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-rw-r--r--mariokart01.cpp227
1 files changed, 183 insertions, 44 deletions
diff --git a/mariokart01.cpp b/mariokart01.cpp
index 1f7ddde..5f2a862 100644
--- a/mariokart01.cpp
+++ b/mariokart01.cpp
@@ -205,6 +205,111 @@ void XorgGrabber::read(Mat& mat)
mat.addref();
}
+
+
+class Joystick
+{
+ public:
+ Joystick();
+ ~Joystick();
+
+ void steer(float dir);
+ void throttle(float t);
+
+ void process();
+
+ private:
+ float throt;
+ int throttle_cnt;
+
+ int fd;
+};
+
+Joystick::Joystick()
+{
+ fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK);
+ if(fd < 0) {
+ cerr << "open failed" << endl;
+ exit(EXIT_FAILURE);
+ }
+
+ int ret;
+
+ ret=ioctl(fd, UI_SET_EVBIT, EV_KEY);
+ ret=ioctl(fd, UI_SET_EVBIT, EV_SYN);
+ ret=ioctl(fd, UI_SET_KEYBIT , BTN_A);
+ ioctl(fd, UI_SET_EVBIT, EV_ABS);
+ ioctl(fd, UI_SET_ABSBIT, ABS_X);
+ ioctl(fd, UI_SET_ABSBIT, ABS_Y);
+
+ struct uinput_user_dev meh;
+ memset(&meh,0,sizeof(meh));
+
+ strcpy(meh.name, "flotest");
+ meh.id.bustype=BUS_USB;
+ meh.id.vendor=0xdead;
+ meh.id.product=0xbeef;
+ meh.id.version=1;
+ meh.absmin[ABS_X]=0;
+ meh.absmax[ABS_X]=10000;
+ meh.absmin[ABS_Y]=0;
+ meh.absmax[ABS_Y]=10000;
+
+
+ ret=write(fd, &meh, sizeof(meh));
+
+ ioctl(fd,UI_DEV_CREATE);
+
+
+ struct input_event ev;
+ ev.type=EV_ABS;
+ ev.code=ABS_Y;
+ ev.value=5000+dir*5000;
+ write(fd, &ev, sizeof(ev));
+
+ steer(0);
+ throttle(0);
+ process();
+}
+
+Joystick::~Joystick()
+{
+ ioctl(fd, UI_DEV_DESTROY);
+ close(fd);
+}
+
+void Joystick::steer(float dir)
+{
+ if (dir<-1.0) dir=-1.0;
+ if (dir>1.0) dir=1.0;
+
+ struct input_event ev;
+ ev.type=EV_ABS;
+ ev.code=ABS_X;
+ ev.value=5000+dir*5000;
+ write(fd, &ev, sizeof(ev));
+}
+
+void Joystick::throttle(float t)
+{
+ if (t<0.0) t=0.0;
+ if (t>1.0) t=1.0;
+
+ throt=t;
+}
+
+void Joystick::process()
+{
+ throttle_cnt++;
+ if (throttle_cnt>THROTTLE_CNT_MAX) throttle_cnt=0;
+
+ struct input_event ev;
+ ev.type=EV_KEY;
+ ev.code=BTN_A;
+ ev.value = (throttle_cnt < throt*THROTTLE_CNT_MAX) ? 1 : 0;
+ write(fd, &ev, sizeof(ev));
+}
+
/*
int main()
{
@@ -224,7 +329,7 @@ int main()
#define HIST_SMOOTH 7
- //#define NO_BRIGHTN/SS // will man nicht, nur zu demonstrationszwecken
+//#define NO_BRIGHTNESS // will man nicht, nur zu demonstrationszwecken
#define ERODE_RADIUS_2D 4
@@ -250,9 +355,23 @@ Mat circle_mat(int radius)
return result;
}
+
+
+int crosshair_x=0, crosshair_y=0;
+
+void mouse_callback(int event, int x, int y, int flags, void* userdata)
+{
+ if (event==EVENT_LBUTTONDOWN)
+ {
+ crosshair_x=x;
+ crosshair_y=y;
+ }
+}
+
+
int main(int argc, char* argv[])
{
- XorgGrabber capture("Mupen64Plus OpenGL Video");
+ XorgGrabber capture("Mupen64Plus OpenGL Video");
int road_0=77, road_1=77, road_2=77;
@@ -261,30 +380,19 @@ int main(int argc, char* argv[])
bool first=true;
int xlen, ylen;
- Mat erode_2d(ERODE_RADIUS_2D*2+1, ERODE_RADIUS_2D*2+1, CV_8U);
