From 0654fb285c91da103314610cd4f27295e3da38f3 Mon Sep 17 00:00:00 2001 From: Callum Date: Mon, 28 Oct 2013 21:35:53 +0800 Subject: [PATCH] edited dilatometer --- server/sensors/dilatometer.c | 287 +++++++++++++++++++++++++++++++++++ server/sensors/dilatometer.h | 17 +++ 2 files changed, 304 insertions(+) create mode 100644 server/sensors/dilatometer.c create mode 100644 server/sensors/dilatometer.h diff --git a/server/sensors/dilatometer.c b/server/sensors/dilatometer.c new file mode 100644 index 0000000..0aa8fbb --- /dev/null +++ b/server/sensors/dilatometer.c @@ -0,0 +1,287 @@ +/** + * @file dilatometer.c + * @purpose Implementation of dilatometer related functions + */ + +#include "cv.h" +#include "highgui_c.h" +#include "dilatometer.h" +#include + +// 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; + +/** 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 + + +/** + * 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 (g_data == NULL) + { + g_data = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1); + } + cvCvtColor(g_srcRGB,g_data,CV_RGB2GRAY); +} + +/** + * Cleanup Dilatometer pointers + */ +void Dilatometer_Cleanup() +{ + if (g_data != NULL) + cvReleaseMat(&g_data); + if (g_capture != NULL) + cvReleaseCapture(&g_capture); + if (g_srcRGB != NULL) + cvReleaseMat(&g_srcRGB); + if (g_srcGray != NULL) + cvReleaseMat(&g_srcGray); + if (g_edges != NULL) + cvReleaseMat(&g_edges); + if (frame != NULL) + cvReleaseImageHeader(&frame); +} + +/** + * Get an image from the Dilatometer + */ +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; + + // Get the frame and convert it to CvMat + frame = cvQueryFrame(g_capture); + CvMat stub; + g_srcRGB = cvGetMat(frame,&stub,0,0); + + if( g_srcRGB == NULL) + result = false; + + 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); + } + + // Commented out lines are used during testing to show the image to screen, can also save the test images + //cvShowImage("display", g_srcGray); + //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 ); + + //Save the image + //cvSaveImage("test_blurred.jpg",g_edges,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); + + //cvShowImage("display", g_edges); + //cvWaitKey(0); + +} + + /** + * Read the dilatometer 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 Dilatometer_GetEdge( double * value, int samples) +{ + bool result = false; + double average = 0; + // Get the image from the camera + result = Dilatometer_GetImage(); + // If an error occured when capturing image then return + if (!result) + return result; + + // Apply the Canny Edge theorem to the image + CannyThreshold(); + + 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 THRES) + { + edge_location += col; + num++; + } + } + if( num > 0) + { + average += ( edge_location / num ); + num_edges++; + } + } + if (num_edges > 0) + average /= num_edges; + + if( average > 0) + { + result = true; //Successfully found an edge + *value = average; + } + return result; +} + + /** + * Read the dilatometer image. The value changed will correspond to the new location of the edge. + * @param val - Will store the read value if successful + * @returns true on successful read + */ +bool Dilatometer_Read( double * value) +{ + bool result = Dilatometer_GetEdge(value, SAMPLES); + return result; +} + +/** + * Initialise the dilatometer + */ +void Dilatometer_Init() +{ + // Make an initial reading (will allocate memory the first time only). + double val; + Dilatometer_GetEdge(&val, 1); +} + +// 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); + cvSaveImage("test_edge_avg.jpg",g_edges,0); +} + +/*// Test algorithm +static void Dilatometer_GetImageTest( ) +{ + //Generates Test image + //Dilatometer_TestImage(); + + //Load Test image + g_srcGray = cvLoadImageM ("testimage4.jpg",CV_LOAD_IMAGE_GRAYSCALE ); +}*/ + +/** + * 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; + Dilatometer_Init(); + + cvNamedWindow( "display", CV_WINDOW_AUTOSIZE); +// cvShowImage("display", g_data); +// cvWaitKey(0); + double width; + + double edge; + Dilatometer_Read(&edge,20000); + //For testing purposes, overlay the given average line over the image + Draw_Edge(edge); + + cvDestroyWindow("display"); + +}*/ + diff --git a/server/sensors/dilatometer.h b/server/sensors/dilatometer.h new file mode 100644 index 0000000..7bb9447 --- /dev/null +++ b/server/sensors/dilatometer.h @@ -0,0 +1,17 @@ +/** + * @file dilatometer.h + * @brief Declarations for functions to deal with dilatometer + */ + +#include "common.h" + +//Threshold to determine the edge of the can +#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 bool Dilatometer_Read( double * value); // Read the Dilatometer + -- 2.20.1