X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensors%2Fdilatometer.c;h=b9fb8337cd543095b274b5c9e30e587f0defd2ed;hb=4272becc415bc659ea14650793559dcf15372a8b;hp=0aa8fbb2bfae117ad78d63b71a654dd6c8552e6a;hpb=0654fb285c91da103314610cd4f27295e3da38f3;p=matches%2FMCTX3420.git diff --git a/server/sensors/dilatometer.c b/server/sensors/dilatometer.c index 0aa8fbb..b9fb833 100644 --- a/server/sensors/dilatometer.c +++ b/server/sensors/dilatometer.c @@ -6,26 +6,24 @@ #include "cv.h" #include "highgui_c.h" #include "dilatometer.h" +#include "../image.h" #include // test positions static double test_left, test_right; -// Canny Edge algorithm variables -int blur = 5; -int lowThreshold = 30; -int ratio = 3; -int kernel_size = 3; +// Remembers the last position to measure rate of expansion +static double lastPosition; + /** Buffers for storing image data. **/ 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; /** Pointers for capturing image **/ -static CvCapture * g_capture = NULL; -static IplImage * frame = NULL; // This is required as you can not use capture with CvMat in C +//static CvCapture * g_capture = NULL; +//static IplImage * frame = NULL; // This is required as you can not use capture with CvMat in C /** @@ -59,45 +57,50 @@ void Dilatometer_TestImage() } } - if (g_data == NULL) + if (g_srcGray == NULL) { - g_data = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1); + g_srcGray = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1); } - cvCvtColor(g_srcRGB,g_data,CV_RGB2GRAY); + cvCvtColor(g_srcRGB,g_srcGray,CV_RGB2GRAY); } /** * Cleanup Dilatometer pointers */ -void Dilatometer_Cleanup() +bool Dilatometer_Cleanup(int id) { - if (g_data != NULL) - cvReleaseMat(&g_data); - if (g_capture != NULL) - cvReleaseCapture(&g_capture); - if (g_srcRGB != NULL) - cvReleaseMat(&g_srcRGB); + //if (g_capture != NULL) + // cvReleaseCapture(&g_capture); + //if (frame != NULL) + // cvReleaseImageHeader(&frame); + + //if (g_srcRGB != NULL) + // cvReleaseMat(&g_srcRGB); // Causing run time error in cvReleaseMat if (g_srcGray != NULL) cvReleaseMat(&g_srcGray); if (g_edges != NULL) cvReleaseMat(&g_edges); - if (frame != NULL) - cvReleaseImageHeader(&frame); + return true; } /** - * Get an image from the Dilatometer + * Get an image from the Dilatometer. Replaced by Camera_GetImage in image.c */ -static bool Dilatometer_GetImage() +/*static bool Dilatometer_GetImage() { bool result = true; // If more than one camera is connected, then input needs to be determined, however the camera ID may change after being unplugged - g_capture = cvCreateCameraCapture(0); - - //If cvCreateCameraCapture returns NULL there is an error with the camera if( g_capture == NULL) - result = false; - + { + g_capture = cvCreateCameraCapture(0); + //If cvCreateCameraCapture returns NULL there is an error with the camera + if( g_capture == NULL) + { + result = false; + return; + } + } + // Get the frame and convert it to CvMat frame = cvQueryFrame(g_capture); CvMat stub; @@ -105,18 +108,34 @@ static bool Dilatometer_GetImage() if( g_srcRGB == NULL) result = false; - + + // Convert the image to grayscale + if (g_srcGray == NULL) + { + g_srcGray = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1); + } + + cvCvtColor(g_srcRGB,g_srcGray,CV_RGB2GRAY); + return result; -} +}*/ void CannyThreshold() { - - if (g_data == NULL) + + // Create greyscale array + if (g_srcGray == NULL) { - g_data = cvCreateMat(g_srcGray->rows,g_srcGray->cols,CV_8UC1); + 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 + Log(LOGDEBUG, "About to cvCvtColor(%p, %p, %d)", 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); @@ -127,44 +146,65 @@ 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) - 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); //cvShowImage("display", g_edges); - //cvWaitKey(0); - + //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); //cvShowImage("display", g_edges); //cvWaitKey(0); - + } /** - * Read the dilatometer image. The value changed will correspond to the new location of the edge. + * Read the dilatometer image. The value changed will correspond to the rate of expansion. If no edge is found then * @param val - Will store the read value if successful * @param samples - Number of rows to scan (increasing will slow down performance!) * @returns true on successful read */ -bool Dilatometer_GetEdge( 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 - result = Dilatometer_GetImage(); + Log(LOGDEBUG, "GET IMAGE?"); + + IplImage * frame = NULL; + result = Camera_GetImage( 0, 800, 600,&frame); // Get a 1600x1200 image and place it into src + Log(LOGDEBUG, "Got image..."); + // 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; - + + + Log(LOGDEBUG, "GOT IMAGE (without error)!"); + // Apply the Canny Edge theorem to the image CannyThreshold(); + Log(LOGDEBUG, "Got past CannyThreshold()"); + int width = g_edges->cols; int height = g_edges->rows; @@ -175,7 +215,7 @@ bool Dilatometer_GetEdge( double * value, int samples) } int sample_height; - int num_edges = 0; // Number of edges. if each sample location has an edge, then num_edges = samples + int num_edges = 0; // Number of edges found. if each sample location has an edge, then num_edges = samples for (int i=0; i 0) average /= num_edges; + else + return result; // As no edges were found if( average > 0) { - result = true; //Successfully found an edge - *value = average; + result = true; // Successfully found an edge + // If the experiment has already been initialised + 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; } @@ -220,20 +277,22 @@ bool Dilatometer_GetEdge( double * value, int samples) * @param val - Will store the read value if successful * @returns true on successful read */ -bool Dilatometer_Read( double * value) +bool Dilatometer_Read(int id, double * value) { - bool result = Dilatometer_GetEdge(value, SAMPLES); + bool result = Dilatometer_GetExpansion(id, value, SAMPLES); return result; } /** * Initialise the dilatometer */ -void Dilatometer_Init() +bool Dilatometer_Init(const char * name, int id) { // Make an initial reading (will allocate memory the first time only). double val; - Dilatometer_GetEdge(&val, 1); + lastPosition = 0; // Reset the last position + Dilatometer_GetExpansion(DIL_POS, &val, 1); + return true; } // Overlays a line over the given edge position @@ -247,10 +306,10 @@ void Draw_Edge(double edge) } cvShowImage("display", g_edges); cvWaitKey(0); - cvSaveImage("test_edge_avg.jpg",g_edges,0); + //cvSaveImage("test_edge_avg.jpg",g_edges,0); } -/*// Test algorithm +/* // Test algorithm static void Dilatometer_GetImageTest( ) { //Generates Test image @@ -272,16 +331,15 @@ static void Dilatometer_GetImageTest( ) Dilatometer_Init(); cvNamedWindow( "display", CV_WINDOW_AUTOSIZE); -// cvShowImage("display", g_data); -// cvWaitKey(0); - double width; + //double width; double edge; - Dilatometer_Read(&edge,20000); + Dilatometer_GetEdge(&edge,20000); //For testing purposes, overlay the given average line over the image - Draw_Edge(edge); - + //Draw_Edge(edge); + cvDestroyWindow("display"); + Dilatometer_Cleanup(); }*/