Fix dilatometer, other misc stuff

[matches/MCTX3420.git] / server / sensors / dilatometer.c

diff --git a/server/sensors/dilatometer.c b/server/sensors/dilatometer.c
index f197941..8d04fb5 100644 (file)
--- 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
@@ -121,9 +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);
@@ -164,15 +176,35 @@ 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, 1600, 1200 ,&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;
        
@@ -259,8 +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_GetExpansion(DIL_POS, &val, 1); 
-       return result;
+       Dilatometer_GetExpansion(DIL_POS, &val, 1); 
+       return true;
 }
 
 // Overlays a line over the given edge position