add working webcam boxfinder

configfinder/configfinder.pde

@@ -0,0 +1,356 @@
+import processing.video.*;
+//on linux: sudo apt-get install libgstreamer-plugins-base0.10-dev libgstreamer0.10-dev libglib2.0-dev
+//          sudo apt-get install gstreamer0.10-plugins-good
+
+import processing.serial.*;
+Serial sPort;
+
+Capture cam;
+
+PImage cam_reference;
+PImage cam_currentbox;
+PGraphics canvas;
+
+
+int currentID=0;
+//int MAXID = 50; //inclusive
+int MAXID = 9;
+int searchstate=0; //0=get reference image and ping box, 1=wait, 2=get image to compare and turn box off, 3=wait
+long starttime_wait=0;
+
+boolean running=false;
+
+color testcolor=color(255,255,255);
+color offcolor=color(0,0,0);
+color successcolor=color(0,255,0);
+color failcolor=color(255,0,0);
+
+static int boxnum=19; //how many boxes are visible?
+ArrayList<Box> boxes=new ArrayList<Box>();
+//result will be written to the following arrays
+//int boxid[] = new int[boxnum]; //for found boxes
+//PVector boxpos[] = new PVector[boxnum]; //center position of box
+//PVector boxsize[] = new PVector[boxnum]; //size of box (width,height)
+
+//Settings
+//int FINDBOXES_MINIMUMBRIGHTNESS; //brightness difference required
+int FINDBOXES_MAXIMUMPIXELDISTANCE; //distance to add pixel to existing box
+PVector MINBOXSIZE; //minimum box size to accept box
+int TIME_FIND = 500; //time in ms to find box in image
+int TIME_RESULT = 250; //time in ms to show success/fail
+int TIME_TURNOFF = 250; //time in ms to wait to turn off
+float MINBRIGHTNESS_PERCENTILE=0.98; //percentile for minbrightness calculation (how many pixels will be considered). between 0(all) and 1(none). 0=all pixels. ->1=only bright pixels 
+int MINIMUMALLOWEDBRIGHTNESS=50; //minimum brightness. will be limited to this lower bound if no box in image (percentile calculation yields low value)
+
+void setup() {
+  size(640, 480);
+  frameRate(30);
+
+  String portName = Serial.list()[0];
+  sPort = new Serial(this, portName, 115200);
+
+
+  canvas = createGraphics(width, height);
+  
+  //FINDBOXES_MINIMUMBRIGHTNESS=60; //brightness difference required
+  FINDBOXES_MAXIMUMPIXELDISTANCE=width/200; //distance to add pixel to existing box
+  MINBOXSIZE = new PVector(width/300,width/300); //minimum box size to accept box
+
+  String[] cameras = Capture.list();
+
+  if (cameras.length == 0) {
+    println("There are no cameras available for capture.");
+    exit();
+  } else {
+    println("Available cameras:");
+    for (int i = 0; i < cameras.length; i++) {
+      println(i+"->"+cameras[i]);
+    }
+
+    // The camera can be initialized directly using an
+    // element from the array returned by list():
+    //cam = new Capture(this, cameras[1]); //windows
+    cam = new Capture(this, cameras[1]); //linux
+    cam.start();
+  }
+  cam_reference=cam.copy();
+}
+
+void draw() {
+
+  if (cam.available() == true) {
+    cam.read();
+  }
+  //image(cam, 0, 0);
+  // The following does the same, and is faster when just drawing the image
+  // without any additional resizing, transformations, or tint.
