videodlg.cpp

本程序是2005年参加中国机器人大赛的比赛程序

// VideoDlg.cpp : implementation file
//

#include "stdafx.h"
#include "Robocup.h"
#include "VideoDlg.h"
#include "Global.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CVideoDlg dialog

CVideoDlg *CVideoDlg::m_pVideoDlg=NULL;
CVideoDlg::CVideoDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CVideoDlg::IDD, pParent)
{	
	//{{AFX_DATA_INIT(CVideoDlg)
	m_brt_edit = _T("");
	m_con_edit = _T("");
	m_hue_edit = _T("");
	m_sat_edit = _T("");
	m_time = 0;
	m_yuv_u = 0;
	m_yuv_v = 0;
	m_yuv_y = 0;
	m_u_high = 0;
	m_u_low = 0;
	m_v_high = 0;
	m_v_low = 0;
	m_y_high = 0;
	m_y_low = 0;
	m_x = 0;
	m_y = 0;
	m_FrameWidth = 320;
	m_FrameHeight = 240;
	m_bIsLBDown = FALSE;
	m_FieldRect = CRect(0, 0, 0, 0);
	m_pConfigDlg = NULL;
	m_TotalSeconds = 0;
	m_FrameCount = -1;
	m_EndTime = 0;
	m_StartTime = 0;
	flag=FALSE;
	m_lable1x = 0;
	m_lable2x = 0;
	m_lable3x = 0;
	m_lable1y = 0;
	m_lable2y = 0;
	m_lable3y = 0;
	m_angle = 0;
	m_k = 0;
	//}}AFX_DATA_INIT
	sum=10;
	m_IsSnapToMem=false;
	m_IsGetFieldRectChecked=false;		
	for(i=0;i<5;i++)
	 {
	    MyTeamRectNum[i] = 0;
		TheirTeamRectNum[i] = 0;
		for(j=0;j<10;j++)
		{			
			for(k=0;k<2;k++)
			{
			My_LableCentreGravity[j][k] = 0;
			Their_LableCentreGravity[j][k] = 0;
			Ball_CentreGravity[j][k] = 0;
			My_CentreGravity[i][k] = 0;
			}
		}
	 }	
	initYuv();
}


void CVideoDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CVideoDlg)
/*	DDX_Control(pDX, IDC_YUV_YL, m_yuv_yl);
	DDX_Control(pDX, IDC_YUV_YH, m_yuv_yh);
	DDX_Control(pDX, IDC_YUV_VL, m_yuv_vl);
	DDX_Control(pDX, IDC_YUV_VH, m_yuv_vh);
	DDX_Control(pDX, IDC_YUV_UL, m_yuv_ul);
	DDX_Control(pDX, IDC_YUV_UH, m_yuv_uh);*/
	DDX_Control(pDX, IDC_SAT_SCROLLBAR, m_sat_scrollbar);
	DDX_Control(pDX, IDC_HUE_SCROLLBAR, m_hue_scrollbar);
	DDX_Control(pDX, IDC_CON_SCROLLBAR, m_con_scrollbar);
	DDX_Control(pDX, IDC_BRT_SCROLLBAR, m_brt_scrollbar);
	DDX_Text(pDX, IDC_BRT_EDIT, m_brt_edit);
	DDX_Text(pDX, IDC_CON_EDIT, m_con_edit);
	DDX_Text(pDX, IDC_HUE_EDIT, m_hue_edit);
	DDX_Text(pDX, IDC_SAT_EDIT, m_sat_edit);
	DDX_Text(pDX, IDC_time, m_time);
	DDX_Text(pDX, IDC_YUV_U, m_yuv_u);
	DDX_Text(pDX, IDC_YUV_V, m_yuv_v);
	DDX_Text(pDX, IDC_YUV_Y, m_yuv_y);
	DDX_Text(pDX, IDC_U_HIGH, m_u_high);
	DDX_Text(pDX, IDC_U_LOW, m_u_low);
	DDX_Text(pDX, IDC_V_HIGH, m_v_high);
	DDX_Text(pDX, IDC_V_LOW, m_v_low);
	DDX_Text(pDX, IDC_Y_HIGH, m_y_high);
	DDX_Text(pDX, IDC_Y_LOW, m_y_low);
	DDX_Text(pDX, IDC_X, m_x);
	DDX_Text(pDX, IDC_Y, m_y);
	DDX_Text(pDX, IDC_EDIT9, m_lable1x);
	DDX_Text(pDX, IDC_EDIT10, m_lable2x);
	DDX_Text(pDX, IDC_EDIT11, m_lable3x);
	DDX_Text(pDX, IDC_EDIT12, m_lable1y);
	DDX_Text(pDX, IDC_EDIT13, m_lable2y);
	DDX_Text(pDX, IDC_EDIT14, m_lable3y);
	DDX_Text(pDX, IDC_EDIT15, m_angle);
	DDX_Text(pDX, IDC_EDIT16, m_k);
	//}}AFX_DATA_MAP
}


