[Robotvision-commit] SF.net SVN: robotvision:[22] vision
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[Robotvision-commit] SF.net SVN: robotvision:[22] vision
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From: <luc...@us...> - 2010-06-03 03:50:31
|
Revision: 22
http://robotvision.svn.sourceforge.net/robotvision/?rev=22&view=rev
Author: lucyyuan
Date: 2010-06-03 03:50:24 +0000 (Thu, 03 Jun 2010)
Log Message:
-----------
Added AutomatedTask entity class.
Modified Paths:
--------------
vision/.cproject
vision/config/hedge.txt
vision/src/main.cpp
vision/src/test2.cpp
Added Paths:
-----------
vision/images/wire.png
vision/images/wire2.png
vision/images/wire3.png
vision/images/wire4.png
vision/images/wire5.png
vision/videos/wire2.avi
Modified: vision/.cproject
===================================================================
--- vision/.cproject 2010-06-03 03:37:42 UTC (rev 21)
+++ vision/.cproject 2010-06-03 03:50:24 UTC (rev 22)
@@ -60,7 +60,7 @@
</folderInfo>
<sourceEntries>
<entry excluding="src" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
-<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
+<entry excluding="ellipse.cpp|findBuoy.c|pipe.cpp|squares.c" flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="src"/>
</sourceEntries>
</configuration>
</storageModule>
@@ -607,7 +607,7 @@
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.exe.release.1039220343" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.exe.release">
<option id="gnu.cpp.compiler.mingw.exe.release.option.optimization.level.630178120" name="Optimization Level" superClass="gnu.cpp.compiler.mingw.exe.release.option.optimization.level" value="gnu.cpp.compiler.optimization.level.most" valueType="enumerated"/>
<option id="gnu.cpp.compiler.mingw.exe.release.option.debugging.level.1662296820" name="Debug Level" superClass="gnu.cpp.compiler.mingw.exe.release.option.debugging.level" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/>
-<option id="gnu.cpp.compiler.option.include.paths.1558332788" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
+<option id="gnu.cpp.compiler.option.include.paths.1558332788" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
<listOptionValue builtIn="false" value=""C:\OpenCV2.1\include\opencv""/>
</option>
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.394920570" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
@@ -615,21 +615,21 @@
<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.exe.release.1960648874" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.exe.release">
<option defaultValue="gnu.c.optimization.level.most" id="gnu.c.compiler.mingw.exe.release.option.optimization.level.201552392" name="Optimization Level" superClass="gnu.c.compiler.mingw.exe.release.option.optimization.level" valueType="enumerated"/>
<option id="gnu.c.compiler.mingw.exe.release.option.debugging.level.89770317" name="Debug Level" superClass="gnu.c.compiler.mingw.exe.release.option.debugging.level" value="gnu.c.debugging.level.none" valueType="enumerated"/>
-<option id="gnu.c.compiler.option.include.paths.1683514941" superClass="gnu.c.compiler.option.include.paths" valueType="includePath">
+<option id="gnu.c.compiler.option.include.paths.1683514941" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" valueType="includePath">
<listOptionValue builtIn="false" value=""C:\OpenCV2.1\include\opencv""/>
</option>
<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.425612201" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
</tool>
<tool id="cdt.managedbuild.tool.gnu.c.linker.mingw.exe.release.1609582156" name="MinGW C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.mingw.exe.release"/>
<tool id="cdt.managedbuild.tool.gnu.cpp.linker.mingw.exe.release.1364150050" name="MinGW C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.mingw.exe.release">
-<option id="gnu.cpp.link.option.libs.1043700432" superClass="gnu.cpp.link.option.libs" valueType="libs">
+<option id="gnu.cpp.link.option.libs.1043700432" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
<listOptionValue builtIn="false" value="cv210"/>
<listOptionValue builtIn="false" value="cvaux210"/>
<listOptionValue builtIn="false" value="cxcore210"/>
<listOptionValue builtIn="false" value="highgui210"/>
<listOptionValue builtIn="false" value="ml210"/>
</option>
-<option id="gnu.cpp.link.option.paths.452181845" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
+<option id="gnu.cpp.link.option.paths.452181845" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
<listOptionValue builtIn="false" value=""C:\OpenCV2.1\bin""/>
</option>
<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.162577737" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
Modified: vision/config/hedge.txt
===================================================================
--- vision/config/hedge.txt 2010-06-03 03:37:42 UTC (rev 21)
+++ vision/config/hedge.txt 2010-06-03 03:50:24 UTC (rev 22)
@@ -1,5 +1,5 @@
-sthreshold 0
-hupper 0
-hlower 0
-erode 0
-dilate 0
+sthreshold 158
+hlower 60
+hupper 43
+erode 1
+dilate 5
Added: vision/images/wire.png
===================================================================
(Binary files differ)
Property changes on: vision/images/wire.png
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: vision/images/wire2.png
===================================================================
(Binary files differ)
Property changes on: vision/images/wire2.png
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: vision/images/wire3.png
===================================================================
(Binary files differ)
Property changes on: vision/images/wire3.png
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: vision/images/wire4.png
===================================================================
(Binary files differ)
Property changes on: vision/images/wire4.png
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: vision/images/wire5.png
===================================================================
(Binary files differ)
Property changes on: vision/images/wire5.png
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Modified: vision/src/main.cpp
===================================================================
--- vision/src/main.cpp 2010-06-03 03:37:42 UTC (rev 21)
+++ vision/src/main.cpp 2010-06-03 03:50:24 UTC (rev 22)
@@ -34,7 +34,6 @@
CvPoint center;
CvSize size;
-
} elipse;
int sthresholdbuoy=0, hupperbuoy=0, hlowerbuoy=0, erodebuoy=0, dilatebuoy=0;
@@ -345,17 +344,166 @@
//as finding the heading of the pipe?
