X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensors%2Fdilatometer.c;h=b9fb8337cd543095b274b5c9e30e587f0defd2ed;hb=4272becc415bc659ea14650793559dcf15372a8b;hp=10b2e61a7247c7090cc03db08b8e1629bad7cd43;hpb=69d9f5d6774384f76c75248907304b0fbd66bbd1;p=matches%2FMCTX3420.git

diff --git a/server/sensors/dilatometer.c b/server/sensors/dilatometer.c
index 10b2e61..b9fb833 100644
--- 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 "../image.h"
 #include <math.h>
 
 // test positions
@@ -15,12 +16,6 @@ static double test_left, test_right;
 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
@@ -127,9 +122,20 @@ bool Dilatometer_Cleanup(int id)
 
 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
+	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);
@@ -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)
-	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);
@@ -149,7 +155,7 @@ void CannyThreshold()
 	//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);
@@ -165,20 +171,40 @@ void CannyThreshold()
  * @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 = 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, 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;
 	
@@ -227,12 +253,21 @@ bool Dilatometer_GetEdge( double * value, int samples)
 	{	
 		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;
 }
@@ -244,7 +279,7 @@ bool Dilatometer_GetEdge( double * value, int samples)
  */
 bool Dilatometer_Read(int id, double * value)
 {
-	bool result = Dilatometer_GetEdge(value, SAMPLES);
+	bool result = Dilatometer_GetExpansion(id, value, SAMPLES);
 	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
-	bool result = Dilatometer_GetEdge(&val, 1); 
-	return result;
+	Dilatometer_GetExpansion(DIL_POS, &val, 1); 
+	return true;
 }
 
 // Overlays a line over the given edge position