[Robotvision-commit] SF.net SVN: robotvision:[27] vision
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[Robotvision-commit] SF.net SVN: robotvision:[27] vision
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From: <phi...@us...> - 2010-06-08 00:08:28
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Revision: 27
http://robotvision.svn.sourceforge.net/robotvision/?rev=27&view=rev
Author: phildavidson
Date: 2010-06-08 00:08:21 +0000 (Tue, 08 Jun 2010)
Log Message:
-----------
Some small additions - mostly delay bar to speed up video...
Modified Paths:
--------------
vision/src/main.cpp
vision/src/test2.cpp
vision/src/test5.cpp
vision/testimg.png
Added Paths:
-----------
vision/vision.exe
Modified: vision/src/main.cpp
===================================================================
--- vision/src/main.cpp 2010-06-07 23:12:24 UTC (rev 26)
+++ vision/src/main.cpp 2010-06-08 00:08:21 UTC (rev 27)
@@ -32,97 +32,131 @@
} elipse;
-int sthresholdbuoy=0, hupperbuoy=0, hlowerbuoy=0, erodebuoy=0, dilatebuoy=0;
-int sthresholdpipe=0, hupperpipe=0, hlowerpipe=0, erodepipe=0, dilatepipe=0;
-int sthresholdhedge=0, hupperhedge=0, hlowerhedge=0, erodehedge=0, dilatehedge=0;
-int sthreshold=0, hupper=0, hlower=0, erode=0, dilate=0; // for slider
+int sthresholdbuoy = 0, hupperbuoy = 0, hlowerbuoy = 0, erodebuoy = 0,
+ dilatebuoy = 0;
+int sthresholdpipe = 0, hupperpipe = 0, hlowerpipe = 0, erodepipe = 0,
+ dilatepipe = 0;
+int sthresholdhedge = 0, hupperhedge = 0, hlowerhedge = 0, erodehedge = 0,
+ dilatehedge = 0;
+int sthreshold = 0, hupper = 0, hlower = 0, erode = 0, dilate = 0; // for slider
//the following function is used by all of the find functions
//in order to set their threshold values on the fly
//using a config file
//type 1 is the buoy, type 2 is the pipe, type 3 is the hedge, type 4 is slider
-void readFile(char* filename, int type){
+void readFile(char* filename, int type) {
FILE* filereader;
filereader = fopen(filename, "r");
char line[100];
- char* line2 = (char*)malloc(sizeof(char)*100);
+ char* line2 = (char*) malloc(sizeof(char) * 100);
char var[100];
char value[100];
- if(filereader!=NULL){
+ if (filereader != NULL) {
- while(fgets(line, sizeof(line), filereader)!=NULL){
+ while (fgets(line, sizeof(line), filereader) != NULL) {
strcpy(line2, line);
- strcpy(var,"");
- strcpy(value,"");
+ strcpy(var, "");
+ strcpy(value, "");
sscanf(line, "%s %s", var, value);
- if(strncmp("sthreshold ", line, 11)==0){
+ if (strncmp("sthreshold ", line, 11) == 0) {
- switch(type){
+ switch (type) {
- case(1):sthresholdbuoy=atoi(value);break;
- case(2):sthresholdpipe=atoi(value);break;
- case(3):sthresholdhedge=atoi(value);break;
- case(4):sthreshold=atoi(value);break;
+ case (1):
+ sthresholdbuoy = atoi(value);
+ break;
+ case (2):
+ sthresholdpipe = atoi(value);
+ break;
+ case (3):
+ sthresholdhedge = atoi(value);
+ break;
+ case (4):
+ sthreshold = atoi(value);
+ break;
}
+ } else if (strncmp("hupper ", line, 7) == 0) {
- }
- else if(strncmp("hupper ", line, 7)==0){
+ switch (type) {
+ case (1):
+ hupperbuoy = atoi(value);
+ break;
+ case (2):
+ hupperpipe = atoi(value);
+ break;
+ case (3):
+ hupperhedge = atoi(value);
+ break;
+ case (4):
+ hupper = atoi(value);
+ break;
- switch(type){
-
- case(1):hupperbuoy=atoi(value);break;
- case(2):hupperpipe=atoi(value);break;
- case(3):hupperhedge=atoi(value);break;
- case(4):hupper=atoi(value);break;
-
}
- }
- else if(strncmp("hlower ", line, 7)==0){
+ } else if (strncmp("hlower ", line, 7) == 0) {
+ switch (type) {
- switch(type){
