[Robotvision-commit] SF.net SVN: robotvision:[7] robotVision2/src
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[Robotvision-commit] SF.net SVN: robotvision:[7] robotVision2/src
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From: <bre...@us...> - 2010-05-17 15:29:11
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Revision: 7
http://robotvision.svn.sourceforge.net/robotvision/?rev=7&view=rev
Author: brendasegal
Date: 2010-05-17 15:29:04 +0000 (Mon, 17 May 2010)
Log Message:
-----------
I put my part (not done at all yet) in robotVision main.c . That's where I believe the project should reside. I had to comment out the main functions in both squares.c and main.c in computerVision because otherwise there were multiple definitions of main.
Modified Paths:
--------------
computerVision/src/main.c
robotVision/main.c
robotVision2/src/squares.c
Added Paths:
-----------
.cproject
.project
Added: .cproject
===================================================================
--- .cproject (rev 0)
+++ .cproject 2010-05-17 15:29:04 UTC (rev 7)
@@ -0,0 +1,609 @@
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+</storageModule>
+<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
+<storageModule moduleId="org.eclipse.cdt.core.language.mapping"/>
+</cconfiguration>
+</storageModule>
+<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+<project id="robotvision.cdt.managedbuild.target.gnu.mingw.exe.689507834" name="Executable" projectType="cdt.managedbuild.target.gnu.mingw.exe"/>
+</storageModule>
+</cproject>
Property changes on: .cproject
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: .project
===================================================================
--- .project (rev 0)
+++ .project 2010-05-17 15:29:04 UTC (rev 7)
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>robotvision</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+ <triggers>clean,full,incremental,</triggers>
+ <arguments>
+ <dictionary>
+ <key>?name?</key>
+ <value></value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.append_environment</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildArguments</key>
+ <value></value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildCommand</key>
+ <value>make</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildLocation</key>
+ <value>${workspace_loc:/robotvision/Debug}</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.contents</key>
+ <value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+ <value>false</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableFullBuild</key>
+ <value>true</value>
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+ <dictionary>
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+ <value>true</value>
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+ <key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+ <value>true</value>
+ </dictionary>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.cdt.core.cnature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+ </natures>
+</projectDescription>
Property changes on: .project
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Modified: computerVision/src/main.c
===================================================================
--- computerVision/src/main.c 2010-05-16 17:17:31 UTC (rev 6)
+++ computerVision/src/main.c 2010-05-17 15:29:04 UTC (rev 7)
@@ -21,7 +21,7 @@
return CV_RGB(icolor&255, (icolor>>8)&255, (icolor>>16)&255);
}
-int main( int argc, char** argv )
+/*int main( int argc, char** argv )
{
int line_type = CV_AA; // change it to 8 to see non-antialiased graphics
int i;
@@ -181,7 +181,7 @@
return 0;
}
-
+*/
#ifdef _EiC
main(1,"drawing.c");
#endif
Modified: robotVision/main.c
===================================================================
--- robotVision/main.c 2010-05-16 17:17:31 UTC (rev 6)
+++ robotVision/main.c 2010-05-17 15:29:04 UTC (rev 7)
@@ -10,9 +10,23 @@
#include <math.h>
#include <string.h>
-//not sure if it was supposed to be 8 or 16 bits
-int sizeOfBitString = 8;
+//the struct is what will be used to return the values in the form of an ordered pair (x,y)
+
+typedef struct retValue {
+
+ double x;
+ double y;
+
+}point;
+
+//need to show the method headers
+/*point findBuoy(IplImage* img);
+point findPipe(IplImage* img);
+point findHeading(IplImage* img);
+*/
+
+
//the convert function converts a gStreamer object to an OpenCV image
/*
@@ -21,75 +35,94 @@
- }
+ }
*/
//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){
+//center of mass will either be found by averaging white pixels in binary image
+//or by fitting an ellipse around the buoy
+point findBuoy(IplImage* img){
- char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+ point p;
+ p.x = 0.0;
+ p.y = 0.0;
+ //create the windows:
+ //this is for the original image
+ cvNamedWindow("orig", CV_WINDOW_AUTOSIZE);
+ //this is for the smoothed image
+ cvNamedWindow("smooth", CV_WINDOW_AUTOSIZE);
+ //this is for the binary image (thresholding)
+ cvNamedWindow("binary", CV_WINDOW_AUTOSIZE);
- //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);
+ //display the original image
+ cvShowImage("orig", img);
- //threshold the image till we get a black and white one
+ //we smooth the image and store the smooth img back in img
+ cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
- //find the center of mass (avg pos of the white pixels)
+ //display the smoothed image
+ cvShowImage("smooth", img);
- return bitString;
+ cvWaitKey(0);
+ return p;
+
}
-//The findPipe function works in quite the same way as findBuoy
+//the findHedge function will have to be used with a fake image we create
+//(I suggest manipulating the buoy image and drawing a green hedge within it)
+//since we don't have any ones to base ourselves on
+//how are we going to return the values? Are we going to return a struct with three points,
+//each corresponding to the center of each rectangle? Will it have to be done in the same way
+//as finding the heading of the pipe?
