📄 videodlg.cpp
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YUV[R][G][B][0]=(char)(0.500*R+(-0.419)*G+(-0.081)*B+127);
}
}
void CVideoDlg::OnGet()
{
//手动调阈值
m_pConfigDlg->GetYuzhi();
m_y_low =m_pConfigDlg->now_low_y;
m_u_low =m_pConfigDlg->now_low_u;
m_v_low =m_pConfigDlg->now_low_v;
m_y_high=m_pConfigDlg->now_high_y;
m_u_high=m_pConfigDlg->now_high_u;
m_v_high=m_pConfigDlg->now_high_v;
UpdateData(false);
//UINT nPos;
//nPos=now_high_y;
m_yuv_yh.SetScrollPos(m_y_high);
m_yuv_uh.SetScrollPos(m_u_high);
m_yuv_vh.SetScrollPos(m_v_high);
m_yuv_yl.SetScrollPos(m_y_low);
m_yuv_ul.SetScrollPos(m_u_low);
m_yuv_vl.SetScrollPos(m_v_low);
}
BOOL CVideoDlg::SensitiveScan(double percent,
int i,
int j,
byte Upper[],
byte Lower[],
int ReturnCentrePoint[])
{
/*#######################################################//
函数名：
SensitiveScan(double percent,
int i,
int j,
double Upper[],
double Lower[],
int ReturnCentrePoint[])
说明：
一种区域扫描方法，从中心向四周扫描。返回目标中心。
//#######################################################*/
int count=0;
int rowSum=0;
int colSum=0;
int DirectionCount=0;//++之后方向会改变一次
int Direction;
//0->right i++ j
//1->down i j++
//2->left i-- j
//3->up i j--
int Step;//每个方向上应该走几步
int StepCount;//用于记录一个方向已经走了几步
double n=0.9;//一个在潜移默化中自增的神秘变量
bool SkipLine[4]={false};//四个方向上分别判断是否skip?
bool MeetSignal=false;//判断一行中是否有点满足IsMeetStrict()//黄点出现
bool BreakSignal=false;//判断是否跳出while的死循环
while(!BreakSignal)
{
DirectionCount++;
n+=0.5;
Step=(int)n;
Direction=DirectionCount%4;
switch(Direction)
{
case 0://right
MeetSignal=false;//一开始时没有出现黄点
if(m_FieldRect.right-i<=Step)SkipLine[1]=true;
if(SkipLine[Direction]){i+=Step;break;}
for(StepCount=1;StepCount<=Step;StepCount++)
{
i++;
if(i>m_FieldRect.right)continue;
GetPixelColor(i, j, Get_RGB);
if(IsMeetRestrict(Get_RGB, Upper, Lower))
{
//记录此点;
rowSum += i;
colSum += j;
count++;
MeetSignal=true;
}
else
{
if(MeetSignal==false)i+=2;
else
{
i=i+(Step-StepCount);
StepCount=Step+1;
}
}
}
if(!MeetSignal)SkipLine[Direction]=true;
MeetSignal=false;
break;
case 1://down
if(m_FieldRect.bottom-j<=Step)SkipLine[2]=true;
if(SkipLine[Direction]){j+=Step;break;}
for(StepCount=1;StepCount<=Step;StepCount++)
{
j++;
if(j>m_FieldRect.bottom)continue;
GetPixelColor(i, j, Get_RGB);
if(IsMeetRestrict(Get_RGB, Upper, Lower))
{
//记录此点;
rowSum += i;
colSum += j;
count++;
MeetSignal=true;
}
else
{
if(MeetSignal==false)j+=2;
else
{
j=j+(Step-StepCount);
