Changeset 683

Timestamp:

02/20/10 14:47:47 (2 years ago)

Author:

mosttw

Message:

Checkpoint

Location:

branches/2010-image-rec

Files:

• README (added)
• docs/report.pdf (modified) (previous)
• docs/report.tex (modified) (1 diff)
• hist_test.m (modified) (11 diffs)
• images/elphel/cam-000084.jpeg-sobel-v-5.png (added)
• run.sh (added)
• sobel.py (modified) (1 diff)

branches/2010-image-rec/docs/report.tex

@@ -14 +14 @@
 
 \begin{document}
-\title{TODO: Pick a title}
+\title{Vision-based obstacle recognition for an autonomous mobile robot in a grassy, outdoor environment}
 \author{Thomas W. Most \and Trenton S. Tabor}
 \date{\today}

branches/2010-image-rec/hist_test.m

@@ -1 @@
-function hist_test(fn)
+function hist_test(fn, show_images)
 
 % Test how well histogramming works with our test images
@@ -37 +37 @@
 
 
-fsobel = fspecial('sobel');
-hedges = filter2(fsobel , imbig(:,:,texture_band));
-vedges = filter2(fsobel', imbig(:,:,texture_band));
-edges = sqrt(hedges .^ 2 + vedges .^ 2);
-edges=double(imread([fn '-sobel-v-5.png']))/255;
+%fsobel = fspecial('sobel');
+%hedges = filter2(fsobel , imbig(:,:,texture_band));
+%vedges = filter2(fsobel', imbig(:,:,texture_band));
+%edges = sqrt(hedges .^ 2 + vedges .^ 2);
+edges = double(imread([fn '-sobel-v-5.png']))/255;
 texture = filter2(fspecial('average', 10), edges);
 texture = filter2(fspecial('average', 10), texture);
@@ -56 +56 @@
 
 figure(1);
-imshow([edges; texture]);
-
-texture=imresize(texture,.25);
+imwrite(texture, [fn '-texture-full.png']);
+
+texture = imresize(texture, .25);
 
 im(:,:,1:3) = rgb2hsv(im_rgb);
@@ -65 +65 @@
 
 % Area at the bottom of the image assumed to be grass, clear of obstacles
-clear_area = im(round(clear_area_top * rows):end-20, ...
+clear_area = im(round(clear_area_top * rows):end, ...
                 round(clear_area_left * cols): ...
                     round((1 - clear_area_left) * cols), :);
@@ -91 +91 @@
 grass_v_mask = grass_v_hist;
 grass_v_mask(grass_v_hist < mean(grass_v_hist) * v_mean_factor) = 0;
-grass_t_mask = grass_t_hist;
-grass_t_mask(grass_t_hist < mean(grass_t_hist) * t_mean_factor) = 0;
+%grass_t_mask = grass_t_hist;
+%grass_t_mask(grass_t_hist < mean(grass_t_hist) * t_mean_factor) = 0;
 
 % Ungodly slow loop through the pixels
@@ -99 +99 @@
     for c = 1:cols
         if grass_h_mask(h(r,c)) && grass_s_mask(s(r,c)) && ...
-                grass_v_mask(v(r,c)) && grass_t_mask(t(r,c))
+                grass_v_mask(v(r,c)) ... && grass_t_mask(t(r,c))
             mask(r,c) = 1;
         end
@@ -105 +105 @@
 end
 
