liveviewdlg.cpp

该程序实现FIRE足球机器人竞赛中的3：3比赛源码

	ground.Center.y = (ground.LeftTop.y+ground.GateLeftTop.y+ground.GateRightBottom.y+ground.RightBottom.y)/4;

    destDC.FillSolidRect(0,0,640,480,RGB(255,255,255));
	CPen redPen;
	redPen.CreatePen(PS_SOLID,1,RGB(255,0,0));
	destDC.SelectObject(&redPen);
	CPoint point[13];

	point[0].x=320-75;point[0].y=240-65;
	point[1].x=320+75;point[1].y=240-65;
	point[2].x=320+75;point[2].y=240-20;
	point[3].x=320+85;point[3].y=240-20;
	point[4].x=320+85;point[4].y=240+20;
	point[5].x=320+75;point[5].y=240+20;
	point[6].x=320+75;point[6].y=240+65;
	point[7].x=320-75;point[7].y=240+65;
	point[8].x=320-75;point[8].y=240+20;
	point[9].x=320-85;point[9].y=240+20;
	point[10].x=320-85;point[10].y=240-20;
	point[11].x=320-75;point[11].y=240-20;
	point[12].x=320-75;point[12].y=240-65;
	CRgn rgn;
	CDC* pDC = m_display.GetDC();
	rgn.CreatePolygonRgn(point,13,WINDING);

	double MX,MX1,MX2, MY,MY1,MY2;
    MX1 = (double(ground.RightBottom.x-ground.LeftTop.x))/150;
	MX2 = (double(ground.GateRightBottom.x-ground.GateLeftTop.x))/150;
	MX  = (double(MX1+MX2))/2; 
	MY1 = (double(ground.RightBottom.y-ground.LeftTop.y))/130;
	MY2 = (double(TempSelect[5].y-TempSelect[4].y))/130;
    MY  = (double(MY1+MY2))/2; 
    int x1,y1;
	for(int j=0;j<480;j++)
		for(int i=0;i<640;i++)
		{
		    x1 = i - ground.Center.x;
			y1 = j - ground.Center.y;
			ground.groundInfo[i][j].x=(int)(x1/MX)+75;
            ground.groundInfo[i][j].y=(int)(y1/MY)+65; 
		    COLORREF color=pDC->GetPixel(i,j);
			destDC.SetPixel((int)(x1/MX)+320,(int)(y1/MY)+240,color);
			if(rgn.PtInRegion((int)(x1/MX)+320,(int)(y1/MY)+240))
				ground.groundInfo[i][j].flag=1;
			else
				ground.groundInfo[i][j].flag=0;
		
		}
	destDC.Polyline( point, 13 );
	//ground.M=M;
	//ground.E=E;
	pDC->StretchBlt(0,0,640,480,&destDC,0,0,640,480,SRCCOPY);
	ReleaseDC(pDC);
	MessageBox("边界校正结束！","边界校正");
}



void CLiveViewDlg::OnLoad() 
{
	// TODO: Add your control notification handler code here
	CFileDialog dlg(TRUE,"dat","Ground.dat");
	if(dlg.DoModal()==IDOK){
       int i;
	   CString str1;
	   CString str(dlg.GetPathName());
	   i=str.GetLength();
	   while(str.GetAt(i-1)!='\\') i--;
	   PathName=str.Left(i);
       FILE* stream;
       str1=PathName+"Ground.dat";
	   stream=fopen(str1,"a+");
	   stream=fopen(str1,"rb+");
	   fseek( stream, 0L, SEEK_SET);
  	   fread(&ground,sizeof(Ground),1,stream);
	   fclose(stream);
	   str1=PathName+"Object.dat";
	   stream=fopen(str1,"a+");
	   stream=fopen(str1,"rb+");
	   fseek( stream, 0L, SEEK_SET);
       fread(&m_LUT[0][0],sizeof(int),7*0x8000,stream);
	   fread(&ObjectColor,sizeof(COLORREF),7,stream);
	   fclose(stream);
   	   for( i=0;i<7;i++)
		{
			CDC* pDC=GetStaticDC(i);
			pDC->FillSolidRect(0,0,25,23,ObjectColor[i]);
			ReleaseDC(pDC);
		}
	   m_save.EnableWindow(true);   
	}
}
CDC* CLiveViewDlg::GetStaticDC(int Object)
{
	CDC* pDC;
	switch(Object)
	{
	case 0:
		pDC=m_steam.GetDC();
		break;
	case 1:
		pDC=m_smem1.GetDC();
		break;
	case 2:
		pDC=m_smem2.GetDC();
		break;
	case 3:
		pDC=m_smem3.GetDC();
		break;
	case 4:
		pDC=m_smem4.GetDC();
		break;
	case 5:
		pDC=m_smem5.GetDC();
		break;
	case 6:
		pDC=m_sball.GetDC();
		break;

