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Revision 260

Battery testing branch. Used to explore and work with battery voltage readings and assessing how much battery life is left.

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branches/battery/code/projects/colonet/vision/vision.sh
1
#!/bin/sh
2
while [ 1 ]
3
do
4
wget -q http://roboclub9.frc.ri.cmu.edu/colonet.jpg -O colonet.jpg
5
./vision colonet.jpg > colonet.txt
6
sleep 5s
7
done
0 8

  
branches/battery/code/projects/colonet/vision/vision.c
1
/**
2
 * find the locations of each robot
3
 * based on opencv's sample program fitellipse.c by Denis Burenkov
4
 *
5
 * @author Rich Hong
6
 * @date 11/10/2007
7
 */
8
#ifdef _CH_
9
#pragma package <opencv>
10
#endif
11

  
12
#ifndef _EiC
13
#include "cv.h"
14
#include "highgui.h"
15
#endif
16
#include <stdio.h>
17
#include <stdlib.h>
18

  
19
int slider_pos = 200;
20

  
21
#define MINH 100 //min threshold level
22
#define MAXH 150 //max threshold level
23
#define DEBUG 0 //Debug to find threshold level
24

  
25
// Load the source image. HighGUI use.
26
IplImage *image02 = 0, *image03 = 0, *image04 = 0;
27

  
28
void process_image(int h);
29
void loop_image();
30

  
31
struct CenterP {
32
	CvPoint center;
33
	int count;
34
};
35

  
36
int main( int argc, char** argv ) {
37
    const char* filename = argc == 2 ? argv[1] : (char*)"colonet.jpg";
38
    
39
    // load image and force it to be grayscale
40
    if( (image03 = cvLoadImage(filename, 0)) == 0 ) return -1;
41

  
42
    // Create the destination images
43
    image02 = cvCloneImage( image03 );
44
    image04 = cvCloneImage( image03 );
45

  
46
	if (DEBUG){
47
    	// Create windows.
48
    	cvNamedWindow("Source", 1);
49
    	// Show the image.
50
    	cvShowImage("Source", image03);
51

  
52
    	cvNamedWindow("Result", 1);
53
	// Create toolbars. HighGUI use.
54
    	cvCreateTrackbar( "Threshold", "Result", &slider_pos, 255, process_image );
55
	}
56

  
57
	if (!DEBUG) loop_image();
58
	if (DEBUG) process_image(0);
59

  
60
    // Wait for a key stroke; the same function arranges events processing
61
    if (DEBUG) cvWaitKey(0);
62
    cvReleaseImage(&image02);
63
    cvReleaseImage(&image03);
64

  
65
    	if (DEBUG){
66
    		cvDestroyWindow("Source");
67
    		cvDestroyWindow("Result");
68
	}
69

  
70
    return 0;
71
}
72

  
73
void loop_image(){
74
	CvMemStorage* stor;
75
    CvSeq* cont;
76
    CvBox2D32f* box;
77
    CvPoint* PointArray;
78
    CvPoint2D32f* PointArray2D32f;
79
    
80
    // Create dynamic structure and sequence.
81
    stor = cvCreateMemStorage(0);
82
    cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);
83
    
84
	struct CenterP bestc[100];
85
	int index=0;
86

  
87
	int h;
88
	for (h=MINH;h<MAXH;h++){
89
		// Threshold the source image. This needful for cvFindContours().
90
    	cvThreshold( image03, image02, h, 255, CV_THRESH_BINARY );
91
    
92
    	// Find all contours.
93
    	cvFindContours( image02, stor, &cont, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
94
    
95
    	// Clear images. IPL use.
96
    	cvZero(image02);
97
    	cvZero(image04);
98
    
99
    	// This cycle draw all contours and approximate it by ellipses.
100
    	for(;cont;cont = cont->h_next) {   
101
        	int i; // Indicator of cycle.
102
        	int count = cont->total; // This is number point in contour
103
        	CvPoint center;
104
        	CvSize size;
105
        
106
        	// Number point must be more than or equal to 6 (for cvFitEllipse_32f).
107
        	if( count < 6 ) continue;
108
        
109
        	// Alloc memory for contour point set.    
110
        	PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );
111
        	PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );
112
        
113
        	// Alloc memory for ellipse data.
114
        	box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));
115
        
116
        	// Get contour point set.
117
        	cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);
118
        
119
        	// Convert CvPoint set to CvBox2D32f set.
120
        	for(i=0; i<count; i++) {
121
            	PointArray2D32f[i].x = (float)PointArray[i].x;
122
            	PointArray2D32f[i].y = (float)PointArray[i].y;
123
        	}
124
        
125
        	// Fits ellipse to current contour.
126
        	cvFitEllipse(PointArray2D32f, count, box);
127
        
128
        	// Convert ellipse data from float to integer representation.
129
        	center.x = cvRound(box->center.x);
130
        	center.y = cvRound(box->center.y);
131
        	size.width = cvRound(box->size.width*0.5);
132
        	size.height = cvRound(box->size.height*0.5);
133
        	box->angle = -box->angle;
134

  
135
			if (size.width>10&&size.height>10&&size.width<20&&size.height<20){
136
				//printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);
137
        
