Revision: 7964
http://playerstage.svn.sourceforge.net/playerstage/?rev=7964&view=rev
Author: gbiggs
Date: 2009-07-10 00:15:06 +0000 (Fri, 10 Jul 2009)
Log Message:
-----------
Applied patch #2818239
Modified Paths:
--------------
code/player/trunk/server/drivers/camera/CMakeLists.txt
Added Paths:
-----------
code/player/trunk/server/drivers/camera/videocanny/
code/player/trunk/server/drivers/camera/videocanny/CMakeLists.txt
code/player/trunk/server/drivers/camera/videocanny/videocanny.cc
Modified: code/player/trunk/server/drivers/camera/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/camera/CMakeLists.txt 2009-07-09
14:43:15 UTC (rev 7963)
+++ code/player/trunk/server/drivers/camera/CMakeLists.txt 2009-07-10
00:15:06 UTC (rev 7964)
@@ -8,3 +8,4 @@
ADD_SUBDIRECTORY (uvc)
ADD_SUBDIRECTORY (yarp)
ADD_SUBDIRECTORY (unicap)
+ADD_SUBDIRECTORY (videocanny)
Added: code/player/trunk/server/drivers/camera/videocanny/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/camera/videocanny/CMakeLists.txt
(rev 0)
+++ code/player/trunk/server/drivers/camera/videocanny/CMakeLists.txt
2009-07-10 00:15:06 UTC (rev 7964)
@@ -0,0 +1,7 @@
+PLAYERDRIVER_OPTION (videocanny build_videocanny ON)
+PLAYERDRIVER_REQUIRE_PKG (videocanny build_videocanny opencv
+ videocanny_includeDirs videocanny_libDirs videocanny_linkLibs
videocanny_linkFlags videocanny_cFlags)
+PLAYERDRIVER_ADD_DRIVER (videocanny build_videocanny
+ INCLUDEDIRS "${videocanny_includeDirs}" LIBDIRS "${videocanny_libDirs}"
LINKLIBS "${videocanny_linkLibs}"
+ LINKFLAGS "${videocanny_linkFlags}" CFLAGS "${videocanny_cFlags}"
+ SOURCES videocanny.cc)
Added: code/player/trunk/server/drivers/camera/videocanny/videocanny.cc
===================================================================
--- code/player/trunk/server/drivers/camera/videocanny/videocanny.cc
(rev 0)
+++ code/player/trunk/server/drivers/camera/videocanny/videocanny.cc
2009-07-10 00:15:06 UTC (rev 7964)
@@ -0,0 +1,459 @@
+/*
+ * Player - One Hell of a Robot Server
+ * Copyright (C) 2004 Brian Gerkey [email protected]
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/*
+ *
+ * OpenCV-based edge detection.
+ */
+
+/** @ingroup drivers */
+/** @{ */
+/** @defgroup driver_VideoCanny VideoCanny
+ * @brief OpenCV-based edge detection.
+
+...@par Provides
+
+- @ref interface_camera
+
+...@par Requires
+
+- @ref interface_camera
+
+...@par Configuration requests
+
+- None
+
+...@par Configuration file options
+
+- function (string)
+ - Default: "canny"
+ - One of: "canny", "laplace", "sobel"
+
+- canny_threshold_1 (integer)
+ - Default: 50
+
+- canny_threshold_2 (integer)
+ - Default: 90
+
+- sobel_xorder (integer)
+ - Default: 2
+
+- sobel_yorder (integer)
+ - Default: 1
+
+- apsize (integer)
+ - Default: 3
+
+...@par Example
+
+...@verbatim
+driver
+(
+ name "videocanny"
+ function "sobel"
+ apsize 7
+ requires ["camera:0"]
+ provides ["camera:1"]
+)
+...@endverbatim
+
+...@author Piotr A. Dutt, Paul Osmialowski
+
+*/
+
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+#include <pthread.h>
+#include <libplayercore/playercore.h>
+#include <libplayerjpeg/playerjpeg.h>
+
+#include <cv.h>
+#include <highgui.h>
+
+typedef enum { canny = 0, sobel, laplace } func_t;
+
+//---------------------------------
+
