From 202566fc5d465dd365532b0b02eaa59efa8d54ad Mon Sep 17 00:00:00 2001 From: Callum Date: Sat, 26 Oct 2013 14:59:22 +0800 Subject: [PATCH] renamed functions to microscope, redid Read fnctn --- server/microscope.c | 246 ++++++++++++++++++++++++++++++++++++++++++++ server/microscope.h | 14 +++ 2 files changed, 260 insertions(+) create mode 100644 server/microscope.c create mode 100644 server/microscope.h diff --git a/server/microscope.c b/server/microscope.c new file mode 100644 index 0000000..e388073 --- /dev/null +++ b/server/microscope.c @@ -0,0 +1,246 @@ +/** + * @file microscope.c + * @purpose Implementation of microscope related functions + */ + +#include "cv.h" +#include "highgui_c.h" +#include "microscope.h" +#include + +// test positions +static double test_left, test_right; + +// Canny Edge algorithm variables +int lowThreshold = 30; +int ratio = 3; +int kernel_size = 3; + +/** Buffer for storing image data. Stored as a **/ +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; // Image to mask edges onto + + +/** Camera capture pointer **/ +static CvCapture * g_capture = NULL; + +/** + * 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( s.val[0] > 200) + // printf("row: %d, col: %d, %f\n", y, x, s.val[0]); + } + + } + if (g_data == NULL) + { + g_data = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1); //IPL_DEPTH_8U? + } + cvCvtColor(g_srcRGB,g_data,CV_RGB2GRAY); +} + +/** + * Initialise the dilatometer + */ +void Microscope_Init() +{ + + // Make an initial reading (will allocate memory the first time only). + double val; + Microscope_Read(&val, 1); +} + +/** + * Cleanup Interferometer stuff + */ +void Microscope_Cleanup() +{ + if (g_data != NULL) + cvReleaseMat(&g_data); + + if (g_capture != NULL) + cvReleaseCapture(&g_capture); + +} + +/** + * Get an image from the Dilatometer + */ +static void Microscope_GetImage() +{ + //Need to implement camera +} + +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); + } + + //g_data = 0; + cvShowImage("display", g_srcGray); + cvWaitKey(0); + // Reduce noise with a kernel 3x3. Input the grayscale source image, output to edges. (0's mean it's determined from kernel sizes) + cvSmooth( g_srcGray, g_edges, CV_GAUSSIAN, 9, 9 ,0 ,0 ); + + cvShowImage("display", g_edges); + cvWaitKey(0); + + // Find the edges in the image + lowThreshold = 35; + cvCanny( g_edges, g_edges, lowThreshold, lowThreshold*ratio, kernel_size ); + + cvShowImage("display", g_edges); + cvWaitKey(0); + + // Mask the edges over G_data + //.copyTo( g_data, g_edges); +} + +// Test algorithm +static void Microscope_GetImageTest( ) +{ + //Generates Test image + //Dilatometer_TestImage(); + + //Load Test image + g_srcGray = cvLoadImageM ("testimage.jpg",CV_LOAD_IMAGE_GRAYSCALE ); + CannyThreshold(); +} + + + /** + * Read the microscope 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 Microscope_Read( double * value, int samples) +{ + bool result = false; + double average = 0; + // Get the image from the camera + Microscope_GetImageTest(); + + 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++; + printf("average %f\n", average/num_edges); + } + } + if (num_edges > 0) + average /= num_edges; + + if( average > 0) + { + result = true; //Successfully found an edge + *value = average; + } + return result; +} + +// 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); +} + +/** + * 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; + Microscope_Init(); + + cvNamedWindow( "display", CV_WINDOW_AUTOSIZE); +// cvShowImage("display", g_data); +// cvWaitKey(0); + double width; + + double edge; + Microscope_Read(&edge,15); + //For testing purposes, overlay the given average line over the image + Draw_Edge(edge); + +} + diff --git a/server/microscope.h b/server/microscope.h new file mode 100644 index 0000000..ca63b5e --- /dev/null +++ b/server/microscope.h @@ -0,0 +1,14 @@ +/** + * @file microscope.h + * @brief Declarations for functions to deal with microscope + */ + +#include "common.h" + +//Threshold to determine the edge of the can +#define THRES 230 + +extern void Microscope_Init(); // Initialise the dilatometer +extern void Microscope_Cleanup(); // Cleanup +extern bool Microscope_Read( double * value, int samples); // Read the Microscope + -- 2.20.1