Changeset 714 for trunk/software

Timestamp:

03/03/10 02:42:10 (2 years ago)

Author:

mosttw

Message:

Blurring of the sobelized image

Files:

: 1 modified

trunk/software/rb/vision/_processing.c (modified) (1 diff)

Legend:

: Unmodified
: Added
: Removed

trunk/software/rb/vision/_processing.c

r713	r714
82	82
83	83	Py_BEGIN_ALLOW_THREADS
	84	// Parameters of the operation (should probably be attributes).
	85	int sobel_aperture = 5;
	86	int blur_aperture = 3;
	87
	88	// Calculate the "working" image size
	89	int scale_factor = 4;
	90	int working_width = input->width / scale_factor;
	91	int working_height = input->height / scale_factor;
	92
84	93	// All these buffers should probably be moved to attributes of the VisionProcessor
85	94	// so that they needn't be reallocated all the time.
86		int sobel_aperture = 5; // 3, 5, or 7
87		//int scale_factor = 2;
88		//int processing_width = input->width / scale_factor;
89		//int processing_height = input->height / scale_factor;
	95	IplImage *hsv_full;
90	96	IplImage *hsv;
91		IplImage *v;
	97	IplImage *v_full;
	98	CvMat *sobel_full;
92	99	CvMat *sobel;
93		IplImage *sobel_im;
94
95		hsv = cvCreateImage(cvSize(input->width, input->height), IPL_DEPTH_8U, 3);
96		v = cvCreateImage(cvSize(input->width, input->height), IPL_DEPTH_8U, 1);
97		sobel = cvCreateMat(input->height, input->width, CV_32FC1);
98		sobel_im = cvCreateImage(cvSize(input->width, input->height), IPL_DEPTH_8U, 1);
99		output = cvCreateImage(cvSize(input->width, input->height), IPL_DEPTH_8U, 3);
100
101		cvCvtColor(input, hsv, CV_BGR2HSV);
102		cvSplit(hsv, NULL, NULL, v, NULL);
103		cvSobel(v, sobel, 1, 1, sobel_aperture);
104		cvConvertScale(sobel, sobel_im, 8.0, 0);
105		cvCvtColor(sobel_im, output, CV_GRAY2BGR);
	100	IplImage *texture;
	101
	102	hsv_full = cvCreateImage(cvSize(input->width, input->height), IPL_DEPTH_8U, 3);
	103	hsv = cvCreateImage(cvSize(working_width, working_height), IPL_DEPTH_8U, 3);
	104	v_full = cvCreateImage(cvSize(input->width, input->height), IPL_DEPTH_8U, 1);
	105	sobel_full = cvCreateMat(input->height, input->width, CV_32FC1);
	106	sobel = cvCreateMat(working_height, working_width, CV_32FC1);
	107	texture = cvCreateImage(cvSize(working_width, working_height), IPL_DEPTH_8U, 1);
	108	output = cvCreateImage(cvSize(working_width, working_height), IPL_DEPTH_8U, 3);
	109
	110	// Colorspace conversion and scaling
	111	cvCvtColor(input, hsv_full, CV_BGR2HSV);
	112	cvSplit(hsv_full, NULL, NULL, v_full, NULL);
	113	cvResize(hsv_full, hsv, CV_INTER_AREA);
	114
	115	// Calculate "texture" channel
	116	cvSobel(v_full, sobel_full, 1, 1, sobel_aperture);
	117	cvResize(sobel_full, sobel, CV_INTER_AREA);
	118	cvConvertScale(sobel, texture, 8.0, 0);
	119	cvSmooth(texture, texture, CV_BLUR, blur_aperture, 0, 0, 0);
	120
	121	// Create output image
	122	cvCvtColor(texture, output, CV_GRAY2BGR);
106	123
	124	cvReleaseImage(&hsv_full);
107	125	cvReleaseImage(&hsv);
108		cvReleaseImage(&v);
	126	cvReleaseImage(&v_full);
	127	cvReleaseMat(&sobel_full);
109	128	cvReleaseMat(&sobel);
110		cvReleaseImage(&~~sobel_im~~);
	129	cvReleaseImage(&texture);
111	130	Py_END_ALLOW_THREADS
112	131