📄 liveviewdlg.cpp
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// LiveViewDlg.cpp : implementation file
//
#include "stdafx.h"
#include "LiveView.h"
#include "LiveViewDlg.h"
#include "mmsystem.h"
#include "math.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif
#define COLORSELECT 0
#define BOUNDSET 1
#define stackSize 200
int stackx[stackSize];
int stacky[stackSize];
int stackPointer;
#define MASKCOLOR 10687
#define MASKCOLOR1 10688
#define OPPMASKCOLOR 10689
#define TEAM 0
#define MEMB1 1
#define MEMB2 2
#define MEMB3 3
#define MEMB4 4
#define MEMB5 5
#define BALL 6
#define OPP 7
int robot_xy[360][12][2]; //机器人仿真图像关键点查找表
CPen OurRobotPen(PS_SOLID,1,RGB(255,255,0)); //一个黄色画笔
CPen BallPen(PS_SOLID,1,RGB(255,128,0)); //一个桔黄色画笔
CBrush BallBrush(RGB(255,128,0));
CPen OppRobotPen(PS_SOLID,1,RGB(255,0,255));
CBrush OppRobotBrush(RGB(0,128,0));
int m_LUT[7][0x8000];
int m_LUTBK[0x8000];
Ground ground;
/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About
class CAboutDlg : public CDialog
{
public:
CAboutDlg();
// Dialog Data
//{{AFX_DATA(CAboutDlg)
enum { IDD = IDD_ABOUTBOX };
//}}AFX_DATA
// ClassWizard generated virtual function overrides
//{{AFX_VIRTUAL(CAboutDlg)
protected:
virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV support
//}}AFX_VIRTUAL
// Implementation
protected:
//{{AFX_MSG(CAboutDlg)
//}}AFX_MSG
DECLARE_MESSAGE_MAP()
};
CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
//{{AFX_DATA_INIT(CAboutDlg)
//}}AFX_DATA_INIT
}
void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
CDialog::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CAboutDlg)
//}}AFX_DATA_MAP
}
BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
//{{AFX_MSG_MAP(CAboutDlg)
// No message handlers
//}}AFX_MSG_MAP
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CLiveViewDlg dialog
CLiveViewDlg::CLiveViewDlg(CWnd* pParent /*=NULL*/)
: CDialog(CLiveViewDlg::IDD, pParent)
{
m_savePara=false;
m_stop=false;
m_pBCameraSet=new CBCameraSet;
m_colortest=true; //单帧采集时是否显示,当测试时为false不显示
m_test=FALSE; //用在显示线程中,辨识测试时为true;
m_start=FALSE; //用在显示线程中,开始比赛时为true;
m_LiveGrabbing = false;//! 标记是否正在采集，True是采集正在进行
m_bIsDispImage = FALSE;//是否显示图像
m_bConnectBcam = false;
m_bEnabledWhiteBalancer=false;
for (int i=0; i<NUM_BUFFERS; i++)//! 指针数组，每个数组成员是指向一个图像缓冲区的指针
