Thread: [Robotvision-commit] SF.net SVN: robotvision:[6] robotVision

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robotvision-commit

[Robotvision-commit] SF.net SVN: robotvision:[6] robotVision

From: <bre...@us...> - 2010-05-16 17:17:37

Revision: 6
          http://robotvision.svn.sourceforge.net/robotvision/?rev=6&view=rev
Author:   brendasegal
Date:     2010-05-16 17:17:31 +0000 (Sun, 16 May 2010)

Log Message:
-----------


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

Added: robotVision/main.c
===================================================================
--- robotVision/main.c	                        (rev 0)
+++ robotVision/main.c	2010-05-16 17:17:31 UTC (rev 6)
@@ -0,0 +1,95 @@
+#ifdef _CH_
+#pragma package <opencv>
+#endif
+
+#define CV_NO_BACKWARD_COMPATIBILITY
+
+#include <cv.h>
+#include <highgui.h>
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+
+//not sure if it was supposed to be 8 or 16 bits
+int sizeOfBitString = 8;
+
+//the convert function converts a gStreamer object to an OpenCV image
+/*
+
+ IplImage* convert(GSTBuffer gBuffer){
+
+
+
+
+ }
+*/
+
+
+//For the findBuoy function, the center of mass is returned as (x,y) coordinates
+//this is in the form of a bit string (of what size?) where the first half corresponds
+//to the x coordinate and the second half to the y coordinate
+char* findBuoy(IplImage* img){
+
+
+	char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+
+
+	//http://opencv.willowgarage.com/documentation/c/image_filtering.html
+	//smooth image cvSmooth(src, dest, smoothtype, aperture width (must be positive and odd),
+	//aperture height (must be positive and odd), gaussian param, another gaussian param?)
+	cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+
+	//threshold the image till we get a black and white one
+
+	//find the center of mass (avg pos of the white pixels)
+
+	return bitString;
+
+}
+
+//The findPipe function works in quite the same way as findBuoy
+
+char* findPipe(IplImage* img){
+
+
+	char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+
+	//we smooth img
+	cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+
+	//threshold the image till we get a black and white one
+
+	//find the center of mass (avg pos of the white pixels)
+
+	return bitString;
+
+}
+
+
+//This will return a vector pair in the form of delta x, delta y
+//this will be used to find the approximate heading of the pipe
+char* findHeading(IplImage* img){
+
+	char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+
+	//we smooth img
+	cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+
+	//threshold the image till we get a black and white one
+
+	//fit a rectangle to the pipeline and find approximate heading
+
+	return bitString;
+
+
+}
+
+
+
+
+
+int main(char** argv, int arg){
+
+
+	return 0;
+}


Property changes on: robotVision/main.c
___________________________________________________________________
Added: svn:mime-type
   + text/plain


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Robotvision-commit] SF.net SVN: robotvision:[6] robotVision

From: <bre...@us...> - 2010-05-16 17:17:38

Revision: 6
          http://robotvision.svn.sourceforge.net/robotvision/?rev=6&view=rev
Author:   brendasegal
Date:     2010-05-16 17:17:31 +0000 (Sun, 16 May 2010)

