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b6919755c2
* Added OpenCV and CVBlob framework. * Added marker acquisition and tracking. Note: OpenCV libs are compiled for Apple x64 arch. This is for convenience.
84 lines
2.4 KiB
C++
84 lines
2.4 KiB
C++
//
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// markers.h
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// interface
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//
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// Created by Kenneth Keiter on 12/11/12.
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// Copyright (c) 2012 Rosedale Lab. All rights reserved.
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//
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#ifndef __interface__markers__
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#define __interface__markers__
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#include <iostream>
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#include <vector.h>
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#include <opencv2/opencv.hpp>
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#include <GLUT/glut.h>
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#include <CVBlob/blob.h>
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#include <CVBlob/BlobResult.h>
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#include <pthread.h>
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#define CAMERA_INDEX CV_CAP_ANY
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#define CV_BLOB_SIZE_MIN 40
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#define CV_COLOR_TOLERANCE 30
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typedef struct MarkerPositionEstimate{
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double distance;
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double angle;
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CvPoint blob0_center;
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CvPoint blob1_center;
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} MarkerPositionEstimate;
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typedef struct MarkerColorRange{
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CvScalar base; // Initial color
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CvScalar from; // Min color
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CvScalar to; // Max color
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unsigned int tolerance;
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} MarkerColorRange;
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// Cute little lock/unlock macro.
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#define synchronized(lock) \
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for (pthread_mutex_t * i_ = &lock; i_; \
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i_ = NULL, pthread_mutex_unlock(i_)) \
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for (pthread_mutex_lock(i_); i_; i_ = NULL)
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class MarkerCapture{
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public:
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double fps;
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bool color_acquired = false;
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MarkerColorRange target_color;
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pthread_mutex_t frame_mutex;
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MarkerCapture(int source_index);
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~MarkerCapture();
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int init_capture();
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void end_capture();
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void tick();
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void acquire_color(CvScalar color);
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void frame_updated(void (*callback)(MarkerCapture* inst, IplImage* image, IplImage* thresh_image));
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void position_updated(void (*callback)(MarkerCapture* inst, MarkerPositionEstimate position));
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void glDrawIplImage(IplImage *img, int x, int, GLfloat xZoom, GLfloat yZoom);
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void ipl_to_texture(IplImage *img, GLuint *t);
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private:
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CvCapture* camera;
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IplImage* current_frame;
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int capture_source_index;
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bool capture_ready = false;
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int time;
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void (*position_update_callback)(MarkerCapture* inst, MarkerPositionEstimate position);
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void (*frame_update_callback)(MarkerCapture* inst, IplImage* image, IplImage* thresh_image);
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MarkerColorRange color_to_range(CvScalar color, int tolerance);
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char* IplImage_to_buffer(IplImage *img);
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IplImage* apply_threshold(IplImage* img, MarkerColorRange color_range);
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void IplDeinterlace(IplImage* src);
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CvPoint blob_center(CBlob blob);
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CBlobResult detect_blobs(IplImage* img, int min_size);
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double distance(CBlob blob1, CBlob blob2);
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double angle(CBlob blob1, CBlob blob2);
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};
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#endif /* defined(__interface__markers__) */
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