Changeset 230

Timestamp:

10/15/08 23:11:59 (3 years ago)

Author:

spenceal

Message:

removing goffice dependency, converted to use gsl

Location:

trunk/software/rb/vision

Files:

• main.c (modified) (1 diff)
• makefile (modified) (2 diffs)
• vision.c (modified) (16 diffs)
• vision.h (modified) (2 diffs)

trunk/software/rb/vision/main.c

@@ -86 +86 @@
         /* Mark slopes */
         print_time("Marking slopes");
-        mark_slopes(out); // This currently segfaults
+        mark_slopes(out);
 
         /* Mark straint path */

trunk/software/rb/vision/makefile

@@ -1 @@
-CFLAGS=-p -pg -g -Wall -pedantic --std=gnu99 -fgnu89-inline -O3 -I/usr/local/include/opencv $(shell pkg-config --cflags libgoffice-0.6)
-LDFLAGS=-lpython2.5 -lcv -lhighgui -lml $(shell pkg-config --libs libgoffice-0.6)
+CFLAGS=-p -pg -g -Wall -pedantic --std=gnu99 -fgnu89-inline -O3 $(shell pkg-config --cflags opencv gsl)
+LDFLAGS=-lpython2.5 $(shell pkg-config --libs opencv gsl)
 DLFLAGS=-shared -nostartfiles -fPIC
 
@@ -22 +22 @@
 
 main: main.o vision.o pathplan.o
-        gcc $(CFLAGS) -o $@ $+ $(LDFLAGS)
+        gcc -o $@ $+ $(LDFLAGS)
 
 %.o: %.c %.h
-        gcc -o $@ $*.c -c $(CFLAGS)
+        gcc $(CFLAGS) -c -o $@ $*.c
 
 _%: _%.c

trunk/software/rb/vision/vision.c

@@ -23 +23 @@
 #include <opencv/cv.h>
 #include <X11/keysym.h>
+#include <gsl/gsl_fit.h>
 
 #include "vision.h"
 
 /* Determine if the path between two points is all grass */
-int is_clear(IplImage *out, CvPoint start, CvPoint end) {
+int is_clear(IplImage *out, CvPoint start, CvPoint end)
+{
         int x, y;
         int i;
@@ -52 +54 @@
 /* Find the first non-grass point starting at `start'
  * Each time, increment y by `1' and x by `x_inc', */
-CvPoint find_obsticle(IplImage *out, CvPoint2D32f start, float x_inc) {
+CvPoint find_obsticle(IplImage *out, CvPoint2D32f start, float x_inc)
+{
         float x = start.x, y = start.y;
         //printf("start = (%f,%f), incr = %f\n", x, y, x_inc);
@@ -68 +71 @@
 
 /* Rightmost pixel from leftmost blob :) */
-CvPoint find_px_at_y(IplImage *out, int y_line, px_t target) {
+CvPoint find_px_at_y(IplImage *out, int y_line, px_t target)
+{
         int x;
         for (x = 0; x < out->width; x++) {
@@ -80 +84 @@
 }
 
-/* Fits a line to a slope at the Y  */
-double find_slope_in_box(IplImage *out, CvRect box, go_regression_stat_t *reg) {
-        int xdim = 1;
-        int n    = box.height * box.width;
-        double **xss = malloc(sizeof(double*)*xdim);
-              xss[0] = malloc(sizeof(double)*n);
-        double *ys   = malloc(sizeof(double)*n);
-        double *res  = malloc(sizeof(double)*(n+1));
-
-        int x, y;
+int find_slope_in_box(IplImage *out, CvRect box, CvLine *linebox, double *yint, double *slope)
+{
+        int n       = box.height * box.width;
+        double *xs  = malloc(sizeof(double)*n);
+        double *ys  = malloc(sizeof(double)*n);
+
+        int x, y, minx = -1, miny = -1, maxx = -1, maxy = -1;
         n = 0; // find out how many we _actually_ have..
         for (x = box.x; x < box.x+box.width; x++) {
                 for (y = box.y; y < box.y+box.height; y++) {
                         if (IS_PX(GET_PX(out, x, y), PX_LINE)) {
-                                xss[0][n] = x;
+                                xs[n] = x;
                                 ys[n] = y;
                                 n++;
+                                if (x < minx || minx == -1) minx = x;
+                                if (x > maxx || maxx == -1) maxx = x;
+                                if (y < miny || miny == -1) miny = y;
+                                if (y > maxy || maxy == -1) maxy = y;
                         }
                 }
         }
-        if ((double)n / (box.width * box.height) < 0.05) return 0;
-        go_linear_regression(xss, xdim, ys,  n, 1, res, reg);
-        double rval = res[1]; 
-        free(xss[0]);
-        free(xss);
+        //printf("found %d/%d white points\n", n, box.width * box.height);
+        if ((double)n / (box.width * box.height) < 0.05) return -1;
+
+        double cov01, cov10, cov11, sumsq; // ignored
+        int rval = gsl_fit_linear(xs, 1, ys, 1, n, yint, slope,
+                                  &cov01, &cov10, &cov11, &sumsq);
+        linebox->start.x = minx;
+        linebox->start.y = miny;
+        linebox->end.x   = maxx;
+        linebox->end.y   = maxy;
+        free(xs);
         free(ys);
-        free(res);
         return rval;
 }
 
