root / trunk / code / projects / colonet / server / vision / vision.c @ 938
History | View | Annotate | Download (3.63 KB)
1 |
/**
|
---|---|
2 |
* Robot Detection
|
3 |
* based on opencv's sample program fitellipse.c by Denis Burenkov
|
4 |
*
|
5 |
* @author Rich Hong
|
6 |
* @author Ryan Cahoon
|
7 |
* @date 11/18/2007
|
8 |
*/
|
9 |
|
10 |
//TODO: Add camera stabilization
|
11 |
|
12 |
#include "vision.h" |
13 |
|
14 |
#include <cv.h> |
15 |
#include <highgui.h> |
16 |
|
17 |
#include <stdio.h> |
18 |
#include <stdlib.h> |
19 |
|
20 |
#define MIN_PADDING 70 |
21 |
|
22 |
#define DEBUG 1 //Debug to find threshold level |
23 |
|
24 |
int write_JPEG_to_mem (unsigned char *storage, int length, IplImage *img, int quality); |
25 |
|
26 |
struct CenterP {
|
27 |
CvPoint center; |
28 |
int count;
|
29 |
}; |
30 |
|
31 |
/*static char* filename;*/
|
32 |
|
33 |
static CvCapture *capture;
|
34 |
|
35 |
int vision_init(/*char* filename_*/) { |
36 |
/*filename = filename_;*/
|
37 |
|
38 |
printf("Vision init. %s\n", DEBUG ? "Debugging on" : ""); |
39 |
|
40 |
capture = cvCaptureFromCAM(0);
|
41 |
if( !capture ) {
|
42 |
fprintf( stderr, "ERROR: capture is NULL \n" );
|
43 |
return -1; |
44 |
} |
45 |
|
46 |
if (DEBUG)
|
47 |
{ |
48 |
printf("Vision debugging start\n");
|
49 |
cvNamedWindow("mywindow1", CV_WINDOW_AUTOSIZE);
|
50 |
} |
51 |
|
52 |
return 0; |
53 |
} |
54 |
|
55 |
void vision_close()
|
56 |
{ |
57 |
if (DEBUG)
|
58 |
cvDestroyWindow("mywindow1");
|
59 |
|
60 |
cvReleaseCapture(&capture); |
61 |
|
62 |
printf("Vision closed.\n");
|
63 |
} |
64 |
|
65 |
int getImageBytes(unsigned char *buffer, int length) |
66 |
{ |
67 |
IplImage* im_capture; |
68 |
|
69 |
if(!cvGrabFrame(capture)){ // capture a frame |
70 |
printf("Could not grab a frame\n\7");
|
71 |
exit(0);
|
72 |
} |
73 |
im_capture=cvRetrieveFrame(capture); // retrieve the captured frame
|
74 |
|
75 |
return write_JPEG_to_mem (buffer, length, im_capture, 30); |
76 |
} |
77 |
|
78 |
int vision_get_robot_positions(VisionPosition** positions) {
|
79 |
IplImage *image03; |
80 |
|
81 |
if(!cvGrabFrame(capture)){ // capture a frame |
82 |
printf("Could not grab a frame\n\7");
|
83 |
return -1; |
84 |
} |
85 |
IplImage *im_capture=cvRetrieveFrame(capture); // retrieve the captured frame
|
86 |
|
87 |
image03 = cvCreateImage(cvGetSize(im_capture), im_capture->depth, 1);
|
88 |
cvCvtColor(im_capture, image03, CV_RGB2GRAY); |
89 |
|
90 |
struct CenterP centers[100] = {0}; |
91 |
int count = 0; |
92 |
|
93 |
cvSmooth( image03, image03, CV_GAUSSIAN, 9, 9 ); // smooth it, otherwise a lot of false circles may be detected |
94 |
CvMemStorage* storage = cvCreateMemStorage(0);
|
95 |
CvSeq* circles = cvHoughCircles( image03, storage, CV_HOUGH_GRADIENT, 1, 1, 100, 43 ); |
96 |
|
97 |
int i;
|
98 |
for( i = 0; i < circles->total && count < 100; i++ ) |
99 |
{ |
100 |
//TODO: Augment with Harr cascade second level detecting orbs + identify robot with orb color
|
101 |
|
102 |
float* p = (float*)cvGetSeqElem( circles, i ); |
103 |
CvPoint center = cvPoint(cvRound(p[0]), cvRound(p[1])); |
104 |
int r = cvRound(p[2]); |
105 |
|
106 |
if (DEBUG) cvCircle( image03, center, 3, CV_RGB(255,255,255), -1, 8, 0 ); |
107 |
|
108 |
int dist2 = MIN_PADDING;
|
109 |
int loc = count;
|
110 |
|
111 |
int j;
|
112 |
for (j = 0; j < count; j++) |
113 |
{ |
114 |
int dx = centers[j].center.x-center.x;
|
115 |
int dy = centers[j].center.y-center.y;
|
116 |
int d2 = dx*dx + dy*dy;
|
117 |
|
118 |
if (d2 < dist2)
|
119 |
{ |
120 |
dist2 = d2; |
121 |
loc = j; |
122 |
} |
123 |
} |
124 |
|
125 |
int c = centers[loc].count;
|
126 |
centers[loc].center.x = (centers[loc].center.x * c + center.x) / (c + 1);
|
127 |
centers[loc].center.y = (centers[loc].center.y * c + center.y) / (c + 1);
|
128 |
centers[loc].count++; |
129 |
if (loc == count) count++;
|
130 |
} |
131 |
|
132 |
if (DEBUG)
|
133 |
{ |
134 |
for (i = 0; i < count; i++) |
135 |
{ |
136 |
cvCircle( image03, centers[i].center, 60, CV_RGB(255,255,255), 3, 8, 0 ); |
137 |
} |
138 |
|
139 |
cvShowImage( "mywindow1", image03 );
|
140 |
} |
141 |
|
142 |
cvReleaseMemStorage(&storage); |
143 |
|
144 |
cvReleaseImage(&image03); |
145 |
|
146 |
VisionPosition* pos_array = (VisionPosition*)malloc(sizeof(VisionPosition) * count);
|
147 |
if (pos_array == NULL) { |
148 |
fprintf(stderr, "malloc failed\n");
|
149 |
return -1; |
150 |
} |
151 |
|
152 |
int c = 0; |
153 |
for (i = 0; i < count; i++) { |
154 |
pos_array[c].x = centers[i].center.x; |
155 |
pos_array[c].y = centers[i].center.y; |
156 |
c++; |
157 |
} |
158 |
|
159 |
*positions = pos_array; |
160 |
return count;
|
161 |
} |