+class VideoCanny : public ThreadedDriver
+{
+ public: VideoCanny(ConfigFile * cf, int section);
+ public: virtual ~VideoCanny();
+
+ public: virtual int MainSetup();
+ public: virtual void MainQuit();
+
+ // This method will be invoked on each incoming message
+ public: virtual int ProcessMessage(QueuePointer & resp_queue,
+ player_msghdr * hdr,
+ void * data);
+
+ private: virtual void Main();
+
+ // Input camera device
+ private: player_devaddr_t camera_id;
+ private: Device * camera;
+
+ // Output camera data
+ private: player_camera_data_t data;
+
+ private: unsigned char * buffer;
+ private: size_t bufsize;
+ private: unsigned char * decompress_buffer;
+ private: size_t decompress_bufsize;
+ private: IplImage * img8;
+ private: IplImage * img16;
+
+ // cvCanny Thresholds
+ private: int canny_threshold_1;
+ private: int canny_threshold_2;
+
+ // cvSobel settings
+ private: int sobel_xorder;
+ private: int sobel_yorder;
+
+ private: int apsize;
+ private: func_t function;
+};
+
+Driver * VideoCanny_Init(ConfigFile * cf, int section)
+{
+ return reinterpret_cast<Driver *>(new VideoCanny(cf, section));
+}
+
+void videocanny_Register(DriverTable * table)
+{
+ table->AddDriver("videocanny", VideoCanny_Init);
+}
+
+VideoCanny::VideoCanny( ConfigFile *cf, int section)
+ : ThreadedDriver(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_CAMERA_CODE)
+{
+ const char * func;
+
+ memset(&(this->camera_id), 0, sizeof(player_devaddr_t));
+ memset(&(this->data), 0, sizeof this->data);
+ this->data.image = NULL;
+ this->camera = NULL;
+ this->buffer = NULL;
+ this->bufsize = 0;
+ this->decompress_buffer = NULL;
+ this->decompress_bufsize = 0;
+ this->img8 = NULL;
+ this->img16 = NULL;
+ if (cf->ReadDeviceAddr(&this->camera_id, section, "requires",
PLAYER_CAMERA_CODE, -1, NULL) != 0)
+ { this->SetError(-1); return; }
+ if ((this->canny_threshold_1 = cf->ReadInt(section,"canny_threshold_1", 50))
< 0)
+ {
+ PLAYER_WARN("Invalid value for canny_threshold_1 in .cfg file, using 50");
+ this->canny_threshold_1 = 50;
+ }
+ if ((this->canny_threshold_2 = cf->ReadInt(section,"canny_threshold_2", 90))
< 0)
+ {
+ PLAYER_WARN("Invalid value for canny_threshold_2 in .cfg file, using 90");
+ this->canny_threshold_2 = 90;
+ }
+ if ((this->sobel_xorder = cf->ReadInt(section,"sobel_xorder", 2)) < 0)
+ {
+ PLAYER_WARN("Invalid value for sobel_xorder in .cfg file, using 2");
+ this->sobel_xorder = 2;
+ }
+ if ((this->sobel_yorder = cf->ReadInt(section,"sobel_yorder", 1)) < 0)
+ {
+ PLAYER_WARN("Invalid value for sobel_yorder in .cfg file, using 1");
+ this->sobel_yorder = 1;
+ }
+ if ((this->apsize = cf->ReadInt(section,"apsize", 3)) < 0)
+ {
+ PLAYER_WARN("Invalid value for apsize using 3");
+ this->apsize = 3;
+ }
+ func = cf->ReadString(section, "function", "canny");
+ if (!func)
+ {
+ PLAYER_ERROR("error");
+ this->SetError(-1);
+ return;
+ }
+ if (!strcmp(func, "canny")) this->function = canny;
+ else if (!strcmp(func, "sobel")) this->function = sobel;
+ else if (!strcmp(func, "laplace")) this->function = laplace;
+ else
+ {
+ PLAYER_ERROR("unknown function name given");
+ this->SetError(-1);
+ return;
+ }
+}
+
+VideoCanny::~VideoCanny()
+{
+ if (this->data.image) free(this->data.image);
+ if (this->decompress_buffer) free(this->decompress_buffer);
