[Robotvision-commit] SF.net SVN: robotvision:[20] vision/src/main.cpp
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[Robotvision-commit] SF.net SVN: robotvision:[20] vision/src/main.cpp
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From: <bre...@us...> - 2010-06-02 18:34:46
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Revision: 20
http://robotvision.svn.sourceforge.net/robotvision/?rev=20&view=rev
Author: brendasegal
Date: 2010-06-02 18:34:39 +0000 (Wed, 02 Jun 2010)
Log Message:
-----------
Fixed the command line menu thingy
Modified Paths:
--------------
vision/src/main.cpp
Modified: vision/src/main.cpp
===================================================================
--- vision/src/main.cpp 2010-06-02 03:03:00 UTC (rev 19)
+++ vision/src/main.cpp 2010-06-02 18:34:39 UTC (rev 20)
@@ -522,6 +522,136 @@
return retElipse;
}
+int slider(char* imageFile) {
+
+ int sthreshold = 68, erode = 4, dialate = 8;
+
+ int hlower = 127, hupper = 25;/*
+ here hlower is the lower cut off and the hupper is the upper cut off for hue values of red.*/
+
+ cvNamedWindow("original", CV_WINDOW_AUTOSIZE);
+
+ cvNamedWindow("Monochrome Of red Blob", CV_WINDOW_AUTOSIZE);
+
+ cvCreateTrackbar("sthreshold", "Monochrome Of red Blob", &sthreshold, 255,
+ 0);
+ cvCreateTrackbar("hlower", "Monochrome Of red Blob", &hlower, 255, 0);
+ cvCreateTrackbar("hupper", "Monochrome Of red Blob", &hupper, 255, 0);
+ cvCreateTrackbar("erode", "Monochrome Of red Blob", &erode, 20, 0);
+ cvCreateTrackbar("dialate", "Monochrome Of red Blob", &dialate, 20, 0);
+
+ int i, j, k;//for iterations
+ int temp = 0;//if we use a temporary var
+ /*here lets look at the word \x93heighthsv\x94 \x85now lets breadk up this word\x85here height means
+
+ height as a regular IplImage Structure has now the addition \x93hsv\x94 to the word heigh means this
+ height attribute is for the image which is color converted to the hsv,Similar conventions
+ for the monochrome image\x85so you may find the attribute height for the monochrome image to be
+ heightmono\x85So i believe it is easy\x85*/
+ int heighthsv, widthhsv, stephsv, channelshsv;
+ int heightmono, widthmono, stepmono, channelsmono;
+ uchar *datahsv, *datamono;
+
+ IplImage *frame;
+ IplImage *colimgbot;
+
+ IplImage *monoimgbot;
+
+ for (;;) {
+
+
+
+
+ i = j = k = 0;/*initializing the iteraiton variables to be zero*/
+
+
+ //frame = cvLoadImage("images/3dballs.jpg", 1);
+ //frame=cvLoadImage("images/flipper.png",1);
+ //frame=cvLoadImage("images/test7.png",1);
+ frame=cvLoadImage(imageFile,1);
+
+ if (frame == NULL) {
+ puts("unable to load the frame");
+ exit(0);
+ }
+ //printf("frame loaded");
+ colimgbot = cvCreateImage(cvGetSize(frame), 8, 3);
+
+ monoimgbot = cvCreateImage(cvGetSize(frame), 8, 1);
+
+ cvCvtColor(frame, colimgbot, CV_RGB2HSV);
+
+ //\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97\x97
+
+ heighthsv = colimgbot->height;
+ widthhsv = colimgbot->width;
+ stephsv = colimgbot->widthStep;
+ channelshsv = colimgbot->nChannels;
+ datahsv = (uchar *) colimgbot->imageData;
+ //\x97\x97\x97\x97\x97\x97\x97\x97\x96
+
+ heightmono = monoimgbot ->height;
+ widthmono = monoimgbot->width;
+ stepmono = monoimgbot->widthStep;
+ channelsmono = monoimgbot->nChannels;
+ datamono = (uchar *) monoimgbot->imageData;
+
+ for (i = 0; i < (heighthsv); i++) {
+ for (j = 0; j < (widthhsv); j++) {
+ if ((datahsv[(i) * stephsv + j * channelshsv] <= hlower)
+ && (datahsv[(i) * stephsv + j * channelshsv] >= hupper)) {
+ if ((datahsv[(i) * stephsv + j * (channelshsv) + 1])
+ > sthreshold) {
+ datamono[i * stepmono + j * channelsmono] = 255;
+ } else
+ /*A very simple concept with the loops here if the hue values are in the aforementioned range and the
+ threshold is met then logic one else logic zero*/
+ datamono[i * stepmono + j * channelsmono] = 0;
+ }
+ }
+ }
+
+ for (i = 0; i < (heighthsv); i++) {
+ for (j = 0; j < (widthhsv); j++) {
+ if (!(datamono[i * stepmono + j * channelsmono] == 0
+ || datamono[i * stepmono + j * channelsmono] == 255))
+ datamono[i * stepmono + j * channelsmono] = 0;
+ }
+ }/*Just a cross chek to ensure whether all the pixels have only
+ either 0 or 255*/
+ /*Please check these links for the explanation of the erosion and dilation functions
+
+ http://www.dca.fee.unicamp.br/dipcourse/html-dip/c9/s4/front-page.html*/
+