StepCount=Step+1;
}
}
}
if(!MeetSignal)SkipLine[Direction]=true;
MeetSignal=false;
break;
case 2://left
if(i-m_FieldRect.left<=Step)SkipLine[3]=true;
if(SkipLine[Direction]){i-=Step;break;}
for(StepCount=1;StepCount<=Step;StepCount++)
{
i--;
if(i<m_FieldRect.left)continue;
GetPixelColor(i, j, Get_RGB);
if(IsMeetRestrict(Get_RGB, Upper, Lower))
{
//记录此点;
rowSum += i;
colSum += j;
count++;
MeetSignal=true;
}
else
{
if(MeetSignal==false)i-=2;
else
{
i=i-(Step-StepCount);
StepCount=Step+1;
}
}
}
if(!MeetSignal)SkipLine[Direction]=true;
MeetSignal=false;
break;
case 3://up
if(j-m_FieldRect.top<=Step)SkipLine[0]=true;
if(SkipLine[Direction]){j-=Step;break;}
for(StepCount=1;StepCount<=Step;StepCount++)
{
j--;
if(j<m_FieldRect.top)continue;
GetPixelColor(i, j, Get_RGB);
if(IsMeetRestrict(Get_RGB, Upper, Lower))
{
//记录此点;
rowSum += i;
colSum += j;
count++;
MeetSignal=true;
}
else
{
if(MeetSignal==false)j-=2;
else
{
j=j-(Step-StepCount);
StepCount=Step+1;
}
}
}
if(!MeetSignal)SkipLine[Direction]=true;
MeetSignal=false;
break;
default:
break;
}//switch ended
BreakSignal=SkipLine[0];
for(int t=1;t<4;t++)BreakSignal=BreakSignal&&SkipLine[t];
}//while ended
//判断是否是噪声点
if(count<(int)(m_pConfigDlg->m_ObjectDia*m_pConfigDlg->m_ObjectDia*percent))return false;
ReturnCentrePoint[1] = (int)(rowSum / count);//0
ReturnCentrePoint[0] = (int)(colSum / count);//1
return true;
}
void CVideoDlg::OnInitYUVClass()
{
// TODO: Add your control notification handler code here
//BYTE YUVClass[256][9][3];//0-255级颜色，9种颜色(这一位很重要)，三个颜色坐标
for(int i=0;i<256;i++)
{
for (int j=0;j<9;j++)//五种颜色
{
for(int k=0;k<3;k++)
{
YUVClass[i][j][k]=0;
//九种颜色编码如下
// 0 我队标志 1 pink 2 white
// 3 green 4 ball 5 他队标志
// 6 他队一 7 他队二 8 场地
//8 场地
if((i<(int)m_pConfigDlg->m_upper_Field[k])
&&(i>(int)m_pConfigDlg->m_lower_Field[k]))
YUVClass[i][8][k]=1;
//4 ball
if((i<(int)m_pConfigDlg->m_upper_Ball[k])
&&(i>(int)m_pConfigDlg->m_lower_Ball[k]))
YUVClass[i][4][k]=1;
//5 他队标志
if((i<(int)m_pConfigDlg->m_upper_TheirTeamLable[k])
&&(i>(int)m_pConfigDlg->m_lower_TheirTeamLable[k]))
YUVClass[i][5][k]=1;
//0 我队标志
if((i<(int)m_pConfigDlg->m_upper_MyTeamLable[k])
&&(i>(int)m_pConfigDlg->m_lower_MyTeamLable[k]))
YUVClass[i][0][k]=1;
//m_upper_MyTeam=>pink0 white1 green2
//1 pink
if((i<(int)m_pConfigDlg->m_upper_MyTeam[0][k])
&&(i>(int)m_pConfigDlg->m_lower_MyTeam[0][k]))
YUVClass[i][1][k]=1;
//2 white