BEGIN_MESSAGE_MAP(CVideoDlg, CDialog)
	//{{AFX_MSG_MAP(CVideoDlg)
	ON_WM_LBUTTONDOWN()
	ON_WM_LBUTTONUP()
	ON_WM_MOUSEMOVE()
	ON_BN_CLICKED(IDC_SnapToMem, OnSnapToMem)
	ON_BN_CLICKED(IDC_DISPLAY, OnDisplay)
	ON_BN_CLICKED(IDC_STOPDISP, OnStopdisp)
	ON_BN_CLICKED(IDC_DEFAULT, OnDefault)
	ON_WM_HSCROLL()
	ON_BN_CLICKED(IDC_BUTTON1, OnButton1)
	ON_WM_TIMER()
	ON_BN_CLICKED(IDC_BUTTON3, OnButton3)
	ON_BN_CLICKED(IDC_BUTTON4, OnButton4)
	ON_WM_RBUTTONDOWN()
	ON_BN_CLICKED(IDC_BUTTON5, OnButton5)
	ON_BN_CLICKED(IDC_GET, OnGet)
	ON_BN_CLICKED(IDC_InitYUVClass, OnInitYUVClass)
	ON_BN_CLICKED(IDC_READ, OnRead)
	ON_WM_SIZE()
	ON_WM_DESTROY()
	ON_WM_DELETEITEM()
	ON_BN_CLICKED(IDC_SAVE, OnSave)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CVideoDlg message handlers

void CVideoDlg::InitVideo()
{
	hcg400 = BeginCG400(1);
	if (hcg400 == 0)
	{
		MessageBox("启动视频窗口错误！");
		return;
	}
	CRect rect;
	CRect ClientRect;
	GetClientRect(&ClientRect);
	ClientToScreen(&ClientRect);
	CG400SetDispMode(hcg400,FRAME);
//	CG400SetColorSpace(hcg400,YUV422);
	CG400SetColorSpace(hcg400,RGB8888);//设置图像卡输出的彩色空间格式：32位
	CG400SetInpVideoWindow(hcg400,0,0,640,480);
//	CG400SetInpVideoWindow(hcg400,0,0,640,480);
	CG400SetDispWindow(hcg400,ClientRect.left, ClientRect.top,640,480);
	CG400SetVideoStandard(hcg400,NTSC);
	CG400Capture(hcg400,true);
	
}

BOOL CVideoDlg::OnInitDialog() 
{
	CDialog::OnInitDialog();
	m_brt_scrollbar.SetScrollRange(0,255);
	m_con_scrollbar.SetScrollRange(0,255);
	m_hue_scrollbar.SetScrollRange(0,255);
	m_sat_scrollbar.SetScrollRange(0,255);
/*	m_yuv_yh.SetScrollRange(0,255);
	m_yuv_uh.SetScrollRange(0,255);
	m_yuv_vh.SetScrollRange(0,255);
	m_yuv_yl.SetScrollRange(0,255);
	m_yuv_ul.SetScrollRange(0,255);
	m_yuv_vl.SetScrollRange(0,255);*/

	OnDefault() ;	
	MoveWindow(0, 0, 649,740); 
	InitVideo();
	return TRUE;  
}

BEGIN_EVENTSINK_MAP(CVideoDlg, CDialog)
    //{{AFX_EVENTSINK_MAP(CVideoDlg)	
	 
	//}}AFX_EVENTSINK_MAP
END_EVENTSINK_MAP()		


