projects/microb2010/sensorboard/img_processing.h

   1
   2
   3
   4 typedef struct _Object_bb
   5 {
   6         uint8_t x_min;
   7         uint8_t x_max;
   8         uint8_t y_min;
   9         uint8_t y_max;
  10         uint16_t len;
  11 }Object_bb;
  12
  13 #define POLY_MAX_PTS 12
  14 typedef struct _Object_poly
  15 {
  16         uint16_t pixels_perim;
  17         uint16_t pts_num;
  18         point_t pts[POLY_MAX_PTS];
  19         uint16_t len;
  20         uint8_t color;
  21 }Object_poly;
  22
  23
  24 typedef struct _zone
  25 {
  26         point_t p;
  27         uint8_t h:7;
  28         uint8_t valid:1;
  29 }zone;
  30
  31
  32 typedef struct _drop_column_zone
  33 {
  34         uint8_t valid;
  35         uint8_t z;
  36         uint8_t h;
  37 }drop_column_zone;
  38
  39 typedef struct _drop_lintel_zone
  40 {
  41         uint8_t valid;
  42         uint8_t z1;
  43         uint8_t h;
  44         uint8_t z2;
  45 }drop_lintel_zone;
  46
  47
  48
  49
  50 #define MAX_ZONES 30
  51
  52 #define MAX_SISTER_PER_ZONE 1
  53
  54
  55
  56 unsigned char *parcour_img(unsigned char* data, int16_t x_in, int16_t y_in, Object_bb *sac_obj, Object_poly *sac_obj_poly, int16_t max_obj);
  57
  58 float vect_get_angle(vect_t*v, vect_t* w);
  59
  60 void object_poly_get_min_ar(Object_poly *o, unsigned int *pts_index_out, vect_t *v_out, vect_t *r1, vect_t*r2);
  61
  62 void draw_pt_vect(unsigned char *buf, int16_t x_in, int16_t y_in, vect_t *v, point_t p);
  63
  64 void vect_rot_trigo(vect_t* v);
  65
  66 int object_poly_caliper_to_rectangle(Object_poly *o,
  67                                      unsigned int *pts_index_out, vect_t* caliper,
  68                                      vect_t *r1, vect_t*r2, point_t *p);
  69
  70 int split_rectangle(point_t *p, vect_t *r1, vect_t* r2, uint8_t max_zone, zone* zones, uint8_t color);
  71
  72
  73
  74 int zone_filtre_min_surface(unsigned char* data, int16_t x_in, int16_t y_in,
  75                             uint8_t color, unsigned int num_zone, zone* p);
  76
  77 void reset_drop_zone(void);
  78 void display_drop_zones(uint8_t n_columns, uint8_t n_lintels, zone* zones);
  79
  80 unsigned int solve_objects_dropping(unsigned int points, unsigned int points_max,
  81                                     uint8_t n_columns, uint8_t n_lintels,
  82                                     uint8_t zones_num, zone* zones, int8_t sisters[MAX_ZONES][MAX_SISTER_PER_ZONE], uint8_t working_zone);
  83
  84 uint8_t process_img(unsigned char *buffer, int16_t x_in, int16_t y_in,
  85                     zone * all_zones, uint8_t max_zones);
  86
  87
  88 uint8_t color2h(uint8_t color);
  89 uint8_t h2color(uint8_t color);
  90
  91 int8_t get_column_dropzone(unsigned char *buffer, int16_t x_in, int16_t y_in,
  92                            uint8_t working_zone, int16_t center_x, int16_t center_y,
  93                            int16_t * dropzone_x, int16_t * dropzone_y);
  94
  95
  96 uint8_t is_temple_there(unsigned char * buffer, int16_t x_in, int16_t y_in,
  97                         uint8_t h, int16_t center_x, int16_t center_y);
  98
  99
 100
 101 int8_t find_temple_dropzone(unsigned char *buffer, int16_t x_in, int16_t y_in,
 102                             uint8_t working_zone, int16_t center_x, int16_t center_y,
 103                             int16_t * dropzone_x, int16_t * dropzone_y);
 104
 105 void process_img_to_zone(unsigned char *buffer, int16_t x_in, int16_t y_in);
 106
 107 #define PIXEL2CM (300./27.)
 108
 109
 110 extern uint8_t g_zone_num;
 111 extern zone g_all_zones[MAX_ZONES];