Update of /cvsroot/playerstage/code/player/server/drivers/blobfinder/upcbarcode
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4552/server/drivers/blobfinder/upcbarcode
Modified Files:
Tag: release-2-0-patches
upcbarcode.cc
Log Message:
backported lots of stuff from HEAD
Index: upcbarcode.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/blobfinder/upcbarcode/upcbarcode.cc,v
retrieving revision 1.17
retrieving revision 1.17.2.1
diff -C2 -d -r1.17 -r1.17.2.1
*** upcbarcode.cc 23 Feb 2006 18:54:54 -0000 1.17
--- upcbarcode.cc 7 Jun 2006 16:12:39 -0000 1.17.2.1
***************
*** 107,131 ****
/** @} */
! #include "player.h"
!
! #include <errno.h>
! #include <string.h>
! #include <math.h>
! #include <stdlib.h> // for atoi(3)
! #include <netinet/in.h> // for htons(3)
! #include <unistd.h>
#include <opencv/cv.h>
#include <opencv/highgui.h>
- #include "error.h"
- #include "driver.h"
- #include "devicetable.h"
- #include "drivertable.h"
- #include "clientdata.h"
- #include "clientmanager.h"
-
- extern ClientManager* clientmanager;
-
// Info on potential blobs.
struct blob_t
--- 107,115 ----
/** @} */
! #include "../../base/imagebase.h"
#include <opencv/cv.h>
#include <opencv/highgui.h>
// Info on potential blobs.
struct blob_t
***************
*** 140,169 ****
// Driver for detecting laser retro-reflectors.
! class UPCBarcode : public Driver
{
// Constructor
public: UPCBarcode( ConfigFile* cf, int section);
! // Setup/shutdown routines.
! public: virtual int Setup();
! public: virtual int Shutdown();
!
! // Process incoming messages from clients
! int ProcessMessage(ClientData * client, player_msghdr * hdr, uint8_t *
data, uint8_t * resp_data, int * resp_len);
!
! // Main function for device thread.
! private: virtual void Main();
!
! // Process requests. Returns 1 if the configuration has changed.
! //private: int HandleRequests();
!
! // Handle geometry requests.
! //private: void HandleGetGeom(void *client, void *req, int reqlen);
!
! // Process any new camera data.
! //private: int ReadCamera();
// Look for barcodes in the image.
! private: void ProcessImage();
// Extract a bit string from the image.
--- 124,138 ----
// Driver for detecting laser retro-reflectors.
! class UPCBarcode : public ImageBase
{
// Constructor
public: UPCBarcode( ConfigFile* cf, int section);
! // Setup/shutdown routines.
! virtual int Setup();
! virtual int Shutdown();
// Look for barcodes in the image.
! private: int ProcessFrame();
// Extract a bit string from the image.
***************
*** 177,185 ****
// Write the device data (the data going back to the client).
! private: void WriteCameraData();
- // Output devices
- private: player_device_id_t blobfinder_id;
- private: player_device_id_t out_camera_id;
// Image processing
--- 146,151 ----
// Write the device data (the data going back to the client).
! //private: void WriteCameraData();
// Image processing
***************
*** 192,205 ****
private: double errFirst, errSecond;
! // Input camera stuff
! private:
! Driver *camera;
! player_device_id_t camera_id;
! struct timeval cameraTime;
! player_camera_data_t cameraData;
! bool NewCamData;
!
! ClientDataInternal * BaseClient;
!
// Images
private: IplImage *inpImage;
--- 158,162 ----
private: double errFirst, errSecond;
!
