X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fdilatometer.c;h=5cfca0abbe5460e6a814709fb4d33a2c19c14b51;hb=75b9743b95672218a61811b03433c0ab6e00ec5c;hp=6610cac9ccf9f3026a3ef5243068df41fd4d4f4c;hpb=c959db1c5f17fb1555b0f67e90bdbcc5ccfe6af0;p=matches%2FMCTX3420.git diff --git a/server/dilatometer.c b/server/dilatometer.c index 6610cac..5cfca0a 100644 --- a/server/dilatometer.c +++ b/server/dilatometer.c @@ -8,13 +8,65 @@ #include "dilatometer.h" #include +// test positions +static double test_left, test_right; + +// Canny Edge algorithm variables +int edgeThresh = 1; +int lowThreshold; +int const max_lowThreshold = 100; +int ratio = 3; +int kernel_size = 3; + /** Buffer for storing image data. Stored as a **/ -static CvMat * g_data = NULL; +static CvMat * g_srcRGB = NULL; // Source Image +static CvMat * g_srcGray = NULL; // Gray scale of source image +static CvMat * g_edges = NULL; // Detected Edges +static CvMat * g_data = NULL; // Image to mask edges onto /** Camera capture pointer **/ static CvCapture * g_capture = NULL; +/** + * Create a test image using left as left edge and right as right edge positions + */ +void Dilatometer_TestImage() +{ + + g_srcRGB = cvCreateMat(480, 640, CV_8UC3); + + for( int x = 0; x < 640; ++x) + { + for (int y = 0; y < 480; ++y) + { + CvScalar s; + for( int i = 0; i < 3; ++i) + { + s.val[i] = 210 + (rand() % 1000) * 1e-0 - (rand() % 1000) * 1e-0; + // Produce an exponential decay around left edge + if( x < test_left) + s.val[i] *= exp( (x - test_left) / 25); + else if( x < 320) + s.val[i] *= exp( (test_left - x) / 25); + // Produce an exponential decay around right edge + else if( x < test_right) + s.val[i] *= exp( (x - test_right) / 25); + else + s.val[i] *= exp( (test_right - x) / 25); + } + cvSet2D(g_srcRGB,y,x,s); + // if( s.val[0] > 200) + // printf("row: %d, col: %d, %f\n", y, x, s.val[0]); + } + + } + if (g_data == NULL) + { + g_data = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1); //IPL_DEPTH_8U? + } + cvCvtColor(g_srcRGB,g_data,CV_RGB2GRAY); +} /** * Initialise the dilatometer @@ -43,27 +95,72 @@ void Dilatometer_Cleanup() * Get an image from the Dilatometer */ static void Dilatometer_GetImage() +{ + //Need to implement camera +} + +void CannyThreshold() { - //Need to supply test image + + if (g_data == NULL) + { + g_data = cvCreateMat(g_srcGray->rows,g_srcGray->cols,CV_8UC1); + } - //Need to implement camera + if ( g_edges == NULL) + { + g_edges = cvCreateMat(g_srcGray->rows,g_srcGray->cols,CV_8UC1); + } + + //g_data = 0; + cvShowImage("display", g_srcGray); + cvWaitKey(0); + // Reduce noise with a kernel 3x3. Input the grayscale source image, output to edges. (0's mean it's determined from kernel sizes) + cvSmooth( g_srcGray, g_edges, CV_GAUSSIAN, 9, 9 ,0 ,0 ); + + cvShowImage("display", g_edges); + cvWaitKey(0); + + // Find the edges in the image + cvCanny( g_edges, g_edges, lowThreshold, lowThreshold*ratio, kernel_size ); + + cvShowImage("display", g_edges); + cvWaitKey(0); + + // Mask the edges over G_data + //.copyTo( g_data, g_edges); } + +// Test algorithm +static void Dilatometer_GetImageTest( ) +{ + //Generates Test image + //Dilatometer_TestImage(); + + //Load Test image + g_srcGray = cvLoadImageM ("testimage.jpg",CV_LOAD_IMAGE_GRAYSCALE ); + CannyThreshold(); +} + + /** * Read the dilatometer; gets the latest image, processes it, THEN DOES WHAT * @param samples - Number of rows to scan (increasing will slow down performance!) * @returns the average width of the can */ double Dilatometer_Read(int samples) -{ +{ //Get the latest image - Dilatometer_GetImage(); + //Dilatometer_GetImage(); - int width = g_data->cols; - int height = g_data->rows; + Dilatometer_GetImageTest(); + + int width = g_srcGray->cols; + int height = g_srcGray->rows; // If the number of samples is greater than the image height, sample every row if( samples > height) { - Log(LOGNOTE, "Number of samples is greater than the dilatometer image height, sampling every row instead.\n"); + //Log(LOGNOTE, "Number of samples is greater than the dilatometer image height, sampling every row instead.\n"); samples = height; } @@ -75,22 +172,28 @@ double Dilatometer_Read(int samples) for (int i=0; i THRES) + CvScalar value = cvGet2D(g_srcGray, sample_height, col); + if( value.val[0]> THRES) { - edges[pos] += col; + edges[pos] += (double) col; num++; } // If num > 0 and we're not above threshold, we have left the threshold of the edge - else if( num > 0); + else if( num > 0) { // Find the mid point of the edge edges[pos] /= num; @@ -107,7 +210,49 @@ double Dilatometer_Read(int samples) //widths[i] = edges[1] - edges[0]; average_width += (edges[1] - edges[0]); } - average_width /= samples; - return average_width; + average_width /= (double) samples; + return average_width; +} + +/** + * For testing purposes + */ +int main(int argc, char ** argv) +{ + //cvNamedWindow( "display", CV_WINDOW_AUTOSIZE );// Create a window for display. + //gettimeofday(&start, NULL); + test_left = 100; + test_right = 500; + Dilatometer_Init(); + +// cvNamedWindow( "display", CV_WINDOW_AUTOSIZE); +// cvShowImage("display", g_data); +// cvWaitKey(0); + double width; + /*for( int i = 0; i < 20; ++i) + { + test_left -= i * (rand() % 1000) * 1e-3; + test_right += i * (rand() % 1000) * 1e-3; + + //Make sure left and right positions are sane + if( test_left < 0) + test_left = 0; + if( test_right > 639) + test_right = 639; + if( test_left > test_right) + { + int tmp = test_right; + test_right = test_left; + test_left = tmp; + } + + width = Dilatometer_Read(5); + cvNamedWindow( "display", CV_WINDOW_AUTOSIZE); + cvShowImage("display", g_srcGray); + cvWaitKey(0); + double expected = test_right - test_left; + double perc = 100 * (expected - width) / expected; + printf("%d: Left: %.4f. Width: %.4f.\n Right: %.4f. Expected: %.4f. Percentage: %.4f\n", i, test_left, width, test_right, expected, perc); + }*/ }