 /* in in HSV, out in BGR :) */
-px_t mark_type(const IplImage *in, IplImage *out, px_params_t px_params, get_type_cb_t get_type_cb) {
+px_t mark_type(const IplImage *in, IplImage *out, px_params_t px_params,
+               get_type_cb_t get_type_cb)
+{
         int x, y;
         //uint32_t type_avg_h = 0, type_avg_s = 0, type_avg_v = 0, type_count = 1;
@@ -121 +133 @@
                         
                         //const px_t rpx = GET_PX(in, x, y);
-                        //fprintf(stderr, "%d %d %d\n", rpx.hsv.h, rpx.hsv.s, rpx.hsv.v);
+                        //fprintf(stderr, "%d %d %d\n", rpx.hsv.h, rpx.hsv.s,
+                        //                rpx.hsv.v);
                         //if (IS_PX(px, px_params.target)) {
                         //      type_avg_h += rpx.hsv.h;
@@ -130 +143 @@
                 }
         }
-        //printf("h = %lld, s = %lld, v = %lld, count = %lld\n", type_avg_h, type_avg_s, type_avg_v, type_count);
+        //printf("h = %lld, s = %lld, v = %lld, count = %lld\n", type_avg_h,
+        //       type_avg_s, type_avg_v, type_count);
         //type_avg_h /= type_count;
         //type_avg_s /= type_count;
@@ -149 +163 @@
  *  Save values inbetween in static/global variables
  */
-inline px_t get_grass(const IplImage *in, IplImage *out, int x, int y, px_params_t px_params) {
+inline px_t get_grass(const IplImage *in, IplImage *out, int x, int y, px_params_t px_params)
+{
         const px_t px = GET_PX(in, x, y);
         if (y < 200)
@@ -160 +175 @@
                 return PX_OBSTICLE;
 }
-void mark_grass(const IplImage *in, IplImage *out) {
+void mark_grass(const IplImage *in, IplImage *out)
+{
         /* Default grass colors */
         px_params_t px_params = {
@@ -184 +200 @@
 