Log Message:
-----------


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

Added: robotVision/main.c
===================================================================
--- robotVision/main.c	                        (rev 0)
+++ robotVision/main.c	2010-05-16 17:17:31 UTC (rev 6)
@@ -0,0 +1,95 @@
+#ifdef _CH_
+#pragma package <opencv>
+#endif
+
+#define CV_NO_BACKWARD_COMPATIBILITY
+
+#include <cv.h>
+#include <highgui.h>
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+
+//not sure if it was supposed to be 8 or 16 bits
+int sizeOfBitString = 8;
+
+//the convert function converts a gStreamer object to an OpenCV image
+/*
+
+ IplImage* convert(GSTBuffer gBuffer){
+
+
+
+
+ }
+*/
+
+
+//For the findBuoy function, the center of mass is returned as (x,y) coordinates
+//this is in the form of a bit string (of what size?) where the first half corresponds
+//to the x coordinate and the second half to the y coordinate
+char* findBuoy(IplImage* img){
+
+
+	char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+
+
+	//http://opencv.willowgarage.com/documentation/c/image_filtering.html
+	//smooth image cvSmooth(src, dest, smoothtype, aperture width (must be positive and odd),
+	//aperture height (must be positive and odd), gaussian param, another gaussian param?)
+	cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+
+	//threshold the image till we get a black and white one
+
+	//find the center of mass (avg pos of the white pixels)
+
+	return bitString;
+
+}
+
+//The findPipe function works in quite the same way as findBuoy
+
+char* findPipe(IplImage* img){
+
+
+	char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+
+	//we smooth img
+	cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+
+	//threshold the image till we get a black and white one
+
+	//find the center of mass (avg pos of the white pixels)
+
+	return bitString;
+
+}
+
+
+//This will return a vector pair in the form of delta x, delta y
+//this will be used to find the approximate heading of the pipe
+char* findHeading(IplImage* img){
+
+	char* bitString = (char*)malloc(sizeof(char)*sizeOfBitString);
+
+	//we smooth img
+	cvSmooth(img, img, CV_GAUSSIAN, 3, 3, 0, 0);
+
+	//threshold the image till we get a black and white one
+
+	//fit a rectangle to the pipeline and find approximate heading
+
+	return bitString;
+
+
+}
+
+
+
+
+
+int main(char** argv, int arg){
+
+
+	return 0;
+}


Property changes on: robotVision/main.c
___________________________________________________________________
Added: svn:mime-type
   + text/plain


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Robotvision-commit] SF.net SVN: robotvision:[9] robotVision

From: <luc...@us...> - 2010-05-18 21:22:18

Revision: 9
          http://robotvision.svn.sourceforge.net/robotvision/?rev=9&view=rev
Author:   lucyyuan
Date:     2010-05-18 21:22:11 +0000 (Tue, 18 May 2010)

Log Message:
-----------
Moved main.c into an eclipse project.

Added Paths:
-----------
    robotVision/.cproject
    robotVision/.project
    robotVision/src/
    robotVision/src/main.c

