Revision 432
extracted vision code into a library
| trunk/code/projects/colonet/vision/vision.sh | ||
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| 3 | 3 |
do |
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# only use wget when not on roboclub9 |
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# wget -q http://roboclub9.frc.ri.cmu.edu/colonet.jpg -O colonet.jpg |
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sudo ./vision /var/www/colonet.jpg > /var/www/colonet/locations.txt |
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sudo ./vision_driver /var/www/colonet.jpg > /var/www/colonet/locations.txt
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| 7 | 7 |
sleep .1s |
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done |
| trunk/code/projects/colonet/vision/vision_driver.c | ||
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| 3 | 3 |
*/ |
| 4 | 4 |
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#include <vision.h> |
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#include <stdio.h> |
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int main(int argc, char** argv) {
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const char* filename = (argc == 2) ? argv[1] : (char*)"colonet.jpg"; |
| 9 | 10 |
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if (init_vision(filename) != 0) {
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if (vision_init(filename) != 0) {
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fprintf(stderr, "init_vision failed.\n"); |
| 12 | 13 |
return -1; |
| 13 | 14 |
} |
| trunk/code/projects/colonet/vision/Makefile | ||
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| 1 | 1 |
# Makefile for vision. |
| 2 | 2 |
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default: vision fitellipse |
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default: vision_driver fitellipse
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driver: vision_driver.c |
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vision_driver: vision_driver.c vision.c |
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gcc -ggdb `pkg-config opencv --cflags --libs` -I . vision_driver.c vision.c -o vision_driver |
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| 6 | 7 |
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vision: vision.c |
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mkdir -p bin |
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gcc -ggdb `pkg-config opencv --cflags --libs` -I . vision.c -o vision |
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fitellipse: fitellipse.c |
| 12 | 9 |
gcc -ggdb `pkg-config opencv --cflags --libs` fitellipse.c -o fitellipse |
| 13 | 10 |
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| trunk/code/projects/colonet/vision/vision.h | ||
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/** |
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* Rich Hong's colony vision library. |
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*/ |
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#ifndef COLONY_VISION_H |
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#define COLONY_VISION_H |
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typedef struct {
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int x; |
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int y; |
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} VisionPosition; |
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int vision_init(const char* filename); |
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int vision_get_robot_positions(VisionPosition** positions); |
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#endif |
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