	}
	return pDC;
}


void CLiveViewDlg::OnSave() 
{
	// TODO: Add your control notification handler code here
	FILE* stream;
	CString str;
	str=PathName+"Ground.dat";
	stream=fopen(str,"a+");
	stream=fopen(str,"rb+");
	fseek( stream, 0L, SEEK_SET);
	fwrite(&ground,sizeof(Ground),1,stream);
	fclose(stream);
	str=PathName+"Object.dat";
	stream=fopen(str,"a+");
	stream=fopen(str,"rb+");
	fseek( stream, 0L, SEEK_SET);
    fwrite(&m_LUT[0][0],sizeof(int),7*0x8000,stream);
	fwrite(&ObjectColor,sizeof(COLORREF),7,stream);
	fclose(stream);
	
	AfxMessageBox("颜色保存结束");
}


void CLiveViewDlg::OnSaveas() 
{
	// TODO: Add your control notification handler code here
		CFileDialog dlg(FALSE,"dat","Ground.dat.dat");
	   if(dlg.DoModal()==IDOK){
       int i;
	   CString str1;
	   CString str(dlg.GetPathName());
	   i=str.GetLength();
	   while(str.GetAt(i-1)!='\\') i--;
	   PathName=str.Left(i);
	   FILE* stream;
	   str1=PathName+"Ground.dat";
	   stream=fopen(str1,"a+");
	   stream=fopen(str1,"rb+");
       fseek( stream, 0L, SEEK_SET);
	   fwrite(&ground,sizeof(Ground),1,stream);
	   fclose(stream);
	   str1=PathName+"Object.dat";
	   stream=fopen(str1,"a+");
	   stream=fopen(str1,"rb+");
	   fseek( stream, 0L, SEEK_SET);
       fwrite(&m_LUT[0][0],sizeof(int),7*0x8000,stream);
	   fwrite(&ObjectColor,sizeof(COLORREF),7,stream);
	   fclose(stream);

	   AfxMessageBox("颜色另存结束");
	}
}

void CLiveViewDlg::OnColorsampling() 
{
	// TODO: Add your control notification handler code here
	UpdateData();
	if(SetSelect==COLORSELECT)
	{
		
	  	   if(m_object==-1)
		   {
			   MessageBox("请选择一个我方对象！","警告",MB_ICONWARNING);
			   return;
		   }
		   CString str;
		   switch(m_object)
		   {
		   case 0:
			  str="您选择的是我方队标！";
			  break;
		   case 1:
			  str="您选择的是我方队员1！";
			  break;
		   case 2:
			  str="您选择的是我方队员2！";
		 	  break;
		   case 3:
			  str="您选择的是我方队员3！";
			  break;
		   case 4:
			  str="您选择的是我方队员4！";
			  break;
		   case 5:
			  str="您选择的是我方队员5！";
			  break;
		   case 6:
			  str="您选择的是球！";
			  break;
		   
		   }
		   if(AfxMessageBox(str,MB_OKCANCEL)==IDCANCEL)
			return;
		   ColorAnalyse();
           CDC* pDC=GetStaticDC(m_object);
		   pDC->FillSolidRect(0,0,25,23,ObjectColor[m_object]);
		   ReleaseDC(pDC);
		
	}
}
void CLiveViewDlg::ColorAnalyse()
{

	int i,j,r1,g1,b1;
	int m,n;
	int r,g,b,R,G,B,data;
	RGBTRIPLE *pStart=(RGBTRIPLE *)m_pDispSingle;
    r1=g1=b1=1;
	if(m_nesample) r1=g1=b1=0;
	for (j=m_Rect.top+1; j<m_Rect.bottom-1;j++) {
		for (i=m_Rect.left+1; i<m_Rect.right-1; i++) {
			