// Images
private: IplImage *inpImage;
***************
*** 233,278 ****
// Constructor
UPCBarcode::UPCBarcode( ConfigFile* cf, int section)
! : Driver(cf, section)
{
-
- // Must have a blobfinder interface
- if (cf->ReadDeviceId(&this->blobfinder_id, section, "provides",
- PLAYER_BLOBFINDER_CODE, -1, NULL) != 0)
- {
- this->SetError(-1);
- return;
- }
- if(this->AddInterface(this->blobfinder_id, PLAYER_READ_MODE) != 0)
- {
- this->SetError(-1);
- return;
- }
-
- // Optionally have a camera interface
- if (cf->ReadDeviceId(&this->out_camera_id, section, "provides",
- PLAYER_CAMERA_CODE, -1, NULL) == 0)
- {
- if(this->AddInterface(this->out_camera_id, PLAYER_READ_MODE) != 0)
- {
- this->SetError(-1);
- return;
- }
- }
- else
- memset(&this->out_camera_id.code, 0, sizeof(player_device_id_t));
-
- // Must have an input camera
- if (cf->ReadDeviceId(&this->camera_id, section, "requires",
- PLAYER_CAMERA_CODE, -1, NULL) != 0)
- {
- this->SetError(-1);
- return;
- }
-
- // Other camera settings
- this->camera = NULL;
- this->BaseClient = NULL;
- this->NewCamData = false;
-
// Image workspace
this->inpImage = NULL;
--- 190,195 ----
// Constructor
UPCBarcode::UPCBarcode( ConfigFile* cf, int section)
! : ImageBase(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_BLOBFINDER_CODE)
{
// Image workspace
this->inpImage = NULL;
***************
*** 300,345 ****
}
-
////////////////////////////////////////////////////////////////////////////////
! // Set up the device (called by server thread).
int UPCBarcode::Setup()
{
! BaseClient = new ClientDataInternal(this);
! clientmanager->AddClient(BaseClient);
!
! // Subscribe to the camera.
! this->camera = deviceTable->GetDriver(this->camera_id);
! if (!this->camera)
! {
! PLAYER_ERROR("unable to locate suitable camera device");
! return(-1);
! }
!
! if (BaseClient->Subscribe(this->camera_id) != 0)
! {
! PLAYER_ERROR("unable to subscribe to camera device");
! return(-1);
! }
!
! // Start the driver thread.
! this->StartThread();
!
! return 0;
}
-
////////////////////////////////////////////////////////////////////////////////
// Shutdown the device (called by server thread).
int UPCBarcode::Shutdown()
{
! // Stop the driver thread.
! StopThread();
!
! // Unsubscribe from devices.
! BaseClient->Unsubscribe(this->camera_id);
!
! clientmanager->RemoveClient(BaseClient);
! delete BaseClient;
! BaseClient = NULL;
if (this->inpImage)
--- 217,232 ----
}
////////////////////////////////////////////////////////////////////////////////
! // Setup the device (called by server thread).
int UPCBarcode::Setup()
{
! return ImageBase::Setup();
}
////////////////////////////////////////////////////////////////////////////////
// Shutdown the device (called by server thread).
int UPCBarcode::Shutdown()
{
! ImageBase::Shutdown();
if (this->inpImage)
***************
*** 347,350 ****
--- 234,238 ----
if (this->outImage)
cvReleaseImage(&(this->outImage));
+ inpImage = outImage = NULL;
return 0;
***************
*** 352,451 ****
-
////////////////////////////////////////////////////////////////////////////////
- // Main function for device thread
- void UPCBarcode::Main()
- {
- while (true)
- {
- // Let the camera drive update rate
- this->camera->Wait();
-
- // Test if we are supposed to cancel this thread.
- pthread_testcancel();
-
- // Process any new camera data.
- Lock();
- if (NewCamData)
- {
- NewCamData = false;
- Unlock();
- this->ProcessImage();
- this->WriteBlobfinderData();
- this->WriteCameraData();
- }
- else
- Unlock();
-
- // Process any pending requests.
