Revision: 6690
http://playerstage.svn.sourceforge.net/playerstage/?rev=6690&view=rev
Author: thjc
Date: 2008-06-26 03:06:47 -0700 (Thu, 26 Jun 2008)
Log Message:
-----------
fix for colour matchingin blobfinder
Modified Paths:
--------------
code/stage/branches/release-2-1-patches/src/model_blobfinder.c
Modified: code/stage/branches/release-2-1-patches/src/model_blobfinder.c
===================================================================
--- code/stage/branches/release-2-1-patches/src/model_blobfinder.c
2008-06-26 02:30:22 UTC (rev 6689)
+++ code/stage/branches/release-2-1-patches/src/model_blobfinder.c
2008-06-26 10:06:47 UTC (rev 6690)
@@ -35,14 +35,14 @@
#define STG_DEFAULT_BLOB_CHANNELCOUNT 6
#define STG_DEFAULT_BLOB_SCANWIDTH 80
-#define STG_DEFAULT_BLOB_SCANHEIGHT 60
-#define STG_DEFAULT_BLOB_RANGEMAX 8.0
+#define STG_DEFAULT_BLOB_SCANHEIGHT 60
+#define STG_DEFAULT_BLOB_RANGEMAX 8.0
const int STG_BLOBFINDER_BLOBS_MAX = 32;
const double STG_BLOB_WATTS = 10.0; // power consumption
-/**
+/**
@ingroup model
@defgroup model_blobfinder Blobfinder model
@@ -80,14 +80,14 @@
- channel_count int
- number of channels; i.e. the number of discrete colors detected
- channels [ string ... ]
- - define the colors detected in each channel, using color names from the X11
database
+ - define the colors detected in each channel, using color names from the X11
database
(usually /usr/X11R6/lib/X11/rgb.txt). The number of strings should match
channel_count.
- image [int int]
- [width height]
- - dimensions of the image in pixels. This determines the blobfinder's
+ - dimensions of the image in pixels. This determines the blobfinder's
resolution
- ptz [float float float]
- - [pan_angle tilt_angle zoom_angle]
+ - [pan_angle tilt_angle zoom_angle]
- control the panning, tilt and zoom angle (fov) of the blobfinder. Tilt
angle currently has no effect.
- range_max float
- maximum range of the sensor in meters.
@@ -112,36 +112,36 @@
mod->f_shutdown = blobfinder_shutdown;
mod->f_update = NULL;// installed at startup/shutdown
mod->f_load = blobfinder_load;
-
-
+
+
stg_geom_t geom;
memset( &geom, 0, sizeof(geom));
stg_model_set_geom( mod, &geom );
-
+
stg_blobfinder_config_t cfg;
memset(&cfg,0,sizeof(cfg));
-
+
cfg.scan_width = STG_DEFAULT_BLOB_SCANWIDTH;
- cfg.scan_height = STG_DEFAULT_BLOB_SCANHEIGHT;
- cfg.range_max = STG_DEFAULT_BLOB_RANGEMAX;
-
- cfg.channel_count = 6;
+ cfg.scan_height = STG_DEFAULT_BLOB_SCANHEIGHT;
+ cfg.range_max = STG_DEFAULT_BLOB_RANGEMAX;
+
+ cfg.channel_count = 6;
cfg.channels[0] = stg_lookup_color( "red" );
cfg.channels[1] = stg_lookup_color( "green" );
cfg.channels[2] = stg_lookup_color( "blue" );
cfg.channels[3] = stg_lookup_color( "cyan" );
cfg.channels[4] = stg_lookup_color( "yellow" );
cfg.channels[5] = stg_lookup_color( "magenta" );
-
+
stg_model_set_cfg( mod, &cfg, sizeof(cfg) );
-
+
//int c;
//for( c=0; c<6; c++ )
//PRINT_WARN2( "init channel %d has val %X", c, cfg.channels[c] );
-
+
stg_model_set_data( mod, NULL, 0 );
stg_model_set_polygons( mod, NULL, 0 );
-
+
stg_model_add_callback( mod, &mod->data, blobfinder_render_data, NULL );
stg_model_add_property_toggles( mod, &mod->data,
@@ -167,57 +167,57 @@
void blobfinder_load( stg_model_t* mod )
{
- stg_blobfinder_config_t* now = (stg_blobfinder_config_t*)mod->cfg;
+ stg_blobfinder_config_t* now = (stg_blobfinder_config_t*)mod->cfg;
assert(now);
-
+
stg_blobfinder_config_t bcfg;
memcpy( &bcfg, now, sizeof(bcfg));
- bcfg.channel_count =
