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Fix dilatometer, other misc stuff
[matches/MCTX3420.git]
/
server
/
sensors
/
dilatometer.c
diff --git
a/server/sensors/dilatometer.c
b/server/sensors/dilatometer.c
index
f197941
..
8d04fb5
100644
(file)
--- a/
server/sensors/dilatometer.c
+++ b/
server/sensors/dilatometer.c
@@
-6,6
+6,7
@@
#include "cv.h"
#include "highgui_c.h"
#include "dilatometer.h"
#include "cv.h"
#include "highgui_c.h"
#include "dilatometer.h"
+#include "../image.h"
#include <math.h>
// test positions
#include <math.h>
// test positions
@@
-121,9
+122,20
@@
bool Dilatometer_Cleanup(int id)
void CannyThreshold()
{
void CannyThreshold()
{
+
+ // Create greyscale array
+ if (g_srcGray == NULL)
+ {
+ Log(LOGDEBUG, "%d %d %d", g_srcRGB->rows, g_srcRGB->cols, CV_8UC1);
+ g_srcGray = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1);
+ }
+
// Convert the RGB source file to grayscale
// Convert the RGB source file to grayscale
+ Log(LOGDEBUG, "About to cvCvtColor(%p, %p, %d)", g_srcRGB, g_srcGray, CV_RGB2GRAY);
cvCvtColor(g_srcRGB,g_srcGray,CV_RGB2GRAY);
cvCvtColor(g_srcRGB,g_srcGray,CV_RGB2GRAY);
+
+ Log(LOGDEBUG, "About to cvCreateMat");
if ( g_edges == NULL)
{
g_edges = cvCreateMat(g_srcGray->rows,g_srcGray->cols,CV_8UC1);
if ( g_edges == NULL)
{
g_edges = cvCreateMat(g_srcGray->rows,g_srcGray->cols,CV_8UC1);
@@
-164,15
+176,35
@@
bool Dilatometer_GetExpansion( int id, double * value, int samples)
bool result = false;
double average = 0;
// Get the image from the camera
bool result = false;
double average = 0;
// Get the image from the camera
- result = Camera_GetImage( 0, 1600, 1200 ,&g_srcRGB); // Get a 1600x1200 image and place it into src
+ Log(LOGDEBUG, "GET IMAGE?");
+
+ IplImage * frame = NULL;
+ result = Camera_GetImage( 0, 1600, 1200 ,&frame); // Get a 1600x1200 image and place it into src
+ Log(LOGDEBUG, "Got image...");
// If an error occured when capturing image then return
// If an error occured when capturing image then return
+
+
+ if (result)
+ {
+ CvMat stub;
+ g_srcRGB = cvGetMat(frame,&stub,0,0);
+ result = (g_srcRGB != NULL);
+ Log(LOGDEBUG, "Converted image %d %p", result, g_srcRGB);
+ }
+ cvReleaseImageHeader(&frame);
+
if (!result)
return result;
if (!result)
return result;
+
+ Log(LOGDEBUG, "GOT IMAGE (without error)!");
+
// Apply the Canny Edge theorem to the image
CannyThreshold();
// Apply the Canny Edge theorem to the image
CannyThreshold();
+ Log(LOGDEBUG, "Got past CannyThreshold()");
+
int width = g_edges->cols;
int height = g_edges->rows;
int width = g_edges->cols;
int height = g_edges->rows;
@@
-259,8
+291,8
@@
bool Dilatometer_Init(const char * name, int id)
// Make an initial reading (will allocate memory the first time only).
double val;
lastPosition = 0; // Reset the last position
// Make an initial reading (will allocate memory the first time only).
double val;
lastPosition = 0; // Reset the last position
-
bool result =
Dilatometer_GetExpansion(DIL_POS, &val, 1);
- return
result
;
+ Dilatometer_GetExpansion(DIL_POS, &val, 1);
+ return
true
;
}
// Overlays a line over the given edge position
}
// Overlays a line over the given edge position
UCC
git Repository :: git.ucc.asn.au