/** Simple example of background segmentation for a Robocup football field. We want to label each coloe by its pure color. We change nay kinds of green to pure green. We also do this for yellow, white, orange and red color. Any color, that the program doesn't regcognize, it will change to a black color. */ /** This program requires the PPM library (part of the netpbm package). Try "man libppm" for documentation. */ #include #include /** Process an image by marking "background" pixels red. */ void ProcessImage( pixel **pPixelIn, /* Input pixel data */ pixel **pPixelOut, /* Output pixel data */ int cCols, /* Number of columns in input/output imgs */ int cRows, /* Number of rows in input/output imgs */ pixval pixvalMax /* Maximum pixel value */ ); bool checkGreenColor ( pixval pixvalR, pixval pixvalG, pixval pixvalB, pixval pixvalMax ); bool checkYellowColor ( pixval pixvalR, pixval pixvalG, pixval pixvalB, pixval pixvalMax ); bool checkOrangeColor ( pixval pixvalR, pixval pixvalG, pixval pixvalB, pixval pixvalMax ); bool checkRedColor ( pixval pixvalR, pixval pixvalG, pixval pixvalB, pixval pixvalMax ); bool checkWhiteColor ( pixval pixvalR, pixval pixvalG, pixval pixvalB, pixval pixvalMax ); /** Main */ int main( int argc, /**< Number of input arguments */ char *argv[] /**< Input arguments */ ) { pixel **ppPixelIn; pixel **ppPixelOut; int cCols, cRows; pixval pixvalMax; FILE *pFile; /* Initialize the PPM library */ ppm_init( &argc, argv ); /* Open the PPM file */ pFile = fopen( "field.ppm", "r" ); if ( pFile == NULL ) { fprintf( stderr, "%s %d: could not open field.ppm\n", __FILE__, __LINE__ ); exit( -1 ); } /* Read the image file in its entirety into memory */ ppPixelIn = ppm_readppm( pFile, &cCols, &cRows, &pixvalMax ); if ( ppPixelIn == NULL ) { fprintf( stderr, "%s %d: could not read pixel data from field.ppm\n", __FILE__, __LINE__ ); exit( -1 ); } fclose( pFile ); /* Allocate a new PPM of the same size */ ppPixelOut = ppm_allocarray( cCols, cRows ); if ( ppPixelOut == NULL ) { fprintf( stderr, "%s %d: could not allocate pixel data\n", __FILE__, __LINE__ ); exit( -1 ); } /* Process the input image, writing new data to the output image */ ProcessImage( ppPixelIn, ppPixelOut, cCols, cRows, pixvalMax ); /* Open output file */ pFile = fopen( "fieldout.ppm", "w" ); if ( pFile == NULL ) { fprintf( stderr, "%s %d: could not create fieldout.ppm\n", __FILE__, __LINE__ ); exit( -1 ); } /* Write output image to the output file */ ppm_writeppm( pFile, ppPixelOut, cCols, cRows, pixvalMax, 0 ); fclose( pFile ); return 0; } /** Process an image by marking "background" pixels red. */ void ProcessImage( pixel **pPixelIn, pixel **pPixelOut, int cCols, int cRows, pixval pixvalMax ) { int iRow, iCol; /* For each row and column of the image */ for ( iRow = 0; iRow < cRows; iRow++ ) { for ( iCol = 0; iCol < cCols; iCol++ ) { /* Extract the red, green, and blue components of the pixel */ pixval pixvalR = PPM_GETR( pPixelIn[iRow][iCol] ); pixval pixvalG = PPM_GETG( pPixelIn[iRow][iCol] ); pixval pixvalB = PPM_GETB( pPixelIn[iRow][iCol] ); if(checkGreenColor(pixvalR,pixvalG,pixvalB,pixvalMax)) { //change any green pixel to a pure green pixel pixvalR = 0; pixvalG = 225; pixvalB = 0; } else if (checkOrangeColor(pixvalR,pixvalG,pixvalB,pixvalMax)) { //change any orange pixel to a pure orange pixel pixvalR = 255; pixvalG = 113; pixvalB = 9; } else if (checkYellowColor(pixvalR,pixvalG,pixvalB,pixvalMax)) { //change any yellow pixel to a pure yellow pixel pixvalR = 255; pixvalG = 245; pixvalB = 45; } else if (checkRedColor(pixvalR,pixvalG,pixvalB,pixvalMax)) { //change any red pixel to a pure red pixel pixvalR = 255; pixvalG = 44; pixvalB = 3; } else if (checkWhiteColor(pixvalR,pixvalG,pixvalB,pixvalMax)) { //change any white pixel to a pure white pixel pixvalR = 255; pixvalG = 255; pixvalB = 255; } else { //change unclassified color to black pixvalR = 0; pixvalG = 0; pixvalB = 0; } //////////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* Write the pixel value to the output image */ PPM_ASSIGN( pPixelOut[iRow][iCol], pixvalR, pixvalG, pixvalB ); } } } bool checkWhiteColor ( pixval pixvalR, pixval pixvalG, pixval pixvalB, pixval pixvalMax ) { //check if the red component is ok if ( pixvalR >= 0.96 * pixvalMax ) { //check if the green component is ok if (pixvalG >= 0.96 * pixvalMax ) { //check the blue component is ok if ( pixvalB >= 0.96 * pixvalMax ) { return TRUE; } } } return FALSE; } bool checkRedColor ( pixval pixvalR, pixval pixvalG, pixval pixvalB, pixval pixvalMax ) { //check if the red component is ok if ( pixvalR >= 0.80 * pixvalMax ) { //check if the green component is ok if (pixvalG >= 0.16 * pixvalMax && pixvalG <= 0.34 * pixvalMax) { //check the blue component is ok if ( pixvalB <= 0.4 * pixvalMax) { return TRUE; } } } return FALSE; } bool checkOrangeColor ( pixval pixvalR, pixval pixvalG, pixval pixvalB, pixval pixvalMax ) { //check if the red component is ok if ( pixvalR >= 0.95 * pixvalMax ) { //check if the green component is ok if (pixvalG >= 0.38 * pixvalMax && pixvalG <= 0.81 * pixvalMax) { //check the blue component is ok if ( pixvalB <= 0.11 * pixvalMax) { return TRUE; } } } return FALSE; } bool checkYellowColor ( pixval pixvalR, pixval pixvalG, pixval pixvalB, pixval pixvalMax ) { //check if the red component is ok if ( pixvalR >= 0.94 * pixvalMax ) { //check if the green component is ok if (pixvalG >= 0.77) { //check the blue component is ok if (pixvalB >= 0.04 * pixvalMax && pixvalB <= 0.47 * pixvalMax) { return TRUE; } } } return FALSE; } bool checkGreenColor ( pixval pixvalR, pixval pixvalG, pixval pixvalB, pixval pixvalMax ) { //check if the red component is ok if ( pixvalR >= 0.23 * pixvalMax && pixvalR <= 0.52 * pixvalMax) { //check if the green component is ok if (pixvalG >= 0.28 * pixvalMax && pixvalG <= 0.54 * pixvalMax) { //check the blue component is ok if (pixvalB >= 0.03 * pixvalMax && pixvalB <= 0.17 * pixvalMax) { return TRUE; } } } return FALSE; }