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Update dilatometer.h
[matches/MCTX3420.git]
/
server
/
sensors
/
dilatometer.c
diff --git
a/server/sensors/dilatometer.c
b/server/sensors/dilatometer.c
index
18d5e68
..
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
@@
-15,12
+16,6
@@
static double test_left, test_right;
static double lastPosition;
static double lastPosition;
-// Canny Edge algorithm variables
-int blur = 5;
-int lowThreshold = 30;
-int ratio = 3;
-int kernel_size = 3;
-
/** Buffers for storing image data. **/
static CvMat * g_srcRGB = NULL; // Source Image
static CvMat * g_srcGray = NULL; // Gray scale of source image
/** Buffers for storing image data. **/
static CvMat * g_srcRGB = NULL; // Source Image
static CvMat * g_srcGray = NULL; // Gray scale of source image
@@
-127,9
+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);
@@
-140,7
+146,7
@@
void CannyThreshold()
//cvWaitKey(0);
// Reduce noise with a kernel blurxblur. Input the grayscale source image, output to edges. (0's mean it's determined from kernel sizes)
//cvWaitKey(0);
// Reduce noise with a kernel blurxblur. Input the grayscale source image, output to edges. (0's mean it's determined from kernel sizes)
- cvSmooth( g_srcGray, g_edges, CV_GAUSSIAN,
blur, blur
,0 ,0 );
+ cvSmooth( g_srcGray, g_edges, CV_GAUSSIAN,
BLUR, BLUR
,0 ,0 );
//Save the image
//cvSaveImage("test_blurred.jpg",g_edges,0);
//Save the image
//cvSaveImage("test_blurred.jpg",g_edges,0);
@@
-149,7
+155,7
@@
void CannyThreshold()
//cvWaitKey(0);
// Find the edges in the image
//cvWaitKey(0);
// Find the edges in the image
- cvCanny( g_edges, g_edges,
lowThreshold, lowThreshold*ratio, kernel_size
);
+ cvCanny( g_edges, g_edges,
LOWTHRESHOLD, LOWTHRESHOLD*RATIO, KERNELSIZE
);
//Save the image
//cvSaveImage("test_edge.jpg",g_edges,0);
//Save the image
//cvSaveImage("test_edge.jpg",g_edges,0);
@@
-165,20
+171,40
@@
void CannyThreshold()
* @param samples - Number of rows to scan (increasing will slow down performance!)
* @returns true on successful read
*/
* @param samples - Number of rows to scan (increasing will slow down performance!)
* @returns true on successful read
*/
-bool Dilatometer_GetExpansion( double * value, int samples)
+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;
@@
-227,12
+253,21
@@
bool Dilatometer_GetExpansion( double * value, int samples)
{
result = true; // Successfully found an edge
// If the experiment has already been initialised
{
result = true; // Successfully found an edge
// If the experiment has already been initialised
- if( lastPosition > 0)
- {
- // Find the rate of expansion and convert to mm. Will give a negative result for compression.
- *value = (average - lastPosition) * SCALE;
- lastPosition = average; // Current position now becomes the last position
- }
+ switch (id)
+ {
+ case DIL_POS:
+ *value = average*SCALE;
+ return result;
+ case DIL_DIFF:
+ if( lastPosition > 0)
+ {
+ // Find the rate of expansion and convert to mm. Will give a negative result for compression.
+ *value = (average - lastPosition) * SCALE *2;
+ lastPosition = average; // Current position now becomes the last position
+ }
+ return result;
+ default:
+ return false; }
}
return result;
}
}
return result;
}
@@
-244,7
+279,7
@@
bool Dilatometer_GetExpansion( double * value, int samples)
*/
bool Dilatometer_Read(int id, double * value)
{
*/
bool Dilatometer_Read(int id, double * value)
{
- bool result = Dilatometer_GetExpansion(value, SAMPLES);
+ bool result = Dilatometer_GetExpansion(
id,
value, SAMPLES);
return result;
}
return result;
}
@@
-256,8
+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(
&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
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