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[Krobot-commits] [SCM] krobot branch, master, updated. ea4f473d3e5947d777e4cecee84681d00961496c
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From: Pierre C. <Ba...@us...> - 2013-04-06 22:57:44
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- Log -----------------------------------------------------------------
commit ea4f473d3e5947d777e4cecee84681d00961496c
Author: Pierre Chambart <pie...@oc...>
Date: Sun Apr 7 00:56:10 2013 +0200
[camlcv] houghlines using type matrix
commit 08d02d817b9535f9634e2fd2c9bd64f0a1cc5b24
Author: Pierre Chambart <pie...@oc...>
Date: Sun Apr 7 00:54:54 2013 +0200
New beacon reader and transmitter
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 91019c0..f90e326 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -312,6 +312,13 @@ Executable "krobot-urg"
MainIs: krobot_urg.ml
BuildDepends: krobot, urg, lwt.syntax, lwt.preemptive, threads
+Executable "krobot-beacon-reader"
+ Path: src/tools
+ Install: true
+ CompiledObject: best
+ MainIs: krobot_beacon_reader.ml
+ BuildDepends: krobot, lwt.syntax, lwt.unix
+
# +-------------------------------------------------------------------+
# | Examples |
# +-------------------------------------------------------------------+
diff --git a/info/control2011/src/lib/krobot_bus.ml b/info/control2011/src/lib/krobot_bus.ml
index b39ed69..34595f3 100644
--- a/info/control2011/src/lib/krobot_bus.ml
+++ b/info/control2011/src/lib/krobot_bus.ml
@@ -42,6 +42,8 @@ type message =
| Collisions of Bezier.curve * (float * (vertice * float) option) list
| Coins of vertice list
| Urg of int array
+ | Beacon_raw of (int * int * int * int * int * int
+ * int * int * int * int * int)
type t = {
oc : Lwt_io.output_channel;
@@ -149,6 +151,8 @@ let string_of_message = function
l))
| Urg distances ->
sprintf "Urg (many_points...)"
+ | Beacon_raw _ ->
+ sprintf "Raw beacon packet"
(* +-----------------------------------------------------------------+
| Sending/receiving messages |
diff --git a/info/control2011/src/lib/krobot_bus.mli b/info/control2011/src/lib/krobot_bus.mli
index ba3122e..ad33c96 100644
--- a/info/control2011/src/lib/krobot_bus.mli
+++ b/info/control2011/src/lib/krobot_bus.mli
@@ -89,6 +89,9 @@ type message =
(** distances mesured by the URG (in millimeters) *)
| Urg of int array
+ | Beacon_raw of (int * int * int * int * int * int
+ * int * int * int * int * int)
+
val string_of_message : message -> string
(** Returns a string representation of the given message. *)
diff --git a/info/control2011/src/tools/krobot_beacon_reader.ml b/info/control2011/src/tools/krobot_beacon_reader.ml
new file mode 100644
index 0000000..eb6b934
--- /dev/null
+++ b/info/control2011/src/tools/krobot_beacon_reader.ml
@@ -0,0 +1,125 @@
+(*
+ * krobot_beacon_reader.ml
+ * ----------------
+ * Copyright : (c) 2013, Pierre Chambart
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* Read beacon messages on serial port and broadcast it on the bus. *)
