X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fdilatometer.c;h=5cfca0abbe5460e6a814709fb4d33a2c19c14b51;hb=75b9743b95672218a61811b03433c0ab6e00ec5c;hp=dd578d303fdeb375ffa0685d9d61b58fa901f72f;hpb=26d56750cbdc70df836612ab8d142a9a21bf2f35;p=matches%2FMCTX3420.git

diff --git a/server/dilatometer.c b/server/dilatometer.c
index dd578d3..5cfca0a 100644
--- a/server/dilatometer.c
+++ b/server/dilatometer.c
@@ -8,42 +8,64 @@
 #include "dilatometer.h"
 #include <math.h>
 
+// 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
+ * Create a test image using left as left edge and right as right edge positions
  */
 void Dilatometer_TestImage()
 {
 	
-	CvMat *g_dataRGB;
-	g_dataRGB = cvCreateMat(480, 640, CV_8UC3); //32
+	g_srcRGB = cvCreateMat(480, 640, CV_8UC3);
 
-	//Make a rectangle from col=300 to 500, row=150 to 350
-	/*for (int x = 100; x < 500; ++x)
-	{
-		CvScalar s; 
-		s.val[0] = 150; s.val[1] = 233; s.val[2] = 244;
- 		cvSet2D(g_dataRGB,150,x,s);
-		cvSet2D(g_dataRGB,350,x,s);
-	}*/
-	for (int y = 0; y < 480; ++y)
+	for( int x = 0; x < 640; ++x)
 	{
-		CvScalar s; 
-		s.val[0] = 200; s.val[1] = 233; s.val[2] = 244;
- 		cvSet2D(g_dataRGB,y,100,s);
-		cvSet2D(g_dataRGB,y,500,s);
+		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_dataRGB->rows,g_dataRGB->cols,CV_8UC1); //IPL_DEPTH_8U?
-		cvCvtColor(g_dataRGB,g_data,CV_RGB2GRAY);
+		g_data = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1); //IPL_DEPTH_8U?
 	}
+	cvCvtColor(g_srcRGB,g_data,CV_RGB2GRAY);
 }	
 
 /**
@@ -74,22 +96,67 @@ void Dilatometer_Cleanup()
  */
 static void Dilatometer_GetImage()
 {	
-	//Test image
-	Dilatometer_TestImage();
 	//Need to implement camera
 }
+
+void CannyThreshold()
+{
+	
+	if (g_data == NULL)
+	{
+		g_data = cvCreateMat(g_srcGray->rows,g_srcGray->cols,CV_8UC1);
+	}
+
+	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)
 	{
@@ -102,36 +169,28 @@ double Dilatometer_Read(int samples)
 	// The average width of the can
 	double average_width;
 	int sample_height;
-	printf("here2; %d\n", width);
 	for (int i=0; i<samples; i++)
 	{
 		// Contains the locations of the 2 edges
 		double edges[2] = {0.0,0.0};
-		printf("edges init %f; %f\n", edges[0], edges[1]);
 		int pos = 0;	// Position in the edges array (start at left edge)
 		int num = 0;	// Keep track of the number of columns above threshold
 
 		// Determine the position in the rows to find the edges. 
 		sample_height = ceil(height * (i + 1) / samples) -1;
-		printf("sample height is %d\n", sample_height);
+		//printf("sample height is %d\n", sample_height);
 
-		//CvScalar test = cvGet2D(g_data, 150,300);
+		//CvScalar test = cvGet2D(g_srcGray, 150,300);
 		//printf("test is %f,%f,%f,%f\n", test.val[0], test.val[1], test.val[2], test.val[3]);
 
 
 		for ( int col = 0; col < width; col++)
 		{
-			//if ( CV_MAT_ELEM( *g_data, double, col, sample_height) > THRES)
-			
-			//printf("val is %f\n", cvGet2D(g_data, col, sample_height));
-			//printf("position is col: %d, row: %d\n",col, sample_height);
-			CvScalar value = cvGet2D(g_data, sample_height, col);
-			//printf("value is %f\n", value.val[0]);
+			CvScalar value = cvGet2D(g_srcGray, sample_height, col);
 			if( value.val[0]> THRES)
 			{
 				edges[pos] += (double) col;
 				num++;
-				printf("here; %f\n", edges[pos]);
 			}
 			// If num > 0 and we're not above threshold, we have left the threshold of the edge
 			else if( num > 0)
@@ -151,9 +210,8 @@ double Dilatometer_Read(int samples)
 		//widths[i] = edges[1] - edges[0];
 		average_width += (edges[1] - edges[0]);
 	}
-		average_width /= samples;
-		printf("the average width is %f\n", average_width);
-		return average_width;
+	average_width /= (double) samples;
+	return average_width;
 }
 
 /**
@@ -163,12 +221,38 @@ 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); 	
-	Dilatometer_Read(5);
+//	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);
+	}*/
 }