/// ########################################################################
/// MODULE_TEST methods
/// ########################################################################
MDA_VISION_MODULE_TEST:: MDA_VISION_MODULE_TEST () :
window (mvWindow("Test Vision Module")),
window2 (mvWindow("Test Vision Module 2")),
HSVFilter (mvHSVFilter(MDA_VISION_TEST_SETTINGS)),
HoughLines (mvHoughLines(MDA_VISION_TEST_SETTINGS)),
bin_test ("Test Module")
{
color_img = mvCreateImage_Color();
gray_img = mvCreateImage();
gray_img_2 = mvCreateImage();
//_gray_img->origin = 1;
}
mvWatershedFilter::mvWatershedFilter() :
bin_SeedGen ("mvWatershed - SeedGen"),
bin_SeedPlace ("mvWatershed - SeedPlace"),
bin_Filter ("mvWatershed - Filter")
{
scratch_image_3c = mvCreateImage_Color();
scratch_image = mvCreateImage();
ds_image_nonedge = cvCreateImage (
cvSize(scratch_image_3c->width/WATERSHED_DS_FACTOR, scratch_image_3c->height/WATERSHED_DS_FACTOR),
IPL_DEPTH_8U,
1
);
marker_img_32s = cvCreateImage(
cvGetSize(scratch_image_3c),
IPL_DEPTH_32S,
1
);
kernel = cvCreateStructuringElementEx (KERNEL_WIDTH, KERNEL_HEIGHT, (KERNEL_WIDTH+1)/2, (KERNEL_HEIGHT+1)/2, CV_SHAPE_ELLIPSE);
srand(time(NULL));
}
int main( int argc, char** argv ) {
unsigned long nframes = 0, t_start, t_end;
if (argc == 1)
printf ("For options use --help\n\n");
for (int i = 1; i < argc; i++) {
if (!strcmp(argv[i],"1") || !strcmp(argv[i],"2"))
CAM_NUMBER = atoi (argv[i]);
else if (!strcmp (argv[i], "--test"))
TEST = 1;
else if (!strcmp (argv[i], "--grad"))
GRAD = 1;
else if (!strcmp (argv[i], "--watershed"))
WATERSHED = 1;
else if (!strcmp (argv[i], "--write"))
WRITE = 1;
else if (!strcmp (argv[i], "--break"))
BREAK = 1;
else if (!strcmp (argv[i], "--line"))
LINE = 1;
else if (!strcmp (argv[i], "--circle"))
CIRCLE = 1;
else if (!strcmp (argv[i], "--rect"))
RECT = 1;
else if (!strcmp (argv[i], "--gate"))
GATE = 1;
else if (!strcmp (argv[i], "--path"))
PATH = 1;
else if (!strcmp (argv[i], "--buoy"))
BUOY = 1;
else if (!strcmp (argv[i], "--frame"))
FRAME = 1;
else if (!strcmp (argv[i], "--timeout"))
TIMEOUT = atoi(argv[++i]);
else if (!strcmp (argv[i], "--pos"))
POS = atoi(argv[++i]);
else if (!strcmp (argv[i], "--load"))
LOAD = ++i; // put the next argument index into LOAD
else if (!strcmp (argv[i], "--help")) {
printf ("OpenCV based webcam program. Hit 'q' to exit. Defaults to cam0, writes to \"webcam.avi\"\n");
printf ("Put any integer as an argument (without --) to use that as camera number\n\n");
printf (" --write\n Write captured video to file.\n\n");
printf (" --load\n Use a video file (following --load) instead of a webcam.\n\n");
printf (" --line\n Run line finding code.\n\n");
printf (" --circle\n Run circle finding code.\n\n");
printf (" --break\n Pause the input (press any key to go to the next frame).\n\n");
printf (" Example: `./webcam 1 --write` will use cam1, and will write to disk\n\n");
return 0;
}
}
/// initialization
// init camera
mvCamera* camera = NULL;
if (LOAD == 0) {
camera = new mvCamera (CAM_NUMBER);
}
else {
camera = new mvCamera (argv[LOAD]);
}
if (camera != 0 && POS > 0) {
camera->set_relative_position(static_cast<double>(POS)/1000);
}
mvVideoWriter* frame_writer = NULL;
mvVideoWriter* filter_writer_1 = NULL;
mvVideoWriter* filter_writer_2 = NULL;
if (WRITE) {
frame_writer = new mvVideoWriter ("frames.avi");
filter_writer_1 = new mvVideoWriter ("filtered_1.avi");
filter_writer_2 = new mvVideoWriter ("filtered_2.avi");
}
// init windows
mvWindow* win1 = new mvWindow ("webcam");
mvWindow* win2 = new mvWindow ("win2");
mvWindow* win3 = new mvWindow ("win3");
// declare filters we need
mvHSVFilter HSVFilter ("test_settings.csv"); // color filter
mvBinaryMorphology Morphology7 (9,9, MV_KERN_ELLIPSE);
mvBinaryMorphology Morphology5 (5,5, MV_KERN_ELLIPSE);
mvHoughLines HoughLines ("test_settings.csv");
mvLines lines; // data struct to store lines
mvKMeans kmeans;
mvWatershedFilter watershed_filter;
mvContours contour_filter;
MDA_VISION_MODULE_GATE* gate=GATE? new MDA_VISION_MODULE_GATE : 0;
MDA_VISION_MODULE_PATH* path=PATH? new MDA_VISION_MODULE_PATH : 0;
MDA_VISION_MODULE_BUOY* buoy=BUOY? new MDA_VISION_MODULE_BUOY : 0;
MDA_VISION_MODULE_FRAME* frame_task=FRAME? new MDA_VISION_MODULE_FRAME : 0;