+ case (1):
+ hlowerbuoy = atoi(value);
+ break;
+ case (2):
+ hlowerpipe = atoi(value);
+ break;
+ case (3):
+ hlowerhedge = atoi(value);
+ break;
+ case (4):
+ hlower = atoi(value);
+ break;
- case(1):hlowerbuoy=atoi(value);break;
- case(2):hlowerpipe=atoi(value);break;
- case(3):hlowerhedge=atoi(value);break;
- case(4):hlower=atoi(value);break;
-
}
+ } else if (strncmp("erode ", line, 6) == 0) {
- }
- else if(strncmp("erode ", line, 6)==0){
-
- switch(type){
- case(1):erodebuoy=atoi(value);break;
- case(2):erodepipe=atoi(value);break;
- case(3):erodehedge=atoi(value);break;
- case(4):erode=atoi(value);break;
+ switch (type) {
+ case (1):
+ erodebuoy = atoi(value);
+ break;
+ case (2):
+ erodepipe = atoi(value);
+ break;
+ case (3):
+ erodehedge = atoi(value);
+ break;
+ case (4):
+ erode = atoi(value);
+ break;
}
+ } else if (strncmp("dilate ", line, 7) == 0) {
- }
- else if(strncmp("dilate ", line, 7)==0){
+ switch (type) {
- switch(type){
+ case (1):
+ dilatebuoy = atoi(value);
+ break;
+ case (2):
+ dilatepipe = atoi(value);
+ break;
+ case (3):
+ dilatehedge = atoi(value);
+ break;
+ case (4):
+ dilate = atoi(value);
+ break;
- case(1):dilatebuoy=atoi(value);break;
- case(2):dilatepipe=atoi(value);break;
- case(3):dilatehedge=atoi(value);break;
- case(4):dilate=atoi(value);break;
-
}
}
@@ -130,20 +164,18 @@
}//end while
- }
- else{
+ } else {
printf("Can't read from file.\n");
}
}
-
void saveFile(char* filename) {
FILE* filewriter;
filewriter = fopen(filename, "w");
- if(filewriter!=NULL){
+ if (filewriter != NULL) {
fprintf(filewriter, "sthreshold %d\n", sthreshold);
fprintf(filewriter, "hlower %d\n", hlower);
fprintf(filewriter, "hupper %d\n", hupper);
@@ -152,7 +184,6 @@
}
}
-
//need to show the method headers
/*point findBuoy(IplImage* img);
point findPipe(IplImage* img);
@@ -179,19 +210,14 @@
//we will return our values
//as an ellipse
elipse retElipse;
- retElipse.angle=-1;
- retElipse.total=0;
+ retElipse.angle = -1;
+ retElipse.total = 0;
//these are the threshold values
-
//this is a copy of src
- IplImage* img = cvCreateImage(
- cvGetSize(src),
- IPL_DEPTH_8U,
- 3
- );
+ IplImage* img = cvCreateImage(cvGetSize(src), IPL_DEPTH_8U, 3);
//we smooth the image and store the smooth img back in img
//cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
@@ -200,12 +226,16 @@
cvCvtColor(src, img, CV_RGB2HSV);
//initialization of properties of the actual image
- int height; int width; int step; int channels;
+ int height;
+ int width;
+ int step;
+ int channels;
//initialization of properties of the thresholded image
- int heightmono; int widthmono; int stepmono; int nChannelsmono;
+ int heightmono;
+ int widthmono;
+ int stepmono;
+ int nChannelsmono;
-
-
//these are the properties of the image
//we will use them to loop through the data array (the image buffer)
height = img->height;
@@ -213,61 +243,49 @@
step = img->widthStep;
channels = img->nChannels;
-
//this is the image buffer of the current unchanged image
uchar *data = (uchar*) img->imageData;
//this is the going to hold the binary image formed
//by thresholding the image img
- IplImage* monoimgbot = cvCreateImage(
- cvGetSize(img),
- IPL_DEPTH_8U,
- 1
- );
+ IplImage* monoimgbot = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 1);
heightmono = monoimgbot->height;
widthmono = monoimgbot->width;
stepmono = monoimgbot->widthStep;
nChannelsmono = monoimgbot->nChannels;
- uchar *datamono = (uchar *)monoimgbot->imageData;
+ uchar *datamono = (uchar *) monoimgbot->imageData;
-
-
int i, j;