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

Added: robotVision/.cproject
===================================================================
--- robotVision/.cproject	                        (rev 0)
+++ robotVision/.cproject	2010-05-18 21:22:11 UTC (rev 9)
@@ -0,0 +1,620 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?>
+
+<cproject>
+<storageModule moduleId="org.eclipse.cdt.core.settings">
+<cconfiguration id="cdt.managedbuild.config.gnu.mingw.exe.debug.133517690">
+<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.mingw.exe.debug.133517690" moduleId="org.eclipse.cdt.core.settings" name="Debug">
+<externalSettings/>
+<extensions>
+<extension id="org.eclipse.cdt.core.PE" point="org.eclipse.cdt.core.BinaryParser"/>
+<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+</extensions>
+</storageModule>
+<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+<configuration artifactName="robotVision" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.mingw.exe.debug.133517690" name="Debug" parent="cdt.managedbuild.config.gnu.mingw.exe.debug">
+<folderInfo id="cdt.managedbuild.config.gnu.mingw.exe.debug.133517690." name="/" resourcePath="">
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+<targetPlatform id="cdt.managedbuild.target.gnu.platform.mingw.exe.debug.1262131735" name="Debug Platform" superClass="cdt.managedbuild.target.gnu.platform.mingw.exe.debug"/>
+<builder buildPath="${workspace_loc:/robotVision/Debug}" id="cdt.managedbuild.tool.gnu.builder.mingw.base.1731733585" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="CDT Internal Builder" superClass="cdt.managedbuild.tool.gnu.builder.mingw.base"/>
+<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.exe.debug.916992427" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.exe.debug">
+<inputType id="cdt.managedbuild.tool.gnu.assembler.input.939646408" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+</tool>
+<tool id="cdt.managedbuild.tool.gnu.archiver.mingw.base.1399357241" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/>
+<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.exe.debug.897756865" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.exe.debug">
+<option id="gnu.cpp.compiler.mingw.exe.debug.option.optimization.level.1775358216" name="Optimization Level" superClass="gnu.cpp.compiler.mingw.exe.debug.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
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+</tool>
+<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.exe.debug.956368155" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.exe.debug">
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+<option id="gnu.c.link.option.libs.1752808261" name="Libraries (-l)" superClass="gnu.c.link.option.libs" valueType="libs">
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Added: robotVision/.project
===================================================================
--- robotVision/.project	                        (rev 0)
+++ robotVision/.project	2010-05-18 21:22:11 UTC (rev 9)
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>robotVision</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+				<dictionary>
+					<key>?name?</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.append_environment</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildArguments</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildCommand</key>
+					<value>make</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildLocation</key>
+					<value>${workspace_loc:/robotVision/Debug}</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.contents</key>
+					<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
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+					<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+					<value>false</value>
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+					<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+					<value>true</value>
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+					<key>org.eclipse.cdt.make.core.enableFullBuild</key>
+					<value>true</value>
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+					<value>true</value>
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+					<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+					<value>true</value>
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+			</arguments>
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+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<arguments>
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+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.core.cnature</nature>
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Deleted: robotVision/main.c
===================================================================
--- robotVision/main.c	2010-05-17 19:11:17 UTC (rev 8)
+++ robotVision/main.c	2010-05-18 21:22:11 UTC (rev 9)
@@ -1,204 +0,0 @@
-#ifdef _CH_
-#pragma package <opencv>
-#endif
-
-#define CV_NO_BACKWARD_COMPATIBILITY
-
-#include <cv.h>
-#include <highgui.h>
-#include <stdio.h>
-#include <math.h>
-#include <string.h>
-
-
-//the struct is what will be used to return the values in the form of an ordered pair (x,y)
-
-typedef struct retValue {
-
-	double x;
-	double y;
-
-}point;
-
-//need to show the method headers
-/*point findBuoy(IplImage* img);
-point findPipe(IplImage* img);
-point findHeading(IplImage* img);
-*/
-
-
-//the convert function converts a gStreamer object to an OpenCV image
-/*
-
- IplImage* convert(GSTBuffer gBuffer){
-
-
-
-
- }
-*/
-
-
-//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;
-
-}
-
-//the findHedge function will have to be used with a fake image we create
-//(I suggest manipulating the buoy image and drawing a green hedge within it)
-//since we don't have any ones to base ourselves on
-//how are we going to return the values?  Are we going to return a struct with three points,
-//each corresponding to the center of each rectangle?  Will it have to be done in the same way
-//as finding the heading of the pipe?
-//will we need to make a new struct then for this return value?
-
-/*point? findHedge(IplImage* img){
-
-
-}
-*/
-
-//The findPipe function works in quite the same way as findBuoy
-
-point findPipe(IplImage* img){
-
-	point p;
-	p.x = 0.0;
-	p.y = 0.0;
-
-	 return p;
-
-}
-
-
-//This will return a vector pair in the form of delta x, delta y
-//this will be used to find the approximate heading of the pipe
-point findHeading(IplImage* img){
-
-	point p;
-    p.x = 0.0;
-	p.y = 0.0;
-
-	return p;
-}
-
-
-
-
-
-int main(int argc, char** argv){
-
-	IplImage *img = cvLoadImage( argv[1], CV_LOAD_IMAGE_COLOR );
-
-	//testing now findBuoy which so far only smooths the image it is
-	//given.  I'm opening a bunch of windows with the effects produced
-	findBuoy(img);
-
-
-
-	return 0;
-}