138
				int found=0;
139
				int j;
140
				for (j=0;j<index;j++)
141
					if (abs(bestc[j].center.x-center.x)<9&&abs(bestc[j].center.y-center.y)<9){
142
						bestc[j].count++;
143
						found=1;
144
						break;
145
					}
146
				if (!found){
147
					struct CenterP c;
148
					c.center=center;
149
					c.count=1;
150
					bestc[index]=c;
151
					index++;
152
				}
153
			}
154
        	// Free memory.          
155
        	free(PointArray);
156
        	free(PointArray2D32f);
157
      		free(box);
158
		}
159
	}
160
	image04 = cvCloneImage( image03 );
161
	int i;
162
	for (i=0;i<index;i++){
163
		if (bestc[i].count>7){
164
			printf("%d,%d\n",bestc[i].center.x,bestc[i].center.y);
165
			//cvCircle(image04,bestc[i].center, 20, CV_RGB(0,0,0),5,8,0);
166
		}
167
	}
168
    // Show image. HighGUI use.
169
    //cvShowImage( "Result", image04 );
170
}
171

  
172
// Define trackbar callback functon. This function find contours,
173
// draw it and approximate it by ellipses.
174
void process_image(int h)
175
{
176
    CvMemStorage* stor;
177
    CvSeq* cont;
178
    CvBox2D32f* box;
179
    CvPoint* PointArray;
180
    CvPoint2D32f* PointArray2D32f;
181
    
182
    // Create dynamic structure and sequence.
183
    stor = cvCreateMemStorage(0);
184
    cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);
185
    
186
    // Threshold the source image. This needful for cvFindContours().
187
    cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY );
188
    
189
    // Find all contours.
190
    cvFindContours( image02, stor, &cont, sizeof(CvContour), 
191
                    CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
192
    
193
    // Clear images. IPL use.
194
    cvZero(image02);
195
    cvZero(image04);
196
    
197
    // This cycle draw all contours and approximate it by ellipses.
198
    for(;cont;cont = cont->h_next)
199
    {   
200
        int i; // Indicator of cycle.
201
        int count = cont->total; // This is number point in contour
202
        CvPoint center;
203
        CvSize size;
204
        
205
        // Number point must be more than or equal to 6 (for cvFitEllipse_32f).        
206
        if( count < 6 )
207
            continue;
208
        
209
        // Alloc memory for contour point set.    
210
        PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );
211
        PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );
212
        
213
        // Alloc memory for ellipse data.
214
        box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));
215
        
216
        // Get contour point set.
217
        cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);
218
        
219
        // Convert CvPoint set to CvBox2D32f set.
220
        for(i=0; i<count; i++)
221
        {
222
            PointArray2D32f[i].x = (float)PointArray[i].x;
223
            PointArray2D32f[i].y = (float)PointArray[i].y;
224
        }
225
        
226
        // Fits ellipse to current contour.
227
        cvFitEllipse(PointArray2D32f, count, box);
228
        
229
        // Draw current contour.
230
        cvDrawContours(image04,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));
231
        
232
        // Convert ellipse data from float to integer representation.
233
        center.x = cvRound(box->center.x);
234
        center.y = cvRound(box->center.y);
235
        size.width = cvRound(box->size.width*0.5);
236
        size.height = cvRound(box->size.height*0.5);
237
        box->angle = -box->angle;
238

  
239
		if (size.width>10&&size.height>10&&size.width<20&&size.height<20){
240
		printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);
241
        
242
        // Draw ellipse.
243
        cvEllipse(image04, center, size,
244
                  box->angle, 0, 360,
245
                  CV_RGB(0,0,255), 1, CV_AA, 0);
246
		}
247
        // Free memory.          
248
        free(PointArray);
249
        free(PointArray2D32f);
250
        free(box);
251
    }
252
    
253
    // Show image. HighGUI use.
254
    cvShowImage( "Result", image04 );
255
}
256

  
257
#ifdef _EiC
258
main(1,"vision.c");
259
#endif
260

  
branches/battery/code/projects/colonet/vision/README
1
You need to have OpenCV installed and correct path configuration.
2

  
3
build_vision.sh to compile
4
vision.sh to run
5
colonet.txt contains the locations of each robot
branches/battery/code/projects/colonet/vision/build_vision.sh
1
#!/bin/sh
2
gcc -ggdb `pkg-config opencv --cflags --libs` vision.c -o vision
0 3

  
branches/battery/code/projects/colonet/ColonetGUI/Colonet.xcodeproj/gmtress.pbxuser
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// !$*UTF8*$!
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		activeExecutable = 130F8B8C001BDBAD11CA292A;
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		activeTarget = 130F8B84001BDB6411CA292A /* Colonet */;
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		addToTargets = (
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			130F8B84001BDB6411CA292A /* Colonet */,
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		breakpoints = (
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		breakpointsGroup = A3D78BA80CB6E4FF00A79632 /* XCBreakpointsBucket */;
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		codeSenseManager = A341617F0C989B510007BEF2 /* Code sense */;
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		executables = (
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		perUserDictionary = {
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			PBXConfiguration.PBXFileTableDataSource3.PBXFileTableDataSource = {
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