cv_detect_color_object.c

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/*
 * Copyright (C) 2019 Kirk Scheper <kirkscheper@gmail.com>
 *
 * This file is part of Paparazzi.
 *
 * Paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * Paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
// Own header
#include "modules/computer_vision/cv_detect_color_object.h"
#include "modules/computer_vision/cv.h"
#include "subsystems/abi.h"
#include "std.h"
 
#include <stdio.h>
#include <stdbool.h>
#include <math.h>
#include "pthread.h"
 
#define PRINT(string,...) fprintf(stderr, "[object_detector->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)
#if OBJECT_DETECTOR_VERBOSE
#define VERBOSE_PRINT PRINT
#else
#define VERBOSE_PRINT(...)
#endif
 
static pthread_mutex_t mutex;
 
#ifndef COLOR_OBJECT_DETECTOR_FPS1
#define COLOR_OBJECT_DETECTOR_FPS1 0 
#endif
#ifndef COLOR_OBJECT_DETECTOR_FPS2
#define COLOR_OBJECT_DETECTOR_FPS2 0 
#endif
 
// Filter Settings
uint8_t cod_lum_min1 = 0;
uint8_t cod_lum_max1 = 0;
uint8_t cod_cb_min1 = 0;
uint8_t cod_cb_max1 = 0;
uint8_t cod_cr_min1 = 0;
uint8_t cod_cr_max1 = 0;
 
uint8_t cod_lum_min2 = 0;
uint8_t cod_lum_max2 = 0;
uint8_t cod_cb_min2 = 0;
uint8_t cod_cb_max2 = 0;
uint8_t cod_cr_min2 = 0;
uint8_t cod_cr_max2 = 0;
 
bool cod_draw1 = false;
bool cod_draw2 = false;
 
// define global variables
struct color_object_t {
  int32_t x_c;
  int32_t y_c;
  uint32_t color_count;
  bool updated;
};
struct color_object_t global_filters[2];
 
// Function
uint32_t find_object_centroid(struct image_t *img, int32_t* p_xc, int32_t* p_yc, bool draw,
                              uint8_t lum_min, uint8_t lum_max,
                              uint8_t cb_min, uint8_t cb_max,
                              uint8_t cr_min, uint8_t cr_max);
 
/*
 * object_detector
 * @param img - input image to process
 * @param filter - which detection filter to process
 * @return img
 */
static struct image_t *object_detector(struct image_t *img, uint8_t filter)
{
  uint8_t lum_min, lum_max;
  uint8_t cb_min, cb_max;
  uint8_t cr_min, cr_max;
  bool draw;
 
  switch (filter){
    case 1:
      lum_min = cod_lum_min1;
      lum_max = cod_lum_max1;
      cb_min = cod_cb_min1;
      cb_max = cod_cb_max1;
      cr_min = cod_cr_min1;
      cr_max = cod_cr_max1;
      draw = cod_draw1;
      break;
    case 2:
      lum_min = cod_lum_min2;
      lum_max = cod_lum_max2;
      cb_min = cod_cb_min2;
      cb_max = cod_cb_max2;
      cr_min = cod_cr_min2;
      cr_max = cod_cr_max2;
      draw = cod_draw2;
      break;
    default:
      return img;
  };
 
  int32_t x_c, y_c;
 
  // Filter and find centroid
  uint32_t count = find_object_centroid(img, &x_c, &y_c, draw, lum_min, lum_max, cb_min, cb_max, cr_min, cr_max);
  VERBOSE_PRINT("Color count %d: %u, threshold %u, x_c %d, y_c %d\n", camera, object_count, count_threshold, x_c, y_c);
  VERBOSE_PRINT("centroid %d: (%d, %d) r: %4.2f a: %4.2f\n", camera, x_c, y_c,
        hypotf(x_c, y_c) / hypotf(img->w * 0.5, img->h * 0.5), RadOfDeg(atan2f(y_c, x_c)));
 
  pthread_mutex_lock(&mutex);
  global_filters[filter-1].color_count = count;
  global_filters[filter-1].x_c = x_c;
  global_filters[filter-1].y_c = y_c;
  global_filters[filter-1].updated = true;
  pthread_mutex_unlock(&mutex);
 
  return img;
}
 
struct image_t *object_detector1(struct image_t *img, uint8_t camera_id);
struct image_t *object_detector1(struct image_t *img, uint8_t camera_id __attribute__((unused)))
{
  return object_detector(img, 1);
}
 
struct image_t *object_detector2(struct image_t *img, uint8_t camera_id);
struct image_t *object_detector2(struct image_t *img, uint8_t camera_id __attribute__((unused)))
{
  return object_detector(img, 2);
}
 
void color_object_detector_init(void)
{
  memset(global_filters, 0, 2*sizeof(struct color_object_t));
  pthread_mutex_init(&mutex, NULL);
#ifdef COLOR_OBJECT_DETECTOR_CAMERA1
#ifdef COLOR_OBJECT_DETECTOR_LUM_MIN1
  cod_lum_min1 = COLOR_OBJECT_DETECTOR_LUM_MIN1;
  cod_lum_max1 = COLOR_OBJECT_DETECTOR_LUM_MAX1;
  cod_cb_min1 = COLOR_OBJECT_DETECTOR_CB_MIN1;
  cod_cb_max1 = COLOR_OBJECT_DETECTOR_CB_MAX1;
  cod_cr_min1 = COLOR_OBJECT_DETECTOR_CR_MIN1;
  cod_cr_max1 = COLOR_OBJECT_DETECTOR_CR_MAX1;
#endif
#ifdef COLOR_OBJECT_DETECTOR_DRAW1
  cod_draw1 = COLOR_OBJECT_DETECTOR_DRAW1;
#endif
 
  cv_add_to_device(&COLOR_OBJECT_DETECTOR_CAMERA1, object_detector1, COLOR_OBJECT_DETECTOR_FPS1, 0);
#endif
 
