Done a bunch of changes to image handling

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

diff --git a/server/sensors/dilatometer.c b/server/sensors/dilatometer.c
index 0bbda6b..10b2e61 100644 (file)
--- a/server/sensors/dilatometer.c
+++ b/server/sensors/dilatometer.c
@@ -11,6 +11,10 @@
 // test positions
 static double test_left, test_right;
 
+// Remembers the last position to measure rate of expansion
+static double lastPosition;
+
+
 // Canny Edge algorithm variables
 int blur = 5;
 int lowThreshold = 30;
@@ -23,8 +27,8 @@ static CvMat * g_srcGray = NULL;      // Gray scale of source image
 static CvMat * g_edges          = NULL;        // Detected Edges
 
 /** 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
 
 
 /**
@@ -70,10 +74,11 @@ void Dilatometer_TestImage()
  */
 bool Dilatometer_Cleanup(int id)
 {
-       if (g_capture != NULL)
-               cvReleaseCapture(&g_capture);
-       if (frame != NULL)
-               cvReleaseImageHeader(&frame);
+       //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)
@@ -84,9 +89,9 @@ bool Dilatometer_Cleanup(int id)
 }
 
 /**
- * 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
@@ -118,10 +123,13 @@ static bool Dilatometer_GetImage()
        cvCvtColor(g_srcRGB,g_srcGray,CV_RGB2GRAY);
        
        return result;
-}
+}*/
 
 void CannyThreshold()
 {
+       // Convert the RGB source file to grayscale
+       cvCvtColor(g_srcRGB,g_srcGray,CV_RGB2GRAY);
+
        if ( g_edges == NULL)
        {
                g_edges = cvCreateMat(g_srcGray->rows,g_srcGray->cols,CV_8UC1);
@@ -152,7 +160,7 @@ void CannyThreshold()
 }
 
  /**
- * 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
@@ -162,11 +170,12 @@ bool Dilatometer_GetEdge( double * value, int samples)
        bool result = false; 
        double average = 0;
        // Get the image from the camera
-       result = Dilatometer_GetImage();
+       result = Camera_GetImage( 0, 1600, 1200 ,&g_srcRGB); // Get a 1600x1200 image and place it into src
+
        // If an error occured when capturing image then return
        if (!result)
                return result;
-       
+
        // Apply the Canny Edge theorem to the image
        CannyThreshold();
 
@@ -180,7 +189,7 @@ 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<samples; i++)
        {
@@ -211,11 +220,19 @@ bool Dilatometer_GetEdge( double * value, int samples)
        }
        if (num_edges > 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
+               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
+               }
        }
        return result;
 }
@@ -238,8 +255,9 @@ 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); 
-       return true;
+       lastPosition = 0;  // Reset the last position
+       bool result = Dilatometer_GetEdge(&val, 1); 
+       return result;
 }
 
 // Overlays a line over the given edge position