Revision 431
tmp commit for vision changes
| vision.c | ||
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| 5 | 5 |
* @author Rich Hong |
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* @date 11/18/2007 |
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*/ |
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#ifdef _CH_ |
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#pragma package <opencv> |
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#endif |
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#ifndef _EiC |
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#include "cv.h" |
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#include "highgui.h" |
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#endif |
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#include <vision.h> |
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#include <cv.h> |
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#include <highgui.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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| ... | ... | |
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#define MAXH 150 //max threshold level |
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#define DEBUG 0 //Debug to find threshold level |
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// Load the source image. HighGUI use. |
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IplImage *image02 = 0, *image03 = 0, *image04 = 0; |
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void loop_image(void); |
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struct CenterP {
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CvPoint center; |
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int count; |
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}; |
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int main( int argc, char** argv ) {
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const char* filename = argc == 2 ? argv[1] : (char*)"colonet.jpg"; |
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static IplImage *image02, *image03, *image04; |
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int vision_init(const char* filename) {
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if ((image03 = cvLoadImage(filename, 0)) == 0) {
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fprintf(stderr, "Failed to load image.\n"); |
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return -1; |
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} |
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// load image and force it to be grayscale |
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if ((image03 = cvLoadImage(filename, 0)) == 0) {
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fprintf(stderr, "Failed to load image.\n"); |
| ... | ... | |
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} |
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// Create the destination images |
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image02 = cvCloneImage( image03 );
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image04 = cvCloneImage( image03 );
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image02 = cvCloneImage(image03);
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image04 = cvCloneImage(image03);
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if (DEBUG) cvNamedWindow("Result", 1);
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loop_image(); |
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return 0; |
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} |
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void vision_destroy() {
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if (DEBUG) cvWaitKey(0); |
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cvReleaseImage(&image02); |
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cvReleaseImage(&image03); |
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if (DEBUG) {
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cvDestroyWindow("Result");
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} |
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return 0; |
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if (DEBUG) cvDestroyWindow("Result");
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} |
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void loop_image() {
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int vision_get_robot_positions(VisionPosition** positions) {
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CvMemStorage* stor; |
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CvSeq* cont; |
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CvBox2D32f* box; |
| ... | ... | |
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if (size.width>10&&size.height>10&&size.width<20&&size.height<20){
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//printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);
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int found=0; |
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int j; |
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for (j=0;j<index;j++) |
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if (abs(bestc[j].center.x-center.x)<9&&abs(bestc[j].center.y-center.y)<9){
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int found=0, j; |
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for (j = 0; j < index; j++) {
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if (abs(bestc[j].center.x-center.x)<9&&abs(bestc[j].center.y-center.y)<9) {
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bestc[j].count++; |
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found=1; |
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break; |
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} |
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} |
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if (!found){
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struct CenterP c; |
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c.center=center; |
| ... | ... | |
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index++; |
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} |
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} |
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// Free memory. |
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free(PointArray); |
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free(PointArray2D32f); |
| ... | ... | |
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} |
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} |
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image04 = cvCloneImage( image03 ); |
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image04 = cvCloneImage(image03); |
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int count = 0; |
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int i; |
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for (i=0; i < index; i++) {
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if (bestc[i].count>7){
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printf("%d,%d\n",bestc[i].center.x,bestc[i].center.y);
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for (i = 0; i < index; i++) {
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if (bestc[i].count > 7){
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count++; |
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} |
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} |
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VisionPosition* pos = (VisionPosition*)malloc(sizeof(VisionPosition) * count); |
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for (i = 0; i < index; i++) {
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if (bestc[i].count > 7){
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pos[i].x = bestc[i].center.x; |
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pos[i].y = bestc[i].center.y; |
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if (DEBUG) cvCircle(image04,bestc[i].center, 20, CV_RGB(0,0,0),5,8,0); |
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} |
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} |
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// Show image. HighGUI use. |
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if (DEBUG) cvShowImage( "Result", image04 ); |
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*positions = pos; |
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return count; |
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} |
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/* |
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#ifdef _EiC |
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main(1,"vision.c"); |
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#endif |
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*/ |
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