//this part makes a thresholded image out of img
//and stores it in the image buffer called datamono
- for( i = 0 ; i < height ; i++ ) {
+ for (i = 0; i < height; i++) {
+ for (j = 0; j < width; j++) {
- for( j = 0 ; j < width ; j++ ) {
+ if ((data[i * step + j * channels] <= hlowerbuoy) && (data[i * step
+ + j * channels] >= hupperbuoy)) {
+ if ((data[i * step + j * channels + 1]) > sthresholdbuoy) {
- if((data[i*step + j*channels]<=hlowerbuoy) && ( data[i*step + j*channels]>=hupperbuoy)){
+ datamono[i * stepmono + j * nChannelsmono + 0] = 255;
- if( ( data[i*step + j*channels + 1] ) >sthresholdbuoy){
+ } else {
+ datamono[i * stepmono + j * nChannelsmono + 0] = 0;
- datamono[i*stepmono + j*nChannelsmono + 0] = 255;
-
- }
- else{
- datamono[i*stepmono + j*nChannelsmono + 0] = 0;
-
-
- }
-
-
}
- else{
- datamono[i*stepmono + j*nChannelsmono + 0] = 0;
- }
+ } else {
+ datamono[i * stepmono + j * nChannelsmono + 0] = 0;
- }//end inner for loop
+ }
+ }//end inner for loop
+
}//end outer for loop
cvErode(monoimgbot, monoimgbot, 0, erodebuoy);
@@ -278,75 +296,74 @@
//and the center of the ellipse will represent
//the approximate center of the buoy
- CvMemStorage* storage;
- CvSeq* contour;
+ CvMemStorage* storage;
+ CvSeq* contour;
// Create dynamic structure and sequence.
storage = cvCreateMemStorage(0);
- contour = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , storage);
+ 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));
+ cvFindContours(monoimgbot, storage, &contour, sizeof(CvContour),
+ CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0, 0));
// This cycle draw all contours and approximate it by ellipses.
- for(;contour;contour = contour->h_next){
+ for (; contour; contour = contour->h_next) {
int count = contour->total; // This is number point in contour
- CvPoint center;
- CvSize size;
- CvBox2D box;
+ CvPoint center;
+ CvSize size;
+ CvBox2D box;
// Number point must be more than or equal to 6 (for cvFitEllipse_32f).
- if( count < 6 )
+ 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 );
+ 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 );
+ box = cvFitEllipse2(points_f);
//we draw an ellipse from these points
//iff there are more points in this current contour
//than for the last one to which we fit an ellipse
- if(count>retElipse.total) {
+ 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);
+ retElipse.size.width = cvRound(box.size.width * 0.5);
+ retElipse.size.height = cvRound(box.size.height * 0.5);
}
cvReleaseMat(&points_f);
}//end for
- 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);
+ 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);
+ 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);
+ // 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);
- cvCircle(monoimgbot, retElipse.center, 20, CV_RGB(0,255,0), 3);
+ }
-
- }
-
cvReleaseMemStorage(&storage);
cvReleaseImage(&monoimgbot);
@@ -414,7 +431,6 @@
}
}
-
//crosscheck all are either black or white
for (i = 0; i < (heighthsv); i++) {
for (j = 0; j < (widthhsv); j++) {
@@ -424,7 +440,6 @@
}
}
-
// get rid of noise
cvErode(monoimgbot, monoimgbot, 0, erodehedge);
cvDilate(monoimgbot, monoimgbot, 0, dilatehedge);
@@ -437,22 +452,19 @@
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));
+ cvFindContours(monoimgbot, storage, &contour, sizeof(CvContour),
+ CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0, 0));
elipse retElipse;
- retElipse.total=0;
- retElipse.angle=-1;
+ retElipse.total = 0;
+ retElipse.angle = -1;
// This cycle draw all contours and approximate it by ellipses.
