <B><FONT COLOR="#BC8F8F">&lt;string.h&gt;</FONT></B>
#<B><FONT COLOR="#5F9EA0">include</FONT></B> <B><FONT COLOR="#BC8F8F">&lt;stdio.h&gt;</FONT></B>

<I><FONT COLOR="#B22222">/*
Ultra-fast intro to processing steps:
 - Color segmentation
   - load / save
   - set new values
   - process frame
 - Connected Regions
   - RLE
   - merge
   - extract blobs
   - separate blobs
   - sort blobs
   - merge blobs
 - Blob merging (not currently in release)
   - merge by area occupied

Options File Format: (RGB merge name)
[Colors]
(00,00,00) 0.95 'Orange'
(00,00,00) 0.00 'Pink'
(00,00,00) 0.00 'Red'
(00,00,00) 0.00 'DarkBlue'
(00,00,00) 0.00 'Blue'

[Thresholds]
(&lt;lo&gt;:&lt;hi&gt;,&lt;lo&gt;:&lt;hi&gt;,&lt;lo&gt;:&lt;hi&gt;)
(&lt;lo&gt;:&lt;hi&gt;,&lt;lo&gt;:&lt;hi&gt;,&lt;lo&gt;:&lt;hi&gt;)
(&lt;lo&gt;:&lt;hi&gt;,&lt;lo&gt;:&lt;hi&gt;,&lt;lo&gt;:&lt;hi&gt;)
*/</FONT></I>

#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_COLOR_LEVELS</FONT>  256
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_MAX_COLORS</FONT>     32

<I><FONT COLOR="#B22222">// sets tweaked optimal values for image size
</FONT></I>#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_DEFAULT_WIDTH</FONT>  320
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_DEFAULT_HEIGHT</FONT> 240

<I><FONT COLOR="#B22222">// values may need tweaked, although these seem to work usually
</FONT></I>#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_MAX_RUNS</FONT>     (CMV_DEFAULT_WIDTH * CMV_DEFAULT_HEIGHT) / 4
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_MAX_REGIONS</FONT>  CMV_MAX_RUNS / 4
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_MIN_AREA</FONT>     4

#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_NONE</FONT> ((unsigned)(-1))

#<B><FONT COLOR="#5F9EA0">ifndef</FONT></B> <FONT COLOR="#B8860B">NULL</FONT>
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">NULL</FONT> (0)
#<B><FONT COLOR="#5F9EA0">endif</FONT></B>

<B><FONT COLOR="#228B22">struct</FONT></B> yuv{
  <B><FONT COLOR="#228B22">unsigned</FONT></B> <B><FONT COLOR="#228B22">char</FONT></B> y,u,v;
};

<B><FONT COLOR="#228B22">struct</FONT></B> yuv422{
  <B><FONT COLOR="#228B22">unsigned</FONT></B> <B><FONT COLOR="#228B22">char</FONT></B> y1,u,y2,v;
};

<B><FONT COLOR="#228B22">struct</FONT></B> uyvy{
  <B><FONT COLOR="#228B22">unsigned</FONT></B> <B><FONT COLOR="#228B22">char</FONT></B> u,y1,v,y2;
};

#<B><FONT COLOR="#5F9EA0">ifdef</FONT></B> <FONT COLOR="#B8860B">USE_METEOR</FONT>
  <B><FONT COLOR="#228B22">typedef</FONT></B> <B><FONT COLOR="#228B22">struct</FONT></B> uyvy image_pixel;
#<B><FONT COLOR="#5F9EA0">else</FONT></B>
  <B><FONT COLOR="#228B22">typedef</FONT></B> <B><FONT COLOR="#228B22">struct</FONT></B> yuv422 image_pixel;
#<B><FONT COLOR="#5F9EA0">endif</FONT></B>

#<B><FONT COLOR="#5F9EA0">ifndef</FONT></B> <FONT COLOR="#B8860B">RGB_STRUCT</FONT>
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">RGB_STRUCT</FONT>
<B><FONT COLOR="#228B22">struct</FONT></B> rgb{
  <B><FONT COLOR="#228B22">unsigned</FONT></B> <B><FONT COLOR="#228B22">char</FONT></B> red,green,blue;
};
#<B><FONT COLOR="#5F9EA0">endif</FONT></B>

<I><FONT COLOR="#B22222">// Options for level of processing
</FONT></I><I><FONT COLOR="#B22222">//   use enable()/disable() to change 
</FONT></I>#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_THRESHOLD</FONT>      0x01
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_COLOR_AVERAGES</FONT> 0x02
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_DUAL_THRESHOLD</FONT> 0x04
#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_DENSITY_MERGE</FONT>  0x08

