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Revision 938

Added by Ryan Cahoon over 15 years ago

OpenCV now works directly with firewire, coriander is not needed
New vision algorithm integrated, a few issues left with algorithm that
tracks the movement of a specific robot
Removed experimental interface to send images over commands socket
--plan to use php in webserver instead
Separated processing of client requests into a separate thread
Fixed bugs updating UI of java client

View differences:

vision.c
3 3 
 * based on opencv's sample program fitellipse.c by Denis Burenkov
4 4 
 *
5 5 
 * @author Rich Hong
6 
 * @author Ryan Cahoon
6 7 
 * @date 11/18/2007
7 8 
 */
9
10 
//TODO: Add camera stabilization
8 11 

  		




  9
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#include "vision.h"


  		




  10
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  ......




  32
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int vision_init(/*char* filename_*/) {


  		




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  /*filename = filename_;*/


  		




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  35
  
  
    
  //TODO: replace with 1394 capture so we don't have to use Coriander


  		




  36
  
  
    
  capture = cvCreateCameraCapture(-1);


  		




  
  38
  
    
  printf("Vision init. %s\n", DEBUG ? "Debugging on" : "");


  		




  
  39
  
    

  		




  
  40
  
    
  capture = cvCaptureFromCAM(0);


  		




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  if( !capture ) {


  		




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    fprintf( stderr, "ERROR: capture is NULL \n" );


  		




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    return -1;


  		




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  }


  		




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  if (DEBUG)


  		




  43
  
  
    
    cvNamedWindow("Result", CV_WINDOW_AUTOSIZE);


  		




  
  47
  
    
  {


  		




  
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    printf("Vision debugging start\n");


  		




  
  49
  
    
    cvNamedWindow("mywindow1", CV_WINDOW_AUTOSIZE);


  		




  
  50
  
    
  }


  		




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  return 0;


  		




  46
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}


  		




  ......




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void vision_close()


  		




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{


  		




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  if (DEBUG)


  		




  51
  
  
    
    cvDestroyWindow("Result");


  		




  
  58
  
    
    cvDestroyWindow("mywindow1");


  		




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  cvReleaseCapture(&capture);


  		




  
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  printf("Vision closed.\n");


  		




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}


  		




  55
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  56
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int getImageBytes(unsigned char *buffer, int length)


  		




  ......




  96
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    if (DEBUG) cvCircle( image03, center, 3, CV_RGB(255,255,255), -1, 8, 0 );


  		




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  99
  
  
    
    float dist = MIN_PADDING;


  		




  
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    int dist2 = MIN_PADDING;


  		




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    int loc = count;


  		




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    int j;


  		




  ......




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    {


  		




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      int dx = centers[j].center.x-center.x;


  		




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      int dy = centers[j].center.y-center.y;


  		




  107
  
  
    
      float d = cvSqrt(dx*dx + dy*dy);


  		




  
  116
  
    
      int d2 = dx*dx + dy*dy;


  		




  108
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  109
  
  
    
      if (d < dist)


  		




  
  118
  
    
      if (d2 < dist2)


  		




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      {


  		




  111
  
  
    
        dist = d;


  		




  
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        dist2 = d2;


  		




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        loc = j;


  		




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      }


  		




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    }


  		




  ......




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      cvCircle( image03, centers[i].center, 60, CV_RGB(255,255,255), 3, 8, 0 );


  		




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    }


  		




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  130
  
  
    
    cvShowImage( "Result", image03 );


  		




  
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    cvShowImage( "mywindow1", image03 );


  		




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  }


  		




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  cvReleaseMemStorage(&storage);


  		












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