+  //set(0, 0, cam);
+
+  //Subtract images
+  canvas.beginDraw();
+  canvas.background(0);
+  canvas.blendMode(NORMAL);
+  canvas.image(cam, 0, 0);
+  canvas.blendMode(SUBTRACT);
+  canvas.image(cam_reference, 0, 0);
+  canvas.endDraw();
+
+  image(canvas,0,0); //show camera image
+
+  if (running) {
+    checkState();
+  }
+
+  textSize(12);
+  fill(0,255,150); //textcolor
+  text("id: " + currentID, 10, 20);
+  text("state: " + searchstate, 10, 20*2);
+  
+  //draw boxes
+  for (Box box : boxes) {
+    PVector boxcenter = box.getBoxCenter();
+    PVector boxsize = box.getBoxSize();
+    
+    rectMode(CENTER);
+    noFill();
+    fill(255,255,0,100);
+    stroke(255,0,0);
+    rect(boxcenter.x,boxcenter.y, boxsize.x,boxsize.y);
+    textSize(12);
+    fill(0,255,150); //textcolor
+    text(box.getBoxID(), boxcenter.x,boxcenter.y);
+  }
+}
+
+void checkState() {
+  switch(searchstate) {
+    case 0: //0=get reference image and ping box
+      cam_reference=cam.copy();
+      println("Searching BoxID "+str(currentID));
+
+      
+      colorBox(currentID,testcolor);
+
+      starttime_wait=millis();
+      searchstate++;
+      break;
+
+    case 1: //1=wait
+      if (millis()>starttime_wait + TIME_FIND) { //wait some time
+          searchstate++;
+      }
+      break;
+
+    case 2: //2=get image to compare and turn box off
+      cam_currentbox=canvas.copy();
+
+      Box box = findSingleBox(cam_currentbox); //find single box in this image
+      if (box!=null && (box.getBoxSize().x<MINBOXSIZE.x || box.getBoxSize().y<MINBOXSIZE.y)) { //box too small
+        box=null;
+      }
+      if (box!=null) { //if box found
+        PVector boxsize = box.getBoxSize();
+        float boxarea = boxsize.x * boxsize.y;
+        if (boxarea >= pow(cam_currentbox.width/40,2)) { //if box is big enough
+          box.setBoxID(currentID);
+          boxes.add(box);
+        }
+      }
+      
+      if (box!=null) {
+        println("Found box");
+        println("Pos: "+box.getBoxCenter().x+", "+box.getBoxCenter().y+" | size: "+box.getBoxSize().x+", "+box.getBoxSize().y);
+        colorBox(currentID, successcolor);
+      }else {
+        println("No Box Found!");
+        colorBox(currentID, failcolor);
+      } 
+      
+      starttime_wait=millis();
+      searchstate++;
+      break;
+
+    case 3: //3=wait, color box fail or success
+      if (millis()>starttime_wait + TIME_RESULT) { //wait some time
+          colorBox(currentID,offcolor); //turn box off
+          starttime_wait=millis();
+          searchstate++;
+      }
+      break;
+      
+    case 4: //wait for box to turn off completely
+      if (millis()>starttime_wait + TIME_TURNOFF) { //wait some time
+          starttime_wait=millis();
+          searchstate++;
+      }
+      break;
+
+    case 5: //next box
+      searchstate=0;
+      currentID++;
+      if (currentID>MAXID) {
+        running=false;
+      }
+      break;
+  }
+}
+
+void keyPressed() {
+  if (key == 'n' ){
+    cam_reference=cam.copy();
+    println("New Reference Set");
+
+  } else if (key == 's' ){
+    running=true;
+    colorAllOff(); //turn box off
+    currentID=0; //reset
+    searchstate=0;
+    boxes.clear(); //reset found boxes
+    println("Search started");
+  }
+
+}
+
+int getPercentileBrightness(PImage img, float percentile) { //percentile between 0 and 1
+  println("percentile="+str(percentile));
+  percentile=min(max(percentile,0.0),1.0); //limit to 0 to 1
+  int[] brightness=new int[img.pixels.length];
+  for (int i=0;i<brightness.length;i++) {
+    brightness[i] = int(brightness(img.pixels[i]));
+  }
+  int[] sortedbrightness=sort(brightness);
+  return sortedbrightness[int(percentile*sortedbrightness.length)];
+}
+
+ArrayList<Box> findBoxes(PImage img) {
+  ArrayList<Box> foundboxes=new ArrayList<Box>();
+  int minimumbrightness=getPercentileBrightness(img, MINBRIGHTNESS_PERCENTILE); //calculate brightness by percentile based on minimum box size
+  
+  minimumbrightness=max(minimumbrightness, MINIMUMALLOWEDBRIGHTNESS); //limit lower value 
