diff --git a/.gitignore b/.gitignore index 3c184360..b7445978 100644 --- a/.gitignore +++ b/.gitignore @@ -8,3 +8,36 @@ *.jtag *.swp *.swo +/src/device/libpixy_m0/Release/liblibpixy_m0.a +/src/device/libpixy_m0/src/debug_frmwrk.c +/src/device/libpixy_m0/src/ipc_mbx.c +/src/device/libpixy_m0/src/lpc43xx_adc.c +/src/device/libpixy_m0/src/lpc43xx_cgu.c +/src/device/libpixy_m0/src/lpc43xx_i2c.c +/src/device/libpixy_m0/src/lpc43xx_scu.c +/src/device/libpixy_m0/src/lpc43xx_ssp.c +/src/device/libpixy_m0/src/lpc43xx_uart.c +/src/device/libpixy_m0/src/system_LPC43xx.c +/src/device/libpixy_m4/Release/liblibpixy_m4.a +/src/device/libpixy_m4/src/blob.cpp +/src/device/libpixy_m4/src/blobs.cpp +/src/device/libpixy_m4/src/calc.cpp +/src/device/libpixy_m4/src/chirp.cpp +/src/device/libpixy_m4/src/colorlut.cpp +/src/device/libpixy_m4/src/debug_frmwrk.c +/src/device/libpixy_m4/src/ipc_mbx.c +/src/device/libpixy_m4/src/lpc43xx_adc.c +/src/device/libpixy_m4/src/lpc43xx_cgu.c +/src/device/libpixy_m4/src/lpc43xx_i2c.c +/src/device/libpixy_m4/src/lpc43xx_scu.c +/src/device/libpixy_m4/src/lpc43xx_ssp.c +/src/device/libpixy_m4/src/lpc43xx_uart.c +/src/device/libpixy_m4/src/qqueue.cpp +/src/device/libpixy_m4/src/system_LPC43xx.c +/src/device/main_m0/Release/cr_startup_lpc43xx-m0app.asm +/src/device/main_m0/Release/main_m0.asm +/src/device/main_m4/SPIFI/pixy_firmware.hex +*.pro.user +*~ +/src/device/libpixy_m4/src/robo.cpp +/src/host/build-pixymon-Desktop-Debug/* diff --git a/robodetection.m b/robodetection.m new file mode 100644 index 00000000..5d7c05e5 --- /dev/null +++ b/robodetection.m @@ -0,0 +1,89 @@ +clear 'all'; +close 'all'; + +Path = 'Z:/Documents/PixyMon/'; +files = dir(strcat(Path, '*.png')); +while 1 + for file = files' + Image = imread(strcat(Path, file.name)); + + figure(1); + + subplot(3,3,1); + imshow(Image); + title('Original'); + + ImageGray = rgb2gray(Image); + + subplot(3,3,2); + imshow(ImageGray); + title('gray'); + + averaged = imfilter(ImageGray, fspecial('gaussian')); + + subplot(3,3,3); + imshow(averaged); + title('averaged'); + + DX = [-1 0 1; -2 0 2; -1 0 1]; + DY = DX'; + + ImageDy = imfilter(ImageGray, DY); + ImageDx = imfilter(ImageGray, DX); + + subplot(3,3,4); + imshow(ImageDy); + title('dl/dy'); + + summed = sum(ImageDy, 2); + + + [h, w] = size(ImageGray); + + filteredSummed = (summed > (sum(summed)/length(summed))); + filterMat = [ 1 2 1 ] * [ 1; 2; 1 ]; + filtered = (imfilter(ImageDy, filterMat/sum(sum(filterMat))) > 120); + + subplot(3,3,5); + imshow(filtered); + title('filtered dl/dy'); + + allPlatePixels = []; + for x = 11:w-10 + platePixels = 0; + for y = h:-1:1 + if ((filtered(y, x) == 1)) + break; + end + platePixels = platePixels + 1; + end + allPlatePixels = [allPlatePixels platePixels]; + end + + avgPlatePixels = sum(allPlatePixels) / length(allPlatePixels); + sortedAllPlatePixels = sort(allPlatePixels); + medianPlatePixels = sortedAllPlatePixels(length(allPlatePixels)/2); + + subplot(3,3,7); + plot(allPlatePixels); + title('sum'); + + %ImageCroppedGray = imcrop(ImageGray, [ 0 h - medianPlatePixels w medianPlatePixels]); + + subplot(3,3,8); + imshow(ImageDx); + title('dl/dx'); + + subplot(3,3,9); + imshow(ImageDx); + title('dl/dx'); + + %ImageCroppedDx = imfilter(ImageCroppedGray, DX); + + %subplot(3,3,7); + %imshow(ImageCroppedDx); + %title('dl/dx'); + + pause(1) + end +end \ No newline at end of file diff --git a/src/common/inc/robo.h b/src/common/inc/robo.h new file mode 100644 index 00000000..17b37cf7 --- /dev/null +++ b/src/common/inc/robo.h @@ -0,0 +1,20 @@ +// +// begin license header +// +// This file is part of Pixy CMUcam5 or "Pixy" for short +// +// All Pixy source code is provided under the terms of the +// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html). +// Those wishing to use Pixy source code, software and/or +// technologies under different licensing terms should contact us at +// cmucam@cs.cmu.edu. Such licensing terms are available for +// all portions of the Pixy codebase presented here. +// +// end license header +// + +#ifndef ROBO_H +#define ROBO_H + + +#endif // ROBO_H diff --git a/src/common/src/robo.cpp b/src/common/src/robo.cpp new file mode 100644 index 00000000..44bb2e42 --- /dev/null +++ b/src/common/src/robo.cpp @@ -0,0 +1,23 @@ +// +// begin license header +// +// This file is part of Pixy CMUcam5 or "Pixy" for short +// +// All Pixy source code is provided under the terms of the +// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html). +// Those wishing to use Pixy source code, software and/or +// technologies under different licensing terms should contact us at +// cmucam@cs.cmu.edu. Such licensing terms are available for +// all portions of the Pixy codebase presented here. +// +// end license header +// + +void test() +{ + auto f = [] + { + }; + + (void)f; +} diff --git a/src/device/libpixy_m4/Release/makefile_alt b/src/device/libpixy_m4/Release/makefile_alt index d16e3133..007746b1 100755 --- a/src/device/libpixy_m4/Release/makefile_alt +++ b/src/device/libpixy_m4/Release/makefile_alt @@ -33,7 +33,7 @@ clean: src/%.o: ../src/%.cpp @echo 'Building file: $<' @echo 'Invoking: MCU C++ Compiler' - arm-none-eabi-c++ -D__MULTICORE_NONE -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -D__LPC43XX__ -I../inc -I../../common/inc -I../../../common/inc -Os -Os -g -Wall -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<" + arm-none-eabi-c++ -D__MULTICORE_NONE -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -D__LPC43XX__ -I../inc -I../../common/inc -I../../../common/inc -Os -Os -g -Wall -std=c++11 -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<" @echo 'Finished building: $<' @echo ' ' diff --git a/src/device/main_m4/RAM/makefile_alt b/src/device/main_m4/RAM/makefile_alt index 79ab572b..67475ccd 100755 --- a/src/device/main_m4/RAM/makefile_alt +++ b/src/device/main_m4/RAM/makefile_alt @@ -37,7 +37,7 @@ clean: src/%.o: ../src/%.cpp @echo 'Building file: $<' @echo 'Invoking: MCU C++ Compiler' - arm-none-eabi-c++ -D__MULTICORE_MASTER -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -DCPP_USE_HEAP -D__LPC43XX__ -DLPC43_MULTICORE_M0APP -I../inc -I../../libpixy_m4/inc -I../../common/inc -I../../../common/inc -O1 -Os -g -Wall -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<" + arm-none-eabi-c++ -D__MULTICORE_MASTER -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -DCPP_USE_HEAP -D__LPC43XX__ -DLPC43_MULTICORE_M0APP -I../inc -I../../libpixy_m4/inc -I../../common/inc -I../../../common/inc -O1 -Os -g -Wall -std=c++11 -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<" @echo 'Finished building: $<' @echo ' ' diff --git a/src/device/main_m4/SPIFI/makefile_alt b/src/device/main_m4/SPIFI/makefile_alt index 8c19c6c4..9d8e7565 100755 --- a/src/device/main_m4/SPIFI/makefile_alt +++ b/src/device/main_m4/SPIFI/makefile_alt @@ -32,7 +32,7 @@ main_m4.axf: $(OBJS) $(USER_OBJS) src/%.o: ../src/%.cpp @echo 'Building file: $<' @echo 'Invoking: MCU C++ Compiler' - arm-none-eabi-c++ -D__MULTICORE_MASTER -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -DCPP_USE_HEAP -D__LPC43XX__ -DLPC43_MULTICORE_M0APP -I../inc -I../../libpixy_m4/inc -I../../common/inc -I../../../common/inc -O1 -Os -g -Wall -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<" + arm-none-eabi-c++ -D__MULTICORE_MASTER -DIPC_MASTER -DPIXY -D__NEWLIB__ -DNDEBUG -D__CODE_RED -DCORE_M4 -DCPP_USE_HEAP -D__LPC43XX__ -DLPC43_MULTICORE_M0APP -I../inc -I../../libpixy_m4/inc -I../../common/inc -I../../../common/inc -O1 -Os -g -Wall -std=c++11 -c -fmessage-length=0 -fno-builtin -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -fsingle-precision-constant -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb -D__NEWLIB__ -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -MT"$(@:%.o=%.d)" -o "$@" "$<" @echo 'Finished building: $<' @echo ' ' diff --git a/src/device/main_m4/SPIFI/pixy_firmware.hex b/src/device/main_m4/SPIFI/pixy_firmware.hex deleted file mode 100755 index a95b8ba8..00000000 --- a/src/device/main_m4/SPIFI/pixy_firmware.hex +++ /dev/null @@ -1,6688 +0,0 @@ -:020000041400E6 -:1000000000800020CD010014910100149301001420 -:1000100095010014970100149901001400000000DC -:100020000000000000000000000000009B01001420 -:100030009D010014000000009F010014A1010014A4 -:10004000A3010014A3010014A30100140000000088 -:10005000A3010014A3010014A3010014A3010014C0 -:10006000BD860010A3010014A3010014A301001415 -:10007000A3010014A3010014A3010014A3010014A0 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-:10A0FC000000000000000000000000000000000054 -:10A10C000000000000000000000000000000000043 -:10A11C000000000000000000000000000000000033 -:10A12C000000000000000000000000000000000023 -:10A13C000000000000000000000000000000000013 -:10A14C00C0770110F46C0110A46C0110A46C011008 -:10A15C00A46C0110A46C0110A46C0110A46C01106F -:10A16C00A46C0110A46C0110A46C0110FFFFFFFF84 -:10A17C00FFFFFFFFFFFFFFFFFFFF0000010B0110C0 -:0CA18C00A5100010010000000000000001 -:04000005140001CD15 -:00000001FF diff --git a/src/host/pixymon/DebugTestDialog.cpp b/src/host/pixymon/DebugTestDialog.cpp new file mode 100644 index 00000000..71119ebb --- /dev/null +++ b/src/host/pixymon/DebugTestDialog.cpp @@ -0,0 +1,76 @@ +#include "DebugTestDialog.h" +#include "ui_DebugTestDialog.h" + +#include + +#include +#include + +DebugTestDialog::DebugTestDialog(QWidget *parent) : + QMainWindow(parent), + ui(new Ui::DebugTestDialog) +{ + ui->setupUi(this); + + RoboParameters params; + ui->horizontalSlider->setValue(params.limit); + ui->spinBox_2->setValue(params.xLimit); +} + +DebugTestDialog::~DebugTestDialog() +{ + delete ui; +} + +void DebugTestDialog::on_pushButton_clicked() +{ + update(); +} + +void DebugTestDialog::update() +{ + RoboParameters params; + params.limit = ui->horizontalSlider->value(); + params.xLimit = ui->spinBox_2->value(); + static uint32_t num = 0; + num += 1; + num %= 34; + if (num == 11 || num == 27 || num == 30 || num == 0) + { + num += 1; + } + auto frame = RawFrame::readFromFile(num); + ui->spinBox->setValue(params.limit); + + size_t counter = 0; + auto createRenderer = [&]()->Renderer* + { + Renderer* pRenderer; + if (renderer.size() <= counter) + { + VideoWidget* widget = new VideoWidget(this); + ui->horizontalLayout->addWidget(widget); + + pRenderer = new Renderer(widget, nullptr); + renderer.push_back(pRenderer); + } + else + { + pRenderer = renderer[counter]; + } + ++counter; + return pRenderer; + }; + + RoboModule::debugRender(createRenderer, createRenderer(), frame, params); +} + +void DebugTestDialog::on_horizontalSlider_sliderMoved(int position) +{ + update(); +} + +void DebugTestDialog::on_spinBox_2_valueChanged(int arg1) +{ + update(); +} diff --git a/src/host/pixymon/DebugTestDialog.h b/src/host/pixymon/DebugTestDialog.h new file mode 100644 index 00000000..f82a98c2 --- /dev/null +++ b/src/host/pixymon/DebugTestDialog.h @@ -0,0 +1,34 @@ +#ifndef DEBUGTESTDIALOG_H +#define DEBUGTESTDIALOG_H + +#include + +namespace Ui { +class DebugTestDialog; +} + +class Renderer; + +class DebugTestDialog : public QMainWindow +{ + Q_OBJECT + +public: + explicit DebugTestDialog(QWidget *parent = 0); + ~DebugTestDialog(); + +private slots: + void on_pushButton_clicked(); + void update(); + + void on_horizontalSlider_sliderMoved(int position); + + void on_spinBox_2_valueChanged(int arg1); + +private: + Ui::DebugTestDialog *ui; + + std::vector renderer; +}; + +#endif // DEBUGTESTDIALOG_H diff --git a/src/host/pixymon/DebugTestDialog.ui b/src/host/pixymon/DebugTestDialog.ui new file mode 100644 index 00000000..1b539dc7 --- /dev/null +++ b/src/host/pixymon/DebugTestDialog.ui @@ -0,0 +1,80 @@ + + + DebugTestDialog + + + + 0 + 0 + 400 + 300 + + + + Dialog + + + + + + + true + + + + + 0 + 0 + 380 + 179 + + + + + + + + + + + + PushButton + + + + + + + + + + + 1000 + + + Qt::Horizontal + + + + + + + 1000 + + + + + + + + + 10000 + + + + + + + + + diff --git a/src/host/pixymon/cccmodule.cpp b/src/host/pixymon/cccmodule.cpp index 661b4676..5df19d69 100644 --- a/src/host/pixymon/cccmodule.cpp +++ b/src/host/pixymon/cccmodule.cpp @@ -46,6 +46,7 @@ CccModule::~CccModule() bool CccModule::render(uint32_t fourcc, const void *args[]) { + return false; //temporarily disabled if (fourcc==FOURCC('C','M','V','2')) { renderCMV2(*(uint8_t *)args[0], *(uint16_t *)args[1], *(uint16_t *)args[2], *(uint32_t *)args[3], (uint8_t *)args[4]); @@ -141,7 +142,7 @@ void CccModule::paramChange() m_blobs->m_clut.generateLUT(); for (i=0; im_clut.m_signatures[i].m_rgb; - m_renderer->setPalette(palette); + m_interpreter->m_renderer->setPalette(palette); } uint16_t maxBlobs, maxBlobsPerSig; @@ -256,16 +257,16 @@ int CccModule::renderCMV2(uint8_t renderFlags, uint16_t width, uint16_t height, // render different layers... // starting with the background - m_renderer->renderBA81(RENDER_FLAG_BLEND, width, height, frameLen, frame); + m_interpreter->m_renderer->renderBA81(RENDER_FLAG_BLEND, width, height, frameLen, frame); // then based on the renderMode, render/blend the different layers in a stack if (m_renderMode==0) - m_renderer->renderCCB2(RENDER_FLAG_BLEND | renderFlags, width/2, height/2, numBlobs*sizeof(BlobA)/sizeof(uint16_t), (uint16_t *)blobs, numCCBlobs*sizeof(BlobB)/sizeof(uint16_t), (uint16_t *)ccBlobs); + m_interpreter->m_renderer->renderCCB2(RENDER_FLAG_BLEND | renderFlags, width/2, height/2, numBlobs*sizeof(BlobA)/sizeof(uint16_t), (uint16_t *)blobs, numCCBlobs*sizeof(BlobB)/sizeof(uint16_t), (uint16_t *)ccBlobs); else if (m_renderMode==1) - m_renderer->renderCCQ1(RENDER_FLAG_BLEND | renderFlags, width/2, height/2, numQvals, qVals); + m_interpreter->m_renderer->renderCCQ1(RENDER_FLAG_BLEND | renderFlags, width/2, height/2, numQvals, qVals); else if (m_renderMode==2) { - m_renderer->renderCCQ1(RENDER_FLAG_BLEND, width/2, height/2, numQvals, qVals); - m_renderer->renderCCB2(RENDER_FLAG_BLEND | renderFlags, width/2, height/2, numBlobs*sizeof(BlobA)/sizeof(uint16_t), (uint16_t *)blobs, numCCBlobs*sizeof(BlobB)/sizeof(uint16_t), (uint16_t *)ccBlobs); + m_interpreter->m_renderer->renderCCQ1(RENDER_FLAG_BLEND, width/2, height/2, numQvals, qVals); + m_interpreter->m_renderer->renderCCB2(RENDER_FLAG_BLEND | renderFlags, width/2, height/2, numBlobs*sizeof(BlobA)/sizeof(uint16_t), (uint16_t *)blobs, numCCBlobs*sizeof(BlobB)/sizeof(uint16_t), (uint16_t *)ccBlobs); } return 0; } @@ -284,7 +285,7 @@ void CccModule::renderCCQ2(uint8_t renderFlags, uint16_t width, uint16_t height, } m_blobs->runlengthAnalysis(); m_blobs->getRunlengths(&qVals, &numQvals); - m_renderer->renderCCQ1(renderFlags, width, height, numQvals, qVals); + m_interpreter->m_renderer->renderCCQ1(renderFlags, width, height, numQvals, qVals); } diff --git a/src/host/pixymon/main.cpp b/src/host/pixymon/main.cpp index 7183e312..a34a362d 100644 --- a/src/host/pixymon/main.cpp +++ b/src/host/pixymon/main.cpp @@ -17,6 +17,7 @@ #include #include #include "mainwindow.h" +#include "DebugTestDialog.h" int main(int argc, char *argv[]) { @@ -43,8 +44,12 @@ int main(int argc, char *argv[]) a.setPalette(darkPalette); #endif - MainWindow w(argc, argv); - w.show(); + + DebugTestDialog* dialog = new DebugTestDialog(); + dialog->show(); + +// MainWindow w(argc, argv); +// w.show(); return a.exec(); } diff --git a/src/host/pixymon/mainwindow.cpp b/src/host/pixymon/mainwindow.cpp index df6d5e4d..f36a8393 100644 --- a/src/host/pixymon/mainwindow.cpp +++ b/src/host/pixymon/mainwindow.cpp @@ -35,6 +35,7 @@ #include "dataexport.h" #include "sleeper.h" #include "aboutdialog.h" +#include "DebugTestDialog.h" #include "parameters.h" #include "paramfile.h" @@ -95,7 +96,7 @@ MainWindow::MainWindow(int argc, char *argv[], QWidget *parent) : // start looking for devices m_connect = new ConnectEvent(this); if (m_connect->getConnected()==NONE) - m_console->error("No Pixy devices have been detected.\n"); + m_console->error("No Pixy devices have been detected.\n"); } MainWindow::~MainWindow() diff --git a/src/host/pixymon/monmodule.cpp b/src/host/pixymon/monmodule.cpp index bbe64fb2..682dde7c 100644 --- a/src/host/pixymon/monmodule.cpp +++ b/src/host/pixymon/monmodule.cpp @@ -13,7 +13,7 @@ // end license header // -#include +#include #include #include #include "monmodule.h" @@ -29,8 +29,7 @@ Interpreter *MonModuleUtil::m_interpreter = NULL; MonModule::MonModule(Interpreter *interpreter) { - m_interpreter = interpreter; - m_renderer = m_interpreter->m_renderer; + m_interpreter = interpreter; MonModuleUtil::m_interpreter = interpreter; } diff --git a/src/host/pixymon/monmodule.h b/src/host/pixymon/monmodule.h index 85c2a233..a023e051 100644 --- a/src/host/pixymon/monmodule.h +++ b/src/host/pixymon/monmodule.h @@ -55,7 +55,6 @@ class MonModule QVariant pixymonParameter(const QString &id); Interpreter *m_interpreter; - Renderer *m_renderer; }; diff --git a/src/host/pixymon/pixymon.pro b/src/host/pixymon/pixymon.pro index 861b3de2..bf7aa399 100755 --- a/src/host/pixymon/pixymon.pro +++ b/src/host/pixymon/pixymon.pro @@ -1,129 +1,139 @@ -#------------------------------------------------- -# -# Project created by QtCreator 2012-07-30T13:51:47 -# -#------------------------------------------------- - -QT += core gui widgets xml - -TARGET = PixyMon -TEMPLATE = app -RC_FILE = resources.rc - -SOURCES += main.cpp\ - mainwindow.cpp \ - videowidget.cpp \ - usblink.cpp \ - console.cpp \ - interpreter.cpp \ - renderer.cpp \ - chirpmon.cpp \ - dfu.cpp \ - connectevent.cpp \ - flash.cpp \ - reader.cpp \ - ../../common/src/chirp.cpp \ - ../../common/src/colorlut.cpp \ - ../../common/src/blob.cpp \ - ../../common/src/blobs.cpp \ - ../../common/src/qqueue.cpp \ - ../../common/src/calc.cpp \ - configdialog.cpp \ - aboutdialog.cpp \ - parameters.cpp \ - paramfile.cpp \ - dataexport.cpp \ - monmodule.cpp \ - cblobmodule.cpp \ - colorblob.cpp \ - monparameterdb.cpp \ - cccmodule.cpp \ - debug.cpp \ - blobs2.cpp - -HEADERS += mainwindow.h \ - videowidget.h \ - usblink.h \ - console.h \ - interpreter.h \ - renderer.h \ - chirpmon.h \ - dfu.h \ - usb_dfu.h \ - dfu_info.h \ - connectevent.h \ - flash.h \ - reader.h \ - ../../common/inc/pixytypes.h \ - ../../common/inc/pixydefs.h \ - ../../common/inc/chirp.hpp \ - ../../common/inc/colorlut.h \ - ../../common/inc/blobs.h \ - ../../common/inc/blob.h \ - ../../common/inc/blobs.h \ - ../../common/inc/qqueue.h \ - ../../common/inc/link.h \ - ../../common/inc/calc.h \ - ../../common/inc/simplevector.h \ - pixymon.h \ - configdialog.h \ - sleeper.h \ - aboutdialog.h \ - parameters.h \ - paramfile.h \ - dataexport.h \ - monmodule.h \ - cblobmodule.h \ - colorblob.h \ - monparameterdb.h \ - cccmodule.h \ - debug.h \ - blobs2.h - -INCLUDEPATH += ../../common/inc - -QMAKE_CXXFLAGS_DEBUG += -O0 -QMAKE_CXXFLAGS += -Wno-unused-parameter -FORMS += mainwindow.ui \ - configdialog.ui \ - about.ui - -# LIBS += ./libusb-1.0.dll.a - -win32 { - DEFINES += __WINDOWS__ - QMAKE_CXXFLAGS += -mno-ms-bitfields - LIBS += ../windows/libusb-1.0.dll.a - HEADERS += ../windows/libusb.h - INCLUDEPATH += ../windows - QMAKE_CXXFLAGS += -mno-ms-bitfields -} - -macx { - ICON = pixy.icns - DEFINES += __MACOS__ - #CONFIG += x86 - #CONFIG -= x86_64 - LIBS += -L/opt/local/lib -lusb-1.0 - INCLUDEPATH += /opt/local/include/libusb-1.0 - #QMAKE_MAC_SDK = /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.7.sdk - #QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.7 -} - -unix:!macx { - DEFINES += __LINUX__ - PKGCONFIG += libusb-1.0 - LIBS += -lusb-1.0 - INCLUDEPATH += /usr/include/libusb-1.0 - -} - -RESOURCES += \ - resources.qrc - - - - - - - +#------------------------------------------------- +# +# Project created by QtCreator 2012-07-30T13:51:47 +# +#------------------------------------------------- + +QT += core gui widgets xml + +TARGET = PixyMon +TEMPLATE = app +RC_FILE = resources.rc + +SOURCES += main.cpp\ + mainwindow.cpp \ + videowidget.cpp \ + usblink.cpp \ + console.cpp \ + interpreter.cpp \ + renderer.cpp \ + chirpmon.cpp \ + dfu.cpp \ + connectevent.cpp \ + flash.cpp \ + reader.cpp \ + ../../common/src/chirp.cpp \ + ../../common/src/colorlut.cpp \ + ../../common/src/blob.cpp \ + ../../common/src/blobs.cpp \ + ../../common/src/qqueue.cpp \ + ../../common/src/calc.cpp \ + ../../common/src/robo.cpp \ + robomodule.cpp \ + configdialog.cpp \ + aboutdialog.cpp \ + parameters.cpp \ + paramfile.cpp \ + dataexport.cpp \ + monmodule.cpp \ + cblobmodule.cpp \ + colorblob.cpp \ + monparameterdb.cpp \ + cccmodule.cpp \ + debug.cpp \ + blobs2.cpp \ + DebugTestDialog.cpp + +HEADERS += mainwindow.h \ + videowidget.h \ + usblink.h \ + console.h \ + interpreter.h \ + renderer.h \ + chirpmon.h \ + dfu.h \ + usb_dfu.h \ + dfu_info.h \ + connectevent.h \ + flash.h \ + reader.h \ + ../../common/inc/pixytypes.h \ + ../../common/inc/pixydefs.h \ + ../../common/inc/chirp.hpp \ + ../../common/inc/colorlut.h \ + ../../common/inc/blobs.h \ + ../../common/inc/blob.h \ + ../../common/inc/blobs.h \ + ../../common/inc/qqueue.h \ + ../../common/inc/link.h \ + ../../common/inc/calc.h \ + ../../common/inc/simplevector.h \ + ../../common/inc/robo.h \ + robomodule.h \ + pixymon.h \ + configdialog.h \ + sleeper.h \ + aboutdialog.h \ + parameters.h \ + paramfile.h \ + dataexport.h \ + monmodule.h \ + cblobmodule.h \ + colorblob.h \ + monparameterdb.h \ + cccmodule.h \ + debug.h \ + blobs2.h \ + DebugTestDialog.h + +#little hack: qqueue.h is available in the qt framework too -> add include path before all other include paths +QMAKE_CXXFLAGS += -I../../common/inc + +QMAKE_CXXFLAGS_DEBUG += -O0 +QMAKE_CXXFLAGS += -Wno-unused-parameter +FORMS += mainwindow.ui \ + configdialog.ui \ + about.ui \ + DebugTestDialog.ui + +# LIBS += ./libusb-1.0.dll.a + +win32 { + DEFINES += __WINDOWS__ + QMAKE_CXXFLAGS += -mno-ms-bitfields + LIBS += ../windows/libusb-1.0.dll.a + HEADERS += ../windows/libusb.h + INCLUDEPATH += ../windows + QMAKE_CXXFLAGS += -mno-ms-bitfields +} + +macx { + ICON = pixy.icns + DEFINES += __MACOS__ + #CONFIG += x86 + #CONFIG -= x86_64 + LIBS += -L/opt/local/lib -lusb-1.0 + INCLUDEPATH += /opt/local/include/libusb-1.0 + #QMAKE_MAC_SDK = /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.7.sdk + #QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.7 +} + +unix:!macx { + DEFINES += __LINUX__ + PKGCONFIG += libusb-1.0 + LIBS += -lusb-1.0 + INCLUDEPATH += /usr/include/libusb-1.0 + +} + +RESOURCES += \ + resources.qrc + +QMAKE_CXXFLAGS += -std=c++11 + + + + + + + diff --git a/src/host/pixymon/renderer.cpp b/src/host/pixymon/renderer.cpp index 30fafa62..ffa83465 100644 --- a/src/host/pixymon/renderer.cpp +++ b/src/host/pixymon/renderer.cpp @@ -13,12 +13,10 @@ // end license header // -#include #include #include "debug.h" #include #include "renderer.h" -#include "videowidget.h" #include "interpreter.h" #include "dataexport.h" #include "monmodule.h" @@ -48,8 +46,11 @@ Renderer::Renderer(VideoWidget *video, Interpreter *interpreter) : MonModule(int m_highlightOverexp = false; m_paletteSet = false; - m_interpreter->m_pixymonParameters->addCheckbox("Highlight overexposure", false, - "Highlighting overexposure will overlay black pixels ontop of overexposed pixels in raw and cooked modes"); + if (m_interpreter) + { + m_interpreter->m_pixymonParameters->addCheckbox("Highlight overexposure", false, + "Highlighting overexposure will overlay black pixels ontop of overexposed pixels in raw and cooked modes"); + } connect(this, SIGNAL(image(QImage, uchar)), m_video, SLOT(handleImage(QImage, uchar))); // Qt::BlockingQueuedConnection); } @@ -261,17 +262,17 @@ void Renderer::renderRects(const Points &points, uint32_t size) p.end(); - emit image(img, RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH); + emit image(img, RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH); } void Renderer::renderRect(const RectA &rect) { QPainter p; float scale = (float)m_video->activeWidth()/m_background.width(); - QImage img(m_video->activeWidth(), m_video->activeHeight(), QImage::Format_ARGB32); - img.fill(0x00000000); + QImage img(m_video->activeWidth(), m_video->activeHeight(), QImage::Format_ARGB32); + img.fill(0x00000000); - p.begin(&img); + p.begin(&img); p.setBrush(QBrush(QColor(0xff, 0xff, 0xff, 0x20))); p.setPen(QPen(QColor(0xff, 0xff, 0xff, 0xff))); @@ -491,9 +492,9 @@ int Renderer::renderBLT1(uint8_t renderFlags, uint16_t width, uint16_t height, else img.fill(0xff000000); // otherwise, we're just black - p.begin(&img); - p.setBrush(QBrush(QColor(0xff, 0xff, 0xff, 0x20))); - p.setPen(QPen(QColor(0xff, 0xff, 0xff, 0xff))); + p.begin(&img); + p.setBrush(QBrush(QColor(0xff, 0xff, 0xff, 0x20))); + p.setPen(QPen(QColor(0xff, 0xff, 0xff, 0xff))); for (i=0; i #include #include #include "pixytypes.h" #include "monmodule.h" +#include "videowidget.h" //#include "processblobs.h" #include @@ -55,6 +57,25 @@ class Renderer : public QObject, public MonModule int renderBLT1(uint8_t renderFlags, uint16_t width, uint16_t height, uint16_t blockWidth, uint16_t blockHeight, uint32_t numPoints, uint16_t *points); + template + void renderDirect(uint8_t renderFlags, uint16_t width, uint16_t height, Fn fn) + { + QPainter p; + QImage img(width, height, QImage::Format_ARGB32); + if (renderFlags&RENDER_FLAG_BLEND) // if we're blending, we should be transparent + img.fill(0x00000000); + else + img.fill(0xff000000); // otherwise, we're just black + + p.begin(&img); + + fn(&p); + + p.end(); + + emit image(img.scaled( m_video->width(), m_video->height(), Qt::KeepAspectRatio), renderFlags); + } + void renderBlobsB(bool blend, QImage *image, float scale, BlobB *blobs, uint32_t numBlobs); void renderBlobsA(bool blend, QImage *image, float scale, BlobA *blobs, uint32_t numBlobs); diff --git a/src/host/pixymon/robomodule.cpp b/src/host/pixymon/robomodule.cpp new file mode 100644 index 00000000..99251244 --- /dev/null +++ b/src/host/pixymon/robomodule.cpp @@ -0,0 +1,949 @@ +// +// begin license header +// +// This file is part of Pixy CMUcam5 or "Pixy" for short +// +// All Pixy source code is provided under the terms of the +// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html). +// Those wishing to use Pixy source code, software and/or +// technologies under different licensing terms should contact us at +// cmucam@cs.cmu.edu. Such licensing terms are available for +// all portions of the Pixy codebase presented here. +// +// end license header +// + +#include +#include "robomodule.h" +#include "interpreter.h" +#include "renderer.h" +#include "robo.h" +#include "dataexport.h" +#include "qqueue.h" +#include "monparameterdb.h" +#include + +#include +#include +#include + +//tmp +#include +//tmp + +// declare module +MON_MODULE(RoboModule); + + +class FrameAccess +{ +public: + explicit FrameAccess(uint16_t width, uint16_t height, uint8_t *frame) + : edgeFiltered(width, height) + , frame(width, height, frame) + { + } + + RawFrameAccess& raw() + { + return frame; + } + + uint8_t r(uint16_t x, uint16_t y) + { + auto pixel = &frame.px(x, y); + if (y&1) + { + if (x&1) + { + return *pixel; + } + else + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + return (frame.px(x - 1, y)+frame.px(x + 1, y))>>1; + } + } + else + { + if (x&1) + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + return (frame.px(x, y - 1)+frame.px(x, y + 1))>>1; + } + else + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + return (frame.px(x - 1, y - 1)+frame.px(x + 1, y - 1)+frame.px(x - 1, y + 1)+frame.px(x + 1, y + 1))>>2; + } + } + } + + uint8_t g(uint16_t x, uint16_t y) + { + auto pixel = &frame.px(x, y); + if (y&1) + { + if (x&1) + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + return (frame.px(x - 1, y)+frame.px(x + 1, y)+frame.px(x, y + 1)+frame.px(x, y - 1))>>2; + } + else + { + return *pixel; + } + } + else + { + if (x&1) + { + return *pixel; + } + else + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + return (frame.px(x - 1, y)+frame.px(x + 1, y)+frame.px(x, y + 1)+frame.px(x, y - 1))>>2; + } + } + } + + uint8_t b(uint16_t x, uint16_t y) + { + auto pixel = &frame.px(x, y); + if (y&1) + { + if (x&1) + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + return (frame.px(x - 1, y - 1)+frame.px(x + 1, y - 1)+frame.px(x - 1, y + 1)+frame.px(x + 1, y + 1))>>2; + } + else + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + return (frame.px(x, y - 1)+frame.px(x, y + 1))>>1; + } + } + else + { + if (x&1) + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + return (frame.px(x - 1, y)+frame.px(x + 1, y))>>1; + } + else + { + return *pixel; + } + } + } + + + void writeToFile() + { + frame.writeToFile(); + { + QImage img(frame.getWidth(), frame.getHeight(), QImage::Format_RGB32); + frame.forEach([&](uint16_t x, uint16_t y) + { + img.setPixel(x, y, QColor(r(x, y), g(x, y), b(x, y)).rgb()); + }); + QString filename = uniqueFilename(MonParameterDB::docPath(), "image", "png"); + img.save(filename); + } + } + + uint8_t lumina(uint16_t x, uint16_t y) + { + return 0.2126 * r(x, y) + 0.7152 * g(x, y) + 0.0722 * b(x, y); + } + + void convertToGrayscale() + { + frame.applyFilter([&](uint16_t x, uint16_t y) + { + return lumina(x, y); + }); + } + + void histEqu() + { + std::array::max()> histData; + for (auto&& entry : histData) + entry = 0; + + frame.forEach([&](uint16_t x, uint16_t y) + { + ++histData[frame.px(x, y)]; + }); + + uint32_t sumHist = frame.getWidth() * frame.getHeight(); + + std::array::max()> cumHistData; + cumHistData[0] = histData[0]; + for (size_t i = 1; i < std::numeric_limits::max(); ++i) + { + cumHistData[i] = cumHistData[i - 1] + histData[i]; + } + + frame.forEach([&](uint16_t x, uint16_t y) + { + frame.px(x, y) = (cumHistData[frame.px(x, y)] * std::numeric_limits::max()) / sumHist; + }); + } + + void nonPlateFilter() + { + constexpr auto nonPlatePercent = 0.75; + constexpr auto nonSafetyFactor = 1; + + const auto accumulatedPixels = ((frame.getHeight() * (1 - nonPlatePercent)) * frame.getWidth()); + + std::vector relevantPixels; + relevantPixels.reserve(accumulatedPixels); + + for (uint16_t y = frame.getHeight() * nonPlatePercent; y < frame.getHeight(); ++y) + { + for (uint16_t x = 0; x < frame.getWidth(); ++x) + { + relevantPixels.push_back(frame.px(x, y)); + } + } + std::sort(relevantPixels.begin(), relevantPixels.end()); + auto medianBrightness = relevantPixels[relevantPixels.size() / 2]; + + uint8_t brightnessLimit = medianBrightness / nonSafetyFactor; + + frame.applyFilter([&](uint16_t x, uint16_t y) + { + auto val = frame.px(x, y); + return val > brightnessLimit ? 255 : val; + }); + } + + void gaussianFilter() + { + frame.applyFilter([&](uint16_t x, uint16_t y) + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0.; + return ( + frame.px(x-1, y-1) / 16. + + frame.px(x, y-1) / 8. + + frame.px(x+1, y-1) / 16. + + + frame.px(x-1, y) / 8. + + frame.px(x, y) / 4. + + frame.px(x+1, y) / 8. + + + frame.px(x-1, y+1) / 16. + + frame.px(x, y+1) / 8. + + frame.px(x+2, y+1) / 16. + + ); + }); + } + + void gaussianFilterOnEdges() + { + frame.applyFilter(edgeFiltered, [&](uint16_t x, uint16_t y) + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0.; + return ( + edgeFiltered.px(x-1, y-1) / 16. + + edgeFiltered.px(x, y-1) / 8. + + edgeFiltered.px(x+1, y-1) / 16. + + + edgeFiltered.px(x-1, y) / 8. + + edgeFiltered.px(x, y) / 4. + + edgeFiltered.px(x+1, y) / 8. + + + edgeFiltered.px(x-1, y+1) / 16. + + edgeFiltered.px(x, y+1) / 8. + + edgeFiltered.px(x+2, y+1) / 16. + + ); + }); + } + + void medianFilter() + { + frame.applyFilter([&](uint16_t x, uint16_t y)->uint8_t + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + std::vector values = + { + frame.px(x-1, y-1), + frame.px(x, y-1), + frame.px(x+1, y-1), + + frame.px(x-1, y), + frame.px(x, y), + frame.px(x+1, y), + + frame.px(x-1, y+1), + frame.px(x, y+1), + frame.px(x+1, y+1) + }; + std::sort(values.begin(), values.end()); + return values[values.size() / 2]; + }); + } + + void sobelFilterDlDx() + { + frame.applyFilter(edgeFiltered, [&](uint16_t x, uint16_t y) + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + return ( + -1 * frame.px(x-1, y-1) + + -2 * frame.px(x, y-1) + + -1 * frame.px(x+1, y-1) + + + 1 * frame.px(x-1, y+1) + + 2 * frame.px(x, y+1) + + 1 * frame.px(x+1, y+1) + + ); + }); + } + + void sobelFilterDlDy() + { + frame.applyFilter(edgeFiltered, [&](uint16_t x, uint16_t y) + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + return ( + -1 * int32_t(frame.px(x-1, y-1)) + + -2 * int32_t(frame.px(x, y-1)) + + -1 * int32_t(frame.px(x+1, y-1)) + + + 0 * int32_t(frame.px(x-1, y)) + + 0 * int32_t(frame.px(x, y)) + + 0 * int32_t(frame.px(x+1, y)) + + + 1 * int32_t(frame.px(x-1, y+1)) + + 2 * int32_t(frame.px(x, y+1)) + + 1 * int32_t(frame.px(x+1, y+1)) + + ); + }); + } + + void laplaceFilter() + { + frame.applyFilter(edgeFiltered, [&](uint16_t x, uint16_t y) + { + if (x == 0 || y == 0||x==frame.getWidth()||y==frame.getHeight()) return 0; + return ( + 0 * frame.px(x-1, y-1) + + -1 * frame.px(x, y-1) + + 0 * frame.px(x+1, y-1) + + + -1 * frame.px(x-1, y) + + 4 * frame.px(x, y) + + -1 * frame.px(x+1, y) + + + 0 * frame.px(x-1, y+1) + + -1 * frame.px(x, y+1) + + 0 * frame.px(x+1, y+1) + ); + }); + } + + void findRoboAfterSobel() + { + constexpr auto minDistFromTopPercent = 0.25; + constexpr auto columnWidth = 1; + constexpr auto maxDeviationToBeInLine = 0.8; + constexpr auto minRiseOrFall = 10; + constexpr auto percentToStripFromEachSide = 0.1; + + const auto columns = frame.getWidth() / columnWidth; + + std::vector> colValues; + colValues.resize(columns); + + auto h = frame.getHeight(); //circumvent compiler bug + frame.forEach([&](uint16_t x, uint16_t y) + { + if (x >= 5 && x < (frame.getWidth()-5) && //minus 5 pixels left and right (various filters) + x >= frame.getWidth() * percentToStripFromEachSide && + x <= frame.getWidth() * (1 - percentToStripFromEachSide)) + { + if (colValues[x / columnWidth].empty()) + { + auto& vec = colValues[x / columnWidth]; + vec.resize(h); + } + colValues[x / columnWidth][y] += edgeFiltered.px(x, y); + } + }); + + struct Line + { + uint16_t length; + int32_t averageGradient; + }; + + auto compareLineLength = [](Line lho, Line rho) + { + return (std::abs(lho.averageGradient) * lho.length) < (std::abs(rho.averageGradient) * rho.length); + }; + + std::vector colBestLines; + colBestLines.resize(columns); + for (auto i = 0; i < columns; ++i) + { + std::vector colLines; + std::vector currLineValues; + for (auto y = frame.getHeight() * minDistFromTopPercent; y < colValues[i].size(); ++y) + { + const auto& value = colValues[i][y]; + auto isRelevantRiseOrFall = (value > minRiseOrFall || value < -minRiseOrFall); + if (isRelevantRiseOrFall && ( + currLineValues.empty() || + ( + ((value >= 0) == (currLineValues.back() >= 0)) && //same sign + ( + (value > currLineValues.back() * maxDeviationToBeInLine) || + (value < currLineValues.back() * (1-maxDeviationToBeInLine)))))) + { + currLineValues.push_back(value); + } + else + { + if (!currLineValues.empty()) + { + int64_t sum = std::accumulate(currLineValues.begin(), currLineValues.end(), int64_t(0)); + colLines.push_back(Line{currLineValues.size(), sum / int64_t{currLineValues.size()}}); + currLineValues.clear(); + } + } + } + + if (!colLines.empty()) + { + colBestLines[i] = *std::max_element(colLines.begin(), colLines.end(), compareLineLength); + } + else + { + colBestLines[i] = Line{0, 0}; + } + } + + auto compareLeftLine = [](Line lho, Line rho) + { + return (lho.averageGradient * lho.length) < (rho.averageGradient * rho.length); + }; + + auto compareRightLine = [](Line lho, Line rho) + { + return (-lho.averageGradient * lho.length) < (-rho.averageGradient * rho.length); + }; + + for (;;) + { + roboLeft = (std::max_element(colBestLines.begin(), colBestLines.end(), compareLeftLine) - colBestLines.begin()) * columnWidth; + roboRight = (std::max_element(colBestLines.begin(), colBestLines.end(), compareRightLine) - colBestLines.begin()) * columnWidth; + + if (roboLeft > roboRight) + { + if (roboLeft > (columns - roboRight)) //remove from outside to inside + { + colBestLines[roboLeft]= Line{0, 0}; + } + else + { + colBestLines[roboRight]= Line{0, 0}; + } + } + else + { + break; + } + } + } + + void render(Renderer* renderer, bool flush) + { + renderer->renderBA81(RENDER_FLAG_BLEND | (flush ? RENDER_FLAG_FLUSH : 0), frame.getWidth(), frame.getHeight(), frame.getFrameLen(), frame.getData()); + } + + template + void renderDirect(Renderer* renderer, uint8_t renderFlags, Fn fn) + { + renderer->renderDirect(renderFlags, frame.getWidth(), frame.getHeight(), fn); + } + + void debugRenderRoboPos(QPainter* p) + { + p->setPen(QPen(QColor(0x00, 0x00, 0xff, 0xff))); + p->drawLine(roboLeft, 0, roboLeft, frame.getHeight()); + p->setPen(QPen(QColor(0xff, 0x00, 0x00, 0xff))); + p->drawLine(roboRight, 0, roboRight, frame.getHeight()); + } + + template + void convertToNormalizedGreyValues(Y& frame, Fn fn) + { + std::vector elements(frame.getData(), frame.getData() + frame.getFrameLen()); + std::sort(elements.begin(), elements.end()); + auto tenPercent = elements.size() * 0.2; + elements.erase(elements.begin(), elements.begin() + tenPercent); + elements.erase(elements.end()-tenPercent, elements.end()); + auto min = *std::min_element(elements.begin(), elements.end()); + auto max = *std::max_element(elements.begin(), elements.end()); + + auto range = max - min; + auto factor = static_cast(std::numeric_limits::max()) / static_cast(range); + auto offset = -min; + + auto makePositive = [&](int32_t val) + { + return (val+offset)*factor; + }; + + frame.forEach([&](uint16_t x, uint16_t y) + { + auto orig = frame.px(x, y); + auto val = makePositive(orig); + fn(x, y, val); + }); + } + + void debugRenderEdges(QPainter* p) + { + convertToNormalizedGreyValues(edgeFiltered, [&](uint16_t x, uint16_t y, uint8_t val) + { + p->setPen(QPen(QColor(val, val, val, 0xff))); + p->drawPoint(x, y); + }); + } + + void detect(RoboParameters params, std::function makeRenderer) + { + convertToGrayscale(); + gaussianFilter(); + sobelFilterDlDy(); + RawFrame binaryImage(raw().getWidth(), raw().getHeight()); + + std::vector allPlatePixels(raw().getWidth()); + + auto renderBinary = [&](RawFrame& binaryImage) + { + if (makeRenderer) + { + renderDirect(makeRenderer(), RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + binaryImage.forEach([&](uint16_t x, uint16_t y) + { + auto state = binaryImage.px(x, y); + auto color = state ? 0xff : 0x00; + p->setPen(QPen(QColor(color, color, color, 0xff))); + p->drawPoint(x, y); + if (allPlatePixels[x] >= 20 && allPlatePixels[x] == (raw().getHeight() - y)) + { + p->setPen(QPen(QColor(0xff, 0x00, 0x00, 0xff))); + p->drawPoint(x, y); + } + }); + }); + } + }; + + if (makeRenderer) + { + renderDirect(makeRenderer(), RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + convertToNormalizedGreyValues(edgeFiltered, [&](uint16_t x, uint16_t y, uint8_t val) + { + p->setPen(QPen(QColor(val, val, val, 0xff))); + p->drawPoint(x, y); + }); + }); + } + + gaussianFilterOnEdges(); + + edgeFiltered.applyFilter(binaryImage, [&](uint16_t x, uint16_t y) + { + auto value = edgeFiltered.px(x, y); + return value < -params.limit; + return value > params.limit || value < -params.limit; + }); + + if (makeRenderer && false) + { + renderDirect(makeRenderer(), RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + convertToNormalizedGreyValues(edgeFiltered, [&](uint16_t x, uint16_t y, uint8_t val) + { + p->setPen(QPen(QColor(val, val, val, 0xff))); + p->drawPoint(x, y); + }); + }); + } + + + std::vector unfilteredAllPlatePixels(raw().getWidth()); + auto topBottomBorder = 10; + for (auto x = topBottomBorder + 1; x < raw().getWidth() - topBottomBorder; ++x) + { + auto platePixels = 10; + for (auto y = platePixels; y < binaryImage.getHeight(); ++y) + { + if (!binaryImage.px(x, binaryImage.getHeight() - y)) + { + platePixels += 1; + } + else + { + break; + } + } + + unfilteredAllPlatePixels[x] = (platePixels < (binaryImage.getHeight()-topBottomBorder) && platePixels >= topBottomBorder) ? platePixels : 0; + } + + std::vector partialFilteredAllPlatePixels(raw().getWidth()); + constexpr auto averagingFrame = 20; + constexpr auto averagingLimit = 5; + for (auto x = 0; x < raw().getWidth(); ++x) + { + int32_t left = x - averagingFrame; + int32_t right = x + averagingFrame; + left = std::max(0, left); + right = std::min(binaryImage.getWidth(), right); + + auto sum = 0; + auto cnt = 0; + for (auto x = left; x < right; ++x) + { + if (unfilteredAllPlatePixels[x] != 0) + { + sum += unfilteredAllPlatePixels[x]; + cnt += 1; + } + } + auto avg = sum / (cnt==0?1:cnt); + + partialFilteredAllPlatePixels[x] = (std::abs(unfilteredAllPlatePixels[x] - avg) <= averagingLimit) ? unfilteredAllPlatePixels[x] : 0; + } + + if (partialFilteredAllPlatePixels[0] == 0) + partialFilteredAllPlatePixels[0] = 1; + + for (auto x = 0; x < raw().getWidth(); ++x) + { + if (partialFilteredAllPlatePixels[x] == 