if((i<(int)m_pConfigDlg->m_upper_MyTeam[1][k])
&&(i>(int)m_pConfigDlg->m_lower_MyTeam[1][k]))
YUVClass[i][2][k]=1;
//3 green
if((i<(int)m_pConfigDlg->m_upper_MyTeam[2][k])
&&(i>(int)m_pConfigDlg->m_lower_MyTeam[2][k]))
YUVClass[i][3][k]=1;
//6 他队一
if((i<(int)m_pConfigDlg->m_upper_TheirTeam[0][k])
&&(i>(int)m_pConfigDlg->m_lower_TheirTeam[0][k]))
YUVClass[i][6][k]=1;
//7 他队二
if((i<(int)m_pConfigDlg->m_upper_TheirTeam[1][k])
&&(i>(int)m_pConfigDlg->m_lower_TheirTeam[1][k]))
YUVClass[i][7][k]=1;
}
}
}
}
void CVideoDlg::SearchObject()
{
/* if(flag==TRUE)
{
return;
}*/
// flag=TRUE;
// num=-1;
// num2=-1;
// myone =false;
for (i=0;i<5;i++)
{
isScanMyteam[i]=false;
isScanTheirteam[i]=false;
}
isScanBall=false;
BallRectNum = 0;
MyLableRectNum = 0;
TheirLableRectNum = 0;
ObjectRectNum = 0;
double ball_Percent;
double mylable_Percent;
double thlable_Percent;
// double pink_Percent;
ball_Percent=0.15;
mylable_Percent=0.10;
thlable_Percent=0.10;
// pink_Percent=0.02;
m_pConfigDlg->m_ObjectDia=8;
m_pConfigDlg->m_ObjectPercent=0.10;
their_yellow=false;
//CG400Capture(hcg400,false);
/////////////////////////辩识物体////////////////////////
// m_pConfigDlg->UpdateData(FALSE);
for(j = m_FieldRect.top; j < m_FieldRect.bottom; j++)
for(i = m_FieldRect.left; i < m_FieldRect.right; i+=2)
{
bIsSkip = FALSE;
for(n = 0; n < ObjectRectNum; n++)
{
if (isInRect(i,j,ObjectRect[n]))
{
bIsSkip = TRUE;
n=ObjectRectNum;
}
}
if(bIsSkip)
continue;
GetPixelColor(i, j, Get_RGB);
RGB_TO_YUV(Get_RGB,Col_YUV);
// if(IsMeetRestrict(Col_YUV, m_pConfigDlg->m_upper_Field, m_pConfigDlg->m_lower_Field))
if(YUVClass[Col_YUV[2]][8][2]
&&YUVClass[Col_YUV[1]][8][1]
&&YUVClass[Col_YUV[0]][8][0])
{//去掉场地
continue;
}
/// else if(IsMeetRestrict(Col_YUV,m_pConfigDlg->m_upper_MyTeamLable, m_pConfigDlg->m_lower_MyTeamLable))
else if(YUVClass[Col_YUV[2]][0][2]
&&YUVClass[Col_YUV[1]][0][1]
&&YUVClass[Col_YUV[0]][0][0])
{//识别我队标志
GetPixelColor(i+1, j, Get_RGB);
RGB_TO_YUV(Get_RGB,Col_YUV);
if(YUVClass[Col_YUV[2]][0][2]
&&YUVClass[Col_YUV[1]][0][1]
&&YUVClass[Col_YUV[0]][0][0])
{
int tempCentreGravity[2];
int tempCentreGravity2[2];
int tempCentreGravity3[2];
int tempCentre[3][3];
int lable=0;
ScanRect.left = i - m_pConfigDlg->m_ObjectDia/2;
ScanRect.top = j- m_pConfigDlg->m_ObjectDia/2;
ScanRect.right = i + m_pConfigDlg->m_ObjectDia;
ScanRect.bottom = j + m_pConfigDlg->m_ObjectDia;
if( ScanNearRect(ScanRect,
mylable_Percent,