Copied: robotVision/src/main.c (from rev 8, robotVision/main.c)
===================================================================
--- robotVision/src/main.c	                        (rev 0)
+++ robotVision/src/main.c	2010-05-18 21:22:11 UTC (rev 9)
@@ -0,0 +1,206 @@
+#ifdef _CH_
+#pragma package <opencv>
+#endif
+
+#define CV_NO_BACKWARD_COMPATIBILITY
+
+#include <cv.h>
+#include <highgui.h>
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+
+
+//the struct is what will be used to return the values in the form of an ordered pair (x,y)
+
+typedef struct retValue {
+
+	double x;
+	double y;
+
+}point;
+
+//need to show the method headers
+/*point findBuoy(IplImage* img);
+point findPipe(IplImage* img);
+point findHeading(IplImage* img);
+*/
+
+
+//the convert function converts a gStreamer object to an OpenCV image
+/*
+
+ IplImage* convert(GSTBuffer gBuffer){
+
+
+
+
+ }
+*/
+
+
+//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;
+
+}
+
+//the findHedge function will have to be used with a fake image we create
+//(I suggest manipulating the buoy image and drawing a green hedge within it)
+//since we don't have any ones to base ourselves on
+//how are we going to return the values?  Are we going to return a struct with three points,
+//each corresponding to the center of each rectangle?  Will it have to be done in the same way
+//as finding the heading of the pipe?
+//will we need to make a new struct then for this return value?
+
+/*point? findHedge(IplImage* img){
+
+
+}
+*/
+
+//The findPipe function works in quite the same way as findBuoy
+
+point findPipe(IplImage* img){
+
+	point p;
+	p.x = 0.0;
+	p.y = 0.0;
+
+	 return p;
+
+}
+
+
+//This will return a vector pair in the form of delta x, delta y
+//this will be used to find the approximate heading of the pipe
+point findHeading(IplImage* img){
+
+	point p;
+    p.x = 0.0;
+	p.y = 0.0;
+
+	return p;
+}
+
+
+
+
+
+int main(int argc, char** argv){
+	if (argc <= 1)
+		return 1;
+
+	IplImage *img = cvLoadImage( argv[1], CV_LOAD_IMAGE_COLOR );
+
+	//testing now findBuoy which so far only smooths the image it is
+	//given.  I'm opening a bunch of windows with the effects produced
+	findBuoy(img);
+
+
+
+	return 0;
+}


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Robotvision-commit] SF.net SVN: robotvision:[9] robotVision

From: <luc...@us...> - 2010-05-18 21:22:18

Revision: 9
          http://robotvision.svn.sourceforge.net/robotvision/?rev=9&view=rev
Author:   lucyyuan
Date:     2010-05-18 21:22:11 +0000 (Tue, 18 May 2010)

Log Message:
-----------
Moved main.c into an eclipse project.

Added Paths:
-----------
    robotVision/.cproject
    robotVision/.project
    robotVision/src/
    robotVision/src/main.c

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

Added: robotVision/.cproject
===================================================================
--- robotVision/.cproject	                        (rev 0)
+++ robotVision/.cproject	2010-05-18 21:22:11 UTC (rev 9)
@@ -0,0 +1,620 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?>
+
+<cproject>
+<storageModule moduleId="org.eclipse.cdt.core.settings">
+<cconfiguration id="cdt.managedbuild.config.gnu.mingw.exe.debug.133517690">
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+<externalSettings/>
+<extensions>
+<extension id="org.eclipse.cdt.core.PE" point="org.eclipse.cdt.core.BinaryParser"/>
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+</extensions>
+</storageModule>
+<storageModule moduleId="cdtBuildSystem" version="4.0.0">
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+<targetPlatform id="cdt.managedbuild.target.gnu.platform.mingw.exe.debug.1262131735" name="Debug Platform" superClass="cdt.managedbuild.target.gnu.platform.mingw.exe.debug"/>
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Added: robotVision/.project
===================================================================
--- robotVision/.project	                        (rev 0)
+++ robotVision/.project	2010-05-18 21:22:11 UTC (rev 9)
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>robotVision</name>
+	<comment></comment>
+	<projects>
+	</projects>
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+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
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+					<key>?name?</key>
+					<value></value>
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+				<dictionary>
+					<key>org.eclipse.cdt.make.core.append_environment</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildArguments</key>
+					<value></value>
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+					<key>org.eclipse.cdt.make.core.buildCommand</key>
+					<value>make</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildLocation</key>
+					<value>${workspace_loc:/robotVision/Debug}</value>
+				</dictionary>
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+					<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
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+					<value>true</value>
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+					<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+					<value>true</value>
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+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.core.cnature</nature>
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Deleted: robotVision/main.c
===================================================================
--- robotVision/main.c	2010-05-17 19:11:17 UTC (rev 8)
+++ robotVision/main.c	2010-05-18 21:22:11 UTC (rev 9)
@@ -1,204 +0,0 @@
-#ifdef _CH_
-#pragma package <opencv>
-#endif
-
-#define CV_NO_BACKWARD_COMPATIBILITY
-
-#include <cv.h>
-#include <highgui.h>
-#include <stdio.h>
-#include <math.h>
-#include <string.h>
-
-
-//the struct is what will be used to return the values in the form of an ordered pair (x,y)
-
-typedef struct retValue {
-
-	double x;
-	double y;
-
-}point;
-
-//need to show the method headers
-/*point findBuoy(IplImage* img);
-point findPipe(IplImage* img);
-point findHeading(IplImage* img);
-*/
-
-
-//the convert function converts a gStreamer object to an OpenCV image
-/*
-
- IplImage* convert(GSTBuffer gBuffer){
-
-
-
-
- }
-*/
-
-
-//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;
-
-}
-
-//the findHedge function will have to be used with a fake image we create
-//(I suggest manipulating the buoy image and drawing a green hedge within it)
-//since we don't have any ones to base ourselves on
-//how are we going to return the values?  Are we going to return a struct with three points,
-//each corresponding to the center of each rectangle?  Will it have to be done in the same way
-//as finding the heading of the pipe?
-//will we need to make a new struct then for this return value?
-
-/*point? findHedge(IplImage* img){
-
-
-}
-*/
-
-//The findPipe function works in quite the same way as findBuoy
-
-point findPipe(IplImage* img){
-
-	point p;
-	p.x = 0.0;
-	p.y = 0.0;
-
-	 return p;
-
-}
-
-
-//This will return a vector pair in the form of delta x, delta y
-//this will be used to find the approximate heading of the pipe
-point findHeading(IplImage* img){
-
-	point p;
-    p.x = 0.0;
-	p.y = 0.0;
-
-	return p;
-}
-
-
-
-
-
-int main(int argc, char** argv){
-
-	IplImage *img = cvLoadImage( argv[1], CV_LOAD_IMAGE_COLOR );
-
-	//testing now findBuoy which so far only smooths the image it is
-	//given.  I'm opening a bunch of windows with the effects produced
-	findBuoy(img);
-
-
-
-	return 0;
-}