- for(;contour;contour = contour->h_next)
- {
+ for (; contour; contour = contour->h_next) {
-
int count = contour->total; // This is number point in contour
CvBox2D box;
@@ -474,41 +486,37 @@
// Convert ellipse data from float to integer representation.
- if(count>retElipse.total) {
+ 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);
+ 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);
- 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);
-// 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);
- // 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);
-
- cvCircle(monoimgbot, retElipse.center, 20, CV_RGB(0,255,0), 3);
-
-
}
-
// Show image. HighGUI use.
@@ -584,7 +592,6 @@
}
}
-
//crosscheck all are either black or white
for (i = 0; i < (heighthsv); i++) {
for (j = 0; j < (widthhsv); j++) {
@@ -594,7 +601,6 @@
}
}
-
// get rid of noise
cvErode(monoimgbot, monoimgbot, 0, erodepipe);
cvDilate(monoimgbot, monoimgbot, 0, dilatepipe);
@@ -607,22 +613,19 @@
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));
+ cvFindContours(monoimgbot, storage, &contour, sizeof(CvContour),
+ CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0, 0));
elipse retElipse;
- retElipse.total=0;
- retElipse.angle=-1;
+ retElipse.total = 0;
+ retElipse.angle = -1;
// This cycle draw all contours and approximate it by ellipses.
- for(;contour;contour = contour->h_next)
- {
+ for (; contour; contour = contour->h_next) {
-
int count = contour->total; // This is number point in contour
CvBox2D box;
@@ -644,41 +647,37 @@
// Convert ellipse data from float to integer representation.
- if(count>retElipse.total) {
+ 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);
+ 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);
- 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);
- 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);
- // 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);
-
- cvCircle(monoimgbot, retElipse.center, 20, CV_RGB(0,255,0), 3);
-
-
}
-
// Show image. HighGUI use.
@@ -691,29 +690,27 @@
int slider(char* functionName, char* imageFile) {
- if(strcmp(functionName, "findBuoy") == 0) {
+ if (strcmp(functionName, "findBuoy") == 0) {
readFile("config/buoy.txt", 4);
- }
- else if(strcmp(functionName, "finalFindPipe") == 0) {
+ } else if (strcmp(functionName, "finalFindPipe") == 0) {
readFile("config/pipe.txt", 4);
- }
- else{
+ } else {
readFile("config/hedge.txt", 4);
}
cvNamedWindow("original", CV_WINDOW_AUTOSIZE);
- cvNamedWindow("Monochrome Of red Blob", CV_WINDOW_AUTOSIZE);
+ cvNamedWindow("Processed", 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("dilate", "Monochrome Of red Blob", &dilate, 20, 0);
+ cvCreateTrackbar("sthreshold", "Processed", &sthreshold, 255, 0);
+ cvCreateTrackbar("hlower", "Processed", &hlower, 255, 0);
+ cvCreateTrackbar("hupper", "Processed", &hupper, 255, 0);
+ cvCreateTrackbar("erode", "Processed", &erode, 20, 0);
+ cvCreateTrackbar("dilate", "Processed", &dilate, 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
@@ -733,11 +730,10 @@
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);
+ frame = cvLoadImage(imageFile, 1);
if (frame == NULL) {
puts("unable to load the frame");
@@ -807,7 +803,7 @@
cvShowImage("original", frame);
//cvSaveImage("red-ballmonochrome.jpg",monoimgbot);/*if you want to save the image*/
- cvShowImage("Monochrome Of red Blob", monoimgbot);
