#include "cv.h"
#include "highgui_c.h"
#include "dilatometer.h"
+#include "../image.h"
#include <math.h>
// 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
/**
}
}
- 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;
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);
//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;
}
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++)
{
}
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
+ 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;
}
* @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
}
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
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();
}*/
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