+//will we need to make a new struct then for this return value?
-char* findPipe(IplImage* img){
+/*point? findHedge(IplImage* img){
- char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+}
+*/
- //we smooth img
- cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+//The findPipe function works in quite the same way as findBuoy
- //threshold the image till we get a black and white one
+point findPipe(IplImage* img){
- //find the center of mass (avg pos of the white pixels)
+ point p;
+ p.x = 0.0;
+ p.y = 0.0;
- return bitString;
+ return p;
}
//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){
+point findHeading(IplImage* img){
- char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+ point p;
+ p.x = 0.0;
+ p.y = 0.0;
- //we smooth img
- cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+ return p;
+}
- //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(int argc, char** argv){
+ IplImage *img = cvLoadImage( argv[1], CV_LOAD_IMAGE_COLOR );
+ //testing now findBuoy which so far only smooths the image it is
+ //given. I'm opening a bunch of windows with the effects produced
+ findBuoy(img);
-int main(char** argv, int arg){
-
-
return 0;
}
Modified: robotVision2/src/squares.c
===================================================================
--- robotVision2/src/squares.c 2010-05-16 17:17:31 UTC (rev 6)
+++ robotVision2/src/squares.c 2010-05-17 15:29:04 UTC (rev 7)
@@ -19,7 +19,7 @@
IplImage* img = 0;
IplImage* img0 = 0;
CvMemStorage* storage = 0;
-const char* wndname = "Square Detection Demo";
+const char* wndname2 = "Square Detection Demo";
char* names[] = { "images/pic1.png", "images/pic2.png", "images/pic3.png",
@@ -28,7 +28,7 @@
CvSeq* findSquares4( IplImage*, CvMemStorage*);
void drawSquares( IplImage*, CvSeq*);
-int main(int argc, char** argv)
+/*int main(int argc, char** argv)
{
int i, c;
// create memory storage that will contain all the dynamic data
@@ -47,22 +47,22 @@
// create window and a trackbar (slider) with parent "image" and set callback
// (the slider regulates upper threshold, passed to Canny edge detector)
- cvNamedWindow( wndname, 1 );
+ cvNamedWindow( wndname2, 1 );
// find and draw the squares
//drawSquares( img, findSquares4( img, storage ) );
- /**********HERE*****************
- IplImage* timg = cvCloneImage( img ); // make a copy of input image
- IplImage* gray = cvCreateImage( sz, 8, 1 );
- IplImage* pyr = cvCreateImage( cvSize(sz.width/2, sz.height/2), 8, 3 );
- IplImage* tgray;
- cvPyrDown( timg, pyr, 7 );
- cvPyrUp( pyr, timg, 7 );
- tgray = cvCreateImage( sz, 8, 1 );
- cvThreshold( tgray, gray, 200, 255, CV_THRESH_BINARY );
- */
+ //IplImage* timg = cvCloneImage( img ); // make a copy of input image
+ //IplImage* gray = cvCreateImage( sz, 8, 1 );
+ //IplImage* pyr = cvCreateImage( cvSize(sz.width/2, sz.height/2), 8, 3 );
+ //IplImage* tgray;
+ // cvPyrDown( timg, pyr, 7 );
+ //cvPyrUp( pyr, timg, 7 );
+ //tgray = cvCreateImage( sz, 8, 1 );
+ //cvThreshold( tgray, gray, 200, 255, CV_THRESH_BINARY );
+
+
// wait for key.
// Also the function cvWaitKey takes care of event processing
c = cvWaitKey(0);
@@ -75,10 +75,11 @@
break;
}
- cvDestroyWindow( wndname );
+ cvDestroyWindow( wndname2 );
return 0;
}
+*/
// helper function:
// finds a cosine of angle between vectors
@@ -235,7 +236,7 @@
}
// show the resultant image
- cvShowImage( wndname, cpy );
+ cvShowImage( wndname2, cpy );
cvReleaseImage( &cpy );
}
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