+
+open Lwt
+open Lwt_react
+open Lwt_preemptive
+open Krobot_bus
+open Krobot_message
+
+let section = Lwt_log.Section.make "krobot(beacon_reader)"
+
+let open_serial path rate =
+ lwt fd = Lwt_unix.openfile path [Unix.O_RDWR; Unix.O_NONBLOCK] 0o660 in
+ let tio = {
+ (* taken from minicom *)
+ Unix.c_ignbrk = true; Unix.c_brkint = false; Unix.c_ignpar = false;
+ Unix.c_parmrk = false; Unix.c_inpck = false; Unix.c_istrip = false;
+ Unix.c_inlcr = false; Unix.c_igncr = false; Unix.c_icrnl = false;
+ Unix.c_ixon = false; Unix.c_ixoff = false; Unix.c_opost = false;
+ Unix.c_obaud = rate; Unix.c_ibaud = rate; Unix.c_csize = 8;
+ Unix.c_cstopb = 1; Unix.c_cread = true; Unix.c_parenb = false;
+ Unix.c_parodd = false; Unix.c_hupcl = false; Unix.c_clocal = true;
+ Unix.c_isig = false; Unix.c_icanon = false; Unix.c_noflsh = false;
+ Unix.c_echo = false; Unix.c_echoe = false; Unix.c_echok = false;
+ Unix.c_echonl = false; Unix.c_vintr = '\000'; Unix.c_vquit = '\000';
+ Unix.c_verase = '\000'; Unix.c_vkill = '\000'; Unix.c_veof = '\000';
+ Unix.c_veol = '\000'; Unix.c_vmin = 1; Unix.c_vtime = 5;
+ Unix.c_vstart = '\000'; Unix.c_vstop = '\000'
+ } in
+ lwt () = Lwt_unix.tcsetattr fd Unix.TCSAFLUSH tio in
+ return fd
+
+let rec get_packet ic =
+ lwt line = Lwt_io.read_line ic in
+ try
+ let s = Scanf.sscanf line "%i %i %i %i %i %i %i %i %i %i %i "
+ (fun x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 ->
+ x1, x2, x3, x4, x5, x6, x7, x8, x9, x10, x11) in
+ (* let x1, x2, x3, x4, x5, x6, x7, x8, x9, x10, x11 = s in *)
+ (* lwt () = Lwt_log.info_f ~section "%i %i %i %i %i %i %i %i %i %i %i " *)
+ (* x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 in *)
+ return s
+ with _ -> get_packet ic
+
+(* +-----------------------------------------------------------------+
+ | read/send loop |
+ +-----------------------------------------------------------------+ *)
+
+let loop bus ic =
+ let rec aux () =
+ lwt packet = get_packet ic in
+ let time = Unix.gettimeofday () in
+ let msg = Beacon_raw packet in
+ lwt () = Krobot_bus.send bus (time, msg) in
+ aux () in
+ aux ()
+
+(* +-----------------------------------------------------------------+
+ | Message handling |
+ +-----------------------------------------------------------------+ *)
+
+let handle_message (timestamp, message) =
+ match message with
+ | Kill "beacon_reader" ->
+ exit 0
+ | _ ->
+ ()
+
+(* +-----------------------------------------------------------------+
+ | Command-line arguments |
+ +-----------------------------------------------------------------+ *)
+
+let fork = ref true
+let tty = ref "/dev/ttyUSB0"
+let baudrate = ref 57600
+
+let options = Arg.align [
+ "-no-fork", Arg.Clear fork, " Run in foreground";
+ "-tty", Arg.Set_string tty, " set tty file";
+ "-baudrate", Arg.Set_int baudrate, " set tty baudrate file";
+]
+
+let usage = "\
+Usage: krobot-beacon-reader [options]
+options are:"
+
+(* +-----------------------------------------------------------------+