#<B><FONT COLOR="#5F9EA0">define</FONT></B> <FONT COLOR="#B8860B">CMV_VALID_OPTIONS</FONT>  0x0F


class CMVision{
<B><FONT COLOR="#5F9EA0">public</FONT></B>:
  <B><FONT COLOR="#228B22">struct</FONT></B> region{
    <B><FONT COLOR="#228B22">int</FONT></B> color;          <I><FONT COLOR="#B22222">// id of the color
</FONT></I>    <B><FONT COLOR="#228B22">int</FONT></B> area;           <I><FONT COLOR="#B22222">// occupied area in pixels
</FONT></I>    <B><FONT COLOR="#228B22">int</FONT></B> x1,y1,x2,y2;    <I><FONT COLOR="#B22222">// bounding box (x1,y1) - (x2,y2)
</FONT></I>    <B><FONT COLOR="#228B22">float</FONT></B> cen_x,cen_y;  <I><FONT COLOR="#B22222">// centroid
</FONT></I>    yuv average;        <I><FONT COLOR="#B22222">// average color (if CMV_COLOR_AVERAGES enabled)
</FONT></I>
    <B><FONT COLOR="#228B22">int</FONT></B> sum_x,sum_y,sum_z; <I><FONT COLOR="#B22222">// temporaries for centroid and avg color
</FONT></I>    <I><FONT COLOR="#B22222">// int area_check; // DEBUG ONLY
</FONT></I>
    region *next;       <I><FONT COLOR="#B22222">// next region in list
</FONT></I>
    <I><FONT COLOR="#B22222">// int number; // DEBUG ONLY
</FONT></I>  };

  <B><FONT COLOR="#228B22">struct</FONT></B> rle{
    <B><FONT COLOR="#228B22">unsigned</FONT></B> color;     <I><FONT COLOR="#B22222">// which color(s) this run represents
</FONT></I>    <B><FONT COLOR="#228B22">int</FONT></B> length;         <I><FONT COLOR="#B22222">// the length of the run (in pixels)
</FONT></I>    <B><FONT COLOR="#228B22">int</FONT></B> parent;         <I><FONT COLOR="#B22222">// run's parent in the connected components tree
</FONT></I>  };

  <B><FONT COLOR="#228B22">struct</FONT></B> color_info{
    rgb color;          <I><FONT COLOR="#B22222">// example color (such as used in test output)
</FONT></I>    <B><FONT COLOR="#228B22">char</FONT></B> *name;         <I><FONT COLOR="#B22222">// color's meaninful name (e.g. ball, goal)
</FONT></I>    <B><FONT COLOR="#228B22">double</FONT></B> merge;       <I><FONT COLOR="#B22222">// merge density threshold
</FONT></I>    <B><FONT COLOR="#228B22">int</FONT></B> expected_num;   <I><FONT COLOR="#B22222">// expected number of regions (used for merge)
</FONT></I>    <B><FONT COLOR="#228B22">int</FONT></B> y_low,y_high;   <I><FONT COLOR="#B22222">// Y,U,V component thresholds
</FONT></I>    <B><FONT COLOR="#228B22">int</FONT></B> u_low,u_high;
    <B><FONT COLOR="#228B22">int</FONT></B> v_low,v_high;
  };

  <B><FONT COLOR="#228B22">struct</FONT></B> point{
    <B><FONT COLOR="#228B22">double</FONT></B> x,y;
  };

  <B><FONT COLOR="#228B22">struct</FONT></B> line{
    point a,b;
  };

  <B><FONT COLOR="#228B22">struct</FONT></B> rectangle{
    <B><FONT COLOR="#228B22">int</FONT></B> x,y,w,h;
  };

<B><FONT COLOR="#5F9EA0">protected</FONT></B>:
  <B><FONT COLOR="#228B22">unsigned</FONT></B> y_class[CMV_COLOR_LEVELS];
  <B><FONT COLOR="#228B22">unsigned</FONT></B> u_class[CMV_COLOR_LEVELS];
  <B><FONT COLOR="#228B22">unsigned</FONT></B> v_class[CMV_COLOR_LEVELS];

  region region_table[CMV_MAX_REGIONS];
  region *region_list[CMV_MAX_COLORS];
  <B><FONT COLOR="#228B22">int</FONT></B> region_count[CMV_MAX_COLORS];

  rle rmap[CMV_MAX_RUNS];

  color_info colors[CMV_MAX_COLORS];
  <B><FONT COLOR="#228B22">int</FONT></B> width,height;
  <B><FONT COLOR="#228B22">unsigned</FONT></B> *map;

  <B><FONT COLOR="#228B22">unsigned</FONT></B> options;

<B><FONT COLOR="#5F9EA0">protected</FONT></B>:
<I><FONT COLOR="#B22222">// Private functions
</FONT></I>  <B><FONT COLOR="#228B22">void</FONT></B> classifyFrame(image_pixel * restrict img,<B><FONT COLOR="#228B22">unsigned</FONT></B> * restrict map);
  <B><FONT COLOR="#228B22">int</FONT></B>  encodeRuns(rle * restrict out,<B><FONT COLOR="#228B22">unsigned</FONT></B> * restrict map);
  <B><FONT COLOR="#228B22">void</FONT></B> connectComponents(rle * restrict map,<B><FONT COLOR="#228B22">int</FONT></B> num);
  <B><FONT COLOR="#228B22">int</FONT></B>  extractRegions(region * restrict reg,rle * restrict rmap,<B><FONT COLOR="#228B22">int</FONT></B> num);
  <B><FONT COLOR="#228B22">void</FONT></B> calcAverageColors(region * restrict reg,<B><FONT COLOR="#228B22">int</FONT></B> num_reg,
                         image_pixel * restrict img,
                         rle * restrict rmap,<B><FONT COLOR="#228B22">int</FONT></B> num_runs);
  <B><FONT COLOR="#228B22">int</FONT></B>  separateRegions(region * restrict reg,<B><FONT COLOR="#228B22">int</FONT></B> num);
  region *sortRegionListByArea(region * restrict list,<B><FONT COLOR="#228B22">int</FONT><