[Krobot-commits] [SCM] krobot branch, master, updated. 25db4f2c52fbbb93893caa63239965d6fe4156de

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

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- Log -----------------------------------------------------------------
commit 25db4f2c52fbbb93893caa63239965d6fe4156de
Author: chicco <cha...@cr...>
Date:   Tue May 15 03:09:07 2012 +0200

    [camlcv] add missing tests

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

Changes:
diff --git a/info/vision/camlcv/test/test_contour_canny.ml b/info/vision/camlcv/test/test_contour_canny.ml
new file mode 100644
index 0000000..cb820b4
--- /dev/null
+++ b/info/vision/camlcv/test/test_contour_canny.ml
@@ -0,0 +1,35 @@
+open CvCore
+open CvHighGui
+open Test_base
+
+let _ = named_window ~option:CV_WINDOW_AUTOSIZE "canny"
+let canny_t1 = create_trackbar ~default:50 ~name:"t1" ~window:"canny" 255
+let canny_t2 = create_trackbar ~default:200 ~name:"t2" ~window:"canny" 255
+
+let rec show () =
+  let src = get_image () in
+  let hsv = convert_color src bgr2hsv in
+  let h,s,v = split hsv in
+  let gray = convert_color src bgr2gray in
+  (*  let gray = s in *)
+  let gray = gaussian_blur ~size:(3,3) gray 2. 2. in
+  let gray' = convert_color gray gray2bgr in
+  let edges = canny gray (float (get_var canny_t1)) (float (get_var canny_t2)) in
+  let edges' = clone_image edges in
+  let contours = contours (find_contours ~meth:CV_CHAIN_APPROX_TC89_KCOS edges) in
+
+  List.iter (fun (Contour (c,l)) -> draw_contours ~level:0 gray' c) contours;
+
+  let ellipses = List.map (fun (Contour (c,l)) -> fit_ellipse c) contours in
+  List.iter (function | None -> ()
+    | Some e -> ellipse' src e) ellipses;
+
+  show_image "canny" edges';
+  show_image "gray" gray';
+  show_image "src" src;
+
+  match wait_key 10 with
+    | Some 'q' -> ()
+    | _ -> show ()
+
+let _ = show ()
diff --git a/info/vision/camlcv/test/test_detect_ellipse.ml b/info/vision/camlcv/test/test_detect_ellipse.ml
new file mode 100644
index 0000000..9ca9478
--- /dev/null
+++ b/info/vision/camlcv/test/test_detect_ellipse.ml
@@ -0,0 +1,49 @@
+open CvCore
+open CvHighGui
+open Test_base
+
+let _ = named_window ~option:CV_WINDOW_AUTOSIZE "s"
+let _ = named_window ~option:CV_WINDOW_AUTOSIZE "v"
+
+let smin = create_trackbar ~default:0 ~name:"min" ~window:"s" 256
+let smax = create_trackbar ~default:256 ~name:"max" ~window:"s" 256
+
+let vmin = create_trackbar ~default:0 ~name:"min" ~window:"v" 256
+let vmax = create_trackbar ~default:256 ~name:"max" ~window:"v" 256
+
+let rec show () =
+  let src = get_image () in
+  let src = gaussian_blur src ~size:(3,3) 2. 2. in
+  let hsv = convert_color src bgr2hsv in
+  let h,s,v = split hsv in
+
+  let v' = between v (* (equalize_hist v) *) (get_var vmin) (get_var vmax) in
+  let s' = between s (* (equalize_hist s) *) (get_var smin) (get_var smax) in
+
+  let filtered = copy s' (Some v') in
+  let filtered = erode filtered (5,5) in
+  let filtered = dilate filtered (5,5) in
+
+  let filtered_src = copy src (Some filtered) in
+
+(*  let final_src = copy src (Some final) in *)
