[Robotvision-commit] SF.net SVN: robotvision:[6] robotVision

[<bre...@us...>]

Revision: 6
          http://robotvision.svn.sourceforge.net/robotvision/?rev=6&view=rev
Author:   brendasegal
Date:     2010-05-16 17:17:31 +0000 (Sun, 16 May 2010)

Log Message:
-----------


Added Paths:
-----------
    robotVision/
    robotVision/main.c

Added: robotVision/main.c
===================================================================
--- robotVision/main.c	                        (rev 0)
+++ robotVision/main.c	2010-05-16 17:17:31 UTC (rev 6)
@@ -0,0 +1,95 @@
+#ifdef _CH_
+#pragma package <opencv>
+#endif
+
+#define CV_NO_BACKWARD_COMPATIBILITY
+
+#include <cv.h>
+#include <highgui.h>
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+
+//not sure if it was supposed to be 8 or 16 bits
+int sizeOfBitString = 8;
+
+//the convert function converts a gStreamer object to an OpenCV image
+/*
+
+ IplImage* convert(GSTBuffer gBuffer){
+
+
+
+
+ }
+*/
+
+
+//For the findBuoy function, the center of mass is returned as (x,y) coordinates
+//this is in the form of a bit string (of what size?) where the first half corresponds
+//to the x coordinate and the second half to the y coordinate
+char* findBuoy(IplImage* img){
+
+
+	char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+
+
+	//http://opencv.willowgarage.com/documentation/c/image_filtering.html
+	//smooth image cvSmooth(src, dest, smoothtype, aperture width (must be positive and odd),
+	//aperture height (must be positive and odd), gaussian param, another gaussian param?)
+	cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+
+	//threshold the image till we get a black and white one
+
+	//find the center of mass (avg pos of the white pixels)
+
+	return bitString;
+
+}
+
+//The findPipe function works in quite the same way as findBuoy
+
+char* findPipe(IplImage* img){
+
+
+	char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+
+	//we smooth img
+	cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+
+	//threshold the image till we get a black and white one
+
+	//find the center of mass (avg pos of the white pixels)
+
+	return bitString;
+
+}
+
+
+//This will return a vector pair in the form of delta x, delta y
+//this will be used to find the approximate heading of the pipe
+char* findHeading(IplImage* img){
+
+	char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+
+	//we smooth img
+	cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+
+	//threshold the image till we get a black and white one
+
+	//fit a rectangle to the pipeline and find approximate heading
+
+	return bitString;
+
+
+}
+
+
+
+
+
+int main(char** argv, int arg){
+
+
+	return 0;
+}


Property changes on: robotVision/main.c
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Added: svn:mime-type
   + text/plain


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