+ bcfg.channel_count =
wf_read_int(mod->id, "channel_count", now->channel_count );
-
+
bcfg.scan_width = (int)
wf_read_tuple_float(mod->id, "image", 0, now->scan_width );
bcfg.scan_height = (int)
- wf_read_tuple_float(mod->id, "image", 1, now->scan_height );
- bcfg.range_max =
+ wf_read_tuple_float(mod->id, "image", 1, now->scan_height );
+ bcfg.range_max =
wf_read_length(mod->id, "range_max", now->range_max );
if( bcfg.channel_count > STG_BLOB_CHANNELS_MAX )
bcfg.channel_count = STG_BLOB_CHANNELS_MAX;
-
+
// TODO - load the channel specification properly
int ch;
for( ch = 0; ch<bcfg.channel_count; ch++ )
- {
+ {
const char* colorstr = wf_read_tuple_string( mod->id, "channels", ch,
NULL );
-
+
if( ! colorstr )
break;
-
- bcfg.channels[ch] = stg_lookup_color( colorstr );
- }
-
+
+ bcfg.channels[ch] = stg_lookup_color( colorstr );
+ }
+
stg_model_set_cfg( mod, &bcfg, sizeof(bcfg));
}
int blobfinder_startup( stg_model_t* mod )
{
- PRINT_DEBUG( "blobfinder startup" );
-
+ PRINT_DEBUG( "blobfinder startup" );
+
mod->f_update = blobfinder_update;
//mod->watts = STG_BLOB_WATTS;
-
+
return 0;
}
int blobfinder_shutdown( stg_model_t* mod )
{
- PRINT_DEBUG( "blobfinder shutdown" );
-
+ PRINT_DEBUG( "blobfinder shutdown" );
+
mod->f_update = NULL;
//mod->watts = 0.0;
-
+
// clear the data - this will unrender it too
stg_model_set_data( mod, NULL, 0 );
return 0;
@@ -227,7 +227,7 @@
int blobfinder_raytrace_filter( stg_model_t* finder, stg_model_t* found )
{
if( found->blob_return && !stg_model_is_related( finder, found ))
- return 1;
+ return 1;
return 0;
}
@@ -238,8 +238,8 @@
int blobfinder_update( stg_model_t* mod )
{
- PRINT_DEBUG( "blobfinder update" );
-
+ PRINT_DEBUG( "blobfinder update" );
+
// we MUST have a PTZ parent model
if( mod->parent == NULL )
{
@@ -252,49 +252,48 @@
if( mod->parent->f_startup != ptz_startup )
{
printf( "Model %s is a blobfinder but it's parent is not a PTZ model.\n"
- "A blobfinder MUST be a child of a PTZ model. Fix your
worldfile.\n",
+ "A blobfinder MUST be a child of a PTZ model. Fix your
worldfile.\n",
mod->token );
exit(-1);
}
-
+
stg_ptz_data_t* ptz = (stg_ptz_data_t*)mod->parent->data;
- stg_blobfinder_config_t *cfg = (stg_blobfinder_config_t*)mod->cfg;
-
+ stg_blobfinder_config_t *cfg = (stg_blobfinder_config_t*)mod->cfg;
+
// Generate the scan-line image
// Get the camera's global pose
- stg_pose_t pose;
+ stg_pose_t pose;
stg_model_get_global_pose( mod, &pose );
-
+
double ox = pose.x;
double oy = pose.y;
double oth = pose.a;
// Compute starting angle
oth = oth + ptz->pan + ptz->zoom / 2.0;
-
+
// Compute fov, range, etc
double dth = ptz->zoom / cfg->scan_width;
// Make sure the data buffer is big enough
//ASSERT((size_t)m_scan_width<=sizeof(m_scan_channel)/sizeof(m_scan_channel[0]));
-
+
//printf( "scan width %d\n", cfg->scan_width );
// record the color of every ray we project
- stg_color_t* colarray =
- (stg_color_t*)calloc( sizeof(stg_color_t),cfg->scan_width);
+ stg_color_t* colarray =
+ (stg_color_t*)calloc( sizeof(stg_color_t),cfg->scan_width);
// record the range of every ray we project
- double* rngarray =
- (double*)calloc( sizeof(double),cfg->scan_width);
-
+ double* rngarray =
+ (double*)calloc( sizeof(double),cfg->scan_width);
+
// Do each scan
// Note that the scan is taken *clockwise*
// i'm scanning this as half-resolution for a significant speed-up
//int num_blobs = 0;
- stg_color_t col;
if( fig_debug_rays ) stg_rtk_fig_clear( fig_debug_rays );
@@ -303,40 +302,32 @@
{