+imwrite(mask, [fn '-mask-raw.png']);
+
 % Clean things up a bit
 se = strel('square', 6);
 mask = imclose(mask, se);
+
+imwrite(mask, [fn, '-mask-closed.png']);
 
 tempMask=mask*-1+1;
@@ -114 +118 @@
 hold on;
 scatter(bottomlist(:,1),-bottomlist(:,2));
-
+print('-depsc', [fn '-obstacle-points.png']);
 
 line_mask = texture;
-for threshold = .42
-    line_mask(texture > threshold & mask == 0) = 1;
-    line_mask(texture <= threshold | mask ~= 0) = 0;
-    figure;
-    imshow(line_mask);
-end
-%keyboard;
+threshold = .42;
+line_mask(texture > threshold & mask == 0) = 1;
+line_mask(texture <= threshold | mask ~= 0) = 0;
+imwrite(line_mask, [fn '-line-mask.png']);
+
 % Display
 figure(2);
@@ -130 +132 @@
 % Draw a box over the "clear" area
 top_y = round(clear_area_top * rows);
-bottom_y = rows-20;
+bottom_y = rows;
 left_x = round(clear_area_left * cols);
 right_x = round((1 - clear_area_left) * cols);
@@ -136 +138 @@
      [top_y top_y bottom_y bottom_y top_y],'LineWidth',4,'Color','red');
  
- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%5
- 
- figure(3);
- 
- [H,T,R] = hough(line_mask);
-       imshow(H,[],'XData',T,'YData',R,'InitialMagnification','fit');
-       xlabel('\theta'), ylabel('\rho');
-       axis on, axis normal, hold on;
-       P  = houghpeaks(H,5,'NHoodSize',[161,161])%ceil(0.3*max(H(:))));
-       x = T(P(:,2)); 
-       y = R(P(:,1));
-       plot(x,y,'s','color','white');
- 
-  lines = houghlines(line_mask,T,R,P,'FillGap',5,'MinLength',7);
-       figure, imshow(im_rgb), hold on
-       max_len = 0;
-       for k = 1:length(lines)
-         xy = [lines(k).point1; lines(k).point2];
-         plot(xy(:,1),xy(:,2),'LineWidth',8,'Color','blue');
- 
-         % plot beginnings and ends of lines
-         plot(xy(1,1),xy(1,2),'x','LineWidth',8,'Color','yellow');
-         plot(xy(2,1),xy(2,2),'x','LineWidth',8,'Color','red');
- 
-         % determine the endpoints of the longest line segment 
-         len = norm(lines(k).point1 - lines(k).point2);
-         if ( len > max_len)
-           max_len = len;
-           xy_long = xy;
-         end
-       end
- 
-       % highlight the longest line segment
-       plot(xy_long(:,1),xy_long(:,2),'LineWidth',8,'Color','cyan');
- 
- 
- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%5
+
+figure(3);
+
+[H,T,R] = hough(line_mask);
+imshow(H,[],'XData',T,'YData',R,'InitialMagnification','fit');
+xlabel('\theta'), ylabel('\rho');
+axis on, axis normal, hold on;
+P  = houghpeaks(H,5,'NHoodSize',[161,161]); %ceil(0.3*max(H(:))));
+x = T(P(:,2)); 
+y = R(P(:,1));
+plot(x,y,'s','color','white');
+print('-depsc', [fn '-hough-peaks.eps']);
+
+lines = houghlines(line_mask,T,R,P,'FillGap',5,'MinLength',7);
+figure, imshow(im_rgb), hold on
+max_len = 0;
+for k = 1:length(lines)
+    xy = [lines(k).point1; lines(k).point2];
+    plot(xy(:,1),xy(:,2),'LineWidth',8,'Color','blue');
+
+    % plot beginnings and ends of lines
+    plot(xy(1,1),xy(1,2),'x','LineWidth',8,'Color','yellow');
+    plot(xy(2,1),xy(2,2),'x','LineWidth',8,'Color','red');
+
+    % determine the endpoints of the longest line segment 
+    len = norm(lines(k).point1 - lines(k).point2);
+    if ( len > max_len)
+        max_len = len;
+        xy_long = xy;
+    end
+end
+
+% highlight the longest line segment
+plot(xy_long(:,1),xy_long(:,2),'LineWidth',8,'Color','cyan');
+print('-depsc', [fn '-hough-lines.eps']);
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 fprintf('Done\n');
@@ -179 +183 @@
 
