renamed functions to microscope, redid Read fnctn

diff --git a/server/microscope.c b/server/microscope.c
new file mode 100644 (file)
index 0000000..e388073
--- /dev/null
+++ b/server/microscope.c
@@ -0,0 +1,246 @@
+/**
+ * @file microscope.c
+ * @purpose Implementation of microscope related functions
+ */
+
+#include "cv.h"
+#include "highgui_c.h"
+#include "microscope.h"
+#include <math.h>
+
+// test positions
+static double test_left, test_right;
+
+// Canny Edge algorithm variables
+int lowThreshold = 30;
+int ratio = 3;
+int kernel_size = 3;
+
+/** Buffer for storing image data. Stored as a  **/
+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
+ */
+void Microscope_Init()
+{
+       
+       // Make an initial reading (will allocate memory the first time only).
+       double val;
+       Microscope_Read(&val, 1); 
+}
+
+/**
+ * Cleanup Interferometer stuff
+ */
+void Microscope_Cleanup()
+{
+       if (g_data != NULL)
+               cvReleaseMat(&g_data);
+
+       if (g_capture != NULL)
+               cvReleaseCapture(&g_capture);
+
+}
+
+/**
+ * Get an image from the Dilatometer
+ */
+static void Microscope_GetImage()
+{      
+       //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
+       lowThreshold = 35;
+       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 Microscope_GetImageTest( )
+{      
+       //Generates Test image
+       //Dilatometer_TestImage();
+       
+       //Load Test image
+       g_srcGray = cvLoadImageM ("testimage.jpg",CV_LOAD_IMAGE_GRAYSCALE );
+       CannyThreshold();
+}
+
+
+ /**
+ * Read the microscope image. The value changed will correspond to the new location of the edge.
+ * @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 Microscope_Read( double * value, int samples)
+{
+       bool result = false; 
+       double average = 0;
+       // Get the image from the camera
+       Microscope_GetImageTest();
+       
+       int width = g_edges->cols;
+       int height = g_edges->rows;
+       
+       // If the number of samples is greater than the image height, sample every row
+       if( samples > height)
+       {
+               samples = height;
+       }
+       
+       int sample_height;
+       int num_edges = 0;      // Number of edges. if each sample location has an edge, then num_edges = samples
+
+       for (int i=0; i<samples; i++)
+       {
+               // Determine the position in the rows to find the edges. 
+               // This will give you a number of evenly spaced samples
+               sample_height = ceil(height * (i + 1) / samples) -1;
+               
+               // Need to go through each pixel of a row and find all the locations of a line. If there is more than one pixel, average it. note this only works if the canny edge algorithm returns lines about the actual line (no outliers).
+               
+               int edge_location=0;
+               int num=0;
+               for ( int col = 0; col < width; col++)
+               {
+                       // Count the number of points
+                       // Get the threshold of the pixel at the current location
+                       CvScalar value = cvGet2D(g_edges, sample_height, col);
+                       //printf("row: %d, col: %d, value: %f\n",sample_height, col, value.val[0]);
+                       if( value.val[0]> THRES)
+                       {
+                               edge_location += col;
+                               num++;
+                       }
+               }
+               if( num > 0)
+               {
+                       average += ( edge_location / num );
+                       num_edges++;
+                       printf("average %f\n", average/num_edges);
+               }
+       }
+       if (num_edges > 0)
+               average /= num_edges;
+       
+       if( average > 0)
+       {       
+               result = true; //Successfully found an edge
+               *value = average;
+       }
+       return result;
+}
+
+// Overlays a line over the given edge position
+void Draw_Edge(double edge)
+{
+       CvScalar value;
+       value.val[0]=244;
+       for( int i = 0; i < g_srcGray->rows; i++)
+       {
+               cvSet2D(g_edges,i,edge,value);
+       }
+       cvShowImage("display", g_edges);
+       cvWaitKey(0);   
+}
+
+/**
+ * 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;
+       Microscope_Init();
+       
+       cvNamedWindow( "display", CV_WINDOW_AUTOSIZE);
+//     cvShowImage("display", g_data);
+//     cvWaitKey(0);   
+       double width;
+       
+       double edge;
+       Microscope_Read(&edge,15);
+       //For testing purposes, overlay the given average line over the image
+       Draw_Edge(edge);
+
+}
+

diff --git a/server/microscope.h b/server/microscope.h
new file mode 100644 (file)
index 0000000..ca63b5e
--- /dev/null
+++ b/server/microscope.h
@@ -0,0 +1,14 @@
+/**
+ * @file microscope.h
+ * @brief Declarations for functions to deal with microscope
+ */
+
+#include "common.h"
+
+//Threshold to determine the edge of the can
+#define THRES 230
+
+extern void Microscope_Init(); // Initialise the dilatometer
+extern void Microscope_Cleanup(); // Cleanup
+extern bool Microscope_Read( double * value, int samples); // Read the Microscope
+