Wrote code to implement camera

diff --git a/server/dilatometer.c b/server/dilatometer.c
index 544c358..83cdc4c 100644 (file)
--- a/server/dilatometer.c
+++ b/server/dilatometer.c
@@ -72,14 +72,14 @@ void Dilatometer_Cleanup()
 {
        if (g_capture != NULL)
                cvReleaseCapture(&g_capture);
 {
        if (g_capture != NULL)
                cvReleaseCapture(&g_capture);

-       if (g_srcRGB != NULL)
-               cvReleaseMat(&g_srcRGB);
+       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 (g_srcGray != NULL)
                cvReleaseMat(&g_srcGray);
        if (g_edges != NULL)
                cvReleaseMat(&g_edges);

-       if (frame != NULL)
-               cvReleaseImageHeader(&frame);

 }
 
 /**
 }
 
 /**


@@ -89,11 +89,17 @@ 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
 {      
        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)
        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;
        // Get the frame and convert it to CvMat
        frame =  cvQueryFrame(g_capture);
        CvMat stub;


@@ -129,19 +135,18 @@ void CannyThreshold()
        
        //Save the image
        //cvSaveImage("test_blurred.jpg",g_edges,0);
        
        //Save the image
        //cvSaveImage("test_blurred.jpg",g_edges,0);

-               printf("what about here?\n");

 
 

-       cvShowImage("display", g_edges);
-       cvWaitKey(0);   
+       //cvShowImage("display", g_edges);
+       //cvWaitKey(0); 
+

        // Find the edges in the image
        cvCanny( g_edges, g_edges, lowThreshold, lowThreshold*ratio, kernel_size );
        
        //Save the image
        //cvSaveImage("test_edge.jpg",g_edges,0);
 
        // Find the edges in the image
        cvCanny( g_edges, g_edges, lowThreshold, lowThreshold*ratio, kernel_size );
        
        //Save the image
        //cvSaveImage("test_edge.jpg",g_edges,0);
 

-       cvShowImage("display", g_edges);
-       cvWaitKey(0);   
-                       printf("hopeful\n");
+       //cvShowImage("display", g_edges);
+       //cvWaitKey(0);         

 
 }
 
 
 }
 


@@ -276,11 +281,10 @@ int main(int argc, char ** argv)
        double edge;
        Dilatometer_GetEdge(&edge,20000);
        //For testing purposes, overlay the given average line over the image
        double edge;
        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();
        
        cvDestroyWindow("display");
 
        Dilatometer_Cleanup();

-

 }
 
 }
 

diff --git a/server/dilatometer.h b/server/dilatometer.h
index b3b7348..7bb9447 100644 (file)
--- a/server/dilatometer.h
+++ b/server/dilatometer.h
@@ -6,9 +6,12 @@
 #include "common.h"
 
 //Threshold to determine the edge of the can
 #include "common.h"
 
 //Threshold to determine the edge of the can

-#define THRES 200
+#define THRES 230
+
+//Number of samples of the image to take
+#define SAMPLES 600

 
 extern void Dilatometer_Init(); // Initialise the dilatometer
 extern void Dilatometer_Cleanup(); // Cleanup
 
 extern void Dilatometer_Init(); // Initialise the dilatometer
 extern void Dilatometer_Cleanup(); // Cleanup

-extern double Dilatometer_Read( int samples); // Read the dilatometer
+extern bool Dilatometer_Read( double * value); // Read the Dilatometer

 
 

diff --git a/server/sensors/Makefile b/server/sensors/Makefile
index a412f7c..58a1fd8 100644 (file)
--- a/server/sensors/Makefile
+++ b/server/sensors/Makefile
@@ -1,9 +1,8 @@
 # Makefile for server software
 CXX = gcc
 # Makefile for server software
 CXX = gcc

-FLAGS = -std=c99 -Wall -pedantic -g -I../
-#-I/usr/include/opencv -I/usr/include/opencv2/highgui For OpenCV
+FLAGS = -std=c99 -Wall -pedantic -g -I../ -I/usr/include/opencv -I/usr/include/opencv2/highgui #For OpenCV