//will we need to make a new struct then for this return value?
-/*point? findHedge(IplImage* img){
+elipse findHedge(IplImage *src) {
+ int i, j, k;//for iterations
+ int temp = 0;//if we use a temporary var
- }
- */
+ int heighthsv, widthhsv, stephsv, channelshsv;
+ int heightmono, widthmono, stepmono, channelsmono;
+ uchar *datahsv, *datamono;
-//The findPipe function works in quite the same way as findBuoy
+ IplImage *colimgbot;
+ IplImage *monoimgbot;
+ //printf("frame loaded");
+ colimgbot = cvCreateImage(cvGetSize(src), 8, 3);
+ monoimgbot = cvCreateImage(cvGetSize(src), 8, 1);
+
+ cvCvtColor(src, 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] <= hlowerhedge)
+ && (datahsv[(i) * stephsv + j * channelshsv] >= hupperhedge)) {
+ if ((datahsv[(i) * stephsv + j * (channelshsv) + 1])
+ > sthresholdhedge) {
+ 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;
+ }
+ }
+ }
+
+
+ //crosscheck all are either black or white
+ 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;
+ }
+ }
+
+
+ // get rid of noise
+ cvErode(monoimgbot, monoimgbot, 0, erodehedge);
+ cvDilate(monoimgbot, monoimgbot, 0, dilatehedge);
+
+ CvMemStorage* storage;
+ CvSeq* contour;
+
+ // Create dynamic structure and sequence.
+ storage = cvCreateMemStorage(0);
+ contour = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint),
+ storage);
+
+
+ cvShowImage("processed", monoimgbot);
+
+ // Find all contours.
+ cvFindContours(monoimgbot, storage, &contour, sizeof(CvContour), CV_RETR_LIST,
+ CV_CHAIN_APPROX_NONE, cvPoint(0, 0));
+
+ elipse retElipse;
+ retElipse.total=0;
+ retElipse.angle=-1;
+
+ // This cycle draw all contours and approximate it by ellipses.
+ for(;contour;contour = contour->h_next)
+ {
+
+
+ int count = contour->total; // This is number point in contour
+
+ CvBox2D box;
+
+ // Number point must be more than or equal to 6 (for cvFitEllipse_32f).
+ if (count < 6)
+ continue;
+
+ CvMat* points_f = cvCreateMat(1, count, CV_32FC2 );
+ CvMat points_i = cvMat(1, count, CV_32SC2, points_f->data.ptr);
+ cvCvtSeqToArray(contour, points_f->data.ptr, CV_WHOLE_SEQ );
+ cvConvert( &points_i, points_f );
+
+ // Fits ellipse to current contour.
+ box = cvFitEllipse2(points_f);
+
+ // Draw current contour.
+ //cvDrawContours(image04,contour,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));
+
+ // Convert ellipse data from float to integer representation.
+
+ if(count>retElipse.total) {
+
+ retElipse.total = count;
+ retElipse.angle = box.angle;
+ retElipse.center = cvPointFrom32f(box.center);
+ retElipse.size.width = cvRound(box.size.width*0.5);
+ retElipse.size.height = cvRound(box.size.height*0.5);
+ }
+
+ cvReleaseMat(&points_f);
+
+ }
+
+
+ if(retElipse.angle!=-1) {
+// cvLine(monoimgbot, cvPoint(monoimgbot->width / 2, monoimgbot->height / 2),
+// cvPoint((monoimgbot->width / 2) + (100 * (sin((-retElipse.angle)
+// * 3.14159265 / 180))), (monoimgbot->height / 2) + (100
+// * (cos(-retElipse.angle * 3.14159265 / 180)))),
+// CV_RGB(0,0,255), 5);
+
+// cvCircle(monoimgbot, cvPoint(monoimgbot->width / 2, monoimgbot->height / 2), 10,
+// CV_RGB(0,0,255), 10);
+
+ // Draw ellipse.
+ cvEllipse(monoimgbot, retElipse.center, retElipse.size, -retElipse.angle, 0, 360, CV_RGB(255,0,255),
+ 1, CV_AA, 0);
+
+
+ cvCircle(monoimgbot, retElipse.center, 20, CV_RGB(0,255,0), 3);
+
+
+ }
+
+
+ // Show image. HighGUI use.