//printf( "scan %d of %d\n", s, m_scan_width );
- // indicate no valid color found (MSB normally unused in 32bit RGB value)
- col = 0xFF000000;
-
+
// Compute parameters of scan line
double px = ox;
double py = oy;
double pth = oth - s * dth;
-
- itl_t* itl = itl_create( px, py, pth,
- cfg->range_max,
- mod->world->matrix,
+
+ itl_t* itl = itl_create( px, py, pth,
+ cfg->range_max,
+ mod->world->matrix,
PointToBearingRange );
-
+
stg_model_t* ent;
double range = cfg->range_max;
ent = itl_first_matching( itl, blobfinder_raytrace_filter, mod );
+ range = itl->range; // it's this far away
+ itl_destroy( itl );
if( ent )
{
- range = itl->range; // it's this far away
- col = ent->color; // it's this color
- }
-
- itl_destroy( itl );
-
- // if we found a color on this ray
- if( !(col & 0xFF000000) )
- {
+ stg_color_t col = ent->color; // it's this color
PRINT_DEBUG3( "ray %d sees color %0X at range %.2f", s, col, range );
-
+
//colarray[s] = col;
//rngarray[s] = range;
-
+
// look up this color in the color/channel mapping array
int c;
for( c=0; c < cfg->channel_count; c++ )
@@ -347,16 +338,16 @@
if( cfg->channels[c] == col)
{
//printf("color %0X is channel %d\n", col, c);
-
+
colarray[s] = c+1;
rngarray[s] = range;
-
+
break;
}
}
}
}
-
+
//printf( "model %p colors: ", mod );
//int g;
//for( g=0; g<cfg->scan_width; g++ )
@@ -369,9 +360,9 @@
int blobleft = 0, blobright = 0;
unsigned char blobcol = 0;
int blobtop = 0, blobbottom = 0;
-
+
GArray* blobs = g_array_new( FALSE, TRUE, sizeof(stg_blobfinder_blob_t) );
-
+
// scan through the samples looking for color blobs
for( s=0; s < cfg->scan_width; s++ )
{
@@ -380,15 +371,15 @@
{
blobleft = s;
blobcol = colarray[s];
-
+
//printf( "blob start %d\n", blobleft );
// loop until we hit the end of the blob
// there has to be a gap of >1 pixel to end a blob
// this avoids getting lots of crappy little blobs
- while( colarray[s] == blobcol || colarray[s+1] == blobcol )
+ while( colarray[s] == blobcol || colarray[s+1] == blobcol )
s++;
-
+
blobright = s-1;
//printf( "blob end %d\n", blobright );
@@ -400,7 +391,7 @@
{
// if the range to the "center" is zero, then use the range
// to the start. this can happen, for example, when two 1-pixel
- // blobs that are 1 pixel apart are grouped into a single blob in
+ // blobs that are 1 pixel apart are grouped into a single blob in
// whose "center" there is really no blob at all
rangeToBlobCenter = rngarray[ blobleft ];
}
@@ -409,18 +400,18 @@
blobtop = cfg->scan_height/2 - (int)(startyangle/yRadsPerPixel);
blobbottom = cfg->scan_height/2 -(int)(endyangle/yRadsPerPixel);
int yCenterOfBlob = blobtop + ((blobbottom - blobtop )/2);
-
+
if (blobtop < 0)
blobtop = 0;
if (blobbottom > cfg->scan_height - 1)
blobbottom = cfg->scan_height - 1;
-
-
+
+
// fill in an array entry for this blob
//
stg_blobfinder_blob_t blob;
memset( &blob, 0, sizeof(blob) );
-
+
blob.channel = blobcol-1;
blob.color = cfg->channels[ blob.channel];
blob.xpos = xCenterOfBlob;
@@ -430,30 +421,30 @@
blob.right = blobright;
blob.bottom = blobbottom;
blob.area = (blobtop - blobbottom) * (blobleft-blobright);
- blob.range = (int)(rangeToBlobCenter*1000.0);
-
+ blob.range = (int)(rangeToBlobCenter*1000.0);
+
//printf( "Robot %p sees %d xpos %d ypos %d\n",
// mod, blob.color, blob.xpos, blob.ypos );
-
+
// add the blob to our stash
g_array_append_val( blobs, blob );
}
}
- //PRINT_WARN1( "blobfinder setting data %d bytes of data",
+ //PRINT_WARN1( "blobfinder setting data %d bytes of data",
