Update of
/cvsroot/playerstage/code/player/server/drivers/blobfinder/shapetracker
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4552/server/drivers/blobfinder/shapetracker
Modified Files:
Tag: release-2-0-patches
shapetracker.cc
Log Message:
backported lots of stuff from HEAD
Index: shapetracker.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/blobfinder/shapetracker/shapetracker.cc,v
retrieving revision 1.14
retrieving revision 1.14.2.1
diff -C2 -d -r1.14 -r1.14.2.1
*** shapetracker.cc 23 Feb 2006 18:54:54 -0000 1.14
--- shapetracker.cc 7 Jun 2006 16:12:39 -0000 1.14.2.1
***************
*** 50,67 ****
#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 "driver.h"
- #include "devicetable.h"
- #include "drivertable.h"
-
#define winName "ShapeTracker"
--- 50,58 ----
#include "player.h"
! #include "../../base/imagebase.h"
#include <opencv/cv.h>
//#include <opencv/highgui.h>
#define winName "ShapeTracker"
***************
*** 83,106 ****
// Driver for detecting laser retro-reflectors.
! class ShapeTracker : public Driver
{
// Constructor
public: ShapeTracker( ConfigFile* cf, int section);
- // Setup/shutdown routines.
- public: virtual int Setup();
- public: virtual int Shutdown();
-
- // Main function for device thread.
- private: virtual void Main();
-
- // Process requests. Returns 1 if the configuration has changed.
- private: int HandleRequests();
-
- // Process any new camera data.
- private: int UpdateCamera();
-
// Look for barcodes in the image.
! private: void ProcessImage();
private: void FindShapes();
--- 74,84 ----
// Driver for detecting laser retro-reflectors.
! class ShapeTracker : public ImageBase
{
// Constructor
public: ShapeTracker( ConfigFile* cf, int section);
// Look for barcodes in the image.
! private: int ProcessFrame();
private: void FindShapes();
***************
*** 117,132 ****
private: void ContrastStretch( IplImage *src, IplImage *gray );
- // Output devices
- private: player_device_id_t blobfinder_id;
- private: player_device_id_t out_camera_id;
-
- // Input camera stuff
- private: int cameraIndex;
- private: player_device_id_t camera_id;
- private: Driver *camera;
- private: double cameraTime;
- private: player_camera_data_t cameraData;
-
-
private: IplImage *mainImage;
private: IplImage *workImage;
--- 95,98 ----
***************
*** 174,220 ****
// Constructor
ShapeTracker::ShapeTracker( ConfigFile* cf, int section)
! : Driver(cf, section)
{
- player_device_id_t* ids;
- int num_ids;
-
- memset(&this->blobfinder_id.code, 0, sizeof(player_device_id_t));
- memset(&this->out_camera_id.code, 0, sizeof(player_device_id_t));
-
- // Parse devices section
- if((num_ids = cf->ParseDeviceIds(section,&ids)) < 0)
- {
- this->SetError(-1);
- return;
- }
-
- // Must have a blobfinder interface
- if (cf->ReadDeviceId(&(this->blobfinder_id), ids, num_ids,
PLAYER_BLOBFINDER_CODE, 0) != 0)
- {
- this->SetError(-1);
- return;
- }
- if (this->AddInterface(this->blobfinder_id, PLAYER_READ_MODE,
- sizeof(player_blobfinder_data_t), 0, 1, 1) != 0)
- {
- this->SetError(-1);
- return;
- }
-
- // Optionally have a camera interface
- if (cf->ReadDeviceId(&(this->out_camera_id), ids, num_ids,
PLAYER_CAMERA_CODE, 0) == 0)
- {
- if (this->AddInterface(this->out_camera_id, PLAYER_READ_MODE,
- sizeof(player_camera_data_t), 0, 1, 1) != 0)
- {
- this->SetError(-1);
- return;
- }
- }
-
- this->cameraIndex = cf->ReadInt(section, "camera", 0);
- this->camera = NULL;
- this->cameraTime = 0;
-
this->mainImage = NULL;
this->workImage = NULL;
--- 140,145 ----
// Constructor
ShapeTracker::ShapeTracker( ConfigFile* cf, int section)
! : ImageBase(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_BLOBFINDER_CODE)
{
this->mainImage = NULL;
this->workImage = NULL;
***************
*** 225,353 ****
this->shapeCount = 0;
- return;
- }
-
-
-
////////////////////////////////////////////////////////////////////////////////
- // Set up the device (called by server thread).
