[Robotvision-commit] SF.net SVN: robotvision:[16] vision/src/findBuoy.c

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

Revision: 16
          http://robotvision.svn.sourceforge.net/robotvision/?rev=16&view=rev
Author:   brendasegal
Date:     2010-05-30 02:07:09 +0000 (Sun, 30 May 2010)

Log Message:
-----------
This is stuff I did yesterday (before I found out that I could use Phil's findPipe function to find the buoy using thresholding).  Either way, I haven't done the ellipse part yet (or averaging the points).  I'm going to integrate this with main.cpp at some point with ellipse fitting, probably on Monday.

Added Paths:
-----------
    vision/src/findBuoy.c

Added: vision/src/findBuoy.c
===================================================================
--- vision/src/findBuoy.c	                        (rev 0)
+++ vision/src/findBuoy.c	2010-05-30 02:07:09 UTC (rev 16)
@@ -0,0 +1,279 @@
+#include "stdlib.h"
+#include "stdio.h"
+#include "cv.h"
+#include "highgui.h"
+
+typedef struct retValue {
+
+	double x;
+	double y;
+
+}point;
+
+int	findBuoyVideo (char* origVideo, char* newVideo){
+
+	int sthreshold=180;//194
+	double hlower=178;
+	double hupper=3;
+
+		CvCapture* capture = 0;
+		capture = cvCreateFileCapture( origVideo );
+		if(!capture){
+			return -1;
+		}
+		IplImage *frame=cvQueryFrame(capture);//Init the video read
+		double fps = cvGetCaptureProperty (
+				capture,
+				CV_CAP_PROP_FPS
+		);
+
+		CvSize size1 = cvSize(
+	    	(int)cvGetCaptureProperty( capture, CV_CAP_PROP_FRAME_WIDTH),
+			(int)cvGetCaptureProperty( capture, CV_CAP_PROP_FRAME_HEIGHT)
+		);
+		CvVideoWriter *writer = cvCreateVideoWriter(
+		  newVideo,
+		  -1,
+		  fps,
+		size1,1);
+
+		int i; int j;
+
+		int height; int width; int step; int channels;
+		int heightmono; int widthmono; int stepmono; int nChannelsmono;
+		uchar *data; uchar *datamono;
+		height = frame->height;
+
+		width = frame->width;
+		step = frame->widthStep;
+
+		channels = frame->nChannels;
+		stepmono = step;
+		nChannelsmono = channels;
+
+		data = (uchar *)frame->imageData;
+
+
+		IplImage* logpolar_frame = cvCreateImage(
+			size1,
+			IPL_DEPTH_8U,
+			3
+			);
+
+		datamono = (uchar *)logpolar_frame->imageData;
+		while( (frame=cvQueryFrame(capture)) != NULL ) {
+
+			 for( i = 0 ; i < height ; i++ ) {
+
+					for( j = 0 ; j < width ; j++ ) {
+
+						if((data[i*step + j*channels+2]>=hlower) && ( data[i*step + j*channels + 2]>=hupper)){
+							  if( ( data[i*stepmono + j*nChannelsmono + 2] ) >sthreshold){
+
+								    datamono[i*stepmono + j*nChannelsmono + 0] = 255;
+								    datamono[i*stepmono + j*nChannelsmono + 1] = 255;
+
+				        		    datamono[i*stepmono + j*nChannelsmono + 2] = 255;
+
+			        		   }
+			        		   else{
+
+			        			   datamono[i*stepmono + j*nChannelsmono + 0] = 0;
+
+						           datamono[i*stepmono + j*nChannelsmono + 1] = 0;
+
+			        			   datamono[i*stepmono + j*nChannelsmono + 2] = 0;
+
+			        		   }
+
+
+						}
+						else{
+
+							datamono[i*stepmono + j*nChannelsmono + 0] = 0;
+
+						   datamono[i*stepmono + j*nChannelsmono + 1] = 0;
+
+			       		   datamono[i*stepmono + j*nChannelsmono + 2] = 0;
+
+  			       	    }
+
+
+
+				     }//end inner for loop
+
+				}//end outer for loop
+
+
+				cvShowImage("original frame", frame);
+
+				cvShowImage("monoimage", logpolar_frame);
+
+				cvWriteFrame( writer, logpolar_frame );
+
+		 }//end while
+
+		cvReleaseVideoWriter( &writer );
+		cvReleaseImage( &logpolar_frame );
+		cvReleaseCapture( &capture );
+		return(0);
+
+	}
+
+//For the findBuoy function, the center of mass is returned as (x,y) coordinates
+//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){
+
+	 point p;
+	 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);
+	 //this is for the smoothed image
+	 cvNamedWindow("smooth", CV_WINDOW_AUTOSIZE);
+	 //this is for the binary image (thresholding)
+	 cvNamedWindow("binary", CV_WINDOW_AUTOSIZE);
+
+	 	 //display the original image
+	 cvShowImage("orig", img);
+
+	 //we smooth the image and store the smooth img back in img
+	 cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+
+	 //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;
+
+}
+
+int dmain(int argc, char** argv){
+	if (argc <= 1){
+
+		printf("not enough arguments\n");
+		return 1;
+
+	}
+
+	if(strcmp(argv[1], "-v")==0){
+
+		if (argc <= 3){
+
+			printf("not enough arguments\n");
+			return 1;
+
+		}
+		findBuoyVideo(argv[2],argv[3]);
+	}
+
+
+
+	//testing now findBuoy which so far only smooths the image it is
+	//given.  I'm opening a bunch of windows with the effects produced
+	else if(strcmp(argv[1], "-i")==0){
+
+		if (argc <= 2){
+
+		  printf("not enough arguments\n");
+	      return 1;
+
+		}
+
+		IplImage *img = cvLoadImage( argv[2], CV_LOAD_IMAGE_COLOR );
+
+		findBuoy(img);
+	}
+
+
+
+	return 0;
+}
+
+
+
+
+
+
+
+


Property changes on: vision/src/findBuoy.c
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Added: svn:mime-type
   + text/plain


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