+ | Entry point |
+ +-----------------------------------------------------------------+ *)
+
+lwt () =
+ Arg.parse options ignore usage;
+
+ (* Display all informative messages. *)
+ Lwt_log.append_rule "*" Lwt_log.Info;
+
+ (* Open the krobot bus. *)
+ lwt bus = Krobot_bus.get () in
+
+ lwt fd = open_serial !tty !baudrate in
+ let ic = Lwt_io.of_fd ~mode:Lwt_io.input fd in
+
+ lwt _ = get_packet ic in
+
+ lwt () = Lwt_log.info ~section "got first packet" in
+
+ (* Fork if not prevented. *)
+ if !fork then Krobot_daemon.daemonize bus;
+
+ (* Handle krobot message. *)
+ E.keep (E.map handle_message (Krobot_bus.recv bus));
+
+ (* Kill any running urg_handler. *)
+ lwt () = Krobot_bus.send bus (Unix.gettimeofday (), Krobot_bus.Kill "beacon_reader") in
+
+ (* Loop forever. *)
+ loop bus ic
diff --git a/info/control2011/src/tools/krobot_urg.ml b/info/control2011/src/tools/krobot_urg.ml
index 00761e1..6b1acaf 100644
--- a/info/control2011/src/tools/krobot_urg.ml
+++ b/info/control2011/src/tools/krobot_urg.ml
@@ -31,8 +31,8 @@ let to_array (b:Urg.point_data) =
let loop bus urg =
let rec aux () =
- let time = Unix.gettimeofday () in
lwt _ = Lwt_preemptive.detach Urg_simple.get urg in
+ let time = Unix.gettimeofday () in
let msg = Urg (to_array urg.Urg_simple.data) in
lwt () = Krobot_bus.send bus (time, msg) in
lwt () = Lwt_log.info_f "send things" in
diff --git a/info/vision/camlcv/_oasis b/info/vision/camlcv/_oasis
index 198848e..69e0ed7 100644
--- a/info/vision/camlcv/_oasis
+++ b/info/vision/camlcv/_oasis
@@ -100,6 +100,12 @@ Executable "test_houghLines"
Install: false
BuildDepends: cv
+Executable "test_houghLines_draw"
+ Path: test/
+ MainIs: test_houghLines_draw.ml
+ Install: false
+ BuildDepends: cv
+
Executable "test_contour_canny"
Path: test/
MainIs: test_contour_canny.ml
diff --git a/info/vision/camlcv/src/cvCore.ml b/info/vision/camlcv/src/cvCore.ml
index c77548b..cabf39e 100644
--- a/info/vision/camlcv/src/cvCore.ml
+++ b/info/vision/camlcv/src/cvCore.ml
@@ -50,6 +50,19 @@ let depth_f32 = IPL_DEPTH_32F
type 'a image_depth = 'a depth
+type ('channel) cvMat_float32 =
+ (float, Bigarray.float32_elt, Bigarray.c_layout) Bigarray.Array3.t
+
+type ('channel) cvMat_float64 =
+ (float, Bigarray.float64_elt, Bigarray.c_layout) Bigarray.Array3.t
+
+type ('channel) cvMat_int =
+ (int32, Bigarray.int32_elt, Bigarray.c_layout) Bigarray.Array3.t
+(* there is no 64 bit type in CvMat... so stick to int32 *)
+
+type int_mat =
+ (int, Bigarray.int8_unsigned_elt, Bigarray.c_layout) Bigarray.Array2.t
+
type color_conversion =
| CV_BGR2BGRA
| CV_RGB2RGBA
@@ -615,6 +628,17 @@ let houghLinesP img ?(minLineLength=0.) ?(maxLineGap=0.) rho theta threshold =
houghLinesP' img vec rho theta threshold minLineLength maxLineGap;
Array.init (vec4i_vect_size vec) (fun i -> vec4i_vect_get vec i)
+external houghLinesP_mat' :
+ int_mat ->
+ vec4i_vect ->
+ float -> float -> int -> float -> float -> unit
+ = "ocaml_HoughLinesP_mat_bytecode" "ocaml_HoughLinesP_mat"
+