+ cvShowImage("Processed", monoimgbot);
int c = cvWaitKey(0);
if ((char) c == 27)
break;
@@ -816,48 +812,43 @@
check the other posts on this blog*/
}
- cvDestroyWindow("Monochrome Of red Blob");
+ cvDestroyWindow("Processed");
cvDestroyWindow("original");
- if(strcmp(functionName, "findBuoy") == 0) {
+ if (strcmp(functionName, "findBuoy") == 0) {
saveFile("config/buoy.txt");
- }
- else if(strcmp(functionName, "finalFindPipe") == 0) {
+ } else if (strcmp(functionName, "finalFindPipe") == 0) {
saveFile("config/pipe.txt");
- }
- else{
+ } else {
saveFile("config/hedge.txt");
}
return 0;
}
-int showImage(char* functionName, char* img){
+int showImage(char* functionName, char* img) {
-
cvNamedWindow("original", CV_WINDOW_AUTOSIZE);
cvNamedWindow("processed", CV_WINDOW_AUTOSIZE);
- IplImage* image = cvLoadImage( img, CV_LOAD_IMAGE_COLOR );
+ IplImage* image = cvLoadImage(img, CV_LOAD_IMAGE_COLOR );
if (image == NULL) {
puts("unable to load the image");
exit(0);
}
- //display the original image
+ //display the original image
cvShowImage("original", image);
- if(strcmp(functionName, "findBuoy")==0){
+ if (strcmp(functionName, "findBuoy") == 0) {
findBuoy(image);
- }
- else if(strcmp(functionName, "finalFindPipe")==0){
+ } else if (strcmp(functionName, "finalFindPipe") == 0) {
finalFindPipe(image);
- }
- else if (strcmp(functionName, "findHedge") == 0) {
+ } else if (strcmp(functionName, "findHedge") == 0) {
findHedge(image);
}
@@ -866,137 +857,125 @@
cvDestroyWindow("processed");
cvDestroyWindow("original");
-
-
}
-int playVideo(char* functionName, char* video){
+int playVideo(char* functionName, char* video) {
cvNamedWindow("original", CV_WINDOW_AUTOSIZE);
cvNamedWindow("processed", CV_WINDOW_AUTOSIZE);
- //CvCapture* capture = cvCreateFileCapture("videos/pipe3.avi");
- //CvCapture* capture = cvCreateFileCapture("videos/ets2007pipe.avi");
- //CvCapture* capture = cvCreateFileCapture("videos/ets2007buoy.avi");
- //CvCapture* capture = cvCreateFileCapture("videos/cuauvFinalForward.avi");
+ int delay = 150;
- CvCapture* capture = cvCreateFileCapture(video);
+ cvCreateTrackbar("Delay", "original", &delay, 150, 0);
- IplImage *frame;
+ //CvCapture* capture = cvCreateFileCapture("videos/pipe3.avi");
+ //CvCapture* capture = cvCreateFileCapture("videos/ets2007pipe.avi");
+ //CvCapture* capture = cvCreateFileCapture("videos/ets2007buoy.avi");
+ //CvCapture* capture = cvCreateFileCapture("videos/cuauvFinalForward.avi");
+ CvCapture* capture = cvCreateFileCapture(video);
+ IplImage *frame;
- if (!capture) {
+ if (!capture) {
- printf("Cannot open video file!\n");
+ printf("Cannot open video file!\n");
- exit(0);
+ exit(0);
- }
+ }
+ for (;;) {/*keep looping till we are out of frames...*/
- for (;;) {/*keep looping till we are out of frames...*/
+ if (!cvGrabFrame(capture)) {
- if (!cvGrabFrame(capture)) {
+ break;
- break;
+ }
- }
+ frame = cvRetrieveFrame(capture);
+ if (frame == NULL) {
+ puts("unable to load the frame");
+ exit(0);
+ }
- frame = cvRetrieveFrame(capture);
+ elipse retElipse;
+ //elipse retElipse = finalFindPipe(frame);
- if (frame == NULL) {
- puts("unable to load the frame");
- exit(0);
- }
+ if (strcmp("findBuoy", functionName) == 0) {
- elipse retElipse;
- //elipse retElipse = finalFindPipe(frame);
+ retElipse = findBuoy(frame);
+ } else if (strcmp("finalFindPipe", functionName) == 0) {