+  
+  
+  println(" minimumbrightness="+minimumbrightness);
+  for (int y=0;y<img.height;y++) {
+      for (int x=0;x<img.width;x++) {
+        color pcolor = img.get(x,y);
+        
+        if (brightness(pcolor)>minimumbrightness) { //pixel has changed
+            Box nearestBox=null;
+            float nearestBoxDistance=MAX_FLOAT;
+            for (Box cb : foundboxes) { //check all known boxes
+                float cdist = cb.getDistanceTo(new PVector(x,y));
+                if (cdist<=FINDBOXES_MAXIMUMPIXELDISTANCE && cdist<nearestBoxDistance) { //is near this box and closer than to another box before
+                  nearestBox=cb; //remeber box
+                  nearestBoxDistance=cdist; //remember distance
+                }
+            }
+            if (nearestBox==null) { //no box near this pixel
+              Box newbox=new Box(); //create new box
+              newbox.addPixel(new PVector(x,y));
+              foundboxes.add(newbox); //add
+            } else {
+              nearestBox.addPixel(new PVector(x,y)); //add this pixel to near box
+            }
+        }
+      }
+    }
+    
+    println(" findBoxes(): foundboxes.size="+foundboxes.size());
+    return foundboxes;
+}
+
+Box findSingleBox(PImage img) {
+  ArrayList<Box> foundboxes = findBoxes(img);
+  Box mostPixelBox=null;
+  for (Box box : foundboxes) {
+    if (mostPixelBox == null || mostPixelBox.getPixelNumber()<box.getPixelNumber()) { //found box with more pixels
+      mostPixelBox=box;
+    }
+  }
+  return mostPixelBox;
+}
+
+public class Box {
+   ArrayList<PVector> boxpixels;
+   int boxid;
+   
+   public Box() {
+     boxpixels = new ArrayList<PVector>();
+   }
+   
+   public void addPixel(PVector newpix) {
+     boxpixels.add(newpix); 
+   }
+   
+   public ArrayList<PVector> getPixels() {
+     return boxpixels;
+   }
+   
+   public void setBoxID(int pid) {
+     this.boxid=pid;
+   }
+   public int getBoxID() {
+     return this.boxid;
+   }
+   
+   public float getDistanceTo(PVector pix) { //get distance from pix to nearest point of this box
+     float mindist=MAX_FLOAT;
+     for (PVector pbox : boxpixels) {
+       float currentdist = sqrt(pow(pix.x-pbox.x,2)+pow(pix.y-pbox.y,2)); //calculate distance
+       mindist=min(currentdist,mindist); //save new minimum
+     }
+     return mindist;
+   }
+   
+   public PVector getMeanPos(){
+     PVector meanvec= new PVector(0,0);
+     for (PVector pbox : boxpixels) {
+      meanvec.x+=pbox.x;
+      meanvec.y+=pbox.y;
+     }
+     meanvec.x/=boxpixels.size();
+     meanvec.y/=boxpixels.size();
+     return meanvec;
+   }
+   
+   public PVector getBoxSize(){ //returns widht and height as vector
+     PVector upperleft= new PVector(MAX_FLOAT,MAX_FLOAT); //min x and y
+     PVector lowerright= new PVector(0,0); //max x and y
+     for (PVector pbox : boxpixels) {
+       upperleft.x=min(upperleft.x, pbox.x);
+       upperleft.y=min(upperleft.y, pbox.y);
+       
+       lowerright.x=max(lowerright.x, pbox.x);
+       lowerright.y=max(lowerright.y, pbox.y);
+     }
+     PVector boxsize = new PVector(lowerright.x-upperleft.x, lowerright.y-upperleft.y);
+     return boxsize;
+   }
+   
+   public PVector getBoxCenter(){ //returns widht and height as vector
+     PVector upperleft= new PVector(MAX_FLOAT,MAX_FLOAT); //min x and y
+     PVector lowerright= new PVector(0,0); //max x and y
+     for (PVector pbox : boxpixels) {
+       upperleft.x=min(upperleft.x, pbox.x);
+       upperleft.y=min(upperleft.y, pbox.y);
+       
+       lowerright.x=max(lowerright.x, pbox.x);
+       lowerright.y=max(lowerright.y, pbox.y);
+     }
+     PVector boxcenter = new PVector((lowerright.x+upperleft.x)/2, (lowerright.y+upperleft.y)/2);
+     return boxcenter;
+   }
+   
+   public int getPixelNumber()  {
+      return this.boxpixels.size(); 
+   }
+}
+
+void colorBox(int id, color c) 
+{
+  sPort.write("B,"+str(id)+","+str(0)+","+int(red(c))+","+int(green(c))+","+int(blue(c))+"\n"); 
+}
+void colorAllOff() 
+{
+  sPort.write("A,0\n"); 
+}