+ /*so now the last parameter in the function indicates how many times you want to apply dilation
+
+ or erosion*/
+
+ cvErode(monoimgbot, monoimgbot, 0, erode);
+ cvDilate(monoimgbot, monoimgbot, 0, dialate);
+ /*here i have experimented with the values by changing them\x85and i have found
+ that i come to a good result by applying erosion 6 times and dilation 15 times
+ you can comment/uncomment play with the values and see what is going on
+ Sometimes you will find the areas which are shining in the image also get detected\x85
+
+ Please think why and then try to post a comment the best commment would get visible on this page*/
+
+ cvShowImage("original", frame);
+ //cvSaveImage("red-ballmonochrome.jpg",monoimgbot);/*if you want to save the image*/
+ cvShowImage("Monochrome Of red Blob", monoimgbot);
+ int c = cvWaitKey(0);
+ if ((char) c == 27)
+ break;
+ /*for all the other clarifications you can check the other posts\x85. you will find an answer
+ People who are getting started with the Opencv must make sure you
+
+ check the other posts on this blog*/
+ }
+ cvDestroyWindow("Monochrome Of red Blob");
+ cvDestroyWindow("original");
+ return 0;
+}
+
int showImage(char* functionName, char* img){
@@ -658,24 +788,165 @@
//readFile("config/hedge.txt", 3);
- playVideo("finalFindPipe", "videos/pipe3.avi");
+ //playVideo("finalFindPipe", "videos/pipe3.avi");
//showImage("findBuoy", "images/buoy.jpg");
//playVideo("finalFindPipe", "videos/ets2007buoy.avi");
//playVideo("findBuoy", "videos/ets2007buoy.avi");
if(argc<=1){
+ char readuser[100];
+ char functionName[100];
+ char fileName[100];
+ int type = 1;
+ while(true){
+ printf("\nMenu\n\n1: Video\n2: Image\n3: Config\n4: List of media\n5: Slider\n6: Exit\n\n");
+ printf("%**>");
+ gets(readuser);
+ if(strcmp(readuser, "q")==0||strcmp(readuser, "6")==0){
+ //we exit the program
+ exit(0);
+ }
+ else if(strcmp(readuser, "1")==0){
+ printf("Function name?\n");
+ printf("%**>");
+ gets(functionName);
+ printf("Video file? Remember: videos/...\n");
+ printf("%**>");
+ gets(fileName);
+ playVideo(functionName, fileName);
+ }
+ else if(strcmp(readuser, "2")==0){
+
+ printf("Function name?\n");
+ printf("%**>");
+ gets(functionName);
+ printf("Image file? Remember: images/...\n");
+ printf("%**>");
+ gets(fileName);
+
+ showImage(functionName, fileName);
+ }
+ else if(strcmp(readuser, "3")==0){
+
+ printf("Type 1 for findBuoy, 2 for findPipe, 3 for findHedge\n");
+ printf("%**>");
+ gets(functionName);
+
+ type = atoi(functionName);
+
+ if(type==1){
+
+ readFile("config/buoy.txt", type);
+
+ }
+ else if(type==2){
+
+ readFile("config/pipe.txt", type);
+ }
+ else{
+
+ readFile("config/hedge.txt", type);
+
+ }
+
+
+ }
+ else if(strcmp(readuser, "4")==0){
+
+ printf("\nVideos\n******\nets2007buoy.avi\nets2007pipe.avi\npipe3.avi\ncuauvFinalForward.avi\n");
+ printf("\nImages\n******\nbuoy.jpg\npipe.png\ntest2.png\ntest3.png\ntest4.png\ntest5.png\ntest6.png\n");
+ printf("\nConfig Files\n************\npipe.txt\nhedge.txt\nbuoy.txt\n");
+ }
+ else if(strcmp(readuser, "5")==0){
+
+ printf("Image file? Remember: images/...\n");
+ printf("%**>");
+ gets(fileName);
+ slider(fileName);
+
+ }
+ else{
+
+ printf("\n You must choose an option from the menu\n");
+
+ }
+
+
+ }//end while
+
+
+
+
+
+
+
}
else{
+ if(strcmp(argv[1], "-v")==0){
+ //then the person wants to play a video
+ //make sure that the person puts the name of the method
+ //as well as the name of the video
+ if(argc<4){
+
+ printf("Insufficient number of arguments.\n");
+ }
+ else{
+
+ playVideo(argv[2], argv[3]);
+ }
+
+ }
+ else if(strcmp(argv[1], "-i")==0){
+
+ //then the person wants to play a video
+ //make sure that the person puts the name of the method
+ //as well as the name of the video
+
+ if(argc<4){
+
+ printf("Insufficient number of arguments.\n");
+ }
+ else{
+
+ showImage(argv[2], argv[3]);
+ }
+
+ }
+ else if(strcmp(argv[1], "-s")==0){
+
+ //then the person wants to play a video
+ //make sure that the person puts the name of the method
+ //as well as the name of the video
+
+ if(argc<3){
+
+ printf("Insufficient number of arguments.\n");
+ }
+ else{
+
+ slider(argv[2]);
+ }
+
+ }
+ else{
+
+ printf("To view a video type vision.exe -v functionName video\n "
+ "To view an image type vision.exe -i functionName image");
+
+ }
+
+
+
}
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