- if(strcmp("findBuoy",functionName)==0){
+ retElipse = finalFindPipe(frame);
+ } else if (strcmp("findHedge", functionName) == 0) {
+ retElipse = findHedge(frame);
+ }
- retElipse = findBuoy(frame);
- }
- else if(strcmp("finalFindPipe",functionName)==0){
+ if (retElipse.angle != -1) {
+ cvLine(frame, cvPoint(frame->width / 2, frame->height / 2),
+ cvPoint((frame->width / 2) + (100 * (sin((-retElipse.angle)
+ * 3.14159265 / 180))), (frame->height / 2) + (100
+ * (cos(-retElipse.angle * 3.14159265 / 180)))),
+ CV_RGB(0,0,255), 5);
- retElipse = finalFindPipe(frame);
- }
- else if (strcmp("findHedge", functionName) == 0) {
- retElipse = findHedge(frame);
- }
+ cvCircle(frame, cvPoint(frame->width / 2, frame->height / 2), 10,
+ CV_RGB(0,0,255), 10);
- if(retElipse.angle!=-1) {
- cvLine(frame, cvPoint(frame->width / 2, frame->height / 2),
- cvPoint((frame->width / 2) + (100 * (sin((-retElipse.angle)
- * 3.14159265 / 180))), (frame->height / 2) + (100
- * (cos(-retElipse.angle * 3.14159265 / 180)))),
- CV_RGB(0,0,255), 5);
+ // Draw ellipse.
+ cvEllipse(frame, retElipse.center, retElipse.size,
+ -retElipse.angle, 0, 360, CV_RGB(255,0,255), 1, CV_AA, 0);
- cvCircle(frame, cvPoint(frame->width / 2, frame->height / 2), 10,
- CV_RGB(0,0,255), 10);
+ cvCircle(frame, retElipse.center, 10, CV_RGB(0,255,0), 5);
- // Draw ellipse.
- cvEllipse(frame, retElipse.center, retElipse.size, -retElipse.angle, 0, 360, CV_RGB(255,0,255),
- 1, CV_AA, 0);
+ }
+ cvShowImage("original", frame);
- cvCircle(frame, retElipse.center, 10, CV_RGB(0,255,0), 5);
+ int c = cvWaitKey(delay);
+ if ((char) c == 27)
+ break;
+ }
- }
+ /* free memory */
+ cvDestroyWindow("processed");
+ cvDestroyWindow("original");
- cvShowImage("original", frame);
+ cvReleaseCapture(&capture);
+ return 1;
- int c = cvWaitKey(150);
- if ((char) c == 27)
- break;
-
- }
-
- /* free memory */
-
-
- cvDestroyWindow("processed");
- cvDestroyWindow("original");
-
- cvReleaseCapture(&capture);
-
- return 1;
-
}
-
-
int main(int argc, char** argv) {
readFile("config/buoy.txt", 1);
readFile("config/pipe.txt", 2);
readFile("config/hedge.txt", 3);
+ if (argc <= 1) {
- if(argc<=1){
-
char readuser[100];
char functionName[100];
char fileName[100];
int type = 1;
- while(true){
+ while (true) {
- printf("\nMenu\n\n1: Video\n2: Image\n3: Config\n4: List of media\n5: Slider\n6: Exit\n\n");
+ 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){
+ if (strcmp(readuser, "q") == 0 || strcmp(readuser, "6") == 0) {
//we exit the program
exit(0);
- }
- else if(strcmp(readuser, "1")==0){
+ } else if (strcmp(readuser, "1") == 0) {
printf("Type 1 for findBuoy, 2 for findPipe, 3 for findHedge\n");
printf("%**>");
@@ -1007,17 +986,21 @@
type = atoi(functionName);
- switch(type){
+ switch (type) {
- case(1): playVideo("findBuoy", fileName); break;
- case(2): playVideo("finalFindPipe", fileName); break;
- case(3): playVideo("findHedge", fileName); break;
+ case (1):
+ playVideo("findBuoy", fileName);
+ break;
+ case (2):
+ playVideo("finalFindPipe", fileName);
+ break;
+ case (3):
+ playVideo("findHedge", fileName);
+ break;
}
+ } else if (strcmp(readuser, "2") == 0) {
- }
- else if(strcmp(readuser, "2")==0){
-
printf("Type 1 for findBuoy, 2 for findPipe, 3 for findHedge\n");
printf("%**>");
gets(functionName);
@@ -1027,46 +1010,49 @@
type = atoi(functionName);
- switch(type){