+
+
+ cvReleaseImage(&colimgbot);
+ cvReleaseImage(&monoimgbot);
+ cvReleaseMemStorage(&storage);
+
+ return retElipse;
+}
+
+//The findPipe function works in quite the same way as findBuoy
+
+
elipse finalFindPipe(IplImage *src) {
//int sthreshold = 86, erode = 4, dialate = 8;
@@ -560,9 +708,6 @@
for (;;) {
-
-
-
i = j = k = 0;/*initializing the iteraiton variables to be zero*/
@@ -678,6 +823,9 @@
finalFindPipe(image);
}
+ else if (strcmp(functionName, "findHedge") == 0) {
+ findHedge(image);
+ }
cvWaitKey(0);
@@ -739,6 +887,9 @@
retElipse = finalFindPipe(frame);
}
+ else if (strcmp("findHedge", functionName) == 0) {
+ retElipse = findHedge(frame);
+ }
if(retElipse.angle!=-1) {
cvLine(frame, cvPoint(frame->width / 2, frame->height / 2),
@@ -786,19 +937,6 @@
int main(int argc, char** argv) {
-
- //this part is for the reading of the config files
- //thus setting the threshold values on the fly
- readFile("config/buoy.txt", 1);
- readFile("config/pipe.txt", 2);
- //readFile("config/hedge.txt", 3);
-
-
- //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];
@@ -880,7 +1018,6 @@
}
-
}
else if(strcmp(readuser, "4")==0){
@@ -902,18 +1039,15 @@
}
-
}//end while
-
-
-
-
-
-
}
else{
+ readFile("config/buoy.txt", 1);
+ readFile("config/pipe.txt", 2);
+ readFile("config/hedge.txt", 3);
+
if(strcmp(argv[1], "-v")==0){
//then the person wants to play a video
@@ -969,15 +1103,7 @@
}
-
-
}
-
-
return 0;
}
-
-
-
-
Modified: vision/src/test2.cpp
===================================================================
--- vision/src/test2.cpp 2010-06-03 03:37:42 UTC (rev 21)
+++ vision/src/test2.cpp 2010-06-03 03:50:24 UTC (rev 22)
@@ -5,13 +5,71 @@
#include"cv.h"
#include"highgui.h"
#include"stdio.h"
+
+#define CONFIG "config/hedge.txt"
+#define IMAGE "images/wire5.png"
+
+int sthreshold=0, hupper=0, hlower=0, erode=0, dilate=0;
+
+void readFile(char* filename){
+
+ FILE* filereader;
+
+ filereader = fopen(filename, "r");
+ char line[100];
+ char* line2 = (char*)malloc(sizeof(char)*100);
+
+ char var[100];
+ char value[100];
+
+ if(filereader!=NULL){
+
+ while(fgets(line, sizeof(line), filereader)!=NULL){
+
+ strcpy(line2, line);
+ strcpy(var,"");
+ strcpy(value,"");
+
+ sscanf(line, "%s %s", var, value);
+
+ if(strncmp("sthreshold ", line, 11)==0)
+ sthreshold=atoi(value);
+ else if(strncmp("hupper ", line, 7)==0)
+ hupper=atoi(value);
+ else if(strncmp("hlower ", line, 7)==0)
+ hlower=atoi(value);
+ else if(strncmp("erode ", line, 6)==0)
+ erode=atoi(value);
+ else if(strncmp("dilate ", line, 7)==0)
+ dilate=atoi(value);
+
+ }//end while
+
+ }
+ else{
+
+ printf("Can't read from file.\n");
+ }
+}
+
+void saveFile(char* filename) {
+ FILE* filewriter;
+
+ filewriter = fopen(filename, "w");
+
+ if(filewriter!=NULL){
+ fprintf(filewriter, "sthreshold %d\n", sthreshold);
+ fprintf(filewriter, "hlower %d\n", hlower);
+ fprintf(filewriter, "hupper %d\n", hupper);
+ fprintf(filewriter, "erode %d\n", erode);
+ fprintf(filewriter, "dilate %d\n", dilate);
+ }
+}
+
int nmain() {
- int sthreshold = 68, erode = 4, dialate = 8;
+ readFile(CONFIG);
- 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);
@@ -21,7 +79,7 @@
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);
+ cvCreateTrackbar("dilate", "Monochrome Of red Blob", &dilate, 20, 0);
int i, j, k;//for iterations
int temp = 0;//if we use a temporary var
@@ -42,16 +100,13 @@
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("images/pipe.png",1);
+ frame=cvLoadImage(IMAGE, 1);
if (frame == NULL) {
puts("unable to load the frame");
@@ -111,7 +166,7 @@
or erosion*/
cvErode(monoimgbot, monoimgbot, 0, erode);
- cvDilate(monoimgbot, monoimgbot, 0, dialate);
+ cvDilate(monoimgbot, monoimgbot, 0, dilate);
/*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
@@ -132,5 +187,8 @@
}
cvDestroyWindow("Monochrome Of red Blob");
cvDestroyWindow("original");
+
+ saveFile(CONFIG);
+
return 0;
}
Added: vision/videos/wire2.avi
===================================================================
(Binary files differ)
Property changes on: vision/videos/wire2.avi
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
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