#ifdef COLOR_OBJECT_DETECTOR_CAMERA2
#ifdef COLOR_OBJECT_DETECTOR_LUM_MIN2
  cod_lum_min2 = COLOR_OBJECT_DETECTOR_LUM_MIN2;
  cod_lum_max2 = COLOR_OBJECT_DETECTOR_LUM_MAX2;
  cod_cb_min2 = COLOR_OBJECT_DETECTOR_CB_MIN2;
  cod_cb_max2 = COLOR_OBJECT_DETECTOR_CB_MAX2;
  cod_cr_min2 = COLOR_OBJECT_DETECTOR_CR_MIN2;
  cod_cr_max2 = COLOR_OBJECT_DETECTOR_CR_MAX2;
#endif
#ifdef COLOR_OBJECT_DETECTOR_DRAW2
  cod_draw2 = COLOR_OBJECT_DETECTOR_DRAW2;
#endif
 
  cv_add_to_device(&COLOR_OBJECT_DETECTOR_CAMERA2, object_detector2, COLOR_OBJECT_DETECTOR_FPS2, 1);
#endif
}
 
/*
 * find_object_centroid
 *
 * Finds the centroid of pixels in an image within filter bounds.
 * Also returns the amount of pixels that satisfy these filter bounds.
 *
 * @param img - input image to process formatted as YUV422.
 * @param p_xc - x coordinate of the centroid of color object
 * @param p_yc - y coordinate of the centroid of color object
 * @param lum_min - minimum y value for the filter in YCbCr colorspace
 * @param lum_max - maximum y value for the filter in YCbCr colorspace
 * @param cb_min - minimum cb value for the filter in YCbCr colorspace
 * @param cb_max - maximum cb value for the filter in YCbCr colorspace
 * @param cr_min - minimum cr value for the filter in YCbCr colorspace
 * @param cr_max - maximum cr value for the filter in YCbCr colorspace
 * @param draw - whether or not to draw on image
 * @return number of pixels of image within the filter bounds.
 */
uint32_t find_object_centroid(struct image_t *img, int32_t* p_xc, int32_t* p_yc, bool draw,
                              uint8_t lum_min, uint8_t lum_max,
                              uint8_t cb_min, uint8_t cb_max,
                              uint8_t cr_min, uint8_t cr_max)
{
  uint32_t cnt = 0;
  uint32_t tot_x = 0;
  uint32_t tot_y = 0;
  uint8_t *buffer = img->buf;
 
  // Go through all the pixels
  for (uint16_t y = 0; y < img->h; y++) {
    for (uint16_t x = 0; x < img->w; x ++) {
      // Check if the color is inside the specified values
      uint8_t *yp, *up, *vp;
      if (x % 2 == 0) {
        // Even x
        up = &buffer[y * 2 * img->w + 2 * x];      // U
        yp = &buffer[y * 2 * img->w + 2 * x + 1];  // Y1
        vp = &buffer[y * 2 * img->w + 2 * x + 2];  // V
        //yp = &buffer[y * 2 * img->w + 2 * x + 3]; // Y2
      } else {
        // Uneven x
        up = &buffer[y * 2 * img->w + 2 * x - 2];  // U
        //yp = &buffer[y * 2 * img->w + 2 * x - 1]; // Y1
        vp = &buffer[y * 2 * img->w + 2 * x];      // V
        yp = &buffer[y * 2 * img->w + 2 * x + 1];  // Y2
      }
      if ( (*yp >= lum_min) && (*yp <= lum_max) &&
           (*up >= cb_min ) && (*up <= cb_max ) &&
           (*vp >= cr_min ) && (*vp <= cr_max )) {
        cnt ++;
        tot_x += x;
        tot_y += y;
        if (draw){
          *yp = 255;  // make pixel brighter in image
        }
      }
    }
  }
  if (cnt > 0) {
    *p_xc = (int32_t)roundf(tot_x / ((float) cnt) - img->w * 0.5f);
    *p_yc = (int32_t)roundf(img->h * 0.5f - tot_y / ((float) cnt));
  } else {
    *p_xc = 0;
    *p_yc = 0;
  }
  return cnt;
}
 
void color_object_detector_periodic(void)
{
  static struct color_object_t local_filters[2];
  pthread_mutex_lock(&mutex);
  memcpy(local_filters, global_filters, 2*sizeof(struct color_object_t));
  pthread_mutex_unlock(&mutex);
 
  if(local_filters[0].updated){
    AbiSendMsgVISUAL_DETECTION(COLOR_OBJECT_DETECTION1_ID, local_filters[0].x_c, local_filters[0].y_c,
        0, 0, local_filters[0].color_count, 0);
    local_filters[0].updated = false;
  }
  if(local_filters[1].updated){
    AbiSendMsgVISUAL_DETECTION(COLOR_OBJECT_DETECTION2_ID, local_filters[1].x_c, local_filters[1].y_c,
        0, 0, local_filters[1].color_count, 1);
    local_filters[1].updated = false;
  }
}