Changeset 418

Timestamp:

02/17/07 18:24:56 (2 years ago)

Author:

anthony_rowe

Message:

Get Histogram

Files:

• trunk/lib/cc3-ilp/Makefile (modified) (1 diff)
• trunk/lib/cc3-ilp/cc3_histogram.c (added)
• trunk/lib/cc3-ilp/cc3_histogram.h (added)
• trunk/projects/cmucam2/cmucam2.c (modified) (13 diffs)

trunk/lib/cc3-ilp/Makefile

@@ -2 +2 @@
-LIBS += jpeg-6b
-
-
+ cc3_histogram.c
-
-
+ cc3_histogram.h
-
-

trunk/projects/cmucam2/cmucam2.c

@@ -3 +3 @@
-#include <cc3_color_track.h>
-#include <cc3_color_info.h>
+#include <cc3_histogram.h>
-#include <math.h>
-#include <stdbool.h>
@@ -47 +48 @@
-  DOWN_SAMPLE,
-  GET_POLLY,
+  GET_HISTOGRAM,
-  TRACK_WINDOW,
-  GET_TRACK,
@@ -58 +60 @@
-char *cmucam2_cmds[CMUCAM2_CMD_END];
-
+static void cmucam2_get_histogram(cc3_histogram_pkt_t *h_pkt, bool poll_mode, bool quite);
-static void cmucam2_get_mean (cc3_color_info_pkt_t * t_pkt,
-                              bool poll_mode,
@@ -70 +73 @@
-static void print_NCK (void);
-static void cmucam2_write_t_packet (cc3_track_pkt_t * pkt);
+static void cmucam2_write_h_packet (cc3_histogram_pkt_t *pkt);
-void cmucam2_send_image_direct (bool auto_led);
-
@@ -80 +84 @@
-  cc3_track_pkt_t t_pkt;
-  cc3_color_info_pkt_t s_pkt;
+  cc3_histogram_pkt_t h_pkt;
-
-  set_cmucam2_commands ();
@@ -87 +92 @@
-  poll_mode = false;
-  line_mode = false;
+  h_pkt.bins=28;
-  t_pkt.track_invert = false;
-  t_pkt.noise_filter = 0;
@@ -149 +155 @@
-
-     case LED_0:
-&&
+||
-          error = true;
-          break;
@@ -195 +201 @@
- 
-     case TRACK_INVERT:
-&&
+||
-          error = true;
-          break;
@@ -436 +442 @@
-        break;
-
+        
+      case GET_HISTOGRAM:
+        if (n != 1 || arg_list[0]>2) {
+          error = true;
+          break;
+        }
+        else
+          print_ACK ();
+          h_pkt.channel=arg_list[0];
+          cmucam2_get_histogram(&h_pkt, poll_mode, 0);
+        break;
+
-
-      case SET_SERVO:
@@ -501 +519 @@
-  free(row);
-}
+
+void cmucam2_get_histogram(cc3_histogram_pkt_t *h_pkt, bool poll_mode, bool quite)
+{
+  cc3_image_t img;
+  img.channels = 3;
+  img.width = cc3_g_pixbuf_frame.width;
+  img.height = 1;               // image will hold just 1 row for scanline processing
+  img.pix = malloc (3 * img.width);
+  h_pkt->hist=malloc(h_pkt->bins*sizeof(uint32_t));
+  do {
+    cc3_pixbuf_load ();
+    if (cc3_histogram_scanline_start (h_pkt) != 0) {
+      while (cc3_pixbuf_read_rows (img.pix, 1)) {
+        cc3_histogram_scanline (&img, h_pkt);
+      }
+      cc3_histogram_scanline_finish (h_pkt);
+      while (!cc3_uart_has_data (0)) { if(fgetc(stdin)=='\r' ) free(img.pix); free(h_pkt->hist); return; }
+      if(!quite) cmucam2_write_h_packet (h_pkt);
+    }
+    if (!cc3_uart_has_data (0))
+    {
+      if(fgetc(stdin)=='\r' )
+        break;
+    }
+  } while (!poll_mode);
+
+  free (img.pix);
+  free (h_pkt->hist);
+
+
+}
+
-
-void cmucam2_get_mean (cc3_color_info_pkt_t * s_pkt,
@@ -633 +683 @@
-}
-
+void cmucam2_write_h_packet (cc3_histogram_pkt_t *pkt)
+{
+uint32_t i;
+uint32_t total_pix;
+
+  total_pix=cc3_g_pixbuf_frame.width*cc3_g_pixbuf_frame.height;
+  printf ("H" );
+  for(i=0; i<pkt->bins; i++ )
+  {
+        pkt->hist[i]=(pkt->hist[i]*256)/total_pix;
+        if(pkt->hist[i]>255) pkt->hist[i]=255;
+        printf( " %d",pkt->hist[i] );
+  }
+ printf( "\r" ); 
+}
+
-void cmucam2_write_s_packet (cc3_color_info_pkt_t * pkt)
-{
@@ -674 +740 @@
-  cmucam2_cmds[NOISE_FILTER] = "NF";
-  cmucam2_cmds[GET_TRACK] = "GT";
+  cmucam2_cmds[GET_HISTOGRAM] = "GH";
-  cmucam2_cmds[LED_0] = "L0";
-  cmucam2_cmds[TRACK_INVERT] = "TI";
@@ -691 +758 @@
-  *cmd = 0;
-  c = 0;
-&& c != '\n'
+
-    c = fgetc (stdin);
-    if (length < (MAX_LINE - 1)) {