root / trunk / code / projects / colonet / server / vision / vision.c @ 939
History | View | Annotate | Download (3.11 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 |
#include "shmimgserve.h" |
21 |
|
22 |
#define MIN_PADDING 70 |
23 |
|
24 |
#define DEBUG 0 //Debug to find threshold level |
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 |
openShM(); |
47 |
|
48 |
if (DEBUG)
|
49 |
{ |
50 |
cvNamedWindow("mywindow1", CV_WINDOW_AUTOSIZE);
|
51 |
} |
52 |
|
53 |
return 0; |
54 |
} |
55 |
|
56 |
void vision_close()
|
57 |
{ |
58 |
if (DEBUG)
|
59 |
cvDestroyWindow("mywindow1");
|
60 |
|
61 |
releaseShM(); |
62 |
|
63 |
cvReleaseCapture(&capture); |
64 |
|
65 |
printf("Vision closed.\n");
|
66 |
} |
67 |
|
68 |
int vision_get_robot_positions(VisionPosition** positions) {
|
69 |
IplImage *image03; |
70 |
|
71 |
if(!cvGrabFrame(capture)){ // capture a frame |
72 |
printf("Could not grab a frame\n");
|
73 |
return -1; |
74 |
} |
75 |
IplImage *im_capture=cvRetrieveFrame(capture); // retrieve the captured frame
|
76 |
|
77 |
sendImage(im_capture); |
78 |
|
79 |
image03 = cvCreateImage(cvGetSize(im_capture), im_capture->depth, 1);
|
80 |
cvCvtColor(im_capture, image03, CV_RGB2GRAY); |
81 |
|
82 |
struct CenterP centers[100] = {0}; |
83 |
int count = 0; |
84 |
|
85 |
cvSmooth( image03, image03, CV_GAUSSIAN, 9, 9 ); // smooth it, otherwise a lot of false circles may be detected |
86 |
CvMemStorage* storage = cvCreateMemStorage(0);
|
87 |
CvSeq* circles = cvHoughCircles( image03, storage, CV_HOUGH_GRADIENT, 1, 1, 100, 43 ); |
88 |
|
89 |
int i;
|
90 |
for( i = 0; i < circles->total && count < 100; i++ ) |
91 |
{ |
92 |
//TODO: Augment with Harr cascade second level detecting orbs + identify robot with orb color
|
93 |
|
94 |
float* p = (float*)cvGetSeqElem( circles, i ); |
95 |
CvPoint center = cvPoint(cvRound(p[0]), cvRound(p[1])); |
96 |
int r = cvRound(p[2]); |
97 |
|
98 |
if (DEBUG) cvCircle( image03, center, 3, CV_RGB(255,255,255), 3, 8, 0 ); |
99 |
|
100 |
int dist2 = MIN_PADDING;
|
101 |
int loc = count;
|
102 |
|
103 |
int j;
|
104 |
for (j = 0; j < count; j++) |
105 |
{ |
106 |
int dx = centers[j].center.x-center.x;
|
107 |
int dy = centers[j].center.y-center.y;
|
108 |
int d2 = dx*dx + dy*dy;
|
109 |
|
110 |
if (d2 < dist2)
|
111 |
{ |
112 |
dist2 = d2; |
113 |
loc = j; |
114 |
} |
115 |
} |
116 |
|
117 |
int c = centers[loc].count;
|
118 |
centers[loc].center.x = (centers[loc].center.x * c + center.x) / (c + 1);
|
119 |
centers[loc].center.y = (centers[loc].center.y * c + center.y) / (c + 1);
|
120 |
centers[loc].count++; |
121 |
if (loc == count) count++;
|
122 |
} |
123 |
|
124 |
if (DEBUG) cvShowImage( "mywindow1", image03 ); |
125 |
|
126 |
cvReleaseMemStorage(&storage); |
127 |
|
128 |
cvReleaseImage(&image03); |
129 |
|
130 |
VisionPosition* pos_array = (VisionPosition*)malloc(sizeof(VisionPosition) * count);
|
131 |
if (pos_array == NULL) { |
132 |
fprintf(stderr, "malloc failed\n");
|
133 |
return -1; |
134 |
} |
135 |
|
136 |
int c = 0; |
137 |
for (i = 0; i < count; i++) { |
138 |
pos_array[c].x = centers[i].center.x; |
139 |
pos_array[c].y = centers[i].center.y; |
140 |
c++; |
141 |
} |
142 |
|
143 |
*positions = pos_array; |
144 |
return count;
|
145 |
} |