Copied: robotVision/src/main.c (from rev 8, robotVision/main.c)
===================================================================
--- robotVision/src/main.c	                        (rev 0)
+++ robotVision/src/main.c	2010-05-18 21:22:11 UTC (rev 9)
@@ -0,0 +1,206 @@
+#ifdef _CH_
+#pragma package <opencv>
+#endif
+
+#define CV_NO_BACKWARD_COMPATIBILITY
+
+#include <cv.h>
+#include <highgui.h>
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+
+
+//the struct is what will be used to return the values in the form of an ordered pair (x,y)
+
+typedef struct retValue {
+
+	double x;
+	double y;
+
+}point;
+
+//need to show the method headers
+/*point findBuoy(IplImage* img);
+point findPipe(IplImage* img);
+point findHeading(IplImage* img);
+*/
+
+
+//the convert function converts a gStreamer object to an OpenCV image
+/*
+
+ IplImage* convert(GSTBuffer gBuffer){
+
+
+
+
+ }
+*/
+
+
+//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;
+
+}
+
+//the findHedge function will have to be used with a fake image we create
+//(I suggest manipulating the buoy image and drawing a green hedge within it)
+//since we don't have any ones to base ourselves on
+//how are we going to return the values?  Are we going to return a struct with three points,
+//each corresponding to the center of each rectangle?  Will it have to be done in the same way
+//as finding the heading of the pipe?
+//will we need to make a new struct then for this return value?
+
+/*point? findHedge(IplImage* img){
+
+
+}
+*/
+
+//The findPipe function works in quite the same way as findBuoy
+
+point findPipe(IplImage* img){
+
+	point p;
+	p.x = 0.0;
+	p.y = 0.0;
+
+	 return p;
+
+}
+
+
+//This will return a vector pair in the form of delta x, delta y
+//this will be used to find the approximate heading of the pipe
+point findHeading(IplImage* img){
+
+	point p;
+    p.x = 0.0;
+	p.y = 0.0;
+
+	return p;
+}
+
+
+
+
+
+int main(int argc, char** argv){
+	if (argc <= 1)
+		return 1;
+
+	IplImage *img = cvLoadImage( argv[1], CV_LOAD_IMAGE_COLOR );
+
+	//testing now findBuoy which so far only smooths the image it is
+	//given.  I'm opening a bunch of windows with the effects produced
+	findBuoy(img);
+
+
+
+	return 0;
+}


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