+ switch (type) {
- case(1): showImage("findBuoy", fileName); break;
- case(2): showImage("finalFindPipe", fileName); break;
- case(3): showImage("findHedge", fileName); break;
+ case (1):
+ showImage("findBuoy", fileName);
+ break;
+ case (2):
+ showImage("finalFindPipe", fileName);
+ break;
+ case (3):
+ showImage("findHedge", fileName);
+ break;
}
+ } else if (strcmp(readuser, "3") == 0) {
- }
- 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){
+ if (type == 1) {
readFile("config/buoy.txt", type);
- }
- else if(type==2){
+ } else if (type == 2) {
readFile("config/pipe.txt", type);
- }
- else{
+ } else {
readFile("config/hedge.txt", type);
}
- }
- else if(strcmp(readuser, "4")==0){
+ } else if (strcmp(readuser, "4") == 0) {
- printf("\nVideos\n******\nets2007buoy.avi\nets2007pipe.avi\npipe3.avi\ncuauvFinalForward.avi\nwire2.avi\n");
- printf("\nImages\n******\nbuoy.jpg\npipe.png\ntest2.png\ntest3.png\ntest4.png\ntest5.png\ntest6.png\nwire.png\nwire2.png\nwire3.png\nwire4.png\nwire5.png\n");
- printf("\nConfig Files\n************\npipe.txt\nhedge.txt\nbuoy.txt\n");
- }
- else if(strcmp(readuser, "5")==0){
+ printf(
+ "\nVideos\n******\nets2007buoy.avi\nets2007pipe.avi\npipe3.avi\ncuauvFinalForward.avi\nwire2.avi\n");
+ printf(
+ "\nImages\n******\nbuoy.jpg\npipe.png\ntest2.png\ntest3.png\ntest4.png\ntest5.png\ntest6.png\nwire.png\nwire2.png\nwire3.png\nwire4.png\nwire5.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("%**>");
@@ -1078,23 +1064,20 @@
type = atoi(functionName);
- if(type==1){
+ if (type == 1) {
slider("findBuoy", fileName);
- }
- else if(type==2){
+ } else if (type == 2) {
slider("finalFindPipe", fileName);
- }
- else{
+ } else {
slider("findHedge", fileName);
}
- }
- else{
+ } else {
printf("\n You must choose an option from the menu\n");
@@ -1102,66 +1085,59 @@
}//end while
- }
- else{
+ } else {
readFile("config/buoy.txt", 1);
readFile("config/pipe.txt", 2);
readFile("config/hedge.txt", 3);
- if(strcmp(argv[1], "-v")==0){
+ 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){
+ if (argc < 4) {
printf("Insufficient number of arguments.\n");
- }
- else{
+ } else {
playVideo(argv[2], argv[3]);
}
- }
- else if(strcmp(argv[1], "-i")==0){
+ } 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
+ //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){
+ if (argc < 4) {
- printf("Insufficient number of arguments.\n");
- }
- else{
+ printf("Insufficient number of arguments.\n");
+ } else {
- showImage(argv[2], argv[3]);
- }
+ showImage(argv[2], argv[3]);
+ }
- }
- else if(strcmp(argv[1], "-s")==0){
+ } 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<4){
+ if (argc < 4) {
printf("Insufficient number of arguments.\n");
- }
- else{
+ } else {
slider(argv[2], argv[3]);
}
- }
- else{
+ } else {
printf("To view a video type vision.exe -v functionName video\n "
- "To view an image type vision.exe -i functionName image\n"
- "To view the slider utility type vision.exe -s functionName image\n");
+ "To view an image type vision.exe -i functionName image\n"
+ "To view the slider utility type vision.exe -s functionName image\n");
}
Modified: vision/src/test2.cpp
===================================================================
--- vision/src/test2.cpp 2010-06-07 23:12:24 UTC (rev 26)
+++ vision/src/test2.cpp 2010-06-08 00:08:21 UTC (rev 27)
@@ -9,9 +9,9 @@
#define CONFIG "config/hedge.txt"