 /* can only one at a time (white or yellow) :( */
-inline px_t get_lines(const IplImage *in, IplImage *out, int x, int y, px_params_t px_params) {
+inline px_t get_lines(const IplImage *in, IplImage *out, int x, int y, px_params_t px_params)
+{
         const px_t px = GET_PX(in, x, y);
         if (y < 30)
@@ -203 +220 @@
         return PX_IGNORE;
 }
-void mark_lines(const IplImage *in, IplImage *out) {
+void mark_lines(const IplImage *in, IplImage *out)
+{
         /* Default grass colors */
         px_params_t px_params = {
@@ -218 +236 @@
                 white_avg.hsv.h, white_avg.hsv.s, white_avg.hsv.v);
 }
-void expand_lines(const IplImage *out1, IplImage *out2) {
+void expand_lines(const IplImage *out1, IplImage *out2)
+{
         CvPoint pt;
         int rad = 10;
@@ -253 +272 @@
         }
 }
-/* Used for dashed line detection */
-void mark_slopes(IplImage *out) {
-        double slope;
-        go_regression_stat_t reg;
-        CvScalar color = {{255, 255, 0, 0}};
+void mark_slopes(IplImage *out)
+{
+        double slope, yint; // y = slope*x + yint
         CvPoint start, end;
-        CvRect box = cvRect(1, 1, 500, 500);
-        for (box.x = 0; box.x + box.width < out->width; box.x += box.width/2) {
-                for (box.y = 0; box.y + box.height < out->height; box.y += box.height/2) {
-                        //printf("checking box (%d,%d)↔(%d-%d)\n", box.x, box.y, box.width, box.height);
-                        slope = find_slope_in_box(out, box, &reg);
-                        if (slope == 0) continue;
-                        //printf("found slope `%f', at (%d,%d)\n", slope, (int)reg.xbar[1], (int)reg.ybar);
-                        start.x = reg.xbar[1] - ((box.width/2));
-                        start.y = reg.ybar    - ((box.width/2)*slope);
-                        end.x   = reg.xbar[1] + ((box.width/2));
-                        end.y   = reg.ybar    + ((box.width/2)*slope);
+        CvScalar color  = {{255, 255, 0, 0}};
+        CvScalar color2 = {{255, 64,  0, 0}};
+        CvRect box     = cvRect(1, 1, 500, 500);
+        for (box.y = 0; box.y + box.height < out->height; box.y += box.height) {
+                for (box.x = 0; box.x + box.width < out->width; box.x += box.width) {
+                        // The extreems of the actual line
+                        CvLine linebox = {{0, 0}, {0, 0}};
+                        int rval = find_slope_in_box(out, box, &linebox, &yint, &slope);
+                        if (rval == -1) continue;
+                        //printf("checking box (%4d,%4d)↔(%4d-%4d): y = %8.3f*x + %8.3f\n",
+                        //       box.x, box.y, box.width, box.height, slope, yint);
+                        start.x = linebox.start.x;
+                        start.y = yint + slope * linebox.start.x;
+                        end.x   = linebox.end.x;
+                        end.y   = yint + slope * (linebox.end.x);
+                        //CvPoint outer_start, outer_end;
+                        //outer_start.x = box.x + 5;
+                        //outer_start.y = box.y + 5;
+                        //outer_end.x   = box.x  + box.width  - 5;
+                        //outer_end.y   = box.y  + box.height - 5;
+                        //linebox.start.x += 2;
+                        //linebox.start.y += 2;
+                        //linebox.end.x -= 2;
+                        //linebox.end.y -= 2;
+                        //cvRectangle(out, outer_start,   outer_end,   color2, 10, 0, 0);
+                        //cvRectangle(out, linebox.start, linebox.end, color,  4,  0, 0);
                         cvLine(out, start, end, color, 10, 0, 0);
                 }
@@ -275 +307 @@
 }
 
-void print_image(IplImage *img) {
+void print_image(IplImage *img)
+{
         int x, y;
         for (y = 0; y < img->height; y++) {
@@ -287 +320 @@
 }
 
-void print_time(char *label) {
+void print_time(char *label)
+{
         struct timeb tp;
         ftime(&tp);
@@ -293 +327 @@
 }
 
-inline int IS_PX(px_t px1, px_t px2) {
+inline int IS_PX(px_t px1, px_t px2)
+{
         //return !memcmp(&px1, &px2, sizeof(px_t));
         return px1.bgr.b == px2.bgr.b &&
@@ -301 +336 @@
 }
 /* Ahh, is there supposed to be (width+1) here or not?? */
-inline px_t GET_PX(const IplImage *img, int x, int y) {
+inline px_t GET_PX(const IplImage *img, int x, int y)
+{
         return *( (px_t*)img->imageData + (img->width*y + x) );
 }
-inline void SET_PX(IplImage *img, int x, int y, px_t val) {
+inline void SET_PX(IplImage *img, int x, int y, px_t val)
+{
         *(((px_t*)img->imageData) + ((img->width)*(y) + (x))) = val;
 }

trunk/software/rb/vision/vision.h

@@ -21 +21 @@
 
 #include <stdint.h>
-#include <goffice/math/go-regression.h>
 
 /* CV stuff that should exist */
@@ -131 +130 @@
  * order to fill in gaps that occure in the line.
  */
-double   find_slope_in_box (IplImage *out, CvRect box,
-                            go_regression_stat_t *reg);
+int      find_slope_in_box (IplImage *out, CvRect box, CvLine *linebox,
+                            double *yint, double *slope);
 
 /*