BOOL CVideoDlg::ScanNearRect(CRect rect, 
							 double percent,
							 byte Upper[],
							 byte Lower[],							 
							 int ReturnCentrePoint[],
							 int colnum)
{//判断在rect矩形框里符合采样标准的点是否达到设定的百分比percent，
 //如果达到，返回ture，并把求出的重心放在ReturnCentrePoint中，
 //如果没有达到，返回false，ReturnCentrePoint无意义
	int i, j;
	byte Get_RGB[3]; 
	int count;
	int total;
	int limit;
	int rowSum;
	int colSum;

	count = 0;
	rowSum = 0;
	colSum = 0;
	total = rect.Width() * rect.Height();
	limit = (int)(total * percent);

/*	if(rect.left < m_FieldRect.left)
		rect.left = m_FieldRect.left ;
	if(rect.top < m_FieldRect.top)
		rect.top = m_FieldRect.top ;
	if(rect.right > m_FieldRect.right)
		rect.right = m_FieldRect.right ;
	if(rect.bottom > m_FieldRect.bottom)
		rect.bottom = m_FieldRect.bottom ;*/
	if(rect.left < 1)
		rect.left = 0 ;
	if(rect.top < 1)
		rect.top = 0 ;
	if(rect.right > 639)
		rect.right = 639 ;
	if(rect.bottom > 479)
		rect.bottom = 479 ;

	for(i = rect.left; i < rect.right; i++)	
		for(j = rect.top; j < rect.bottom; j++)
		{
			GetPixelColor(i, j, Get_RGB);
			RGB_TO_YUV(Get_RGB,Col_YUV);
			//if(IsMeetRestrict(Col_YUV,Upper, Lower))
			if(YUVClass[Col_YUV[2]][colnum][2]
			 &&YUVClass[Col_YUV[1]][colnum][1]
			 &&YUVClass[Col_YUV[0]][colnum][0])
			{
				rowSum += j;
				colSum += i;
				count++;
			}
		};
 	if(count > limit)
	{
		ReturnCentrePoint[0] = (int)(rowSum / count);
		ReturnCentrePoint[1] = (int)(colSum / count);
	}
	else
	{
		return FALSE;
	}
	return TRUE;
}

BOOL CVideoDlg::IsMeetRestrict(byte Col_RGB[],							   						 
							   byte  Upper[],
							   byte Lower[])
{
	BOOL bResult = FALSE;
//	int Total;
	if(Col_RGB[2] >= Lower[0] && Col_RGB[2] <= Upper[0])
	{//红分量比例约束
		if(Col_RGB[1] >= Lower[1] && Col_RGB[1] <= Upper[1])
		{//绿分量比例约束
			//Total = Col_RGB[0] + Col_RGB[1] + Col_RGB[2];
			if(Col_RGB[0] >= Lower[2] && Col_RGB[0] <= Upper[2])//三分量总值约束
				bResult = TRUE;
		}
	}
	return bResult;
}

void CVideoDlg::SetConfigDlg(CConfigDlg *pConfigDlg)
{
	m_pConfigDlg = pConfigDlg;
}

