From 710a022bd34d8d72bc588fca421ad25658fabd5b Mon Sep 17 00:00:00 2001 From: Callum Date: Mon, 28 Oct 2013 22:20:16 +0800 Subject: [PATCH] comment --- server/dilatometer.c | 292 ++++++++++++++++++++++++------------------- 1 file changed, 160 insertions(+), 132 deletions(-) diff --git a/server/dilatometer.c b/server/dilatometer.c index 5cfca0a..544c358 100644 --- a/server/dilatometer.c +++ b/server/dilatometer.c @@ -12,21 +12,20 @@ static double test_left, test_right; // Canny Edge algorithm variables -int edgeThresh = 1; -int lowThreshold; -int const max_lowThreshold = 100; +int blur = 5; +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 +/** 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 - -/** Camera capture pointer **/ +/** 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 @@ -56,164 +55,210 @@ void Dilatometer_TestImage() 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) + if (g_srcGray == NULL) { - g_data = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1); //IPL_DEPTH_8U? + 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); } /** - * Initialise the dilatometer - */ -void Dilatometer_Init() -{ - - // Make an initial reading (will allocate memory the first time only). - Dilatometer_Read(1); -} - -/** - * Cleanup Interferometer stuff + * 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 void Dilatometer_GetImage() +static bool Dilatometer_GetImage() { - //Need to implement camera -} + 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); -void CannyThreshold() -{ + if( g_srcRGB == NULL) + result = false; - if (g_data == NULL) + // Convert the image to grayscale + if (g_srcGray == NULL) { - g_data = cvCreateMat(g_srcGray->rows,g_srcGray->cols,CV_8UC1); + g_srcGray = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1); } + cvCvtColor(g_srcRGB,g_srcGray,CV_RGB2GRAY); + + return result; +} + +void CannyThreshold() +{ 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 ); + // 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); + printf("what about here?\n"); + 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); - - // Mask the edges over G_data - //.copyTo( g_data, g_edges); -} + printf("hopeful\n"); -// Test algorithm -static void Dilatometer_GetImageTest( ) -{ - //Generates Test image - //Dilatometer_TestImage(); - - //Load Test image - g_srcGray = cvLoadImageM ("testimage.jpg",CV_LOAD_IMAGE_GRAYSCALE ); - CannyThreshold(); } - -/** - * Read the dilatometer; gets the latest image, processes it, THEN DOES WHAT + /** + * 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 the average width of the can + * @returns true on successful read */ -double Dilatometer_Read(int samples) -{ - //Get the latest image - //Dilatometer_GetImage(); +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(); - Dilatometer_GetImageTest(); + int width = g_edges->cols; + int height = g_edges->rows; - int width = g_srcGray->cols; - int height = g_srcGray->rows; // If the number of samples is greater than the image height, sample every row if( samples > height) { - //Log(LOGNOTE, "Number of samples is greater than the dilatometer image height, sampling every row instead.\n"); samples = height; } - - // Stores the width of the can at different sample locations. Not necessary unless we want to store this information - //double widths[samples]; - // The average width of the can - double average_width; + 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) { - edges[pos] += (double) col; + edge_location += col; num++; } - // If num > 0 and we're not above threshold, we have left the threshold of the edge - else if( num > 0) - { - // Find the mid point of the edge - edges[pos] /= num; - if( edges[1] == 0) - { - pos = 1; // Move to the right edge - num = 0; - } - else - break; // Exit the for loop - } } - // Determine the width of the can at this row - //widths[i] = edges[1] - edges[0]; - average_width += (edges[1] - edges[0]); + 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; } - average_width /= (double) samples; - return average_width; + 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 */ @@ -224,35 +269,18 @@ int main(int argc, char ** argv) test_left = 100; test_right = 500; Dilatometer_Init(); + + cvNamedWindow( "display", CV_WINDOW_AUTOSIZE); + //double width; + + double edge; + Dilatometer_GetEdge(&edge,20000); + //For testing purposes, overlay the given average line over the image + Draw_Edge(edge); + + cvDestroyWindow("display"); -// cvNamedWindow( "display", CV_WINDOW_AUTOSIZE); -// cvShowImage("display", g_data); -// cvWaitKey(0); - double width; - /*for( int i = 0; i < 20; ++i) - { - test_left -= i * (rand() % 1000) * 1e-3; - test_right += i * (rand() % 1000) * 1e-3; - - //Make sure left and right positions are sane - if( test_left < 0) - test_left = 0; - if( test_right > 639) - test_right = 639; - if( test_left > test_right) - { - int tmp = test_right; - test_right = test_left; - test_left = tmp; - } + Dilatometer_Cleanup(); - width = Dilatometer_Read(5); - cvNamedWindow( "display", CV_WINDOW_AUTOSIZE); - cvShowImage("display", g_srcGray); - cvWaitKey(0); - double expected = test_right - test_left; - double perc = 100 * (expected - width) / expected; - printf("%d: Left: %.4f. Width: %.4f.\n Right: %.4f. Expected: %.4f. Percentage: %.4f\n", i, test_left, width, test_right, expected, perc); - }*/ } -- 2.20.1