- this->ProcessMessages();
- }
- return;
- }
-
-
-
////////////////////////////////////////////////////////////////////////////////
- // Process an incoming message
- int UPCBarcode::ProcessMessage(ClientData * client, player_msghdr * hdr,
uint8_t * data, uint8_t * resp_data, int * resp_len)
- {
- assert(hdr);
- assert(data);
- assert(resp_data);
- assert(resp_len);
- assert(*resp_len==PLAYER_MAX_MESSAGE_SIZE);
-
- *resp_len = 0;
-
- /* TODO
- if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_BLOBFINDER_GET_GEOM,
device_id))
- {
- }
- */
-
- if (MatchMessage(hdr, PLAYER_MSGTYPE_DATA, 0, camera_id))
- {
- assert(hdr->size == sizeof(this->cameraData));
- player_camera_data_t * cam_data = reinterpret_cast<player_camera_data_t
* > (data);
- Lock();
- this->cameraData.width = ntohs(cam_data->width);
- this->cameraData.height = ntohs(cam_data->height);
- this->cameraData.bpp = cam_data->bpp;
- this->cameraData.image_size = ntohl(cam_data->image_size);
- this->cameraData.format = cam_data->format;
- this->cameraData.compression = cam_data->compression;
- this->NewCamData=true;
- Unlock();
- return 0;
- }
-
- return -1;
- }
-
-
-
////////////////////////////////////////////////////////////////////////////////
- // Process any new camera data.
- /*int UPCBarcode::ReadCamera()
- {
- size_t size;
-
- // Get the camera data.
- size = this->camera->GetData(this->camera_id, &this->cameraData,
- sizeof(this->cameraData), &this->cameraTime);
-
- // Do some byte swapping
- this->cameraData.width = ntohs(this->cameraData.width);
- this->cameraData.height = ntohs(this->cameraData.height);
- this->cameraData.bpp = this->cameraData.bpp;
- this->cameraData.image_size = ntohl(this->cameraData.image_size);
- this->cameraData.format = this->cameraData.format;
- this->cameraData.compression = this->cameraData.compression;
-
- return 1;
- }
- */
////////////////////////////////////////////////////////////////////////////////
// Look for barcodes in the image. This looks for verical barcodes,
// and assumes barcodes are not placed above each other.
! void UPCBarcode::ProcessImage()
{
int x, step_x;
--- 240,248 ----
////////////////////////////////////////////////////////////////////////////////
// Look for barcodes in the image. This looks for verical barcodes,
// and assumes barcodes are not placed above each other.
! int UPCBarcode::ProcessFrame()
{
int x, step_x;
***************
*** 457,462 ****
int width, height;
! width = this->cameraData.width;
! height = this->cameraData.height;
// Create input image if it doesnt exist
--- 254,259 ----
int width, height;
! width = this->stored_data.width;
! height = this->stored_data.height;
// Create input image if it doesnt exist
***************
*** 465,481 ****
// Copy pixels into input image
! switch (this->cameraData.format)
{
case PLAYER_CAMERA_FORMAT_MONO8:
{
// Copy pixels to input image (grayscale)
! assert(this->inpImage->imageSize >= (int) this->cameraData.image_size);
! memcpy(this->inpImage->imageData, this->cameraData.image,
this->inpImage->imageSize);
break;
}
default:
{
! PLAYER_WARN1("image format [%d] is not supported",
this->cameraData.format);
! return;
}
}
--- 262,278 ----
// Copy pixels into input image
! switch (this->stored_data.format)
{
case PLAYER_CAMERA_FORMAT_MONO8:
{
// Copy pixels to input image (grayscale)
! assert(this->inpImage->imageSize >= (int)
this->stored_data.image_count);
! memcpy(this->inpImage->imageData, this->stored_data.image,
this->inpImage->imageSize);
break;
}
default:
{
! PLAYER_WARN1("image format [%d] is not supported",
this->stored_data.format);
! return -1;
}
}
***************
*** 490,498 ****
// Copy original image to output
! if (this->out_camera_id.port)
{
cvSetZero(this->outImage);
cvCopy(this->inpImage, this->outSubImages + 0);
! }
step_x = 16;
--- 287,295 ----
// Copy original image to output
! /* if (this->out_camera_id.port)
{
cvSetZero(this->outImage);
cvCopy(this->inpImage, this->outSubImages + 0);
! }*/
step_x = 16;
***************
*** 529,543 ****
blob->bx = x + 1;
blob->ay = min;
! blob->by = this->cameraData.height - 2;
if (this->out_camera_id.port)
{
- /*
cvRectangle(this->outSubImages + 0, cvPoint(blob->ax, blob->ay),
cvPoint(blob->bx, blob->by), CV_RGB(0, 0, 0), 1);
cvRectangle(this->outSubImages + 1, cvPoint(blob->ax, blob->ay),
cvPoint(blob->bx, blob->by), CV_RGB(255, 255, 255), 1);
- */
}
}
--- 326,340 ----
blob->bx = x + 1;
blob->ay = min;
! blob->by = this->stored_data.height - 2;
+ /*
if (this->out_camera_id.port)
{
cvRectangle(this->outSubImages + 0, cvPoint(blob->ax, blob->ay),
cvPoint(blob->bx, blob->by), CV_RGB(0, 0, 0), 1);
cvRectangle(this->outSubImages + 1, cvPoint(blob->ax, blob->ay),
cvPoint(blob->bx, blob->by), CV_RGB(255, 255, 255), 1);
}
+ */
}
***************
*** 549,553 ****
}
! return;
}
--- 346,352 ----
}
! WriteBlobfinderData();
!