m_ptrBitmaps[i] = NULL;
m_ptrBmpInfo = NULL;//! 指针，保存每帧图像的BitmapInfo，在回显图像时使用
m_bOCROk = true;
InitOK = FALSE;
//丢失的帧数
m_nLostFrame = 0;
m_ImageSize.cx=640;
m_ImageSize.cy=480;
m_pMyQueue = new CMyQueue(MYQUEUE_LENGTH, m_ImageSize, 8);
if ( ! m_evtNewBufferAvailable.Create() )
{
throw BcamException(::GetLastError(), "CCamera: Create Event");
}
if ( ! m_evtTerminate.Create() )
{
throw BcamException(::GetLastError(), "CCamera: Create Event");
}
m_pDispSingle = new BYTE[m_ImageSize.cx*m_ImageSize.cy*3];
m_pSingleBitmap = new char[m_ImageSize.cx * m_ImageSize.cy];
/////////////// 预计算仿真图像中机器人关键点相对中心的偏移量 //////
double ttheta,side=7.5*1.5;
for (i=0;i<=360;i++)
{
ttheta=3.1415926*(2-(double)i/180);
robot_xy[i][0][0]=(int)(side*cos(ttheta)-side*sin(ttheta));
robot_xy[i][0][1]=(int)(side*sin(ttheta)+side*cos(ttheta));
robot_xy[i][1][0]=(int)(side*cos(ttheta)+side*sin(ttheta));
robot_xy[i][1][1]=(int)(side*sin(ttheta)-side*cos(ttheta));
robot_xy[i][2][0]=(int)(-side*cos(ttheta)-side*sin(ttheta));
robot_xy[i][2][1]=(int)(-side*sin(ttheta)+side*cos(ttheta));
robot_xy[i][3][0]=(int)(-side*cos(ttheta)+side*sin(ttheta));
robot_xy[i][3][1]=(int)(-side*sin(ttheta)-side*cos(ttheta));
robot_xy[i][4][0]=(robot_xy[i][0][0]+robot_xy[i][1][0])/2;
robot_xy[i][4][1]=(robot_xy[i][0][1]+robot_xy[i][1][1])/2;
robot_xy[i][5][0]=(robot_xy[i][2][0]+robot_xy[i][3][0])/2;
robot_xy[i][5][1]=(robot_xy[i][2][1]+robot_xy[i][3][1])/2;
robot_xy[i][6][0]=(robot_xy[i][0][0]+robot_xy[i][2][0])/2;
robot_xy[i][6][1]=(robot_xy[i][0][1]+robot_xy[i][2][1])/2;
robot_xy[i][7][0]=(robot_xy[i][1][0]+robot_xy[i][3][0])/2;
robot_xy[i][7][1]=(robot_xy[i][1][1]+robot_xy[i][3][1])/2;
robot_xy[i][8][0]=robot_xy[i][6][0]/2;
robot_xy[i][8][1]=robot_xy[i][6][1]/2;
robot_xy[i][9][0]=robot_xy[i][7][0]/2;
robot_xy[i][9][1]=robot_xy[i][7][1]/2;
robot_xy[i][10][0]=(robot_xy[i][4][0]+robot_xy[i][6][0])/2;
robot_xy[i][10][1]=(robot_xy[i][4][1]+robot_xy[i][6][1])/2;
robot_xy[i][11][0]=(robot_xy[i][4][0]+robot_xy[i][7][0])/2;
robot_xy[i][11][1]=(robot_xy[i][4][1]+robot_xy[i][7][1])/2;
}
//{{AFX_DATA_INIT(CLiveViewDlg)
m_brightness = 0;
m_gain = 0;
m_shutter = 0;
m_slidegain = 0;
m_v = 0;
m_u = 0;
m_slideshutter = 0;
m_slideu = 0;
m_slidev = 0;
m_slidebrightness = 0;
m_caprate = 0.0;
m_disprate = 0.0;
m_setselect = 0;