m_pConfigDlg->m_upper_MyTeamLable,
m_pConfigDlg->m_lower_MyTeamLable,
tempCentreGravity,
0) )
{
for (int i=0;i<3;i++)
{
for (int j=0;j<3;j++)
{
tempCentre[i][j]=0;
}
ScanRect3[i].left=0;
ScanRect3[i].right=0;
ScanRect3[i].top=0;
ScanRect3[i].bottom=0;
}
lable=0;
if(MyLableRectNum < 5)
{
for(l=tempCentreGravity[0]-2*m_pConfigDlg->m_ObjectDia;l<tempCentreGravity[0]+2*m_pConfigDlg->m_ObjectDia;l++)
for(m=tempCentreGravity[1]-2*m_pConfigDlg->m_ObjectDia;m<tempCentreGravity[1]+2*m_pConfigDlg->m_ObjectDia;m++)
{
if(isInRect(m,l,ScanRect3[0]))
continue;
if(isInRect(m,l,ScanRect3[1]))
continue;
if(isInRect(m,l,ScanRect3[2]))
continue;
GetPixelColor(m, l, Get_RGB);
RGB_TO_YUV(Get_RGB,Col_YUV);
if((YUVClass[Col_YUV[2]][1][2]&&YUVClass[Col_YUV[1]][1][1]&&YUVClass[Col_YUV[0]][1][0])
||
/* (YUVClass[Col_YUV[2]][2][2]&&YUVClass[Col_YUV[1]][2][1]&&YUVClass[Col_YUV[0]][2][0])
||*/
(YUVClass[Col_YUV[2]][3][2]&&YUVClass[Col_YUV[1]][3][1]&&YUVClass[Col_YUV[0]][3][0]))
{
GetPixelColor(m, l, Get_RGB);
RGB_TO_YUV(Get_RGB,Col_YUV);
if((YUVClass[Col_YUV[2]][1][2]&&YUVClass[Col_YUV[1]][1][1]&&YUVClass[Col_YUV[0]][1][0])
||
/* (YUVClass[Col_YUV[2]][2][2]&&YUVClass[Col_YUV[1]][2][1]&&YUVClass[Col_YUV[0]][2][0])
||*/
(YUVClass[Col_YUV[2]][3][2]&&YUVClass[Col_YUV[1]][3][1]&&YUVClass[Col_YUV[0]][3][0]))
{
if (YUVClass[Col_YUV[2]][1][2]
&&YUVClass[Col_YUV[1]][1][1]
&&YUVClass[Col_YUV[0]][1][0])
num=1;
/* if (YUVClass[Col_YUV[2]][2][2]
&&YUVClass[Col_YUV[1]][2][1]
&&YUVClass[Col_YUV[0]][2][0])
num=2;*/
if (YUVClass[Col_YUV[2]][3][2]
&&YUVClass[Col_YUV[1]][3][1]
&&YUVClass[Col_YUV[0]][3][0])
num=3;
ScanRect2.left = m - m_pConfigDlg->m_ObjectDia;
ScanRect2.top = l;
ScanRect2.right = m + m_pConfigDlg->m_ObjectDia;
ScanRect2.bottom = l + m_pConfigDlg->m_ObjectDia;
if(ScanNearRect(ScanRect2,
m_pConfigDlg->m_ObjectPercent,
m_pConfigDlg->m_upper_MyTeam[k],
m_pConfigDlg->m_lower_MyTeam[k],
tempCentreGravity2
,
num) )
{
tempCentre[lable][0]=tempCentreGravity2[0];
tempCentre[lable][1]=tempCentreGravity2[1];
tempCentre[lable][2]=num;
ScanRect3[lable].left=tempCentreGravity2[1] - m_pConfigDlg->m_ObjectDia;
ScanRect3[lable].top = tempCentreGravity2[0]-m_pConfigDlg->m_ObjectDia;
ScanRect3[lable].right = tempCentreGravity2[1] +m_pConfigDlg->m_ObjectDia;
ScanRect3[lable].bottom = tempCentreGravity2[0] + m_pConfigDlg->m_ObjectDia;
lable++;
if (lable==3)
{
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