 function rgb = bw2rgb(bw)
-
-rgb = zeros(size(bw, 1), size(bw, 2), 3);
-rgb(:,:,1) = bw;
-rgb(:,:,2) = bw;
-rgb(:,:,3) = bw;
-
-end
+        rgb = zeros(size(bw, 1), size(bw, 2), 3);
+        rgb(:,:,1) = bw;
+        rgb(:,:,2) = bw;
+        rgb(:,:,3) = bw;
+end
+
 function bottomlist = bottomFind(bw)
-list=zeros(size(bw,2),2);
-temp=bw;
-for i = 1:size(bw,2)
-temp(1,:)=1;
-list(i,2)=find(temp(:,i)==1,1,'last');
-list(i,1)=i;
-end
-bottomlist=list;
-end
+        list = zeros(size(bw,2),2);
+        temp = bw;
+        for i = 1:size(bw,2)
+                temp(1,:) = 1;
+                list(i,2) = find(temp(:,i)==1,1,'last');
+                list(i,1) = i;
+        end
+        bottomlist = list;
+end

branches/2010-image-rec/sobel.py

@@ -5 +5 @@
 import cv
 
-fn = sys.argv[1]
+try:
+        fn = sys.argv[1]
+        operations = [(5, c) for c in sys.argv[2:]] or [(5, 'v')]
+except IndexError:
+        sys.stderr.write('usage: {0} image-fn [channel...]')
+        sys.exit(2)
 
+# Load the image and split its channels out
 im = cv.LoadImage(fn)
 hsv = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 3)
 cv.CvtColor(im, hsv, cv.CV_BGR2HSV)
-im = hsv
+channels = {
+        'h': cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 1),
+        's': cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 1),
+        'v': cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 1),
+}
+cv.Split(hsv, channels['h'], channels['s'], channels['v'], None)
 
-for sobel_aperture in (3, 5, 7):
+# Preallocate buffers
+
+# The output buffer for the sobel operation
+sobel = cv.CreateMat(im.height, im.width, cv.CV_32FC1)
+# 8-bit scaled version of sobel that can be saved to a file
+sobel_img = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 1)
+
+# Loop through the operations
+for (sobel_aperture, channel) in operations:
         print "sobelizing",
         start = time.time()
-        sobel = cv.CreateMat(im.height, im.width, cv.CV_32FC3)
-        #sobel_x = cv.CreateMat(im.height, im.width, cv.CV_32FC3)
-        #sobel_y = cv.CreateMat(im.height, im.width, cv.CV_32FC3)
-        #cv.Sobel(im, sobel_x, 1, 0, 3)
-        #cv.Sobel(im, sobel_y, 0, 1, 3)
-        cv.Sobel(im, sobel, 1, 1, sobel_aperture)
+        cv.Sobel(channels[channel], sobel, 1, 1, sobel_aperture)
         print "took %.2fs" % (time.time() - start)
 
-        #cv.ShowImage('window', sobel)
-        #cv.WaitKey()
-        sobel_img = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 3)
         cv.ConvertScale(sobel, sobel_img, 8.0)
-        sobel_h = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 1)
-        sobel_s = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 1)
-        sobel_v = cv.CreateImage((im.width, im.height), cv.IPL_DEPTH_8U, 1)
-        cv.Split(sobel_img, sobel_h, sobel_s, sobel_v, None)
-        cv.SaveImage('%s-sobel-h-%s.png' % (fn, sobel_aperture), sobel_h)
-        cv.SaveImage('%s-sobel-s-%s.png' % (fn, sobel_aperture), sobel_s)
-        cv.SaveImage('%s-sobel-v-%s.png' % (fn, sobel_aperture), sobel_v)
-        print "wrote %s-sobel-[hsv]-%s.png" % (fn, sobel_aperture)
-sys.exit(0)
+
+        out_fn = '{fn}-sobel-{channel}-{aperture}.png'.format(fn=fn, channel=channel, aperture=sobel_aperture)
+        cv.SaveImage(out_fn, sobel_img)
+        print "wrote {0}".format(out_fn)
 
 #print "median"