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[Krobot-commits] [SCM] krobot branch, master, updated. 74b082d486517c5bcaaf64251587299524b0cf54
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From: Jérémie D. <Ba...@us...> - 2011-05-25 19:18:17
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from b3d20062e69f317da0894f7b78746c5cf59dd320 (commit)
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- Log -----------------------------------------------------------------
commit 74b082d486517c5bcaaf64251587299524b0cf54
Author: Jérémie Dimino <je...@di...>
Date: Sat May 21 21:47:56 2011 +0200
[vision] fix bugs
-----------------------------------------------------------------------
Changes:
diff --git a/info/vision/coupe2011/Makefile b/info/vision/coupe2011/Makefile
index 277fe19..838279c 100644
--- a/info/vision/coupe2011/Makefile
+++ b/info/vision/coupe2011/Makefile
@@ -1,24 +1,9 @@
OBJECTS = camfilter capture capturevideo findBallse fiteellipse_cam fiteellipse_camfilter
+CC = g++
+CFLAGS = -ggdb `pkg-config --cflags opencv`
+LDFLAGS = `pkg-config --libs opencv`
all: $(OBJECTS)
clean:
rm -f $(OBJECTS)
-
-camfilter: camfilter.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
-
-capture: capture.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
-
-capturevideo: capturevideo.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
-
-findBallse: findBallse.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
-
-fiteellipse_cam: fiteellipse_cam.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
-
-fiteellipse_camfilter: fiteellipse_camfilter.c
- $(CXX) $^ -o $@ `pkg-config --cflags --libs opencv`
\ No newline at end of file
diff --git a/info/vision/coupe2011/findBallse.c b/info/vision/coupe2011/findBallse.c
index a97c54a..8c98664 100644
--- a/info/vision/coupe2011/findBallse.c
+++ b/info/vision/coupe2011/findBallse.c
@@ -1,3 +1,13 @@
+/*
+ * findBallse.c
+ * ------------
+ * Copyright : (c) 2008, Xavier Lagorce <la...@cr...>
+ * (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ */
+
#include "cv.h"
#include "highgui.h"
#include <math.h>
@@ -5,7 +15,9 @@
#include <ctype.h>
#include <err.h>
-#define min(a,b) (((a) < (b)) ? (a) : (b))
+/* +-----------------------------------------------------------------+
+ | Parameters |
+ +-----------------------------------------------------------------+ */
/* The parameters of the color to find in images. */
struct color_params {
@@ -17,14 +29,15 @@ struct color_params {
/* Global parameters. */
struct color_params params;
-// Load the source image. HighGUI use.
+/* Load the source image. HighGUI use. */
IplImage *image01 = 0, *image02 = 0, *image03 = 0, *imCont = 0, *imFill = 0, *imHSV = 0;
-int affichage = 0;
-int slider_pos;
+/* Whether to display the result on the screen or not using HighGUI. */
+int display = 0;
-void process_image();
-int in_radius(int val, int center, int radius, int max);
+/* +-----------------------------------------------------------------+
+ | Config file parsing |
+ +-----------------------------------------------------------------+ */
/* Parse the configuration file and store the result into params. */
void parse_config(char *file_name)
@@ -78,82 +91,15 @@ void parse_config(char *file_name)
fclose(fp);
}
-int main( int argc, char** argv )
-{
- int source, c, quit=0;
- CvCapture *capture = NULL;
- FILE *fichier;
-
- // Traitement des paramètres de ligne de commande
- if (argc < 2)
- {
- printf("argv[1] : chemin du fichier de paramètres\n");
- printf("argv[2] : (optionnel) si différent de 0, affiche une fenêtre\n");
- printf("argv[3] : (optionnel) numéro de la webcam à utiliser\n");
- return 1;
- }
-
- /* Parse configuration. */
- parse_config(argv[1]);
-
- affichage = argc >= 3 ? atoi(argv[2]) : 0;
- source = argc >= 4 ? atoi(argv[3]) : 0;
-
- // Ouvre la webcam
- capture = cvCaptureFromCAM(source);
-
- // Create window
- if (affichage != 0)
- cvNamedWindow("Result", 1);
-
- // Récupère une image de la webcam
- image01 = cvQueryFrame(capture);
-
- // Création de l'image en niveaux de gris à la taile de l'image prise par la webcam
- image03 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 1);
-
- // Même chose avec l'image pour conversion
- imHSV = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 3);
-
- while (!quit)
- {
- // Récupère une image de la webcam
- image01 = cvQueryFrame(capture);
+/* +-----------------------------------------------------------------+
+ | Image processing |
+ +-----------------------------------------------------------------+ */
- process_image();
-
- // Show the image
- if (affichage != 0)
- cvShowImage("Result", imCont);
-
- // Wait for a key stroke; the same function arranges events processing
- c = (char)cvWaitKey(10);
-
- switch (c)
- {
- case 'q':
- quit = 1;
- break;
- }
-
- cvReleaseImage(&imCont);
- cvReleaseImage(&imFill);
- }
-
-
- // On release la mémoire
- cvReleaseCapture(&capture);
-
- cvReleaseImage(&image02);
- cvReleaseImage(&image03);
- cvReleaseImage(&imHSV);
- cvReleaseImage(&imFill);
- cvReleaseImage(&imCont);
-
- if (affichage != 0)
- cvDestroyWindow("Result");
-
- return 0;
+int in_radius(int val, int center, int radius, int max)
+{
+ int d;
+ d = abs(val - center);
+ return (d <= radius) || (max - d <= radius);
}
// This function the balls,
@@ -170,7 +116,7 @@ void process_image()
cvCvtColor(image01, imHSV, CV_BGR2HSV);
// Génération de l'image avec les résultats
- if (affichage != 0)
+ if (display != 0)
{
imCont = cvCloneImage(image01);
cvZero(imCont);
@@ -213,19 +159,19 @@ void process_image()
stor = cvCreateMemStorage(0);
cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);
- // Threshold the source image. This needful for cvFindContours().
- cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY );
+ if (cont) {
+ // Threshold the source image. This needful for cvFindContours().
+ cvThreshold( image03, image02, params.threshold, 255, CV_THRESH_BINARY );
- // Find all contours.
- cvFindContours( image02, stor, &cont, sizeof(CvContour),
- CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
+ // Find all contours.
+ cvFindContours( image02, stor, &cont, sizeof(CvContour),
+ CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
- // Clear image. IPL use.
- cvZero(image02);
+ // Clear image. IPL use.
+ cvZero(image02);
- // This cycle draw all contours and approximate it by ellipses.
- for(;cont;cont = cont->h_next)
- {
+ // This cycle draw all contours and approximate it by ellipses.
+ for(;cont;cont = cont->h_next) {
int i; // Indicator of cycle.
int count = cont->total; // This is number point in contour
CvPoint center;
@@ -246,11 +192,10 @@ void process_image()
cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);
// Convert CvPoint set to CvBox2D32f set.
- for(i=0; i<count; i++)
- {
- PointArray2D32f[i].x = (float)PointArray[i].x;
- PointArray2D32f[i].y = (float)PointArray[i].y;
- }
+ for(i=0; i<count; i++) {
+ PointArray2D32f[i].x = (float)PointArray[i].x;
+ PointArray2D32f[i].y = (float)PointArray[i].y;
+ }
// Fits ellipse to current contour.
cvFitEllipse(PointArray2D32f, count, box);
@@ -265,8 +210,11 @@ void process_image()
// On ne dessine le contour et l'ellipse que si son rayon est dans les bornes
meanRad = (size.width + size.height) / 2;
- if (meanRad >= params.minCont && meanRad <= params.maxCont)
- {
+ if (meanRad >= params.minCont && meanRad <= params.maxCont) {
+ /* Print ellipsis parameters on stdout. */
+ printf("%d %d %d %d %f\n", center.x, center.y, size.width, size.height, box->angle);
+
+ if (display) {
// Draw current contour.
cvDrawContours(imCont,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));
@@ -275,24 +223,103 @@ void process_image()
box->angle, 0, 360,
CV_RGB(255,0,0), 1, CV_AA, 0);
}
+ }
// Free memory.
- free(imCont->roi); imCont->roi = NULL;
free(PointArray);
free(PointArray2D32f);
free(box);
-
}
+ }
// On libère la mémoire
+ if (display) {
+ free(imCont->roi);
+ imCont->roi = NULL;
+ }
cvReleaseMemStorage(&stor);
cvReleaseImage(&image02);
cvReleaseImage(&imFill);
}
-int in_radius(int val, int center, int radius, int max)
+/* +-----------------------------------------------------------------+
+ | Entry point |
+ +-----------------------------------------------------------------+ */
+
+int main( int argc, char** argv )
{
- int d;
- d = abs(val - center);
- return min(d,max - d) <= radius;
+ int source, c, quit=0;
+ CvCapture *capture = NULL;
+ FILE *fichier;
+
+ // Traitement des paramètres de ligne de commande
+ if (argc < 2)
+ {
+ printf("argv[1] : chemin du fichier de paramètres\n");
+ printf("argv[2] : (optionnel) si différent de 0, affiche une fenêtre\n");
+ printf("argv[3] : (optionnel) numéro de la webcam à utiliser\n");
+ return 1;
+ }
+
+ /* Parse configuration. */
+ parse_config(argv[1]);
+
+ display = argc >= 3 ? atoi(argv[2]) : 0;
+ source = argc >= 4 ? atoi(argv[3]) : 0;
+
+ // Ouvre la webcam
+ capture = cvCaptureFromCAM(source);
+
+ // Create window
+ if (display != 0)
+ cvNamedWindow("Result", 1);
+
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ // Création de l'image en niveaux de gris à la taile de l'image prise par la webcam
+ image03 = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 1);
+
+ // Même chose avec l'image pour conversion
+ imHSV = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 3);
+
+ while (!quit)
+ {
+ // Récupère une image de la webcam
+ image01 = cvQueryFrame(capture);
+
+ process_image();
+
+ // Show the image
+ if (display != 0) {
+ cvShowImage("Source", image01);
+ cvShowImage("Result", imCont);
+ }
+
+ // Wait for a key stroke; the same function arranges events processing
+ c = (char)cvWaitKey(10);
+
+ switch (c)
+ {
+ case 'q':
+ quit = 1;
+ break;
+ }
+
+ cvReleaseImage(&imCont);
+ }
+
+ // On release la mémoire
+ cvReleaseCapture(&capture);
+
+ cvReleaseImage(&image02);
+ cvReleaseImage(&image03);
+ cvReleaseImage(&imHSV);
+ cvReleaseImage(&imFill);
+ cvReleaseImage(&imCont);
+
+ if (display != 0)
+ cvDestroyWindow("Result");
+
+ return 0;
}
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