m_attack = 0;
m_area = 0;
m_kick = 0;
m_lostframe = 0;
m_nesample = FALSE;
m_nefilter = TRUE;
m_robotnum = 0;
m_rightvalue = 0;
m_leftvalue = 0;
m_object = 0;
m_change1 = 0;
m_change2 = 0;
m_SelectRect = FALSE;
m_CorrectPatch = TRUE;
m_length =11;
//}}AFX_DATA_INIT
// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}
void CLiveViewDlg::DoDataExchange(CDataExchange* pDX)
{
CDialog::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CLiveViewDlg)
DDX_Control(pDX, IDC_STATIC_ZOOMAREA, m_local);
DDX_Control(pDX, IDC_STATIC_MEM2, m_smem2);
DDX_Control(pDX, IDC_SAVE, m_save);
DDX_Control(pDX, IDC_STATIC_TEAM, m_steam);
DDX_Control(pDX, IDC_STATIC_MEM5, m_smem5);
DDX_Control(pDX, IDC_STATIC_MEM4, m_smem4);
DDX_Control(pDX, IDC_STATIC_MEM3, m_smem3);
DDX_Control(pDX, IDC_STATIC_MEM1, m_smem1);
DDX_Control(pDX, IDC_STATIC_BALL, m_sball);
DDX_Control(pDX, IDC_STRATEGYSELECT, m_strategyselect);
DDX_Control(pDX, IDC_STATIC_DISPLAY, m_display);
DDX_Text(pDX, IDC_EDIT_BRIGHTNESS, m_brightness);
DDX_Text(pDX, IDC_EDIT_GAIN, m_gain);
DDX_Text(pDX, IDC_EDIT_SHUTTER, m_shutter);
DDX_Slider(pDX, IDC_SLIDER_GAIN, m_slidegain);
DDX_Text(pDX, IDC_EDIT_V, m_v);
DDX_Text(pDX, IDC_EDIT_U, m_u);
DDX_Slider(pDX, IDC_SLIDER_SHUTTER, m_slideshutter);
DDX_Slider(pDX, IDC_SLIDER_U, m_slideu);
DDX_Slider(pDX, IDC_SLIDER_V, m_slidev);
DDX_Slider(pDX, IDC_SLIDER_BRIGHTNESS, m_slidebrightness);
DDX_Text(pDX, IDC_EDIT_CAPTRUERATE, m_caprate);
DDX_Text(pDX, IDC_EDIT_DISPLAYRATE, m_disprate);
DDX_Radio(pDX, IDC_RADIO_COLORSELECT, m_setselect);
DDX_Radio(pDX, IDC_ATTACK, m_attack);
DDX_Radio(pDX, IDC_LEFTA, m_area);
DDX_Radio(pDX, IDC_NORMAL, m_kick);
DDX_Text(pDX, IDC_EDIT_LOSTFRAMES, m_lostframe);
DDX_Check(pDX, IDC_CHECK_NESAMPLE, m_nesample);
DDX_Check(pDX, IDC_CHECK_NEFILTER, m_nefilter);
DDX_Text(pDX, IDC_EDIT_ROBOTNUM, m_robotnum);
DDX_Text(pDX, IDC_EDIT_RIGHTVALUE, m_rightvalue);
DDX_Text(pDX, IDC_EDIT_LEFTVALUE, m_leftvalue);
DDX_Radio(pDX, IDC_RADIO_TEAM, m_object);
DDX_Text(pDX, IDC_EDIT_CHANGE1, m_change1);
DDX_Text(pDX, IDC_EDIT_CHANGE2, m_change2);
DDX_Check(pDX, IDC_CHECK_SELECTRECT, m_SelectRect);
DDX_Check(pDX, IDC_CHECK_PATCHCORRECTION, m_CorrectPatch);
DDX_Text(pDX, IDC_EDIT_LENGHT, m_length);
//}}AFX_DATA_MAP
}
BEGIN_MESSAGE_MAP(CLiveViewDlg, CDialog)
//{{AFX_MSG_MAP(CLiveViewDlg)