// declare images we need
IplImage* scratch_color = mvCreateImage_Color();
IplImage* scratch_color_2 = mvCreateImage_Color();
IplImage* filter_img = mvCreateImage ();
IplImage* filter_img_2 = mvCreateImage ();
/// execution
char c = 0;
IplImage* frame;
t_start = clock();
for (;;) {
frame = camera->getFrameResized(); // read frame from cam
if (LOAD) {
usleep(17000);
}
if (TIMEOUT > 0) {
if ((clock() - t_start)/CLOCKS_PER_SEC > TIMEOUT) {
break;
}
}
if (!frame) {
printf ("Video Finished.\n");
break;
}
if (nframes < 10) {
nframes++;
continue;
}
cvCopy (frame, scratch_color);
win1->showImage (scratch_color);
if (TEST) {
}
else if (GATE) {
if (gate->filter (frame) == FULL_DETECT) {
cvWaitKey(200);
}
}
else if (PATH) {
if (path->filter (frame) == FULL_DETECT) {
cvWaitKey(00);
}
}
else if (BUOY) {
if (buoy->filter (frame) == FULL_DETECT) {
cvWaitKey(200);
}
}
else if (FRAME) {
if (frame_task->filter (frame) == FULL_DETECT) {
cvWaitKey(200);
}
}
else if (WATERSHED) {
watershed_filter.watershed(frame, filter_img);
win1->showImage (frame);
win2->showImage (filter_img);
COLOR_TRIPLE color;
MvCircle circle;
MvCircleVector circle_vector;
MvRotatedBox rbox;
MvRBoxVector rbox_vector;
while ( watershed_filter.get_next_watershed_segment(filter_img_2, color) ) {
if (CIRCLE) {
contour_filter.match_circle(filter_img_2, &circle_vector, color);
}
else if (RECT) {
contour_filter.match_rectangle(filter_img_2, &rbox_vector, color, 2, 6);
}
/*
win3->showImage(filter_img_2);
cvWaitKey(200);
*/
}
if (CIRCLE && circle_vector.size() > 0) {
MvCircleVector::iterator iter = circle_vector.begin();
MvCircleVector::iterator iter_end = circle_vector.end();
int index = 0;
printf ("%d Circles Detected:\n", static_cast<int>(circle_vector.size()));
for (; iter != iter_end; ++iter) {
printf ("\tCircle #%d: (%3d,%3d), Rad=%5.1f, <%3d,%3d,%3d>\n", ++index,
iter->center.x, iter->center.y, iter->radius, iter->m1, iter->m2, iter->m3);
iter->drawOntoImage(filter_img_2);
}
win3->showImage (filter_img_2);
cvWaitKey(200);
}
else if (RECT && rbox_vector.size() > 0) {
MvRBoxVector::iterator iter = rbox_vector.begin();
MvRBoxVector::iterator iter_end = rbox_vector.end();
int index = 0;
printf ("%d Rectangles Detected:\n", static_cast<int>(rbox_vector.size()));
for (; iter != iter_end; ++iter) {
printf ("\tRect #%d: (%3d,%3d), Len=%5.1f, Width=%5.1f, Angle=%5.1f <%3d,%3d,%3d>\n", ++index,
iter->center.x, iter->center.y, iter->length, iter->width, iter->angle, iter->m1, iter->m2, iter->m3);
iter->drawOntoImage(filter_img_2);
}
win3->showImage (filter_img_2);
cvWaitKey(200);
}
}
if (GRAD) {
Morphology5.gradient(filter_img, filter_img);
}
if (LINE) {
HoughLines.findLines (filter_img, &lines);
kmeans.cluster_auto (1, 8, &lines, 1);
//lines.drawOntoImage (filter_img);
kmeans.drawOntoImage (filter_img);
lines.clearData(); // erase line data and reuse allocated mem
//kmeans.clearData();
win3->showImage (filter_img);
}
/*
else if (CIRCLE) {
CvPoint centroid;
float radius;
contour_filter.match_circle(filter_img, centroid, radius);
contour_filter.drawOntoImage(filter_img);
win3->showImage (filter_img);
}
else if (RECT) {
CvPoint centroid;
float length, angle;
contour_filter.match_rectangle(filter_img, centroid, length, angle);
contour_filter.drawOntoImage(filter_img);
win3->showImage (filter_img);
}
*/
if (WRITE) {
frame_writer->writeFrame (frame);
cvCvtColor (filter_img, scratch_color, CV_GRAY2BGR);
filter_writer_1->writeFrame (scratch_color);
cvCvtColor (filter_img_2, scratch_color, CV_GRAY2BGR);
filter_writer_2->writeFrame (scratch_color);
}
nframes++;
if (BREAK)
c = cvWaitKey(0);
else if (LOAD)
c = cvWaitKey(3); // go for about 15 frames per sec
else
c = cvWaitKey(5);
if (c == 'q')
break;
else if (c == 'w') {
mvDumpPixels (frame, "webcam_img_pixel_dump.csv");
mvDumpHistogram (frame, "webcam_img_histogram_dump.csv");
}
}
t_end = clock ();
printf ("\nAverage Framerate = %f\n", (float)nframes/(t_end - t_start)*CLOCKS_PER_SEC);
cvReleaseImage (&scratch_color);
cvReleaseImage (&scratch_color_2);
cvReleaseImage (&filter_img);
cvReleaseImage (&filter_img_2);
delete camera;
delete frame_writer;
delete filter_writer_1;
delete filter_writer_2;
delete win1;
delete win2;
delete win3;
return 0;
}