+let houghLinesP_mat mat ?(minLineLength=0.) ?(maxLineGap=0.) rho theta threshold =
+ let vec = create_vec4i_vect () in
+ houghLinesP_mat' mat vec rho theta threshold minLineLength maxLineGap;
+ Array.init (vec4i_vect_size vec) (fun i -> vec4i_vect_get vec i)
+
type calib_cb =
| CV_CALIB_CB_ADAPTIVE_THRESH
| CV_CALIB_CB_NORMALIZE_IMAGE
@@ -672,16 +696,6 @@ let find_corner_subpix ?(criteria=default_criteria) ?(winSize=11,11) ?(zeroZone=
(** camera calibration *)
-type ('channel) cvMat_float32 =
- (float, Bigarray.float32_elt, Bigarray.c_layout) Bigarray.Array3.t
-
-type ('channel) cvMat_float64 =
- (float, Bigarray.float64_elt, Bigarray.c_layout) Bigarray.Array3.t
-
-type ('channel) cvMat_int =
- (int32, Bigarray.int32_elt, Bigarray.c_layout) Bigarray.Array3.t
-(* there is no 64 bit type in CvMat... so stick to int32 *)
-
external cvCalibrateCamera2 : [`Channel_3] cvMat_float32 -> [`Channel_2] cvMat_float32 ->
[`Channel_1] cvMat_int -> cvSize -> [`Channel_1] cvMat_float32 ->
[`Channel_1] cvMat_float32 -> float
diff --git a/info/vision/camlcv/src/cvCore.mli b/info/vision/camlcv/src/cvCore.mli
index 9c559f3..ef1a5fc 100644
--- a/info/vision/camlcv/src/cvCore.mli
+++ b/info/vision/camlcv/src/cvCore.mli
@@ -292,6 +292,15 @@ val good_features_to_track :
?maxLineGap:float -> float -> float -> int -> vec4i array
(** [houghLinesP img rho theta threshold] *)
+type int_mat =
+ (int, Bigarray.int8_unsigned_elt, Bigarray.c_layout) Bigarray.Array2.t
+
+ val houghLinesP_mat :
+ int_mat ->
+ ?minLineLength:float ->
+ ?maxLineGap:float -> float -> float -> int -> vec4i array
+(** [houghLinesP img rho theta threshold] *)
+
type calib_cb =
| CV_CALIB_CB_ADAPTIVE_THRESH
| CV_CALIB_CB_NORMALIZE_IMAGE
diff --git a/info/vision/camlcv/src/cv_caml.c b/info/vision/camlcv/src/cv_caml.c
index f7a0a55..21998a4 100644
--- a/info/vision/camlcv/src/cv_caml.c
+++ b/info/vision/camlcv/src/cv_caml.c
@@ -312,12 +312,12 @@ static CvMat CvMat_val(value v) {
void* data = Data_bigarray_val(v);
int rows = Bigarray_val(v)->dim[0];
int cols = Bigarray_val(v)->dim[1];
- int channels = Bigarray_val(v)->dim[2];
+ int channels = (Bigarray_val(v)->num_dims == 2) ? 1 : Bigarray_val(v)->dim[2];
int kind = Bigarray_val(v)->flags & BIGARRAY_KIND_MASK;
- int type = 0;
+ int type = -1;
switch (kind) {
- case BIGARRAY_FLOAT32:
+ case CAML_BA_FLOAT32:
switch (channels) {
case 1:
type = CV_32FC1;
@@ -333,7 +333,7 @@ static CvMat CvMat_val(value v) {
}
break;
- case BIGARRAY_FLOAT64:
+ case CAML_BA_FLOAT64:
switch (channels) {
case 1:
type = CV_64FC1;
@@ -349,7 +349,7 @@ static CvMat CvMat_val(value v) {
}
break;
- case BIGARRAY_INT32:
+ case CAML_BA_INT32:
switch (channels) {
case 1:
type = CV_32SC1;
@@ -365,10 +365,47 @@ static CvMat CvMat_val(value v) {
}
break;
+ case CAML_BA_UINT8:
+ switch (channels) {
+ case 1:
+ type = CV_8UC1;
+ break;
+ case 2:
+ type = CV_8UC2;
+ break;
+ case 3:
+ type = CV_8UC3;
+ break;
+ default:
+ break;
+ }
+ break;
+
+ case CAML_BA_SINT8:
+ switch (channels) {
+ case 1:
+ type = CV_8SC1;
+ break;
+ case 2:
+ type = CV_8SC2;
+ break;
+ case 3:
+ type = CV_8SC3;
+ break;
+ default:
+ break;
+ }
+ break;
+
default:
break;
}
- if(type == 0) caml_failwith("CvMat_val case not handled");
+
+ if(type == -1)
+ {
+ fflush(stdout);
+ caml_failwith("CvMat_val case not handled");
+ }
return (cvMat(rows, cols, type, data));
}
@@ -1346,6 +1383,42 @@ extern "C" CAMLprim value ocaml_HoughLinesP_bytecode( value * argv, int argn )
argv[4], argv[5], argv[6] );
}
+extern "C" CAMLprim value ocaml_HoughLinesP_mat(value vmat,
+ value vlines,
+ value rho,
+ value theta,
+ value threshold,
+ value minLineLength,
+ value maxLineGap)
+{
+ CAMLparam5( vmat, vlines, rho, theta, threshold );
+ CAMLxparam2( minLineLength, maxLineGap );
+
+ CvMat mat = CvMat_val(vmat);
+ Mat m = Mat(&mat);
+
+ /* Size s = m.size(); */
+ /* printf("mat: depth %i channels %i eltsize %i w %i h %i\n", m.channels(), m.depth(), m.elemSize(), s.width, s.height); */
+ /* fflush(stdout); */
+
+ ERRWRAP(
+ HoughLinesP(Mat(&mat),
+ *Vector_val<Vec4i>(vlines),
+ Double_val(rho),
+ Double_val(theta),
+ Int_val(threshold),
+ Double_val(minLineLength),
+ Double_val(maxLineGap)));
+
+ CAMLreturn(Val_unit);
+}
+
+extern "C" CAMLprim value ocaml_HoughLinesP_mat_bytecode( value * argv, int argn )
+{
+ return ocaml_HoughLinesP_mat( argv[0], argv[1], argv[2], argv[3],
+ argv[4], argv[5], argv[6] );
+}
+
extern "C" CAMLprim value ocaml_CvSeq_info(value vseq)
{
CAMLparam1(vseq);
diff --git a/info/vision/camlcv/test/test_houghLines_draw.ml b/info/vision/camlcv/test/test_houghLines_draw.ml
new file mode 100644
index 0000000..a0c6586
--- /dev/null
+++ b/info/vision/camlcv/test/test_houghLines_draw.ml
@@ -0,0 +1,63 @@
+open CvCore
+open CvHighGui
+open Test_base
+
+let pi = 4. *. (atan 1.)
+
+let x = 500
+let y = 500
+
+let img = Bigarray.Array2.create Bigarray.int8_unsigned Bigarray.c_layout 500 500
+let out = create_image ~x ~y depth_u8 channel_3
+
+let points = [| 12.3, 3.5;
+ 2.4, 5.2;
+ 7.6, 26.8;
+ 10., 10.;
+ 11., 11.;
+ 12., 12.;
+ 13., 13.; |]
+
+let rec show () =
+ (* let x,y = image_size img in *)
+ (* let points' = Array.map (fun (x,y) -> int_of_float x, int_of_float y) points in *)
+
+ (* draw_points *)
+ (* ~color:white *)
+ (* ~size:1 *)
+ (* img *)
+ (* points; *)
+
+ (* Array.iter (fun (x,y) -> *)
+ (* let i, j = int_of_float x, int_of_float y in *)
+ (* img.{i,j} <- 255) points; *)
+
+ for i = 100 to 300 do
+ img.{i,i} <- 255;
+ done;
+
+ for i = 100 to 300 do
+ img.{i+30,400-i} <- 255;
+ done;
+
+ let t1 = Unix.gettimeofday () in
+ let lines =
+ houghLinesP_mat
+ ~minLineLength:2.
+ ~maxLineGap:20.
+ img 0.1 (pi /. 180.) 50 in
+ let t2 = Unix.gettimeofday () in
+
+ Printf.printf "lines: %i time: %f\n%!"
+ (Array.length lines) (t2 -. t1);
+
+ Array.iter (fun (x1,y1,x2,y2) ->
+ line ~color:red out (x1,y1) (x2,y2)) lines;
+
+ show_image "out" out;
+
+ match wait_key 10 with
+ | Some 'q' -> ()
+ | _ -> show ()
+
+let _ = show ()
hooks/post-receive
--
krobot
|