0) + { + uint16_t x2 = 0; + for (auto tmp = x; tmp < raw().getWidth(); ++tmp) + { + if (partialFilteredAllPlatePixels[tmp] != 0) + { + x2 = tmp; + break; + } + } + if (x2 == 0) + { + allPlatePixels[x] = partialFilteredAllPlatePixels[x]; + continue; + } + + int32_t from = partialFilteredAllPlatePixels[x - 1]; + int32_t to = partialFilteredAllPlatePixels[x2]; + double m = double(to-from)/double(x2-x); + + auto startX = x - 1; + for (; x < x2; ++x) + { + allPlatePixels[x] = (x - startX)*m + from; + } + } + else + { + allPlatePixels[x] = partialFilteredAllPlatePixels[x]; + } + } + + + + renderBinary(binaryImage); + laplaceFilter(); + if (makeRenderer && false) + { + renderDirect(makeRenderer(), RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + convertToNormalizedGreyValues(edgeFiltered, [&](uint16_t x, uint16_t y, uint8_t val) + { + p->setPen(QPen(QColor(val, val, val, 0xff))); + p->drawPoint(x, y); + }); + }); + } + gaussianFilterOnEdges(); + if (makeRenderer && false) + { + renderDirect(makeRenderer(), RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + convertToNormalizedGreyValues(edgeFiltered, [&](uint16_t x, uint16_t y, uint8_t val) + { + p->setPen(QPen(QColor(val, val, val, 0xff))); + p->drawPoint(x, y); + }); + }); + } + + sobelFilterDlDx(); + if (makeRenderer && false) + { + renderDirect(makeRenderer(), RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + convertToNormalizedGreyValues(edgeFiltered, [&](uint16_t x, uint16_t y, uint8_t val) + { + p->setPen(QPen(QColor(val, val, val, 0xff))); + p->drawPoint(x, y); + }); + }); + } + + RawFrame binaryImage2(raw().getWidth(), raw().getHeight()); + edgeFiltered.applyFilter(binaryImage2, [&](uint16_t x, uint16_t y) + { + auto value = edgeFiltered.px(x, y); + //return value < -params.xLimit; + return value > params.xLimit || value < -params.xLimit; + }); + renderBinary(binaryImage2); + + RawFrame binaryImage3(raw().getWidth(), raw().getHeight()); + binaryImage3.applyFilter(binaryImage3, [&](uint16_t x, uint16_t y) + { + bool isUnderBorder = (allPlatePixels[x] >= 5) && ((allPlatePixels[x] - topBottomBorder) > (raw().getHeight() - y)); + if (isUnderBorder) + { + return binaryImage2.px(x, y); + } + else + { + return false; + } + }); + renderBinary(binaryImage3); + + + std::vector roboPixels(raw().getWidth()); + binaryImage3.forEach([&](uint16_t x, uint16_t y) + { +// int32_t left = x - averagingFrame; +// int32_t right = x + averagingFrame; +// left = std::max(0, left); +// right = std::min(binaryImage.getWidth(), right); + +// auto sum = 0; +// auto cnt = 0; +// for (auto x = left; x < right; ++x) +// { +// if (allPlatePixels[x] != 0) +// { +// sum += allPlatePixels[x]; +// cnt += 1; +// } +// } +// auto avg = sum / (cnt==0?1:cnt); + + if (binaryImage3.px(x, y)) + { + roboPixels[x] += 1; + } + }); + + if (makeRenderer) + { + renderDirect(makeRenderer(), RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + binaryImage3.forEach([&](uint16_t x, uint16_t y) + { + p->setPen(QPen(QColor(0xff, 0xff, 0xff, 0xff))); + p->drawPoint(x, y); + if (roboPixels[x] > (raw().getHeight() - y)) + { + p->setPen(QPen(QColor(0xff, 0x00, 0x00, 0xff))); + p->drawPoint(x, y); + } + }); + }); + } + + + auto column = 0; + uint32_t lastSum = 0; + constexpr auto findMargin = 2; + for (auto x = findMargin; x < raw().getWidth() - findMargin; ++x) + { + auto sum = std::accumulate(roboPixels.begin() + x - findMargin, roboPixels.begin() + x + findMargin, 0); + if (sum > lastSum) + { + column = x; + lastSum = sum; + } + } + + if (makeRenderer) + { + renderDirect(makeRenderer(), RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + raw().forEach([&](uint16_t x, uint16_t y) + { + p->setPen(QPen(QColor(r(x, y), g(x, y), b(x, y), 0xff))); + p->drawPoint(x, y); + if (x > column - 5 && x < column + 5) + { + p->setPen(QPen(QColor(0xff, 0x00, 0x00, 0xff))); + p->drawPoint(x, y); + } + }); + }); + } + } + +public: + RawFrame edgeFiltered; + +private: + RawFrameAccess frame; + + uint16_t roboLeft = 0; + uint16_t roboRight = 0; +}; + +RoboModule::RoboModule(Interpreter *interpreter) + : MonModule(interpreter) +{ +} + +bool RoboModule::render(uint32_t fourcc, const void *args[]) +{ + if (fourcc==FOURCC('C','M','V','2')) + { + //uint8_t renderFlags = *(uint8_t *)args[0]; + ASSERT(*(uint32_t *)args[3] == uint32_t(*(uint16_t *)args[1] * *(uint16_t *)args[2])); + RawFrameAccess frameAccess(*(uint16_t *)args[1], *(uint16_t *)args[2], (uint8_t *)args[4]); + + static uint8_t no = 0; + if (++no % 16 == 1) + { + //frameAccess.writeToFile(); + } + + debugRender(nullptr, m_interpreter->m_renderer, frameAccess); + + return true; + } + return false; +} + +bool RoboModule::command(const QStringList &argv) +{ + return false; +} + +void RoboModule::paramChange() +{ +} + +void RoboModule::debugRender(std::function makeRenderer, Renderer* pRenderer, RawFrameAccess& rawFrame, RoboParameters params) +{ + + //pRenderer->renderBA81(RENDER_FLAG_BLEND, width, height, frameLen, frame); + + FrameAccess frameAccess(rawFrame.getWidth(), rawFrame.getHeight(), rawFrame.getData()); + frameAccess.render(pRenderer, false); + + enum class Type + { + ShowColor, + ShowGrayscale, + ShowLaplaceFiltered, + ShowProcessed, + ShowNew + }; + + constexpr Type type = Type::ShowNew; + + if (type == Type::ShowColor) + { + frameAccess.renderDirect(pRenderer, RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + frameAccess.raw().forEach([&](uint16_t x, uint16_t y) + { + p->setPen(QPen(QColor(frameAccess.r(x, y), frameAccess.g(x, y), frameAccess.b(x, y), 0xff))); + p->drawPoint(x, y); + }); + }); + } + else if (type == Type::ShowGrayscale) + { + frameAccess.convertToGrayscale(); + frameAccess.renderDirect(pRenderer, RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + frameAccess.raw().forEach([&](uint16_t x, uint16_t y) + { + auto l = frameAccess.raw().px(x, y); + p->setPen(QPen(QColor(l, l, l, 0xff))); + p->drawPoint(x, y); + }); + }); + } + else if (type == Type::ShowLaplaceFiltered) + { + frameAccess.convertToGrayscale(); + frameAccess.histEqu(); + frameAccess.medianFilter(); + + frameAccess.renderDirect(pRenderer, RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + frameAccess.laplaceFilter(); + frameAccess.debugRenderEdges(p); + }); + } + else if (type == Type::ShowProcessed) + { + constexpr bool showEdge = true; + frameAccess.convertToGrayscale(); + frameAccess.histEqu(); + frameAccess.gaussianFilter(); + frameAccess.medianFilter(); + + + frameAccess.renderDirect(pRenderer, RENDER_FLAG_BLEND | RENDER_FLAG_FLUSH, [&](QPainter* p) + { + if (!showEdge) + { + frameAccess.raw().forEach([&](uint16_t x, uint16_t y) + { + auto l = frameAccess.raw().px(x, y); + p->setPen(QPen(QColor(l, l, l, 0xff))); + p->drawPoint(x, y); + }); + } + frameAccess.nonPlateFilter(); + frameAccess.sobelFilterDlDy(); + //frameAccess.laplaceFilter(); + if (showEdge) + { + frameAccess.debugRenderEdges(p); + } + + frameAccess.findRoboAfterSobel(); + frameAccess.debugRenderRoboPos(p); + }); + } + else if (type == Type::ShowNew) + { + frameAccess.detect(params, makeRenderer); + } +} + diff --git a/src/host/pixymon/robomodule.h b/src/host/pixymon/robomodule.h new file mode 100644 index 00000000..1663bbff --- /dev/null +++ b/src/host/pixymon/robomodule.h @@ -0,0 +1,219 @@ +// +// begin license header +// +// This file is part of Pixy CMUcam5 or "Pixy" for short +// +// All Pixy source code is provided under the terms of the +// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html). +// Those wishing to use Pixy source code, software and/or +// technologies under different licensing terms should contact us at +// cmucam@cs.cmu.edu. Such licensing terms are available for +// all portions of the Pixy codebase presented here. +// +// end license header +// + + +#ifndef ROBOMODULE_H +#define ROBOMODULE_H + +#include "monmodule.h" + +#include "monparameterdb.h" +#include "dataexport.h" + +#include + + +inline void ASSERT(bool v) +{ + if (!v) + abort(); +} + +template +class RawFrame; + +template +class RawFrameAccess +{ +public: + explicit RawFrameAccess(uint16_t width, uint16_t height, T* frame) + : width(width) + , height(height) + , frame(frame) + { + } + + uint16_t getWidth() const + { + return width; + } + + uint16_t getHeight() const + { + return height; + } + + uint32_t getFrameLen() const + { + return width*height; + } + + T* getData() + { + return frame; + } + + T& px(uint16_t x, uint16_t y) + { + return *(frame + y*width + x); + } + + template + void forEach(Fn fn) + { + for (uint16_t y = 0; y < height; ++y) + { + for (uint16_t x = 0; x < width; ++x) + { + fn(x, y); + } + } + } + + template + void applyFilter(TResult& result, FnFilterPixel fn) + { + ASSERT(result.getWidth() == getWidth()); + ASSERT(result.getHeight() == getHeight()); + forEach([&](uint16_t x, uint16_t y) + { + result.px(x, y) = fn(x, y); + }); + } + + template + void applyFilter(FnFilterPixel fn); + + + void writeToFile(); + +protected: + uint16_t width; + uint16_t height; + T* frame; +}; + +template +struct RawFrameStorage +{ + explicit RawFrameStorage(size_t size) + : frameData(size) + { + } + + T* data() + { + return frameData.data(); + } + + std::vector frameData; +}; + +template <> +struct RawFrameStorage +{ + explicit RawFrameStorage(size_t size) + : frameData(size) + { + } + + bool* data() + { + return reinterpret_cast(frameData.data()); + } + + std::vector frameData; +}; + +template +class RawFrame : private RawFrameStorage, public RawFrameAccess +{ +public: + RawFrame(uint16_t width, uint16_t height) + : RawFrameStorage(width * height) + , RawFrameAccess(width, height, this->data()) + { + } + + static RawFrame readFromFile(uint32_t imgNo) + { + std::ifstream strm; + strm.open((MonParameterDB::docPath() + "/image" + QString::number(imgNo) + ".raw").toStdString(), std::ios::in | std::ios::binary); + uint16_t width, height, frameLen; + strm.read(reinterpret_cast(&width), sizeof(uint16_t)); + strm.read(reinterpret_cast(&height), sizeof(uint16_t)); + strm.read(reinterpret_cast(&frameLen), sizeof(uint32_t)); + + if (height == 0) + { + height = 200; //bug circumvention + } + + ASSERT(frameLen == width*height); + RawFrame frame(width, height); + + strm.read(reinterpret_cast(frame.frameData.data()), frameLen); + + return frame; + } +}; + +template +template +void RawFrameAccess::applyFilter(FnFilterPixel fn) +{ + RawFrame tmp(width, height); + applyFilter(tmp, fn); + std::function fnPx = std::bind(&RawFrameAccess::px, this, std::placeholders::_1, std::placeholders::_2); + forEach([&, fnPx](uint16_t x, uint16_t y) + { + fnPx(x, y) = tmp.px(x, y); + }); +} + +template +void RawFrameAccess::writeToFile() +{ + { + QString filename = uniqueFilename(MonParameterDB::docPath(), "image", "raw"); + std::ofstream strm; + strm.open(filename.toStdString(), std::ios::out | std::ios::binary); + strm.write(reinterpret_cast(&width), sizeof(uint16_t)); + strm.write(reinterpret_cast(&height), sizeof(uint16_t)); + uint32_t frameLen = width*height; + strm.write(reinterpret_cast(&frameLen), sizeof(uint32_t)); + strm.write(reinterpret_cast(frame), frameLen); + } +} + +struct RoboParameters +{ + uint16_t limit = 120; + uint16_t xLimit = 30; +}; + +class RoboModule : public MonModule +{ +public: + explicit RoboModule(Interpreter *interpreter); + + virtual bool render(uint32_t fourcc, const void *args[]); + virtual bool command(const QStringList &argv); + virtual void paramChange(); + + static void debugRender(std::function makeRenderer, Renderer* pRenderer, RawFrameAccess& rawFrame, RoboParameters params = RoboParameters()); +}; + +#endif //ROBOMODULE_H diff --git a/src/host/pixymon/videowidget.cpp b/src/host/pixymon/videowidget.cpp index 33baec4d..cadadf7e 100644 --- a/src/host/pixymon/videowidget.cpp +++ b/src/host/pixymon/videowidget.cpp @@ -25,7 +25,7 @@ //#include "interpreter.h" #include "renderer.h" -VideoWidget::VideoWidget(MainWindow *main) : QWidget((QWidget *)main) +VideoWidget::VideoWidget(QWidget *main) : QWidget(main) { qRegisterMetaType("VideoWidget::InputMode"); @@ -243,7 +243,7 @@ void VideoWidget::mouseReleaseEvent(QMouseEvent *event) void VideoWidget::resizeEvent(QResizeEvent *event) { m_selection = false; - QWidget::resizeEvent(event); + QWidget::resizeEvent(event); } void VideoWidget::acceptInput(VideoWidget::InputMode mode) diff --git a/src/host/pixymon/videowidget.h b/src/host/pixymon/videowidget.h index 63cfcbfe..a51cd275 100644 --- a/src/host/pixymon/videowidget.h +++ b/src/host/pixymon/videowidget.h @@ -29,7 +29,7 @@ class VideoWidget : public QWidget Q_OBJECT public: - VideoWidget(MainWindow *main); + VideoWidget(QWidget *main); ~VideoWidget(); void handleImage(void **args); @@ -49,8 +49,7 @@ class VideoWidget : public QWidget virtual void mouseMoveEvent(QMouseEvent *event); virtual void mousePressEvent(QMouseEvent *event); virtual void mouseReleaseEvent(QMouseEvent *event); - virtual void resizeEvent(QResizeEvent *event); - + virtual void resizeEvent(QResizeEvent *event); signals: void selection(int x0, int y0, int width, int height); @@ -62,23 +61,23 @@ public slots: private slots: private: - MainWindow *m_main; + QWidget *m_main; std::vector m_images; std::vector m_renderedImages; - int m_width; - int m_height; - int m_xOffset; - int m_yOffset; - int m_x0; - int m_y0; - int m_sbWidth; - int m_sbHeight; - float m_scale; - bool m_drag; + int m_width = 0; + int m_height = 0; + int m_xOffset = 0; + int m_yOffset = 0; + int m_x0 = 0; + int m_y0 = 0; + int m_sbWidth = 0; + int m_sbHeight = 0; + float m_scale = 1; + bool m_drag = false; InputMode m_inputMode; - bool m_selection; + bool m_selection = false; };