- for (int x=0; x<=erode_2d.cols/2; x++)
- for (int y=0; y<=erode_2d.rows/2; y++)
- {
- unsigned char& p1 = erode_2d.at<unsigned char>(erode_2d.cols/2 + x, erode_2d.rows/2 + y);
- unsigned char& p2 = erode_2d.at<unsigned char>(erode_2d.cols/2 - x, erode_2d.rows/2 + y);
- unsigned char& p3 = erode_2d.at<unsigned char>(erode_2d.cols/2 + x, erode_2d.rows/2 - y);
- unsigned char& p4 = erode_2d.at<unsigned char>(erode_2d.cols/2 - x, erode_2d.rows/2 - y);
-
- if ( x*x + y*y < ERODE_RADIUS_2D*ERODE_RADIUS_2D )
- p1=p2=p3=p4=255;
- else
- p1=p2=p3=p4=0;
- }
+ Mat erode_2d_big=circle_mat(10);
#define trans_width 600
#define trans_height 400
#define road_width 100
+ namedWindow("edit");
+ setMouseCallback("edit", mouse_callback, NULL);
+
while(1)
{
Mat img_;
-
capture.read(img_);
if (first)
@@ -301,16 +409,13 @@ int main(int argc, char* argv[])
first=false;
}
assert ((img_.cols==xlen) && (img_.rows==ylen));
-
- namedWindow("orig");
- namedWindow("edit");
-
+
Mat img, img2;
img_.convertTo(img, CV_8UC3, 1); //FINDMICH
img.copyTo(img2);
#ifdef NO_BRIGHTNESS
- assert(img2.type()==CV_8UC3);
+ //assert(img2.type()==CV_8UC3);
for (int row = 0; row<img2.rows; row++)
{
uchar* data=img2.ptr<uchar>(row);
@@ -330,13 +435,13 @@ int main(int argc, char* argv[])
data[1]=255/3;
data[2]=255/3;
}
- data+=3;
+ data+=img2.step[1];
}
}
#endif
- Mat img_diff(img.rows, img.cols, CV_8U);
+ Mat img_diff(img2.rows, img2.cols, CV_8U);
int hist[256];
for (int i=0; i<256; i++) hist[i]=0;
for (int row = 0; row<img2.rows; row++)
@@ -347,9 +452,10 @@ int main(int argc, char* argv[])
for (int col=0; col<img2.cols;col++)
{
int diff = (abs((int)data[0] - road_0) + abs((int)data[1] - road_1) + abs((int)data[2] - road_2)) /3;
+ if (diff>255) { cout << "error, diff is" << diff << endl; diff=255; }
*data_out=diff;
hist[diff]++;
- data+=3;
+ data+=img2.step[1];
data_out++;
}
}
@@ -371,7 +477,7 @@ int main(int argc, char* argv[])
for (x_begin=0;x_begin<256;x_begin++)
{
cumul+=hist[x_begin];
- if (cumul > img.rows*img.cols/100) break;
+ if (cumul > img2.rows*img2.cols/100) break;
}
int hist_max=0;
@@ -410,33 +516,43 @@ int main(int argc, char* argv[])
erode(img_thres, img_eroded, Mat::ones(3, 3, CV_8U));
dilate(img_eroded, img_thres2, Mat::ones(3, 3, CV_8U));
-
+ dilate(img_thres2, img_eroded, erode_2d_big);
+ erode(img_eroded, img_thres2, erode_2d_big);
assert(img.rows==img_eroded.rows);
assert(img.cols==img_eroded.cols);
int avg_sum=0;
- road_0=road_1=road_2=0;
- for (int row = 0; row<img.rows; row++)
+ int r0=0, r1=0, r2=0;
+ int left_sum=0, right_sum=0;
+ for (int row = 0; row<img2.rows; row++)
{
- uchar* data=img.ptr<uchar>(row);
+ uchar* data=img2.ptr<uchar>(row);
uchar* mask=img_eroded.ptr<uchar>(row);
int mean_value_line_sum=0;
int mean_value_line_cnt=0;
int mean_value_line;
- for (int col=0; col<img.cols;col++)
+ for (int col=0; col<img2.cols;col++)
{
if (*mask)
{
+ if (row<=crosshair_y)