+ if (this->buffer) free(this->buffer);
+ if (this->img8) cvReleaseImage(&(this->img8));
+ if (this->img16) cvReleaseImage(&(this->img16));
+}
+
+int VideoCanny::MainSetup()
+{
+ if (Device::MatchDeviceAddress(this->camera_id, this->device_addr))
+ {
+ PLAYER_ERROR("attempt to subscribe to self");
+ return -1;
+ }
+ this->camera = deviceTable->GetDevice(this->camera_id);
+ if (!this->camera)
+ {
+ PLAYER_ERROR("unable to locate suitable camera device");
+ return -1;
+ }
+ if (this->camera->Subscribe(this->InQueue) != 0)
+ {
+ PLAYER_ERROR("unable to subscribe to camera device");
+ return -1;
+ }
+ return 0;
+}
+
+void VideoCanny::MainQuit()
+{
+ if (this->camera) this->camera->Unsubscribe(this->InQueue);
+ this->camera = NULL;
+}
+
+void VideoCanny::Main()
+{
+ for (;;)
+ {
+ this->InQueue->Wait();
+ pthread_testcancel();
+ this->ProcessMessages();
+ pthread_testcancel();
+ }
+}
+
+int VideoCanny::ProcessMessage(QueuePointer & resp_queue, player_msghdr * hdr,
void * data)
+{
+ int i, j;
+ size_t new_size;
+ unsigned char * raw, * ptr, * ptr1;
+ player_camera_data_t * rawdata;
+ int bpp;
+
+ assert(hdr);
+ assert(data);
+ if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
PLAYER_CAMERA_DATA_STATE, this->camera_id))
+ {
+ rawdata = reinterpret_cast<player_camera_data_t *>(data);
+ if ((rawdata->width <= 0) || (rawdata->height <= 0))
+ {
+ if (!(this->data.image)) return -1;
+ } else
+ {
+ switch(rawdata->compression)
+ {
+ case PLAYER_CAMERA_COMPRESS_RAW:
+ raw = reinterpret_cast<unsigned char *>(rawdata->image);
+ bpp = rawdata->bpp;
+ break;
+ case PLAYER_CAMERA_COMPRESS_JPEG:
+ new_size = rawdata->width * rawdata->height * 3;
+ if (this->decompress_bufsize != new_size)
+ {
+ if (this->decompress_buffer) free(this->decompress_buffer);
+ this->decompress_buffer = NULL;
+ this->decompress_bufsize = 0;
+ }
+ if (!(this->decompress_buffer))
+ {
+ this->decompress_bufsize = 0;
+ this->decompress_buffer = reinterpret_cast<unsigned char
*>(malloc(new_size));
+ if (!(this->decompress_buffer))
+ {
+ PLAYER_ERROR("Out of memory");
+ return -1;
+ }
+ this->decompress_bufsize = new_size;
+ }
+ jpeg_decompress(this->decompress_buffer, this->decompress_bufsize,
rawdata->image, rawdata->image_count);
+ raw = this->decompress_buffer;
+ bpp = 24;
+ break;
+ default:
+ PLAYER_WARN("unsupported compression scheme (not good)");
+ return -1;
+ }
+ new_size = rawdata->width * rawdata->height * 1;
+ ptr = NULL;
+ switch (bpp)
+ {
+ case 8:
+ ptr = raw;
+ break;
+ case 24:
+ if (this->bufsize != new_size)
+ {
+ if (this->buffer) free(this->buffer);
+ this->buffer = NULL;
+ this->bufsize = 0;
+ }
+ if (!(this->buffer))
+ {
+ this->bufsize = 0;
+ this->buffer = reinterpret_cast<unsigned char *>(malloc(new_size));
+ if (!(this->buffer))
+ {
+ PLAYER_ERROR("Out of memory");
+ return -1;
+ }
+ this->bufsize = new_size;
+ }
+ ptr = this->buffer;
+ ptr1 = raw;
+ for (i = 0; i < static_cast<int>(rawdata->height); i++)
+ {
+ for (j = 0; j < static_cast<int>(rawdata->width); j++)
+ {
+ *ptr = static_cast<unsigned char>(static_cast<int>(0.299 *
static_cast<double>(ptr1[0]) + 0.587 * static_cast<double>(ptr1[1]) + 0.114 *
static_cast<double>(ptr1[2])));
+ ptr++; ptr1 += 3;
+ }
+ }
+ ptr = this->buffer;
+ break;
+ case 32:
+ if (this->bufsize != new_size)