		R=((pStart+i+(479-j)*640)->rgbtRed)/8;//(i,j)对应的象素的R,G,B值,均为一个字节表示
        G=((pStart+i+(479-j)*640)->rgbtGreen)/8;
        B=((pStart+i+(479-j)*640)->rgbtBlue)/8;
  	    for (r=R-r1; r<=R+r1; r++)
				for (g=G-g1; g<=G+g1; g++)
					for (b=B-b1; b<=B+b1; b++) {
							data = (r&0x1f)<<10|(g&0x1f)<<5|(b&0x1f);
							m_LUT[m_object][data] = 1;
					}
		}
	}
	n=(m_Rect.top+m_Rect.bottom)/2;
    m=(m_Rect.left+m_Rect.right)/2;
	ObjectColor[m_object]=RGB((pStart+m+(479-n)*640)->rgbtRed,(pStart+m+(479-n)*640)->rgbtGreen,(pStart+m+(479-n)*640)->rgbtBlue);
}


void CLiveViewDlg::OnColortest() 
{
	// TODO: Add your control notification handler code here
	   UpdateData();
	   if(m_object==-1)
	   {
		  MessageBox("请选择一个我方对象！","警告",MB_ICONWARNING);
		  return;
	   }
	   m_colortest=false;
       CLiveViewDlg::OnGrabsingle();
	   PBYTE m_pTestBitmap;
       m_pTestBitmap = new BYTE[m_ImageSize.cx*m_ImageSize.cy*3];

	   RGBTRIPLE *pSingle=(RGBTRIPLE *)m_pDispSingle;
	   RGBTRIPLE *pTest=(RGBTRIPLE *)m_pTestBitmap;

	   int i,j,r,g,b,data;
	   for (j=0; j<480; j++)
		  for (i=0; i<640; i++) {
             r=(pSingle+i+(479-j)*640)->rgbtRed/8;
             g=(pSingle+i+(479-j)*640)->rgbtGreen/8;
             b=(pSingle+i+(479-j)*640)->rgbtBlue/8;
             data= (r&0x1f)<<10|(g&0x1f)<<5|(b&0x1f);
			 if (m_LUT[m_object][data&0x7fff])
			 {
				(pTest+i+(479-j)*640)->rgbtRed=(pSingle+i+(479-j)*640)->rgbtRed;
				(pTest+i+(479-j)*640)->rgbtGreen=(pSingle+i+(479-j)*640)->rgbtGreen;
				(pTest+i+(479-j)*640)->rgbtBlue=(pSingle+i+(479-j)*640)->rgbtBlue;
			 }
			 else
			 {
				(pTest+i+(479-j)*640)->rgbtRed=255;
				(pTest+i+(479-j)*640)->rgbtGreen=255;
				(pTest+i+(479-j)*640)->rgbtBlue=255;
			 }
			
		  }

	   SetDIBitsToDevice(m_display.GetDC()->m_hDC,0, 0,
									m_ImageSize.cx, m_ImageSize.cy,
									0, 0,
									0, m_ImageSize.cy, m_pTestBitmap,
								m_ptrBmpInfo, DIB_RGB_COLORS);
       m_colortest=true;

}


void CLiveViewDlg::OnColorfilter() 
{
	// TODO: Add your control notification handler code here
	UpdateData();
	if(SetSelect==COLORSELECT)
	{
		
		   if(m_object==-1)
		   {
			  MessageBox("请选择我方一个对象！","警告",MB_ICONWARNING);
			  return;
		   }
	 	   Filter();
	}
}
void CLiveViewDlg::Filter()
{
	int i,j;
	int r,g,b,R,G,B,data;
	int r1,g1,b1;
	r1=g1=b1=1;
	if(m_nefilter) r1=g1=b1=0;
    RGBTRIPLE *pStart=(RGBTRIPLE *)m_pDispSingle;
	for (j=m_Rect.top+1; j<m_Rect.bottom-1; j++) 
	{
		for (i=m_Rect.left+1; i<m_Rect.right-1; i++) 
		{
			R=((pStart+i+(479-j)*640)->rgbtRed)/8;//(i,j)对应的象素的R,G,B值,均为一个字节表示
            G=((pStart+i+(479-j)*640)->rgbtGreen)/8;
            B=((pStart+i+(479-j)*640)->rgbtBlue)/8;
			for (r=R-r1; r<=R+r1; r++)
				for (g=G-g1; g<=G+g1; g++)
					for (b=B-b1; b<=B+b1; b++) 
					{
							data = (r&0x1f)<<10|(g&0x1f)<<5|(b&0x1f);
							m_LUT[m_object][data] = 0;
					}
		   }
	}
}