! return 0;
}
***************
*** 761,771 ****
int i;
blob_t *blob;
! size_t size;
player_blobfinder_data_t data;
! data.width = htons(this->cameraData.width);
! data.height = htons(this->cameraData.height);
! data.blob_count = htons(this->blobCount);
for (i = 0; i < this->blobCount; i++)
--- 560,570 ----
int i;
blob_t *blob;
! // size_t size;
player_blobfinder_data_t data;
! data.width = (this->stored_data.width);
! data.height = (this->stored_data.height);
! data.blobs_count = (this->blobCount);
for (i = 0; i < this->blobCount; i++)
***************
*** 773,792 ****
blob = this->blobs + i;
! data.blobs[i].id = 0; // TODO
data.blobs[i].color = 0; // TODO
! data.blobs[i].area = htonl((int) ((blob->bx - blob->ax) * (blob->by -
blob->ay)));
! data.blobs[i].x = htons((int) ((blob->bx + blob->ax) / 2));
! data.blobs[i].y = htons((int) ((blob->by + blob->ay) / 2));
! data.blobs[i].left = htons((int) (blob->ax));
! data.blobs[i].right = htons((int) (blob->ay));
! data.blobs[i].top = htons((int) (blob->bx));
! data.blobs[i].bottom = htons((int) (blob->by));
! data.blobs[i].range = htons(0);
}
// Copy data to server
! size = sizeof(data) - sizeof(data.blobs) + this->blobCount *
sizeof(data.blobs[0]);
PutMsg(blobfinder_id, NULL, PLAYER_MSGTYPE_DATA, 0, (unsigned char*) &data,
size, &this->cameraTime);
!
return;
}
--- 572,593 ----
blob = this->blobs + i;
! data.blobs[i].id = blob->id; // TODO
data.blobs[i].color = 0; // TODO
! data.blobs[i].area = ((int) ((blob->bx - blob->ax) * (blob->by -
blob->ay)));
! data.blobs[i].x = ((int) ((blob->bx + blob->ax) / 2));
! data.blobs[i].y = ((int) ((blob->by + blob->ay) / 2));
! data.blobs[i].left = ((int) (blob->ax));
! data.blobs[i].right = ((int) (blob->ay));
! data.blobs[i].top = ((int) (blob->bx));
! data.blobs[i].bottom = ((int) (blob->by));
! data.blobs[i].range = (0);
}
+ // Copy data to server.
+
Publish(device_addr,NULL,PLAYER_MSGTYPE_DATA,PLAYER_BLOBFINDER_DATA_BLOBS,&data,sizeof(data));
// Copy data to server
! /* size = sizeof(data) - sizeof(data.blobs) + this->blobCount *
sizeof(data.blobs[0]);
PutMsg(blobfinder_id, NULL, PLAYER_MSGTYPE_DATA, 0, (unsigned char*) &data,
size, &this->cameraTime);
! */
return;
}
***************
*** 796,800 ****
// Write camera data; this is a little bit naughty: we re-use the
// input camera data, but modify the pixels
! void UPCBarcode::WriteCameraData()
{
size_t size;
--- 597,601 ----
// Write camera data; this is a little bit naughty: we re-use the
// input camera data, but modify the pixels
! /*void UPCBarcode::WriteCameraData()
{
size_t size;
***************
*** 825,827 ****
return;
! }
--- 626,628 ----
return;
! }*/
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