Revision 939
added passing of overhead camera image to client through PHP
fixed unfreed memory in server/vision/savetonetwork.c
| vision.c | ||
|---|---|---|
| 17 | 17 |
#include <stdio.h> |
| 18 | 18 |
#include <stdlib.h> |
| 19 | 19 |
|
| 20 |
#include "shmimgserve.h" |
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|
|
| 20 | 22 |
#define MIN_PADDING 70 |
| 21 | 23 |
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#define DEBUG 1 //Debug to find threshold level
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#define DEBUG 0 //Debug to find threshold level
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| 23 | 25 |
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int write_JPEG_to_mem (unsigned char *storage, int length, IplImage *img, int quality); |
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| 25 |
|
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| 26 | 26 |
struct CenterP {
|
| 27 | 27 |
CvPoint center; |
| 28 | 28 |
int count; |
| ... | ... | |
| 42 | 42 |
fprintf( stderr, "ERROR: capture is NULL \n" ); |
| 43 | 43 |
return -1; |
| 44 | 44 |
} |
| 45 |
|
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openShM(); |
|
| 45 | 47 |
|
| 46 | 48 |
if (DEBUG) |
| 47 | 49 |
{
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printf("Vision debugging start\n");
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|
| 49 | 50 |
cvNamedWindow("mywindow1", CV_WINDOW_AUTOSIZE);
|
| 50 | 51 |
} |
| 51 | 52 |
|
| ... | ... | |
| 57 | 58 |
if (DEBUG) |
| 58 | 59 |
cvDestroyWindow("mywindow1");
|
| 59 | 60 |
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releaseShM(); |
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|
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| 60 | 63 |
cvReleaseCapture(&capture); |
| 61 | 64 |
|
| 62 | 65 |
printf("Vision closed.\n");
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| 63 | 66 |
} |
| 64 | 67 |
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int getImageBytes(unsigned char *buffer, int length) |
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{
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IplImage* im_capture; |
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if(!cvGrabFrame(capture)){ // capture a frame
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printf("Could not grab a frame\n\7");
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exit(0); |
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} |
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im_capture=cvRetrieveFrame(capture); // retrieve the captured frame |
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return write_JPEG_to_mem (buffer, length, im_capture, 30); |
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} |
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|
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| 78 | 68 |
int vision_get_robot_positions(VisionPosition** positions) {
|
| 79 | 69 |
IplImage *image03; |
| 80 | 70 |
|
| 81 | 71 |
if(!cvGrabFrame(capture)){ // capture a frame
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printf("Could not grab a frame\n\7");
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printf("Could not grab a frame\n");
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| 83 | 73 |
return -1; |
| 84 | 74 |
} |
| 85 | 75 |
IplImage *im_capture=cvRetrieveFrame(capture); // retrieve the captured frame |
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|
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sendImage(im_capture); |
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|
|
| 87 | 79 |
image03 = cvCreateImage(cvGetSize(im_capture), im_capture->depth, 1); |
| 88 | 80 |
cvCvtColor(im_capture, image03, CV_RGB2GRAY); |
| 89 | 81 |
|
| ... | ... | |
| 103 | 95 |
CvPoint center = cvPoint(cvRound(p[0]), cvRound(p[1])); |
| 104 | 96 |
int r = cvRound(p[2]); |
| 105 | 97 |
|
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if (DEBUG) cvCircle( image03, center, 3, CV_RGB(255,255,255), -1, 8, 0 );
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if (DEBUG) cvCircle( image03, center, 3, CV_RGB(255,255,255), 3, 8, 0 );
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| 107 | 99 |
|
| 108 | 100 |
int dist2 = MIN_PADDING; |
| 109 | 101 |
int loc = count; |
| ... | ... | |
| 129 | 121 |
if (loc == count) count++; |
| 130 | 122 |
} |
| 131 | 123 |
|
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if (DEBUG) |
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{
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for (i = 0; i < count; i++) |
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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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if (DEBUG) cvShowImage( "mywindow1", image03 ); |
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| 138 | 125 |
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cvShowImage( "mywindow1", image03 ); |
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} |
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|
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| 142 | 126 |
cvReleaseMemStorage(&storage); |
| 143 | 127 |
|
| 144 | 128 |
cvReleaseImage(&image03); |
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