+
+  let contours = contours (find_contours filtered) in
+
+  List.iter (fun (Contour (c,l)) -> draw_contours ~level:0 src c) contours;
+
+  let ellipses = List.map (fun (Contour (c,l)) -> fit_ellipse c) contours in
+  List.iter (function | None -> ()
+    | Some e -> ellipse' src e) ellipses;
+
+  show_image "s" s';
+  show_image "v" v';
+  show_image "src" src;
+  show_image "filtered" filtered_src;
+(*  show_image "final" final_src; *)
+  match wait_key 10 with
+    | Some 'q' ->
+      Printf.printf "s: %i %i\nv: %i %i\n%!" (get_var smin) (get_var smax) (get_var vmin) (get_var vmax)
+    | _ -> show ()
+
+let _ = show ()
diff --git a/info/vision/camlcv/test/test_detect_lines.ml b/info/vision/camlcv/test/test_detect_lines.ml
new file mode 100644
index 0000000..698f56d
--- /dev/null
+++ b/info/vision/camlcv/test/test_detect_lines.ml
@@ -0,0 +1,52 @@
+open CvCore
+open CvHighGui
+open Test_base
+
+let _ = named_window ~option:CV_WINDOW_AUTOSIZE "canny"
+let canny_t1 = create_trackbar ~default:50 ~name:"t1" ~window:"canny" 255
+let canny_t2 = create_trackbar ~default:200 ~name:"t2" ~window:"canny" 255
+
+let _ = named_window ~option:CV_WINDOW_AUTOSIZE "h"
+let hmin = create_trackbar ~default:0 ~name:"hmin" ~window:"h" 255
+let hmax = create_trackbar ~default:76 ~name:"hmax" ~window:"h" 255
+
+let pi = 4. *. (atan 1.)
+
+let rec show () =
+  let src = get_image () in
+  let hsv = convert_color src bgr2hsv in
+  let h,s,v = split hsv in
+  (* let gray = convert_color src bgr2gray in *)
+  let gray = v in
+  let a = good_features_to_track
+    gray
+    50
+    0.01
+    5. in
+  let gray = gaussian_blur ~size:(3,3) gray 1. 1. in
+  let edges = canny gray (float (get_var canny_t1)) (float (get_var canny_t2)) in
+
+  let h' = between h (get_var hmin) (get_var hmax) in
+  let dilate_h = erode h' (3,3) in
+  let edges' = copy edges (Some dilate_h) in
+
+  let lines =
+    houghLinesP
+      ~minLineLength:30.
+      ~maxLineGap:20.
+      edges' 1. (pi /. 180.) 30 in
+
+  Array.iter (fun (x1,y1,x2,y2) -> line ~color:red src (x1,y1) (x2,y2)) lines;
+
+  draw_points ~color:blue src a;
+
+  show_image "h" h';
+  show_image "canny" edges';
+  show_image "gray" gray;
+  show_image "src" src;
+
+  match wait_key 10 with
+    | Some 'q' -> ()
+    | _ -> show ()
+
+let _ = show ()
diff --git a/info/vision/camlcv/test/test_homography.ml b/info/vision/camlcv/test/test_homography.ml
new file mode 100644
index 0000000..6bee39d
--- /dev/null
+++ b/info/vision/camlcv/test/test_homography.ml
@@ -0,0 +1,66 @@
+open CvCore
+open CvHighGui
+open Test_base
+
+let v_prod (x1,y1) (x2,y2) = x1 *. x2 +. y1 *. y2
+
+let i_array a =
+  Array.mapi (fun i a ->
+    Array.mapi (fun j v -> v,(i,j)) a) a
+
+let get_minv v a =
+  List.hd (List.sort (fun (v1,_) (v2,_) ->
+    compare (v_prod v v1) (v_prod v v2)) a)
+
+let x_size = 8.
+let y_size = 6.
+
+let float_c (x,y) = int_of_float x, int_of_float y
+
+let lower_left (ix,iy) a' =
+  let a = List.flatten (Array.to_list (Array.map Array.to_list (i_array a'))) in
+  let ix, iy = float ix, float iy in