 LIB = -lpthread
 LIB = -lpthread

-OBJ = strain.o resource.o pressure.o
+OBJ = strain.o resource.o pressure.o dilatometer.o

 HEADERS = $(wildcard *.h)
 RM = rm -f
 
 HEADERS = $(wildcard *.h)
 RM = rm -f
 

diff --git a/server/sensors/dilatometer.c b/server/sensors/dilatometer.c
index 0aa8fbb..684a425 100644 (file)
--- a/server/sensors/dilatometer.c
+++ b/server/sensors/dilatometer.c
@@ -21,7 +21,6 @@ int kernel_size = 3;
 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_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;
 
 /** Pointers for capturing image **/
 static CvCapture * g_capture = NULL;


@@ -59,11 +58,11 @@ void Dilatometer_TestImage()
                }
                
        }
                }
                
        }

-       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);

 }      
 
 /**
 }      
 
 /**


@@ -71,18 +70,16 @@ void Dilatometer_TestImage()
  */
 void Dilatometer_Cleanup()
 {
  */
 void Dilatometer_Cleanup()
 {

-       if (g_data != NULL)
-               cvReleaseMat(&g_data);

        if (g_capture != NULL)
                cvReleaseCapture(&g_capture);
        if (g_capture != NULL)
                cvReleaseCapture(&g_capture);

-       if (g_srcRGB != NULL)
-               cvReleaseMat(&g_srcRGB);
+       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 (g_srcGray != NULL)
                cvReleaseMat(&g_srcGray);
        if (g_edges != NULL)
                cvReleaseMat(&g_edges);

-       if (frame != NULL)
-               cvReleaseImageHeader(&frame);

 }
 
 /**
 }
 
 /**


@@ -92,12 +89,17 @@ 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
 {      
        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)
        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;
        // Get the frame and convert it to CvMat
        frame =  cvQueryFrame(g_capture);
        CvMat stub;


@@ -105,18 +107,20 @@ static bool Dilatometer_GetImage()
 
        if( g_srcRGB == NULL)
                result = false;
 
        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()
 {
        return result;
 }
 
 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);
        if ( g_edges == NULL)
        {
                g_edges = cvCreateMat(g_srcGray->rows,g_srcGray->cols,CV_8UC1);


@@ -133,8 +137,8 @@ void CannyThreshold()
        //cvSaveImage("test_blurred.jpg",g_edges,0);
 
        //cvShowImage("display", g_edges);
        //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 );
        
        // Find the edges in the image
        cvCanny( g_edges, g_edges, lowThreshold, lowThreshold*ratio, kernel_size );
        


@@ -143,7 +147,7 @@ void CannyThreshold()
 
        //cvShowImage("display", g_edges);
        //cvWaitKey(0);         
 
        //cvShowImage("display", g_edges);
        //cvWaitKey(0);         

-       
+

 }
 
  /**
 }
 
  /**


@@ -247,10 +251,10 @@ void Draw_Edge(double edge)
        }
        cvShowImage("display", g_edges);
        cvWaitKey(0);   
        }
        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
 static void Dilatometer_GetImageTest( )
 {      
        //Generates Test image


@@ -272,16 +276,15 @@ static void Dilatometer_GetImageTest( )
        Dilatometer_Init();
        
        cvNamedWindow( "display", CV_WINDOW_AUTOSIZE);
        Dilatometer_Init();
        
        cvNamedWindow( "display", CV_WINDOW_AUTOSIZE);

-//     cvShowImage("display", g_data);
-//     cvWaitKey(0);   
-       double width;
+       //double width;

        
        double edge;
        
        double edge;

-       Dilatometer_Read(&edge,20000);
+       Dilatometer_GetEdge(&edge,20000);

        //For testing purposes, overlay the given average line over the image
        //For testing purposes, overlay the given average line over the image

-       Draw_Edge(edge);
-
+       //Draw_Edge(edge);
+       

        cvDestroyWindow("display");
 
        cvDestroyWindow("display");
 

+       Dilatometer_Cleanup();

 }*/
 
 }*/