+ {
+ if (this->buffer) free(this->buffer);
+ this->buffer = NULL;
+ this->bufsize = 0;
+ }
+ if (!(this->buffer))
+ {
+ this->bufsize = 0;
+ this->buffer = reinterpret_cast<unsigned char *>(malloc(new_size));
+ if (!(this->buffer))
+ {
+ PLAYER_ERROR("Out of memory");
+ return -1;
+ }
+ this->bufsize = new_size;
+ }
+ ptr = this->buffer;
+ ptr1 = raw;
+ for (i = 0; i < static_cast<int>(rawdata->height); i++)
+ {
+ for (j = 0; j < static_cast<int>(rawdata->width); j++)
+ {
+ *ptr = static_cast<unsigned char>(static_cast<int>(0.299 *
static_cast<double>(ptr1[0]) + 0.587 * static_cast<double>(ptr1[1]) + 0.114 *
static_cast<double>(ptr1[2])));
+ ptr++; ptr1 += 4;
+ }
+ }
+ ptr = this->buffer;
+ break;
+ default:
+ PLAYER_WARN("unsupported image depth (not good)");
+ return -1;
+ }
+ assert(ptr);
+ if (this->img8)
+ {
+ if ((this->img8->width != static_cast<int>(rawdata->width)) ||
(this->img8->height != static_cast<int>(rawdata->height)))
+ {
+ if (this->img8) cvReleaseImage(&(this->img8));
+ this->img8 = NULL;
+ }
+ }
+ if (!(this->img8))
+ {
+ this->img8 = cvCreateImage(cvSize(rawdata->width, rawdata->height),
IPL_DEPTH_8U, 1);
+ if (!(this->img8))
+ {
+ PLAYER_ERROR("Cannot create cvImage");
+ return -1;
+ }
+ }
+ memcpy(this->img8->imageData, ptr, new_size);
+ switch (this->function)
+ {
+ case canny:
+ cvCanny(this->img8, this->img8, this->canny_threshold_1,
this->canny_threshold_2, this->apsize);
+ break;
+ case sobel:
+ cvSobel(this->img8, this->img8, this->sobel_xorder,
this->sobel_yorder, this->apsize);
+ break;
+ case laplace:
+ if (this->img16)
+ {
+ if ((this->img16->width != static_cast<int>(rawdata->width)) ||
(this->img16->height != static_cast<int>(rawdata->height)))
+ {
+ if (this->img16) cvReleaseImage(&(this->img16));
+ this->img16 = NULL;
+ }
+ }
+ if (!(this->img16))
+ {
+ this->img16 = cvCreateImage(cvSize(rawdata->width, rawdata->height),
IPL_DEPTH_16S, 1);
+ if (!(this->img16))
+ {
+ PLAYER_ERROR("Cannot create cvImage");
+ return -1;
+ }
+ }
+ cvLaplace(this->img8, this->img16, this->apsize);
+ cvConvertScaleAbs(this->img16, this->img8);
+ break;
+ default:
+ PLAYER_ERROR("Internal error!");
+ return -1;
+ }
+ new_size = this->img8->width * this->img8->height * 1;
+ if (this->data.image_count != new_size)
+ {
+ if (this->data.image) free(this->data.image);
+ this->data.image = NULL;
+ this->data.image_count = 0;
+ }
+ if (!(this->data.image))
+ {
+ this->data.image_count = 0;
+ this->data.image = reinterpret_cast<unsigned char *>(malloc(new_size));
+ if (!(this->data.image))
+ {
+ PLAYER_ERROR("Out of memory");
+ return -1;
+ }
+ this->data.image_count = new_size;
+ }
+ memcpy(this->data.image, this->img8->imageData, this->data.image_count);
+ this->data.width = this->img8->width;
+ this->data.height = this->img8->height;
+ this->data.bpp = 8;
+ this->data.fdiv = 0;
+ this->data.format = PLAYER_CAMERA_FORMAT_MONO8;
+ this->data.compression = PLAYER_CAMERA_COMPRESS_RAW;
+ }
+ this->Publish(device_addr, PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
reinterpret_cast<void *>(&(this->data)), 0, &(hdr->timestamp), true);
+ // don't delete anything here! this->data.image is required and is deleted
somewhere else
+ return 0;
+ }
+ return -1;
+}
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