+  let p00 = get_minv (ix,-.iy) a in
+  let pxy = get_minv (-.ix,iy) a in
+  let p0y = get_minv (ix,iy) a in
+  let px0 = get_minv (-.ix,-.iy) a in
+  p00, px0, p0y, pxy
+
+let norm v =
+  match v with
+    | [|a;b;c|] -> [|a/.c;b/.c;1.|]
+    | _ -> assert false
+
+let print_a = Array.iter (Printf.printf " %f")
+
+let rec show () =
+  let image = get_image () in
+  let gray = convert_color image bgr2gray in
+  let r = find_chessboard_corners gray (6,8) in
+  (match array_of_chessboard_corners r with
+    | None -> ()
+    | Some a ->
+      let (p0,_),(p1,_),(p2,_),(p3,_) = lower_left (image_size image) a in
+      draw_chessboard_corners image r;
+      circle image ~color:red (float_c p0) 30;
+      circle image ~color:green (float_c p1) 30;
+      circle image ~color:blue (float_c p2) 30;
+      circle image ~color:yellow (float_c p3) 30;
+      let homo = find_homography
+        ~obj_pos:[|0.,0.;
+                   x_size,0.;
+                   0.,y_size;
+                   x_size,y_size|]
+        ~img_pos:[|p0;p1;p2;p3|] in
+      let v1 = norm (mult homo [|0.;0.;1.|]) in
+      let v2 = norm (mult homo [|3.;3.;1.|]) in
+      line image ~color:red ~thickness:5 (int_of_float v1.(0),int_of_float v1.(1))
+        (int_of_float v2.(0),int_of_float v2.(1));
+      Array.iter (fun a -> print_a a; Printf.printf "\n") homo;
+      Printf.printf "\n%!");
+  show_image "out" image;
+  match wait_key 10 with
+    | Some 'q' -> ()
+    | _ -> show ()
+
+let _ = show ()
diff --git a/info/vision/camlcv/test/test_houghLines.ml b/info/vision/camlcv/test/test_houghLines.ml
new file mode 100644
index 0000000..1ebf008
--- /dev/null
+++ b/info/vision/camlcv/test/test_houghLines.ml
@@ -0,0 +1,49 @@
+open CvCore
+open CvHighGui
+open Test_base
+
+let _ = named_window ~option:CV_WINDOW_AUTOSIZE "canny"
+let canny_t1 = create_trackbar ~default:50 ~name:"t1" ~window:"canny" 255
+let canny_t2 = create_trackbar ~default:200 ~name:"t2" ~window:"canny" 255
+
+let pi = 4. *. (atan 1.)
+
+let rec show () =
+  let src = get_image () in
+  let hsv = convert_color src bgr2hsv in
+  let h,s,v = split hsv in
+  (* let gray = convert_color src bgr2gray in *)
+  let gray = v in
+  let gray = gaussian_blur ~size:(3,3) gray 2. 2. in
+  let edges = canny gray (float (get_var canny_t1)) (float (get_var canny_t2)) in
+
+  let x,y = image_size edges in
+  let circles = houghCircles gray
+    ~param1:(float (get_var canny_t1))
+    ~param2:(float (get_var canny_t2))
+    ~minRadius:0
+    ~maxRadius:0
+    1. (float x /. 8.) in
+
+  Array.iter (fun (x1,y1,r) ->
+    circle src
+      (int_of_float x1,int_of_float y1)
+      (int_of_float r)) circles;
+
+  let lines =
+    houghLinesP
+      ~minLineLength:50.
+      ~maxLineGap:20.
+      edges 1. (pi /. 180.) 50 in
+
+  Array.iter (fun (x1,y1,x2,y2) -> line ~color:red src (x1,y1) (x2,y2)) lines;
+
+  show_image "canny" edges;
+  show_image "gray" gray;
+  show_image "src" src;
+
+  match wait_key 10 with
+    | Some 'q' -> ()
+    | _ -> show ()
+
+let _ = show ()


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