Update of /cvsroot/playerstage/code/player/server/drivers/blobfinder/simpleshape
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4552/server/drivers/blobfinder/simpleshape
Modified Files:
Tag: release-2-0-patches
simpleshape.cc
Log Message:
backported lots of stuff from HEAD
Index: simpleshape.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/blobfinder/simpleshape/simpleshape.cc,v
retrieving revision 1.4
retrieving revision 1.4.2.1
diff -C2 -d -r1.4 -r1.4.2.1
*** simpleshape.cc 27 Feb 2006 18:19:03 -0000 1.4
--- simpleshape.cc 7 Jun 2006 16:12:39 -0000 1.4.2.1
***************
*** 101,125 ****
/** @} */
! #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;
-
// Invariant feature set for a contour
class FeatureSet
--- 101,109 ----
/** @} */
! #include "../../base/imagebase.h"
#include <opencv/cv.h>
#include <opencv/highgui.h>
// Invariant feature set for a contour
class FeatureSet
***************
*** 152,175 ****
// Driver for detecting laser retro-reflectors.
! class SimpleShape : public Driver
{
! // Constructor
! public: SimpleShape( 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();
!
! // Grab new camera data.
! //private: bool UpdateCamera();
// Load a shape model
--- 136,148 ----
// Driver for detecting laser retro-reflectors.
! class SimpleShape : public ImageBase
{
! public:
! // Constructor
! SimpleShape( ConfigFile* cf, int section);
! // Setup/shutdown routines.
! virtual int Setup();
! virtual int Shutdown();
// Load a shape model
***************
*** 177,181 ****
// Process the image
! private: void ProcessImage();
// Having pre-processed the image, find some shapes
--- 150,154 ----
// Process the image
! private: int ProcessFrame();
// Having pre-processed the image, find some shapes
***************
*** 191,214 ****
private: void WriteBlobfinderData();
- // Write the outgoing camera data
- private: void WriteCameraData();
-
- // Output devices
- private: player_device_id_t blobfinder_id;
- private: player_device_id_t out_camera_id;
-
- // Input camera stuff
- private:
- Driver *camera;
- player_device_id_t camera_id;
- struct timeval cameraTime;
- player_camera_data_t cameraData;
- bool NewCamData;
-
- ClientDataInternal * BaseClient;
-
- // Output camera stuff
- private: player_camera_data_t outCameraData;
-
// Model data (this is the shape to search for)
private: const char *modelFilename;
--- 164,167 ----
***************
*** 250,301 ****
// Constructor
SimpleShape::SimpleShape( ConfigFile* cf, int section)
! : Driver(cf, section)
{
- memset(&this->camera_id.code, 0, sizeof(player_device_id_t));
- memset(&this->blobfinder_id.code, 0, sizeof(player_device_id_t));
- memset(&this->out_camera_id.code, 0, sizeof(player_device_id_t));
-
- // 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;
- }
- this->cameraTime.tv_sec = 0;
- this->cameraTime.tv_usec = 0;
-
- // Other camera settings
- this->camera = NULL;
- this->BaseClient = NULL;
- this->NewCamData = false;
-
this->inpImage = NULL;
this->outImage = NULL;
--- 203,208 ----
// Constructor
SimpleShape::SimpleShape( ConfigFile* cf, int section)
! : ImageBase(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_BLOBFINDER_CODE)
{
this->inpImage = NULL;
this->outImage = NULL;
***************
*** 322,347 ****
int SimpleShape::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);
- }
-
// Load the shape model
if (this->LoadModel() != 0)
return -1;
! // Start the driver thread.
! this->StartThread();
return 0;
--- 229,237 ----
int SimpleShape::Setup()
{
// Load the shape model
if (this->LoadModel() != 0)
return -1;
! return ImageBase::Setup();
return 0;
***************
*** 353,365 ****
int SimpleShape::Shutdown()
{
! // Stop the driver thread.
! StopThread();
!
! // Unsubscribe from devices.
! BaseClient->Unsubscribe(this->camera_id);
!