#define IMAGE "images/wire5.png"
-int sthreshold=0, hupper=0, hlower=0, erode=0, dilate=0;
+int sthreshold1=0, hupper1=0, hlower1=0, erode1=0, dilate1=0;
-void readFile(char* filename){
+void readFile1(char* filename){
FILE* filereader;
@@ -33,15 +33,15 @@
sscanf(line, "%s %s", var, value);
if(strncmp("sthreshold ", line, 11)==0)
- sthreshold=atoi(value);
+ sthreshold1=atoi(value);
else if(strncmp("hupper ", line, 7)==0)
- hupper=atoi(value);
+ hupper1=atoi(value);
else if(strncmp("hlower ", line, 7)==0)
- hlower=atoi(value);
+ hlower1=atoi(value);
else if(strncmp("erode ", line, 6)==0)
- erode=atoi(value);
+ erode1=atoi(value);
else if(strncmp("dilate ", line, 7)==0)
- dilate=atoi(value);
+ dilate1=atoi(value);
}//end while
@@ -52,34 +52,34 @@
}
}
-void saveFile(char* filename) {
+void saveFile1(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);
+ fprintf(filewriter, "sthreshold %d\n", sthreshold1);
+ fprintf(filewriter, "hlower %d\n", hlower1);
+ fprintf(filewriter, "hupper %d\n", hupper1);
+ fprintf(filewriter, "erode %d\n", erode1);
+ fprintf(filewriter, "dilate %d\n", dilate1);
}
}
int nmain() {
- readFile(CONFIG);
+ readFile1(CONFIG);
cvNamedWindow("original", CV_WINDOW_AUTOSIZE);
cvNamedWindow("Monochrome Of red Blob", CV_WINDOW_AUTOSIZE);
- cvCreateTrackbar("sthreshold", "Monochrome Of red Blob", &sthreshold, 255,
+ cvCreateTrackbar("sthreshold", "Monochrome Of red Blob", &sthreshold1, 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("dilate", "Monochrome Of red Blob", &dilate, 20, 0);
+ cvCreateTrackbar("hlower", "Monochrome Of red Blob", &hlower1, 255, 0);
+ cvCreateTrackbar("hupper", "Monochrome Of red Blob", &hupper1, 255, 0);
+ cvCreateTrackbar("erode", "Monochrome Of red Blob", &erode1, 20, 0);
+ cvCreateTrackbar("dilate", "Monochrome Of red Blob", &dilate1, 20, 0);
int i, j, k;//for iterations
int temp = 0;//if we use a temporary var
@@ -136,10 +136,10 @@
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] <= hlower1)
+ && (datahsv[(i) * stephsv + j * channelshsv] >= hupper1)) {
if ((datahsv[(i) * stephsv + j * (channelshsv) + 1])
- > sthreshold) {
+ > sthreshold1) {
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
@@ -165,8 +165,8 @@
or erosion*/
- cvErode(monoimgbot, monoimgbot, 0, erode);
- cvDilate(monoimgbot, monoimgbot, 0, dilate);
+ cvErode(monoimgbot, monoimgbot, 0, erode1);
+ cvDilate(monoimgbot, monoimgbot, 0, dilate1);
/*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
@@ -188,7 +188,7 @@
cvDestroyWindow("Monochrome Of red Blob");
cvDestroyWindow("original");
- saveFile(CONFIG);
+ saveFile1(CONFIG);
return 0;
}
Modified: vision/src/test5.cpp
===================================================================
--- vision/src/test5.cpp 2010-06-07 23:12:24 UTC (rev 26)
+++ vision/src/test5.cpp 2010-06-08 00:08:21 UTC (rev 27)
@@ -164,7 +164,7 @@
//cvReleaseImage( &cpy );
}
-int zmain(int argc, char** argv)
+int mmain(int argc, char** argv)
{
int sthreshold = 86, erode = 4, dialate = 8;
Modified: vision/testimg.png
===================================================================
(Binary files differ)
Added: vision/vision.exe
===================================================================
(Binary files differ)
Property changes on: vision/vision.exe
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
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