Revision 467
fixed vision more
| vision.c | ||
|---|---|---|
| 24 | 24 |
}; |
| 25 | 25 |
|
| 26 | 26 |
static IplImage *image02, *image03, *image04; |
| 27 |
static char* filename; |
|
| 27 | 28 |
|
| 28 |
int vision_init(const char* filename) {
|
|
| 29 |
int vision_init(char* filename_) {
|
|
| 30 |
filename = filename_; |
|
| 31 |
return 0; |
|
| 32 |
} |
|
| 33 |
|
|
| 34 |
int vision_get_robot_positions(VisionPosition** positions) {
|
|
| 35 |
CvMemStorage* stor; |
|
| 36 |
CvSeq* cont; |
|
| 37 |
CvBox2D32f* box; |
|
| 38 |
CvPoint* PointArray; |
|
| 39 |
CvPoint2D32f* PointArray2D32f; |
|
| 40 |
|
|
| 29 | 41 |
if ((image03 = cvLoadImage(filename, 0)) == 0) {
|
| 30 | 42 |
fprintf(stderr, "Failed to load image.\n"); |
| 31 | 43 |
return -1; |
| ... | ... | |
| 43 | 55 |
|
| 44 | 56 |
if (DEBUG) cvNamedWindow("Result", 1);
|
| 45 | 57 |
|
| 46 |
return 0; |
|
| 47 |
} |
|
| 48 |
|
|
| 49 |
void vision_destroy() {
|
|
| 50 |
if (DEBUG) cvWaitKey(0); |
|
| 51 |
|
|
| 52 |
cvReleaseImage(&image02); |
|
| 53 |
cvReleaseImage(&image03); |
|
| 54 |
|
|
| 55 |
if (DEBUG) cvDestroyWindow("Result");
|
|
| 56 |
} |
|
| 57 |
|
|
| 58 |
int vision_get_robot_positions(VisionPosition** positions) {
|
|
| 59 |
CvMemStorage* stor; |
|
| 60 |
CvSeq* cont; |
|
| 61 |
CvBox2D32f* box; |
|
| 62 |
CvPoint* PointArray; |
|
| 63 |
CvPoint2D32f* PointArray2D32f; |
|
| 64 |
|
|
| 65 | 58 |
// Create dynamic structure and sequence. |
| 66 | 59 |
stor = cvCreateMemStorage(0); |
| 67 | 60 |
cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor); |
| ... | ... | |
| 172 | 165 |
} |
| 173 | 166 |
} |
| 174 | 167 |
|
| 168 |
if (DEBUG) cvWaitKey(0); |
|
| 169 |
|
|
| 170 |
cvReleaseImage(&image02); |
|
| 171 |
cvReleaseImage(&image03); |
|
| 172 |
|
|
| 173 |
if (DEBUG) cvDestroyWindow("Result");
|
|
| 174 |
|
|
| 175 | 175 |
// Show image. HighGUI use. |
| 176 | 176 |
if (DEBUG) cvShowImage( "Result", image04 ); |
| 177 | 177 |
|
Also available in: Unified diff