// blobs->len * sizeof(stg_blobfinder_blob_t) );
-
-
- stg_model_set_data( mod,
- blobs->data,
+
+
+ stg_model_set_data( mod,
+ blobs->data,
blobs->len * sizeof(stg_blobfinder_blob_t) );
-
+
g_array_free( blobs, TRUE );
free( colarray );
free( rngarray );
- PRINT_DEBUG( "blobfinder data service done" );
+ PRINT_DEBUG( "blobfinder data service done" );
return 0; //OK
}
@@ -465,18 +456,18 @@
}
int blobfinder_render_data( stg_model_t* mod, void* userp )
-{
- PRINT_DEBUG( "blobfinder render" );
-
+{
+ PRINT_DEBUG( "blobfinder render" );
+
stg_blobfinder_blob_t *blobs = (stg_blobfinder_blob_t*)mod->data;
int num_blobs = mod->data_len / sizeof(stg_blobfinder_blob_t);
-
+
stg_rtk_fig_t* fig = stg_model_get_fig( mod, "blob_data_fig" );
-
+
if( fig == NULL )
fig = stg_model_fig_create( mod, "blob_data_fig", NULL, STG_LAYER_BLOBDATA
);
-
+
stg_rtk_fig_clear( fig );
if( num_blobs < 1 )
@@ -486,55 +477,55 @@
stg_pose_t pose;
//memset(&pose, 0, sizeof(pose));
stg_model_get_global_pose( mod, &pose );
-
+
pose.x -= 1.0;
pose.y += 1.0;
pose.a = 0.0;
stg_rtk_fig_origin( fig, pose.x, pose.y, pose.a );
-
+
double scale = 0.01; // shrink from pixels to meters for display
-
- stg_blobfinder_config_t *cfg = (stg_blobfinder_config_t*)mod->cfg;
-
+ stg_blobfinder_config_t *cfg = (stg_blobfinder_config_t*)mod->cfg;
+
+
short width = cfg->scan_width;
short height = cfg->scan_height;
double mwidth = width * scale;
double mheight = height * scale;
-
+
// the view outline rectangle
stg_rtk_fig_color_rgb32(fig, 0xFFFFFF);
- stg_rtk_fig_rectangle(fig, 0.0, 0.0, 0.0, mwidth, mheight, 1 );
+ stg_rtk_fig_rectangle(fig, 0.0, 0.0, 0.0, mwidth, mheight, 1 );
stg_rtk_fig_color_rgb32(fig, 0x000000);
- stg_rtk_fig_rectangle(fig, 0.0, 0.0, 0.0, mwidth, mheight, 0);
-
+ stg_rtk_fig_rectangle(fig, 0.0, 0.0, 0.0, mwidth, mheight, 0);
+
int c;
for( c=0; c<num_blobs; c++)
{
stg_blobfinder_blob_t* blob = &blobs[c];
-
+
// set the color from the blob data
- stg_rtk_fig_color_rgb32( fig, blob->color );
-
+ stg_rtk_fig_color_rgb32( fig, blob->color );
+
short top = blob->top;
short bot = blob->bottom;
short left = blob->left;
short right = blob->right;
-
+
double mtop = top * scale;
double mbot = bot * scale;
double mleft = left * scale;
double mright = right * scale;
-
+
// get the range in meters
- //double range = (double)ntohs(data.blobs[index+b].range) / 1000.0;
-
- stg_rtk_fig_rectangle(fig,
- -mwidth/2.0 + (mleft+mright)/2.0,
+ //double range = (double)ntohs(data.blobs[index+b].range) / 1000.0;
+
+ stg_rtk_fig_rectangle(fig,
+ -mwidth/2.0 + (mleft+mright)/2.0,
-mheight/2.0 + (mtop+mbot)/2.0,
- 0.0,
- mright-mleft,
- mbot-mtop,
+ 0.0,
+ mright-mleft,
+ mbot-mtop,
1 );
}
@@ -558,24 +549,24 @@
stg_blobfinder_config_t *cfg = (stg_blobfinder_config_t*)mod->cfg;
assert(cfg);
-
+
stg_pose_t* pose = &mod->pose;
-
+
double ox = pose->x;
double oy = pose->y;
double mina = pose->a + (ptz->pan + ptz->zoom / 2.0);
double maxa = pose->a + (ptz->pan - ptz->zoom / 2.0);
-
+
double dx = cfg->range_max * cos(mina);
double dy = cfg->range_max * sin(mina);
double ddx = cfg->range_max * cos(maxa);
double ddy = cfg->range_max * sin(maxa);
-
+
stg_rtk_fig_t* fig = stg_model_get_fig( mod, "blob_cfg_fig" );
-
+
if( fig == NULL )
fig = stg_model_fig_create( mod, "blob_cfg_fig", "top", STG_LAYER_BLOBDATA
);
-
+
stg_rtk_fig_clear( fig );
stg_rtk_fig_color_rgb32( fig, stg_lookup_color( STG_BLOB_CFG_COLOR ));
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