[Krobot-commits] [SCM] krobot branch, master, updated. 1d0c8230aad0db42e828d14eed6bc7728308ceb7

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 1d0c8230aad0db42e828d14eed6bc7728308ceb7
Author: Jérémie Dimino <je...@di...>
Date:   Sun May 29 16:18:26 2011 +0200

    [vision] add calibration for calibrating the webcam

-----------------------------------------------------------------------

Changes:
diff --git a/info/vision/coupe2011/Makefile b/info/vision/coupe2011/Makefile
index 15ccf16..1556513 100644
--- a/info/vision/coupe2011/Makefile
+++ b/info/vision/coupe2011/Makefile
@@ -1,4 +1,4 @@
-OBJECTS = camfilter capture capturevideo findBallse fiteellipse_cam fiteellipse_camfilter
+OBJECTS = camfilter capture capturevideo findBallse fiteellipse_cam fiteellipse_camfilter calibration
 CC = g++
 CFLAGS = -ggdb `pkg-config --cflags opencv`
 LDFLAGS = `pkg-config --libs opencv`
diff --git a/info/vision/coupe2011/calibration.c b/info/vision/coupe2011/calibration.c
new file mode 100644
index 0000000..903e699
--- /dev/null
+++ b/info/vision/coupe2011/calibration.c
@@ -0,0 +1,118 @@
+/*
+ * calibration.c
+ * -------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ */
+
+/* Calibrate the webcam.
+
+   Usage: calibrate [display] [source]
+*/
+
+#include <cv.h>
+#include <highgui.h>
+#include <stdio.h>
+
+int main(int argc, char **argv)
+{
+  /* Whether to display the result. */
+  int display = argc >= 2 ? atoi(argv[1]) : 0;
+
+  /* The source webcam. */
+  int source = argc >= 3 ? atoi(argv[2]) : 0;
+
+  /* Open the webcam. */
+  CvCapture *capture = cvCaptureFromCAM(source);
+
+  /* Query one frame from the webcam. */
+  IplImage *image = cvQueryFrame(capture);
+
+  /* Create the HSV image. */
+  IplImage *hsv_image = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 3);
+
+  /* Convert the image to HSV. */
+  cvCvtColor(image, hsv_image, CV_BGR2HSV);
+
+  /* Keep only red pixels. */
+  for (int i = 0; i < hsv_image->width * hsv_image->height; i++) {
+    int hue = hsv_image->imageData[3 * i];
+    if (hue > 10 && hue < 170) {
+      /* Remove non-red pixels. */
+      hsv_image->imageData[3 * i + 0] = 0;
+      hsv_image->imageData[3 * i + 1] = 0;
+      hsv_image->imageData[3 * i + 2] = 0;
+    }
+  }
+
+  /* Create the grayscale image. */
+  IplImage *gray_image = cvCreateImage(cvGetSize(hsv_image), IPL_DEPTH_8U, 1);
+
+  /* Convert the image to grayscale. */
+  cvCvtColor(hsv_image, gray_image, CV_BGR2GRAY);
+
+  /* Create the black and white image. */
+  IplImage *bw_image = cvCreateImage(cvGetSize(gray_image), IPL_DEPTH_8U, 1);
+
+  /* Threshold the image. */
+  cvThreshold(gray_image, bw_image, 50, 255, CV_THRESH_BINARY);
+
+  /* Create the eroded image. */
+  IplImage *eroded = cvCreateImage(cvGetSize(bw_image), IPL_DEPTH_8U, 1);
+
+  /* Erode the image. */
+  cvErode(bw_image, eroded, NULL, 1);
+
+  /* Create the dilated image. */
+  IplImage *dilated = cvCreateImage(cvGetSize(eroded), IPL_DEPTH_8U, 1);
+
+  /* Dilate the image. */
+  cvDilate(eroded, dilated, NULL, 1);
+
+  /* Create the image for storing edges. */
+  IplImage *edges = cvCreateImage(cvGetSize(dilated), IPL_DEPTH_8U, 1);
+
+  /* Find edges. */
+  cvCanny(dilated, edges, 50, 200, 3);
+
+  /* Create a memory storage for storing lines. */
+  CvMemStorage* storage = cvCreateMemStorage(0);
+
+  /* Detect lines. */
+  CvSeq *lines = cvHoughLines2(edges, storage, CV_HOUGH_PROBABILISTIC, 1, CV_PI / 180, 80, 30, 10);
+
+  /* Print the result on stdout. */
+  printf("lines count = %d\n", lines->total);
+
+  /* Display the result. */
+  if (display) {
+    /* Create a temporary grayscale. */
+    IplImage *tmp_image = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);
+
+    /* Convert the source to grayscale. */
+    cvCvtColor(image, tmp_image, CV_BGR2GRAY);
+
+    /* Create the image to display. */
+    IplImage *draw_image = cvCreateImage(cvGetSize(tmp_image), IPL_DEPTH_8U, 3);
+
+    /* Add color channels to the grayscale image. */
+    cvCvtColor(tmp_image, draw_image, CV_GRAY2BGR);
+
+    /* Draw lines. */
+    for (int i = 0; i < lines->total; i++) {
+      CvPoint* line = (CvPoint*)cvGetSeqElem(lines,i);
+      cvLine(draw_image, line[0], line[1], CV_RGB(255, 0, 0), 1, 8);
+    }
+
+    cvShowImage("calibration_bw", dilated);
+    cvShowImage("calibration", draw_image);
+    while (cvWaitKey(0) != 'q');
+  }
+
+  /* We are done using the webcam. */
+  cvReleaseCapture(&capture);
+
+  return 0;
+}


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