+ {
+ if (col < crosshair_x)
+ left_sum++;
+ else
+ right_sum++;
+ }
+
avg_sum++;
mean_value_line_sum+=col;
mean_value_line_cnt++;
- road_0+=data[0];
- road_1+=data[1];
- road_2+=data[2];
+ r0+=data[0];
+ r1+=data[1];
+ r2+=data[2];
}
- data+=3;
+ data+=img.step[1];
mask++;
}
@@ -446,29 +562,30 @@ int main(int argc, char* argv[])
int variance_line=0;
int stddev_line;
uchar* mask=img_eroded.ptr<uchar>(row);
- for (int col=0; col<img.cols;col++)
+ data=img2.ptr<uchar>(row);
+ for (int col=0; col<img2.cols;col++)
{
if (*mask)
variance_line+=(col-mean_value_line)*(col-mean_value_line);
- data+=3;
+ data+=img2.step[1];
mask++;
}
variance_line/=mean_value_line_cnt;
stddev_line=sqrt(variance_line);
- if (mean_value_line>1 && mean_value_line < img.cols-2)
+ if (mean_value_line>1 && mean_value_line < img2.cols-2)
{
img_stddev.ptr<uchar>(row)[mean_value_line-1]=255;
img_stddev.ptr<uchar>(row)[mean_value_line]=255;
img_stddev.ptr<uchar>(row)[mean_value_line+1]=255;
}
- if ((mean_value_line+stddev_line)>1 && (mean_value_line+stddev_line) < img.cols-2)
+ if ((mean_value_line+stddev_line)>1 && (mean_value_line+stddev_line) < img2.cols-2)
{
img_stddev.ptr<uchar>(row)[mean_value_line-1+stddev_line]=255;
img_stddev.ptr<uchar>(row)[mean_value_line+stddev_line]=255;
img_stddev.ptr<uchar>(row)[mean_value_line+1+stddev_line]=255;
}
- if ((mean_value_line-stddev_line)>1 && (mean_value_line-stddev_line) < img.cols-2)
+ if ((mean_value_line-stddev_line)>1 && (mean_value_line-stddev_line) < img2.cols-2)
{
img_stddev.ptr<uchar>(row)[mean_value_line-1-stddev_line]=255;
img_stddev.ptr<uchar>(row)[mean_value_line-stddev_line]=255;
@@ -479,9 +596,9 @@ int main(int argc, char* argv[])
if (avg_sum>20)
{
- road_0/=avg_sum;
- road_1/=avg_sum;
- road_2/=avg_sum;
+ road_0=r0/avg_sum;
+ road_1=r1/avg_sum;
+ road_2=r2/avg_sum;
}
/*
@@ -498,14 +615,36 @@ int main(int argc, char* argv[])
*/
- imshow("orig", img);
+ img2.row(crosshair_y)=Scalar(255,0,0);
+ img2.col(crosshair_x)=Scalar(255,0,0);
+ img_diff.row(crosshair_y)=255;
+ img_diff.col(crosshair_x)=255;
+ img_thres2.row(crosshair_y)=128;
+ img_thres2.col(crosshair_x)=128;
+ img_stddev.row(crosshair_y)=255;
+ img_stddev.col(crosshair_x)=255;
+
+ Mat steer=Mat::zeros(20,1920,CV_8U);
+ steer.col( steer.cols /2 )=128;
+ if (left_sum+right_sum>0)
+ {
+ int x = steer.cols * left_sum / (left_sum+right_sum);
+ steer.col(x) = 255;
+ if (x-1 > 0 ) steer.col(x-1)=240;
+ if (x+1 < steer.cols) steer.col(x+1)=240;
+ }
+
+ //imshow("orig", img);
imshow("edit", img2);
//imshow("perspective", img_perspective);
imshow("diff", img_diff);
imshow("hist", img_hist);
imshow("thres", img_thres2);
imshow("stddev", img_stddev);
+ imshow("steer", steer);
+ Mat road_color(100,100, CV_8UC3, Scalar(road_0, road_1, road_2));
+ imshow("road_color", road_color);
waitKey(1000/50);
//waitKey();
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-22 21:34:07 +0000