void CLiveViewDlg::OnClear() 
{
	// TODO: Add your control notification handler code here
	UpdateData();
	
	   if(m_object==-1)
	   {
		  MessageBox("请选择一个我方对象！","警告",MB_ICONWARNING);
		  return;
	   }
	   if(m_object>=0)
	   {
		  for(int i=0;i<0x8000;i++)
		  {
		 	 m_LUT[m_object][i]=0;
		  }
	   }
	   ObjectColor[m_object]=RGB(212,208,200);
	   CDC* pDC=GetStaticDC(m_object);
	   pDC->FillSolidRect(0,0,25,23,ObjectColor[m_object]);
	   ReleaseDC(pDC);

}

void CLiveViewDlg::OnIdentifytest() 
{
	// TODO: Add your control notification handler code here
  try
  {
     if(CBcam::DeviceNames().size() == 0)// 检测摄像机是否存在
   {
      MessageBox("没有检测到Basler摄像机", _T("错误"), MB_OK | MB_ICONEXCLAMATION);
      return;
    }
    CString DeviceName = *(CBcam::DeviceNames().begin());// 得到本PC连接的第一台摄像机的名字
    TRACE(_T("Devicename = %s\n"), DeviceName);
    
    m_Bcam.Open( DeviceName );// 打开第一台摄像机
	m_bConnectBcam = true;
    	
    const DCSVideoFormat VideoFormat = DCS_Format7;// 设定摄像机采集的图像格式，Format7，mode0，单色。Format7，Mode0是摄像机开发商自定义的工作模式，对A101f即是1300*1030*12FPS
    const DCSVideoMode VideoMode     = DCS_Mode0;
    m_ColorCode = DCSColor_Raw8;
    m_Bcam.SetVideoMode(VideoFormat, VideoMode);
    m_Bcam.FormatSeven[VideoMode].ColorCoding = m_ColorCode;
    // 注意: bitmap要求宽度是4的倍数，即DWORD对齐 :-(
	m_ImageSize.cx = m_ImageSize.cx & ~3; 
    CPoint AoiPosition(0);
    CSize AoiSize(m_ImageSize);
    m_Bcam.FormatSeven[VideoMode].Position = AoiPosition;
    m_Bcam.FormatSeven[VideoMode].Size = AoiSize;
    unsigned long BytePerPacketMax = m_Bcam.FormatSeven[VideoMode].BytePerPacket.Max();
    m_Bcam.FormatSeven[VideoMode].BytePerPacket = BytePerPacketMax;
  	m_Bcam.Brightness.Raw = m_nBrightness ;
    m_Bcam.Gain.Raw = m_nGain ;
	m_Bcam.Shutter.Raw = m_nShutter;
	m_Bcam.WhiteBalance.Raw.UBValue.SetAsync(m_nU);
	m_Bcam.WhiteBalance.Raw.VRValue.SetAsync(m_nV);
	m_pDispBitmap = new BYTE[m_ImageSize.cx*m_ImageSize.cy*3];
	m_pBitmap=NULL;
    for(int i=0; i<NUM_BUFFERS; ++i) // 为多缓冲区分配资源
      m_ptrBitmaps[i] = new char[m_ImageSize.cx * m_ImageSize.cy];
    m_Bcam.AllocateResources(NUM_BUFFERS, AoiSize.cx * AoiSize.cy );// 在BCAM中建立内存 

	m_test=TRUE;
	m_stop=true;
	UpdateData();
	

    if ( ! m_GrabThread.Create(&GrabThreadProc, this, THREAD_PRIORITY_HIGHEST) )
	{
      throw  BcamException(::GetLastError(), "CLiveViewDlg::OnCamLive : Create Grab Thread");
    }
	if ( ! m_DispThread.Create(&DispThreadProc, this, THREAD_PRIORITY_HIGHEST) )
	{
		throw  BcamException(::GetLastError(), "CLiveViewDlg::OnCamLive : Create Grab Thread");
	}
    
    // 设定标记，表示采集开始了
    m_LiveGrabbing = true;
    m_bIsDispImage = FALSE;
	m_bOCROk = true;
	m_nLostFrame = 0;
    // 将多缓冲区同步采集指令顺序排入队列