! clientmanager->RemoveClient(BaseClient);
! delete BaseClient;
! BaseClient = NULL;
// Free images
--- 243,247 ----
int SimpleShape::Shutdown()
{
! ImageBase::Shutdown();
// Free images
***************
*** 374,487 ****
////////////////////////////////////////////////////////////////////////////////
- // Main function for device thread
- void SimpleShape::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();
- // Find all the shapes in the image
- this->ProcessImage();
-
- // Write the results to the client
- this->WriteBlobfinderData();
- this->WriteCameraData();
- }
- else
- Unlock();
-
- // Process any pending requests.
- ProcessMessages();
- //this->HandleRequests();
- }
- return;
- }
-
-
-
////////////////////////////////////////////////////////////////////////////////
- // Process an incoming message
- int SimpleShape::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;
-
- 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();
- if (this->cameraData.compression != PLAYER_CAMERA_COMPRESS_RAW)
- {
- PLAYER_WARN("camera data is compressed");
- return false;
- }
- return 0;
- }
-
- return -1;
- }
-
-
////////////////////////////////////////////////////////////////////////////////
- // Grag new camera data; returns true if there is new data to process.
- /*bool SimpleShape::UpdateCamera()
- {
- size_t size;
- struct timeval time;
-
- // Get the camera data.
- size = this->camera->GetData(this->camera_id, &this->cameraData,
- sizeof(this->cameraData), &time);
- if (size == 0)
- return false;
-
- if (time.tv_sec == this->cameraTime.tv_sec &&
- time.tv_usec == this->cameraTime.tv_usec)
- return false;
-
- this->cameraTime = time;
-
- // 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.format = this->cameraData.format;
- this->cameraData.compression = this->cameraData.compression;
- this->cameraData.image_size = ntohl(this->cameraData.image_size);
-
- if (this->cameraData.compression != PLAYER_CAMERA_COMPRESS_RAW)
- {
- PLAYER_WARN("camera data is compressed");
- return false;
- }
-
- return true;
- }*/
-
-
-
////////////////////////////////////////////////////////////////////////////////
// Load a shape model
int SimpleShape::LoadModel()
--- 256,259 ----
***************
*** 546,556 ****
////////////////////////////////////////////////////////////////////////////////
// Look for stuff in the image.
! void SimpleShape::ProcessImage()
{
CvSize size;
int width, height;
! width = this->cameraData.width;
! height = this->cameraData.height;
assert(width > 0 && height > 0);
--- 318,328 ----
////////////////////////////////////////////////////////////////////////////////
// Look for stuff in the image.
! int SimpleShape::ProcessFrame()
{
CvSize size;
int width, height;
! width = this->stored_data.width;
! height = this->stored_data.height;
assert(width > 0 && height > 0);
***************
*** 570,595 ****
// Create a main image and copy in the pixels
! 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;
}
}
// Copy original image to output
! if (this->out_camera_id.port)
{
cvSetZero(this->outImage);
cvCopy(this->inpImage, this->outSubImages + 0);
! }
// Clone the input image to our workspace
--- 342,367 ----
// Create a main image and copy in the pixels
! 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;
}
}
// Copy original image to output
! /* if (this->out_camera_id.port)
{
cvSetZero(this->outImage);
cvCopy(this->inpImage, this->outSubImages + 0);
! }*/
// Clone the input image to our workspace
***************
*** 602,607 ****
cvReleaseImage(&this->workImage);
this->workImage = NULL;
! return;
}
--- 374,381 ----
cvReleaseImage(&this->workImage);
this->workImage = NULL;
+
+ WriteBlobfinderData();
! return 0;
}
***************
*** 626,631 ****
// Copy edges to output image