- int ShapeTracker::Setup()
- {
- // Subscribe to the camera.
- this->camera_id.code = PLAYER_CAMERA_CODE;
- this->camera_id.index = this->cameraIndex;
- this->camera_id.port = this->device_id.port;
- this->camera = deviceTable->GetDriver(this->camera_id);
-
- if (!this->camera)
- {
- PLAYER_ERROR("unable to locate suitable camera device");
- return(-1);
- }
- if (this->camera->Subscribe(this->camera_id) != 0)
- {
- PLAYER_ERROR("unable to subscribe to camera device");
- return(-1);
- }
-
- // Start the driver thread.
- this->StartThread();
-
- //cvNamedWindow(winName,1);
- return 0;
- }
-
-
-
////////////////////////////////////////////////////////////////////////////////
- // Shutdown the device (called by server thread).
- int ShapeTracker::Shutdown()
- {
- // Stop the driver thread.
- StopThread();
-
- // Unsubscribe from devices.
- this->camera->Unsubscribe(this->camera_id);
-
- return 0;
- }
-
-
-
////////////////////////////////////////////////////////////////////////////////
- // Main function for device thread
- void ShapeTracker::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.
- if (this->UpdateCamera())
- {
- // Find all the shapes in the image
- this->ProcessImage();
-
- // Write the results to the client
- this->WriteData();
- }
-
- // Process any pending requests.
- this->HandleRequests();
- }
- return;
- }
-
-
-
////////////////////////////////////////////////////////////////////////////////
- // Process requests. Returns 1 if the configuration has changed.
- int ShapeTracker::HandleRequests()
- {
- void *client;
- char request[PLAYER_MAX_REQREP_SIZE];
- int len;
- while ((len = GetConfig(&client, &request, sizeof(request),NULL)) > 0)
- {
- switch (request[0])
- {
- default:
- if (PutReply(client, PLAYER_MSGTYPE_RESP_NACK,NULL) != 0)
- PLAYER_ERROR("PutReply() failed");
- break;
- }
- }
- return 0;
- }
-
-
-
////////////////////////////////////////////////////////////////////////////////
- // Process any new camera data.
- int ShapeTracker::UpdateCamera()
- {
- size_t size;
- struct timeval ts;
- double time;
-
- // Get the camera data.
- size = this->camera->GetData(this->camera_id, (void*)&this->cameraData,
- sizeof(this->cameraData), &ts);
- time = (double) ts.tv_sec + ((double) ts.tv_usec) * 1e-6;
-
- // Dont do anything if this is old data.
- if (fabs(time - this->cameraTime) < 0.001)
- return 0;
- this->cameraTime = time;
-
- // Do some byte swapping
- this->cameraData.width = ntohs(this->cameraData.width);
- this->cameraData.height = ntohs(this->cameraData.height);
- this->cameraData.depth = ntohs(this->cameraData.depth);
- this->cameraData.image_size = ntohl(this->cameraData.image_size);
-
- printf("camera image %f\n", time);
-
- return 1;
}
--- 150,153 ----
***************
*** 600,604 ****
////////////////////////////////////////////////////////////////////////////////
// Look for stuff in the image.
! void ShapeTracker::ProcessImage()
{
--- 400,404 ----
////////////////////////////////////////////////////////////////////////////////
// Look for stuff in the image.
