[Krobot-commits] [SCM] krobot branch, master, updated. 617b3078e3af5ed2d37e4a380167ef65d924f3ab

[Pierre C. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 617b3078e3af5ed2d37e4a380167ef65d924f3ab
Author: chambart <cha...@cr...>
Date:   Tue May 31 16:12:39 2011 +0200

    [info] krobot_webcam pass arguments to krobo-find-object

commit d7fb053a920e6e635455a28769ab678d4b36d82f
Author: chambart <cha...@cr...>
Date:   Tue May 31 16:08:09 2011 +0200

    [info] vision: apply an homography transformation to matched circles

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

Changes:
diff --git a/info/control2011/src/tools/krobot_webcam.ml b/info/control2011/src/tools/krobot_webcam.ml
index b1cf643..83382b9 100644
--- a/info/control2011/src/tools/krobot_webcam.ml
+++ b/info/control2011/src/tools/krobot_webcam.ml
@@ -29,8 +29,8 @@ let rec parse bus objects ic =
     parse bus [] ic
   end else begin
     (* Otherwise read one and add it to the current list of objects. *)
-    let cx, cy, w, h, alpha = Scanf.sscanf line "%d %d %d %d %f" (fun cx cy w h alpha -> (cx, cy, w, h, alpha)) in
-    parse bus ({ x = float cx; y = float cy } :: objects) ic
+    let cx, cy = Scanf.sscanf line "%f %f" (fun cx cy-> (cx, cy)) in
+    parse bus ({ x = cx; y = cy } :: objects) ic
   end
 
 (* +-----------------------------------------------------------------+
@@ -81,8 +81,11 @@ lwt () =
   (* Handle krobot message. *)
   E.keep (E.map (handle_message bus) (Krobot_bus.recv bus));
 
+  (* for printf to print floats with points and not colons *)
+  Unix.putenv "LANG" "C";
+
   (* Launch the objects finder. *)
-  let process = Lwt_process.open_process_in ("krobot-find-objects", [|"krobot-find-objects"|]) in
+  let process = Lwt_process.open_process_in ("krobot-find-objects", [|"krobot-find-objects"; Sys.argv.(1); Sys.argv.(2); Sys.argv.(3)|]) in
 
   (* Read the first separator. *)
   lwt _ = Lwt_io.read_line process#stdout in
diff --git a/info/vision/coupe2011/findBallse.c b/info/vision/coupe2011/findBallse.c
index d5abdb9..988e155 100644
--- a/info/vision/coupe2011/findBallse.c
+++ b/info/vision/coupe2011/findBallse.c
@@ -35,6 +35,8 @@ IplImage *image01 = 0, *image02 = 0, *image03 = 0, *imCont = 0, *imFill = 0, *im
 /* Whether to display the result on the screen or not using HighGUI. */
 int display = 0;
 
+CvMat* homography;
+
 /* +-----------------------------------------------------------------+
    | Config file parsing                                             |
    +-----------------------------------------------------------------+ */
@@ -112,6 +114,9 @@ void process_image()
   CvPoint2D32f* PointArray2D32f;
   int i, j, meanRad;
 
+  CvMat* src;
+  CvMat* dst;
+
   // Changement d'espace de couleur
   cvCvtColor(image01, imHSV, CV_BGR2HSV);
 
@@ -160,7 +165,7 @@ void process_image()
   cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);
 
   /* Print a separator. */
-  printf("=====");
+  printf("=====\n");
 
   if (cont) {
     // Threshold the source image. This needful for cvFindContours().
@@ -214,8 +219,16 @@ void process_image()
       meanRad = (size.width + size.height) / 2;
 
       if (meanRad >= params.minCont && meanRad <= params.maxCont) {
+
+	// tansform matched elipsis to table coordinates
+	src = cvCreateMat(1, 1, CV_32FC2);
+	dst = cvCreateMat(1, 1, CV_32FC2);
+	src->data.fl[0] = (float) center.x;
+	dst->data.fl[1] = (float) center.y;
+	cvPerspectiveTransform(point1, point2, homography);
+
         /* Print ellipsis parameters on stdout. */
-        printf("%d %d %d %d %f\n", center.x, center.y, size.width, size.height, box->angle);
+	printf("%f %f\n", dst->data.fl[0], dst->data.fl[1]);
 
         if (display) {
           // Draw current contour.
@@ -235,6 +248,8 @@ void process_image()
     }
   }
 
+  fflush(stdout);
+
   // On libère la mémoire
   if (display) {
     free(imCont->roi);
@@ -286,6 +301,18 @@ int main( int argc, char** argv )
   // Même chose avec l'image pour conversion
   imHSV = cvCreateImage(cvSize(image01->width,image01->height), IPL_DEPTH_8U, 3);
 
+  // create and initialise homograpy matrix
+  homography = cvCreateMat(3, 3, CV_32F);
+  homography->data.fl[0] = -0.00109182286542;
+  homography->data.fl[1] = -0.0570392236114;
+  homography->data.fl[2] = 7.99883031845;
+  homography->data.fl[3] = -0.00867976341397;
+  homography->data.fl[4] = -0.0176480710506;
+  homography->data.fl[5] = 3.60714673996;
+  homography->data.fl[6] = -0.000370743422536;
+  homography->data.fl[7] = -0.0184959284961;
+  homography->data.fl[8] = 1.0;
+
   while (!quit)
   {
     // Récupère une image de la webcam


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