ON_WM_SYSCOMMAND()
ON_WM_PAINT()
ON_WM_QUERYDRAGICON()
ON_BN_CLICKED(IDC_CAPTRUE, OnCaptrue)
ON_MESSAGE(WM_GRAB_STOPPED, OnGrabStopped)
ON_MESSAGE(WM_ERROR, OnError)
ON_BN_CLICKED(IDC_STOP, OnStop)
ON_NOTIFY(NM_RELEASEDCAPTURE, IDC_SLIDER_BRIGHTNESS, OnReleasedcaptureSliderBrightness)
ON_NOTIFY(NM_RELEASEDCAPTURE, IDC_SLIDER_GAIN, OnReleasedcaptureSliderGain)
ON_NOTIFY(NM_RELEASEDCAPTURE, IDC_SLIDER_SHUTTER, OnReleasedcaptureSliderShutter)
ON_NOTIFY(NM_RELEASEDCAPTURE, IDC_SLIDER_U, OnReleasedcaptureSliderU)
ON_NOTIFY(NM_RELEASEDCAPTURE, IDC_SLIDER_V, OnReleasedcaptureSliderV)
ON_EN_CHANGE(IDC_EDIT_BRIGHTNESS, OnChangeEditBrightness)
ON_EN_CHANGE(IDC_EDIT_GAIN, OnChangeEditGain)
ON_EN_CHANGE(IDC_EDIT_SHUTTER, OnChangeEditShutter)
ON_EN_CHANGE(IDC_EDIT_U, OnChangeEditU)
ON_EN_CHANGE(IDC_EDIT_V, OnChangeEditV)
ON_BN_CLICKED(IDC_SAVEPARA, OnSavepara)
ON_WM_TIMER()
ON_BN_CLICKED(IDC_GRABSINGLE, OnGrabsingle)
ON_WM_LBUTTONDOWN()
ON_BN_CLICKED(IDC_RADIO_COLORSELECT, OnRadioColorselect)
ON_BN_CLICKED(IDC_RADIO_BOUNDSET, OnRadioBoundset)
ON_WM_MOUSEMOVE()
ON_BN_CLICKED(IDC_BOUNDSET, OnBoundset)
ON_BN_CLICKED(IDC_LOAD, OnLoad)
ON_BN_CLICKED(IDC_SAVE, OnSave)
ON_BN_CLICKED(IDC_SAVEAS, OnSaveas)
ON_BN_CLICKED(IDC_COLORSAMPLING, OnColorsampling)
ON_BN_CLICKED(IDC_COLORTEST, OnColortest)
ON_BN_CLICKED(IDC_COLORFILTER, OnColorfilter)
ON_BN_CLICKED(IDC_CLEAR, OnClear)
ON_BN_CLICKED(IDC_IDENTIFYTEST, OnIdentifytest)
ON_BN_CLICKED(IDC_INITIAL, OnInitial)
ON_BN_CLICKED(IDC_START, OnStart)
ON_BN_CLICKED(IDC_ENLARGE, OnEnlarge)
ON_BN_CLICKED(IDC_NEWSAMPLE, OnNewsample)
ON_BN_CLICKED(IDC_NEWFILTER, OnNewfilter)
ON_BN_CLICKED(IDC_ZERO, OnZero)
ON_WM_DESTROY()
ON_BN_CLICKED(IDC_FORTH, OnForth)
ON_BN_CLICKED(IDC_BACK, OnBack)
ON_BN_CLICKED(IDC_LEFT, OnLeft)
ON_BN_CLICKED(IDC_RIGHT, OnRight)
ON_BN_CLICKED(IDC_STOPROBOT, OnStoprobot)
ON_BN_CLICKED(IDC_WHITEBALANCE, OnWhitebalance)
ON_BN_CLICKED(IDC_COLOREXCHANGE, OnColorexchange)
ON_BN_CLICKED(IDC_REBACK, OnReback)
ON_BN_CLICKED(IDC_BUTTON_RETURN, OnButtonReturn)
//}}AFX_MSG_MAP
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CLiveViewDlg message handlers
BOOL CLiveViewDlg::OnInitDialog()
{
CDialog::OnInitDialog();
// Add "About..." menu item to system menu.
// IDM_ABOUTBOX must be in the system command range.
ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
ASSERT(IDM_ABOUTBOX < 0xF000);
CMenu* pSysMenu = GetSystemMenu(FALSE);
if (pSysMenu != NULL)
{
CString strAboutMenu;
strAboutMenu.LoadString(IDS_ABOUTBOX);
if (!strAboutMenu.IsEmpty())
{
pSysMenu->AppendMenu(MF_SEPARATOR);
pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
}
}
// Set the icon for this dialog. The framework does this automatically
// when the application's main window is not a dialog
SetIcon(m_hIcon, TRUE); // Set big icon
SetIcon(m_hIcon, FALSE); // Set small icon
// TODO: Add extra initialization here
InitGlobVar();// 初始化全局变量
GetParaFromIniFile();// 读取INI文件中的摄像机参数
CSliderCtrl *pSC = (CSliderCtrl *)GetDlgItem(IDC_SLIDER_BRIGHTNESS);
pSC->SetRange(0, 255, TRUE);
pSC = (CSliderCtrl *)GetDlgItem(IDC_SLIDER_GAIN);
pSC->SetRange(192, 640, TRUE);
pSC = (CSliderCtrl *)GetDlgItem(IDC_SLIDER_SHUTTER);
pSC->SetRange(1, 4095, TRUE);
pSC = (CSliderCtrl *)GetDlgItem(IDC_SLIDER_U);
pSC->SetRange(16, 255, TRUE);
pSC = (CSliderCtrl *)GetDlgItem(IDC_SLIDER_V);
pSC->SetRange(16, 255, TRUE);
SetBrightnessVal(m_nBrightness);
SetGainVal(m_nGain);
SetShutterVal(m_nShutter);
SetUVal(m_nU);
SetVVal(m_nV);
m_ptrBmpInfo = (PBITMAPINFO)new BYTE[sizeof(BITMAPINFOHEADER) + 256 * sizeof(RGBQUAD)];
m_ptrBmpInfo->bmiHeader.biBitCount = 24;
m_ptrBmpInfo->bmiHeader.biClrImportant = 0;
m_ptrBmpInfo->bmiHeader.biClrUsed = 0;
m_ptrBmpInfo->bmiHeader.biCompression = BI_RGB;
m_ptrBmpInfo->bmiHeader.biHeight = m_ImageSize.cy;
m_ptrBmpInfo->bmiHeader.biPlanes = 1;
m_ptrBmpInfo->bmiHeader.biSize = sizeof(BITMAPINFOHEADER);
m_ptrBmpInfo->bmiHeader.biSizeImage = 0;
m_ptrBmpInfo->bmiHeader.biWidth = m_ImageSize.cx;
m_ptrBmpInfo->bmiHeader.biXPelsPerMeter = 0;
m_ptrBmpInfo->bmiHeader.biYPelsPerMeter = 0;
for (int i=0; i<256; i++)
{
m_ptrBmpInfo->bmiColors[i].rgbBlue = (BYTE)i;
m_ptrBmpInfo->bmiColors[i].rgbGreen = (BYTE)i;
m_ptrBmpInfo->bmiColors[i].rgbRed = (BYTE)i;
m_ptrBmpInfo->bmiColors[i].rgbReserved = 0;
}
CBitmap Bitmap;
Bitmap.LoadBitmap(IDB_GROUND);
groundDC.CreateCompatibleDC(NULL);
groundDC.SelectObject(&Bitmap);
Bitmap.DeleteObject();
/////// 初始化自己的虚拟图形设备 ////////
CDC*pDC=GetDC();
//创建兼容设备描述表///
CBitmap rawBitmap,destBitmap;
destBitmap.CreateCompatibleBitmap(pDC,640,480);
///装载位图///
destDC.CreateCompatibleDC(pDC); //for result
destDC.SelectObject(&destBitmap);
ReleaseDC(pDC);
m_RobotComm.InitCom(1);
return TRUE; // return TRUE unless you set the focus to a control
}
void CLiveViewDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
if ((nID & 0xFFF0) == IDM_ABOUTBOX)
{
CAboutDlg dlgAbout;
dlgAbout.DoModal();
}
else
{
CDialog::OnSysCommand(nID, lParam);
}
}
// If you add a minimize button to your dialog, you will need the code below
// to draw the icon. For MFC applications using the document/view model,
// this is automatically done for you by the framework.
void CLiveViewDlg::OnPaint()
{
if (IsIconic())
{
CPaintDC dc(this); // device context for painting
SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);
// Center icon in client rectangle
int cxIcon = GetSystemMetrics(SM_CXICON);
int cyIcon = GetSystemMetrics(SM_CYICON);
CRect rect;
GetClientRect(&rect);
int x = (rect.Width() - cxIcon + 1) / 2;
int y = (rect.Height() - cyIcon + 1) / 2;
// Draw the icon
dc.DrawIcon(x, y, m_hIcon);
}
else
{
CDialog::OnPaint();
}
}
// The system calls this to obtain the cursor to display while the user drags
// the minimized window.
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