! int ShapeTracker::ProcessFrame()
{
***************
*** 608,618 ****
// Create a new mainImage if it doesn't already exist
//if (this->mainImage == NULL)
! this->mainImage = cvCreateImage( cvSize(this->cameraData.width,
! this->cameraData.height), IPL_DEPTH_8U, 3);
// Create a work image if it doesn't already exist
//if (this->workImage == NULL)
! workImage = cvCreateImage( cvSize(this->cameraData.width,
! this->cameraData.height), IPL_DEPTH_8U, 1);
if (this->hist == NULL)
--- 408,418 ----
// Create a new mainImage if it doesn't already exist
//if (this->mainImage == NULL)
! this->mainImage = cvCreateImage( cvSize(this->stored_data.width,
! this->stored_data.height), IPL_DEPTH_8U, 3);
// Create a work image if it doesn't already exist
//if (this->workImage == NULL)
! workImage = cvCreateImage( cvSize(this->stored_data.width,
! this->stored_data.height), IPL_DEPTH_8U, 1);
if (this->hist == NULL)
***************
*** 628,632 ****
// Initialize the main image
! memcpy(this->mainImage->imageData, this->cameraData.image,
this->mainImage->imageSize);
--- 428,432 ----
// Initialize the main image
! memcpy(this->mainImage->imageData, this->stored_data.image,
this->mainImage->imageSize);
***************
*** 660,664 ****
cvReleaseImage(&(this->mainImage));
this->mainImage = NULL;
! return;
}
--- 460,467 ----
cvReleaseImage(&(this->mainImage));
this->mainImage = NULL;
!
! WriteData();
!
! return 0;
}
***************
*** 669,727 ****
{
unsigned int i;
- int shapeCount, channelCount, channel;
- struct timeval ts;
Shape *shape;
player_blobfinder_data_t data;
// Se the image dimensions
! data.width = htons(this->cameraData.width);
! data.height = htons(this->cameraData.height);
!
! // Reset the header data
! for (i = 0; i < PLAYER_BLOBFINDER_MAX_CHANNELS; i++)
! {
! data.header[i].index = 0;
! data.header[i].num = 0;
! }
! shapeCount = 0;
// Go through the blobs
! for (channel = 0; channel < PLAYER_BLOBFINDER_MAX_CHANNELS; channel++)
{
! // Set the offest of the first shape for this channel
! data.header[channel].index = htons(shapeCount);
! channelCount = 0;
!
! for (i = 0; i < this->shapeCount; i++)
! {
! shape = this->shapes + i;
!
! // Make sure this shape belong to this channel
! if (shape->id != channel)
! continue;
!
! // Set the data to pass back
! data.blobs[shapeCount].color = 0; // TODO
! data.blobs[shapeCount].area = htonl((int) ((shape->bx - shape->ax) *
(shape->by - shape->ay)));
! data.blobs[shapeCount].x = htons((int) ((shape->bx + shape->ax) / 2));
! data.blobs[shapeCount].y = htons((int) ((shape->by + shape->ay) / 2));
! data.blobs[shapeCount].left = htons((int) (shape->ax));
! data.blobs[shapeCount].top = htons((int) (shape->ay));
! data.blobs[shapeCount].right = htons((int) (shape->bx));
! data.blobs[shapeCount].bottom = htons((int) (shape->by));
! data.blobs[shapeCount].range = htons(0);
! channelCount++;
! shapeCount++;
! }
! data.header[channel].num = htons(channelCount);
}
!
! // Compute the data timestamp (from camera).
! ts.tv_sec = (uint32_t) this->cameraTime;
! ts.tv_usec = (uint32_t) (fmod(this->cameraTime, 1.0) * 1e6);
!
// Copy data to server.
! PutData((void*) &data, sizeof(data), &ts);
return;
--- 472,505 ----
{
unsigned int i;
Shape *shape;
player_blobfinder_data_t data;
// Se the image dimensions
! data.width = (this->stored_data.width);
! data.height = (this->stored_data.height);
+ data.blobs_count = shapeCount;
+
// Go through the blobs
! for (i = 0; i < this->shapeCount; i++)
{
! shape = this->shapes + i;
! // Set the data to pass back
! data.blobs[i].id = shape->id;
! data.blobs[i].color = 0; // TODO
! data.blobs[i].area = ((int) ((shape->bx - shape->ax) * (shape->by -
shape->ay)));
! data.blobs[i].x = ((int) ((shape->bx + shape->ax) / 2));
! data.blobs[i].y = ((int) ((shape->by + shape->ay) / 2));
! data.blobs[i].left = ((int) (shape->ax));
! data.blobs[i].top = ((int) (shape->ay));
! data.blobs[i].right = ((int) (shape->bx));
! data.blobs[i].bottom = ((int) (shape->by));
! data.blobs[i].range = (0);
}
!
// Copy data to server.
!
Publish(device_addr,NULL,PLAYER_MSGTYPE_DATA,PLAYER_BLOBFINDER_DATA_BLOBS,&data,sizeof(data));
!
return;
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