imageprocess.bas

机器人程序

Attribute VB_Name = "ImageProcess"
'ImageProcess.bas
'Some functions about image porcess

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'捕捉并处理图像
'ProcessImage and Capture
'used the VideoOCX.ocx in this program
Public Sub ProcessImage()
    Dim t       As Integer
    Dim px, py  As Integer
    Dim X, Y    As Integer
    Dim u, v    As Integer
    
    'define std+color
    Dim stdNone As Col
    Dim stdBlack As Col
    Dim stdWhite As Col
    
    'a num between none and white
    Dim avNW As Integer
    Dim avBN As Integer
    
    'How many stones do GoRo see?
    Dim NumofStones As Integer
        
    NumofStones = 0
        
    'The number of either color
    Dim isB, isW, isN As Integer
    
    'Initialize Camera
    Call InitCam
    
    'Capture One Image
    GRVBMain.VideoBOX.Capture (Board_Image)
    
    'Get access to the image pixel matrix
    matrix = GRVBMain.VideoBOX.GetMatrix(Board_Image)
    
    
    '看辅助点，求平均值
    Dim fx, fy  As Integer
    Dim av      As Long
    
    ''look white-------------------------------------------------------------------------------
    av = 0
    For fx = (stdPWhite.X - 6) / kCam To (stdPWhite.X + 6) / kCam
      For fy = (stdPWhite.Y - 6) / kCam To (stdPWhite.Y + 6) / kCam
        av = av + matrix(fx, fy, R):
        matrix(fx, fy, G) = 255
      Next fy:
    Next fx
    stdWhite.R = av / ((6 / kCam) * 2 + 1) / ((6 / kCam) * 2 + 1)
    ''look black-------------------------------------------------------------------------------
    av = 0
    For fx = (stdPBlack.X - 6) / kCam To (stdPBlack.X + 6) / kCam
      For fy = (stdPBlack.Y - 6) / kCam To (stdPBlack.Y + 6) / kCam
        av = av + matrix(fx, fy, R):
        matrix(fx, fy, G) = 255
      Next fy:
    Next fx
    stdBlack.R = av / ((6 / kCam) * 2 + 1) / ((6 / kCam) * 2 + 1)
   ''look none-------------------------------------------------------------------------------
    av = 0
    For fx = (stdPNone.X - 6) / kCam To (stdPNone.X + 6) / kCam
      For fy = (stdPNone.Y - 6) / kCam To (stdPNone.Y + 6) / kCam
        av = av + matrix(fx, fy, R):
        matrix(fx, fy, G) = 255
      Next fy:
    Next fx
    stdNone.R = av / ((6 / kCam) * 2 + 1) / ((6 / kCam) * 2 + 1)
    '-----------------------------------------------------------------------------------------
    'show
    ToList "W-" & str$(stdWhite.R) & " | N-" & str$(stdNone.R) & " | B-" & str$(stdBlack.R)
    
    '求均值
    avNW = (stdWhite.R + stdNone.R) / 2
    avBN = (stdNone.R + stdBlack.R) / 4
    
    
    'Process the image
    For posx = 1 To BSize
      For posy = 1 To BSize
 
        u = Pos(posx, posy).X
        v = Pos(posx, posy).Y
  
        If u < W Or v < H Then Over

        av = 0
        'Calculate the each point
        For X = u - W / kCam To u + W / kCam
          For Y = v - H / kCam To v + H / kCam

             av = av + matrix(X, Y, R)
             matrix(X, Y, b) = 255
   
          Next
        Next
   
        av = av / (2 * W + 1) / (2 * W + 1)
           
        'You can see the Color Info & Number of a point from List Box
        If av > avNW Then
          ToList "(" & str$(posx) & "," & str$(posy) & ")-白-" & str$(av)
          State(posx, posy) = WHITE
        End If
        If av < avBN Then
          ToList "(" & str$(posx) & "," & str$(posy) & ")-黑-" & str$(av)
          State(posy, posx) = BLACK
        End If
        'If av < avNW Then GRVBMain.List.AddItem "(" & str$(posx) & "," & str$(posy) & ")-无-" & str$(av)
   
      Next 'posx
    Next 'posy'
    
    'end out
    GRVBMain.List.AddItem "__________________"
    
    'You can see output image file
    'Call GRVBMain.VideoBOX.SaveBMP(Board_Image, "f:\output.bmp")
   
    'Release the matrix and update the image handle
    GRVBMain.VideoBOX.ReleaseMatrixToImageHandle Board_Image
    
    'Display the processing result in Result_Image window
    GRVBMain.Result_Image = GRVBMain.VideoBOX.ToPicture(Board_Image)
        
    'GRVBMain.Enabled = False
End Sub

'初始化摄像头
'Init the camera
Public Sub InitCam()
    If Cam_Has_Init Then Exit Sub

    If Not GRVBMain.VideoBOX.Init _
    Then
        GRSpeak "找不到摄像头！"
        'MsgBox "Error About Camera!", , "Camera's Error"
        'MsgBox GRVBMain.VideoBOX.GetLastErrorString
    Else
        Board_Image = GRVBMain.VideoBOX.GetColorImageHandle
        GRVBMain.VideoBOX.SetPreview (True)
        GRVBMain.VideoBOX.Start
        Cam_Has_Init = True
        CamWidth = GRVBMain.VideoBOX.GetWidth
    End If
    
    'Camera is opened
    CamClosed = True
End Sub

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