! if (this->out_camera_id.port)
! cvCopy(this->workImage, this->outSubImages + 1);
// Find contours on a binary image
--- 400,405 ----
// Copy edges to output image
! /* if (this->out_camera_id.port)
! cvCopy(this->workImage, this->outSubImages + 1);*/
// Find contours on a binary image
***************
*** 653,659 ****
// Draw eligable contour on the output image; useful for debugging
! if (this->out_camera_id.port)
cvDrawContours(this->outSubImages + 2, contour, CV_RGB(255, 255, 255),
! CV_RGB(255, 255, 255), 0, 1, 8);
// Compute the contour features
--- 427,433 ----
// Draw eligable contour on the output image; useful for debugging
! /* if (this->out_camera_id.port)
cvDrawContours(this->outSubImages + 2, contour, CV_RGB(255, 255, 255),
! CV_RGB(255, 255, 255), 0, 1, 8);*/
// Compute the contour features
***************
*** 666,670 ****
// Draw contour on the main image; useful for debugging
! if (this->out_camera_id.port)
{
cvDrawContours(this->outSubImages + 3, contour, CV_RGB(128, 128, 128),
--- 440,444 ----
// Draw contour on the main image; useful for debugging
! /* if (this->out_camera_id.port)
{
cvDrawContours(this->outSubImages + 3, contour, CV_RGB(128, 128, 128),
***************
*** 672,676 ****
cvRectangle(this->outSubImages + 3, cvPoint(rect.x, rect.y),
cvPoint(rect.x + rect.width, rect.y + rect.height),
CV_RGB(255, 255, 255), 1);
! }
// Check for overrun
--- 446,450 ----
cvRectangle(this->outSubImages + 3, cvPoint(rect.x, rect.y),
cvPoint(rect.x + rect.width, rect.y + rect.height),
CV_RGB(255, 255, 255), 1);
! }*/
// Check for overrun
***************
*** 822,834 ****
{
unsigned int i;
! size_t size;
Shape *shape;
player_blobfinder_data_t data;
// Se the image dimensions
! data.width = htons(this->cameraData.width);
! data.height = htons(this->cameraData.height);
! data.blob_count = htons(this->shapeCount);
for (i = 0; i < this->shapeCount; i++)
--- 596,608 ----
{
unsigned int i;
! //size_t size;
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 = (this->shapeCount);
for (i = 0; i < this->shapeCount; i++)
***************
*** 837,855 ****
// Set the data to pass back
! data.blobs[i].id = 0; // TODO
data.blobs[i].color = 0; // TODO
! data.blobs[i].area = htonl((int) ((shape->bx - shape->ax) * (shape->by -
shape->ay)));
! data.blobs[i].x = htons((int) ((shape->bx + shape->ax) / 2));
! data.blobs[i].y = htons((int) ((shape->by + shape->ay) / 2));
! data.blobs[i].left = htons((int) (shape->ax));
! data.blobs[i].top = htons((int) (shape->ay));
! data.blobs[i].right = htons((int) (shape->bx));
! data.blobs[i].bottom = htons((int) (shape->by));
! data.blobs[i].range = htons(0);
}
// Copy data to server
! size = sizeof(data) - sizeof(data.blobs) + this->shapeCount *
sizeof(data.blobs[0]);
! this->PutMsg(this->blobfinder_id, NULL, PLAYER_MSGTYPE_DATA, 0, &data,
size, &this->cameraTime);
return;
--- 611,631 ----
// Set the data to pass back
! data.blobs[i].id = shape->id; // TODO
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));
// Copy data to server
! /* size = sizeof(data) - sizeof(data.blobs) + this->shapeCount *
sizeof(data.blobs[0]);
! this->PutMsg(this->blobfinder_id, NULL, PLAYER_MSGTYPE_DATA, 0, &data,
size, &this->cameraTime);*/
return;
***************
*** 860,864 ****
// Write camera data; this is a little bit naughty: we re-use the
// input camera data, but modify the pixels
! void SimpleShape::WriteCameraData()
{
size_t size;
--- 636,640 ----
// Write camera data; this is a little bit naughty: we re-use the
// input camera data, but modify the pixels
! /*void SimpleShape::WriteCameraData()
{
size_t size;
***************
*** 888,892 ****
return;
! }
--- 664,668 ----
return;
! }*/
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