/****************************************************************************** Description.: this thread worker grabs a frame and copies it to the global buffer Input Value.: unused Return Value: unused, always NULL ******************************************************************************/ void *cam_thread(void *arg) { g_settings.init(); setCameraExposure(); CVideoFrame* pFrame = NULL; #ifndef TEST_USE_JPEGS_NOT_CAMERA int width = VIEW_PIXEL_X_WIDTH; int height = VIEW_PIXEL_Y_HEIGHT; IplImage * img = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3); // obraz OpenCV #endif frameGrinder.init(); #ifdef TEST_USE_JPEGS_NOT_CAMERA std::string sBasePath = "/home/"; sBasePath += HOME_NAME; std::string sPath = sBasePath; sPath += "/0243-20150125-22-21-46.jpg"; //sPath += "/0007-20150125-22-36-25.jpg"; cv::Mat frame1 = cv::imread(sPath.c_str(), CV_LOAD_IMAGE_COLOR); if (frame1.empty()) { dbgMsg_s("Failed to read image data from a file1\n"); } sPath = sBasePath; sPath += "/0243-20150125-22-21-46.jpg"; //sPath += "/0007-20150125-22-36-25.jpg"; cv::Mat frame2 = cv::imread(sPath.c_str(), CV_LOAD_IMAGE_COLOR); if (frame2.empty()) { dbgMsg_s("Failed to read image data from a file2\n"); } bool toggle = false; #endif context *pcontext = (context*) arg; pglobal = pcontext->pglobal; /* set cleanup handler to cleanup allocated ressources */ pthread_cleanup_push(cam_cleanup, pcontext); while (!pglobal->stop) { while (pcontext->videoIn->streamingState == STREAMING_PAUSED) { usleep(1); // maybe not the best way so FIXME } #ifdef TEST_USE_JPEGS_NOT_CAMERA if (frameGrinder.safeGetFreeFrame(&pFrame)) { if (toggle) { pFrame->m_frame = frame1; } else { pFrame->m_frame = frame2; } toggle = (!toggle); if (!pFrame->m_frame.empty()) { frameGrinder.safeAddTail(pFrame, CVideoFrame::FRAME_QUEUE_WAIT_FOR_BLOB_DETECT); } else { dbgMsg_s("Frame is empty\n"); frameGrinder.safeAddTail(pFrame, CVideoFrame::FRAME_QUEUE_FREE); } frameGrinder.m_testMonitor.m_nTasksDone[CTestMonitor::TASK_DONE_CAMERA]++; } #else /* grab a frame */ if (uvcGrab(pcontext->videoIn) < 0) { IPRINT("Error grabbing frames\n"); exit(EXIT_FAILURE); } DBG("received frame of size: %d from plugin: %d\n", pcontext->videoIn->buf.bytesused, pcontext->id); /* * Workaround for broken, corrupted frames: * Under low light conditions corrupted frames may get captured. * The good thing is such frames are quite small compared to the regular pictures. * For example a VGA (640x480) webcam picture is normally >= 8kByte large, * corrupted frames are smaller. */ if (pcontext->videoIn->buf.bytesused < minimum_size) { DBG("dropping too small frame, assuming it as broken\n"); continue; } if (g_settings.isDynamicSettingsEnabled()) { g_settings.getValueFromFile(CSetting::SETTING_EXPOSURE); } if(g_settings.isValueChanged(CSetting::SETTING_EXPOSURE)) { setCameraExposure(); } #ifdef NO_CV_JUST_STREAM_THE_CAMERA /* copy JPG picture to global buffer */ pthread_mutex_lock(&pglobal->in[pcontext->id].db); /* * If capturing in YUV mode convert to JPEG now. * This compression requires many CPU cycles, so try to avoid YUV format. * Getting JPEGs straight from the webcam, is one of the major advantages of * Linux-UVC compatible devices. */ if (pcontext->videoIn->formatIn == V4L2_PIX_FMT_YUYV) { DBG("compressing frame from input: %d\n", (int) pcontext->id); pglobal->in[pcontext->id].size = compress_yuyv_to_jpeg(pcontext->videoIn, pglobal->in[pcontext->id].buf, pcontext->videoIn->framesizeIn, gquality); } else { DBG("copying frame from input: %d\n", (int) pcontext->id); pglobal->in[pcontext->id].size = memcpy_picture(pglobal->in[pcontext->id].buf, pcontext->videoIn->tmpbuffer, pcontext->videoIn->buf.bytesused); } /* copy this frame's timestamp to user space */ pglobal->in[pcontext->id].timestamp = pcontext->videoIn->buf.timestamp; /* signal fresh_frame */ pthread_cond_broadcast(&pglobal->in[pcontext->id].db_update); pthread_mutex_unlock(&pglobal->in[pcontext->id].db); #else // #ifndef NO_CV_JUST_STREAM_THE_CAMERA if (frameGrinder.safeGetFreeFrame(&pFrame)) { std::vector<uchar> vectordata(pcontext->videoIn->tmpbuffer, pcontext->videoIn->tmpbuffer + (height * width)); cv::Mat data_mat(vectordata, false); cv::Mat image(cv::imdecode(data_mat, 1)); //put 0 if you want greyscale pFrame->m_frame = image; if (!pFrame->m_frame.empty()) { frameGrinder.safeAddTail(pFrame, CVideoFrame::FRAME_QUEUE_WAIT_FOR_BLOB_DETECT); } else { dbgMsg_s("Frame is empty\n"); frameGrinder.safeAddTail(pFrame, CVideoFrame::FRAME_QUEUE_FREE); } frameGrinder.m_testMonitor.m_nTasksDone[CTestMonitor::TASK_DONE_CAMERA]++; } #endif // #ifndef NO_CV_JUST_STREAM_THE_CAMERA #endif // TEST_USE_JPEGS_NOT_CAMERA } DBG("leaving input thread, calling cleanup function now\n"); pthread_cleanup_pop(1); return NULL; }
void CUpperGoalDetector::detectBlobs(CVideoFrame * pFrame, CFrameGrinder* pFrameGrinder) { try { static struct timespec timeLastCameraFrame = {0}; static struct timespec timeNow = {0}; static cv::Scalar lowerBounds = cv::Scalar(79,0,150); static cv::Scalar upperBounds = cv::Scalar(96,255,250); cv::Mat img_hsv, img_blur, goal_blob; static int iCount = 0; int timeSinceLastCameraFrameMilliseconds = (int) CTestMonitor::getDeltaTimeMilliseconds( timeLastCameraFrame, pFrame->m_timeAddedToQueue[(int) CVideoFrame::FRAME_QUEUE_WAIT_FOR_BLOB_DETECT]); timeLastCameraFrame = pFrame->m_timeAddedToQueue[(int) CVideoFrame::FRAME_QUEUE_WAIT_FOR_BLOB_DETECT]; // RBG is flawed as a way to filter based on color because the brightness is combined // with the color info. // Not so with HSV, where Hue and Saturation are maintained separately // OpenCV has a handy conversion from RGB to HSV cv::cvtColor(pFrame->m_frame, img_hsv, CV_BGR2HSV); cv::GaussianBlur(img_hsv, img_blur, cv::Size(5,5),1.5); // Look for the green hue we are emitting from the LED halo if(g_settings.isDynamicSettingsEnabled()) { g_settings.getValueFromFile(CSetting::SETTING_FILTER_HUE_LOWER_BOUND); g_settings.getValueFromFile(CSetting::SETTING_FILTER_HUE_UPPER_BOUND); } if(g_settings.isValueChanged(CSetting::SETTING_FILTER_HUE_LOWER_BOUND)) { lowerBounds = cv::Scalar(g_settings.getSetting(CSetting::SETTING_FILTER_HUE_LOWER_BOUND),0,150); } if(g_settings.isValueChanged(CSetting::SETTING_FILTER_HUE_UPPER_BOUND)) { upperBounds = cv::Scalar(g_settings.getSetting(CSetting::SETTING_FILTER_HUE_UPPER_BOUND),255,250); } // Find the bright response from the retro-reflective tape cv::inRange(img_blur, lowerBounds, upperBounds, goal_blob); pFrame->m_filteredFrame = goal_blob.clone(); iCount++; if ((iCount % 17) == 0) { pFrameGrinder->m_testMonitor.saveFrameToJpeg(pFrame->m_filteredFrame); } //Find the contours. Use the contourOutput Mat so the original image doesn't get overwritten cv::vector<std::vector<cv::Point> > goalContours; cv::findContours(goal_blob, goalContours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE); CUpperGoalRectangle upperGoalRectangle; float upperGoalAzimuthDegrees = 0.0; float distanceToUpperGoalInches = 0.0; bool isUpperGoalFound = false; isUpperGoalFound = filterContours(goalContours, pFrame->m_frame.rows, pFrame->m_frame.cols, upperGoalRectangle, upperGoalAzimuthDegrees, distanceToUpperGoalInches); CTestMonitor::getTicks(&timeNow); int timeLatencyThisCameraFrameMilliseconds = (int) CTestMonitor::getDeltaTimeMilliseconds( pFrame->m_timeAddedToQueue[(int) CVideoFrame::FRAME_QUEUE_WAIT_FOR_BLOB_DETECT], timeNow); pFrame->m_targetInfo.updateTargetInfo( timeSinceLastCameraFrameMilliseconds, timeLatencyThisCameraFrameMilliseconds, isUpperGoalFound, upperGoalAzimuthDegrees, distanceToUpperGoalInches, upperGoalRectangle.center.x); pFrame->updateAnnotationInfo(upperGoalRectangle); m_gpioLed.setGreenLED(isUpperGoalFound, pFrame->m_timeRemovedFromQueue[(int) CVideoFrame::FRAME_QUEUE_WAIT_FOR_BLOB_DETECT]); } catch (...) { } }