void CVideoDlg::OnLButtonDown(UINT nFlags, CPoint point) 
{	
	m_x=point.x;
	m_y=point.y;
	UpdateData(false);
	if((point.x<640)&&(point.y<480))
	{
		m_bIsLBDown = TRUE;
		m_pConfigDlg->UpdateData(true);
		if (m_pConfigDlg->m_bMY_door)
		{
			my_Door.left = point.x;
			my_Door.top  = point.y;
			my_Door.right  = point.x;
			my_Door.bottom = point.y;
			SetTimer(3, 50, NULL);
		}
		else
		if (m_pConfigDlg->m_bTh_door)
		{
			th_Door.left = point.x;
			th_Door.top  = point.y;
			th_Door.right  = point.x;
			th_Door.bottom = point.y;
			SetTimer(3, 50, NULL);
		}
		else
		if(m_pConfigDlg->m_bCheckGetFieldRect)
		{		
			m_FieldRect.left = point.x;
			m_FieldRect.top  = point.y;
			m_FieldRect.right  = point.x;
			m_FieldRect.bottom = point.y;
			SetTimer(3, 50, NULL);
		}
		else
			if (m_pConfigDlg->m_rect_sample)
			{				
				sample_rect.left = point.x;
				sample_rect.top  = point.y;
				sample_rect.right  = point.x;
				sample_rect.bottom = point.y;
				SetTimer(3, 50, NULL);
			}
			else
			{						
			unsigned char R, G, B;		
			GetPixelColor(point.x, point.y, Get_RGB);			
			R = Get_RGB[2];
			G = Get_RGB[1];
			B = Get_RGB[0];	
			RGB_TO_YUV(Get_RGB,Col_YUV);
			m_yuv_y=Col_YUV[2];
			m_yuv_u=Col_YUV[1];
			m_yuv_v=Col_YUV[0];
			UpdateData(false);		
			CString str1, str2, str3;
			str1.Format("R=%d, G=%d, B=%d",R, G, B);		
			m_pConfigDlg->m_ColorInfo.SetWindowText(str1);
			str2.Format("x=%d, y=%d", point.x, point.y);
			m_pConfigDlg->m_CoorInfo.SetWindowText(str2);
			str3.Format("总值:%d", (R+G+B));
			m_pConfigDlg->m_MeanRGBInfo.SetWindowText(str3);
			m_pConfigDlg->m_red = Col_YUV[2];
			m_pConfigDlg->m_green = Col_YUV[1];
			m_pConfigDlg->m_blue = Col_YUV[0];			
			m_pConfigDlg->showcolour(R,G,B);
			}
	}	
	CDialog::OnLButtonDown(nFlags, point);
}

void CVideoDlg::GetPixelColor(int X, int Y,byte Col_RGB[])
{
		if((X<0)||(X>=639))	return;
		if ((Y<0)||(Y>=479)) return;
		int a;
		a=Y*640*3+X*3;
		Col_RGB[2]	=(byte)colour[a+2];//R
		Col_RGB[1]	=(byte)colour[a+1];//G
		Col_RGB[0]	=(byte)colour[a+0];//B
}

void CVideoDlg::OnLButtonUp(UINT nFlags, CPoint point) 
{	
	if((point.x<640)&&(point.y<480))
	{
		if (m_pConfigDlg->m_bMY_door && m_bIsLBDown)
		{
			my_Door.right   = point.x;
			my_Door.bottom  = point.y;
			if(my_Door.right < my_Door.left)
				my_Door.right = my_Door.left;
			if(my_Door.bottom < my_Door.top)
				my_Door.bottom = my_Door.top;
			
			KillTimer(3);
			DrawFieldRect(my_Door);
			m_pConfigDlg->m_bMY_door=false;
			m_pConfigDlg->UpdateData(false);
		//	SetTimer(3, 50, NULL);
		}
		if (m_pConfigDlg->m_bTh_door && m_bIsLBDown)
		{
			th_Door.right   = point.x;
			th_Door.bottom  = point.y;
			if(th_Door.right < th_Door.left)
				th_Door.right = th_Door.left;
			if(th_Door.bottom < th_Door.top)
				th_Door.bottom = th_Door.top;
			
			KillTimer(3);
			DrawFieldRect(th_Door);
			m_pConfigDlg->m_bTh_door=false;
			m_pConfigDlg->UpdateData(false);
		//	SetTimer(3, 50, NULL);
		}
		if(m_pConfigDlg->m_bCheckGetFieldRect && m_bIsLBDown)
		{
			m_FieldRect.right   = point.x;
			m_FieldRect.bottom  = point.y;
			if(m_FieldRect.right < m_FieldRect.left)
				m_FieldRect.right = m_FieldRect.left;
			if(m_FieldRect.bottom < m_FieldRect.top)
				m_FieldRect.bottom = m_FieldRect.top;

			KillTimer(3);
			CG400Capture(hcg400,false);
			DrawFieldRect(m_FieldRect);
			OnSnapToMem();
			InitTeam();
			m_pConfigDlg->m_bCheckCapRect=true;
			m_pConfigDlg->m_bCheckGetFieldRect=false;
			m_pConfigDlg->UpdateData(false);
		}
		if (m_pConfigDlg->m_rect_sample && m_bIsLBDown)
		{		
			sample_rect.right   = point.x;
			sample_rect.bottom  = point.y;
			if(sample_rect.right < sample_rect.left)