[Robotvision-commit] SF.net SVN: robotvision:[8] robotVision/main.c

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

Revision: 8
          http://robotvision.svn.sourceforge.net/robotvision/?rev=8&view=rev
Author:   brendasegal
Date:     2010-05-17 19:11:17 +0000 (Mon, 17 May 2010)

Log Message:
-----------
just added thresholding.  It's not amazing yet or anything.  That's all for me for today.

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

Modified: robotVision/main.c
===================================================================
--- robotVision/main.c	2010-05-17 15:29:04 UTC (rev 7)
+++ robotVision/main.c	2010-05-17 19:11:17 UTC (rev 8)
@@ -49,6 +49,12 @@
 	 p.x = 0.0;
 	 p.y = 0.0;
 
+
+	 //these are the threshold values
+	 int  sthreshold=194;//210;
+	 double hlower=178;
+	 double hupper=3;
+
 	 //create the windows:
 	 //this is for the original image
 	 cvNamedWindow("orig", CV_WINDOW_AUTOSIZE);
@@ -66,8 +72,78 @@
 	 //display the smoothed image
 	 cvShowImage("smooth", img);
 
+	 //these are the properties of the image
+	 //we will use them to loop through the data array (the image buffer)
+	 int height = img->height;
+	 int width = img->width;
+	 int step = img->widthStep;
+	 int nChannels = img->nChannels;
+
+	 //this is the image buffer
+	 uchar *data = ( uchar* )img->imageData;
+
+	 int i; int j;
+
+	 for( i = 0 ; i < height ; i++ ) {
+
+		for( j = 0 ; j < width ; j++ ) {
+
+			if((data[i*step + j*nChannels+2]>=hlower) && ( data[i*step + j*nChannels + 2]>=hupper)){
+
+
+				  if( ( data[i*step + j*nChannels + 2] ) >sthreshold){
+
+				     data[i*step + j*nChannels + 0] = 255;
+
+        			 data[i*step + j*nChannels + 1] = 255;
+
+        			 data[i*step + j*nChannels + 2] = 255;
+
+        		   }
+        		   else{
+        			   data[i*step + j*nChannels + 0] = 0;
+
+        			   data[i*step + j*nChannels + 1] = 0;
+
+        			   data[i*step + j*nChannels + 2] = 0;
+
+        		   }
+
+
+			}
+			else{
+
+			   data[i*step + j*nChannels + 0] = 0;
+
+			   data[i*step + j*nChannels + 1] = 0;
+
+       		   data[i*step + j*nChannels + 2] = 0;
+
+       	   }
+
+
+
+     }//end inner for loop
+
+}//end outer for loop
+
+	 cvErode(img,img,0,6);
+	 cvDilate(img, img,0,10);
+
+	 //display the binary image
+	 cvShowImage("binary", img);
+
 	 cvWaitKey(0);
 
+	 cvDestroyWindow("orig");
+	 cvDestroyWindow("smooth");
+	 cvDestroyWindow("binary");
+
+
+
+
+	 cvWaitKey(0);
+
 	 return p;
 
 }


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