barcam.cxx File Reference

#include <inttypes.h>
#include <stdlib.h>
#include <stdio.h>
#include <sys/stat.h>
#include <semaphore.h>
#include <getopt.h>
#include <unistd.h>
#include <fftw3.h>
#include <string>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include "c2gnuplot.h"
#include <roboorte_robottype.h>

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Defines
#define	BARCAM_DEBUG
#define	WITH_GUI
#define	MODE_QUIT   0x01
#define	MODE_VIDEO   0x02
#define	MODE_RECOGNIZE   0x04
#define	MODE_WAIT   0x08
#define	MODE_IMAGE   0x10
#define	WINDOW_ORIG   "BARCAM original scene"
#define	WINDOW_PROD   "BARCAM recognition product"
#define	WINDOW_WIDTH   640
#define	WINDOW_HEIGHT   480
#define	ROI_X   0
#define	ROI_Y   0
#define	ROI_WIDTH   WINDOW_WIDTH
#define	ROI_HEIGHT   WINDOW_HEIGHT
#define	KEY_ESC   0x1B
#define	KEY_SPACE   0x20
#define	KEY_O   0x4f
#define	KEY_P   0x50
#define	KEY_R   0x52
#define	KEY_S   0x53
#define	KEY_V   0x56
#define	KEY_W   0x57
#define	KEY_o   0x6f
#define	KEY_p   0x70
#define	KEY_r   0x72
#define	KEY_s   0x73
#define	KEY_v   0x76
#define	KEY_w   0x77
#define	KEY_PLUS   0x2B
#define	KEY_MINUS   0x2D
#define	KEY_1   0x31
#define	KEY_2   0x32
#define	KEY_3   0x33
#define	KEY_4   0x34
#define	KEY_5   0x35
#define	KEY_6   0x36
#define	KEY_7   0x37
#define	KEY_8   0x38
#define	SNAPSHOTFILENAME   "snapshot%02d.png"
Functions
int	saveFrame (const CvArr *img)
	Saves current image to a new file in the current directory.
void	selectROI (CvCapture *capture, CvRect *roi)
	Setting region of interest in the ROI window.
int	countThreshold (const IplImage *frame)
	Returns a threshold computed from the frame.
int	recognize (const CvMat *frame)
int	modeImage (char *imageFilename)
	Simulates MODE_RECOGNIZE over one specified image filename (PC only).
int	modeVideo (CvCapture *capture, CvRect *roi)
	Displays just a real video in a window (only on PC).
int	recognizeMode_processKeys (IplImage *frame)
	On PC processes keyboard events, on PPC does nothing.
void	displayFrames (IplImage *frame)
int	modeRecognize (CvCapture *capture, CvRect *roi)
	Implements the camera recognition of corns configurations.
int	waitMode_processKeys (int previousMode)
	Returns mode to switch to from wait mode.
int	modeWait (int previousMode)
	Waits until orte.camera_control.on is set to true or, on PC P-key is pressed.
void	setAnalyticWindowsVisible (bool visible)
	Sets visibility of 3 analytic windows (threshold, mask and product).
void	destroyGUI (void)
	Destroys highgui windows.
int	modeManager (int defaultMode, char *paramC)
	Switches between modes of the program.
bool	getCameraControlOn (void)
	Returns actual state of orte.camera_control.on.
void	send_cmr_res_cb (const ORTESendInfo *info, void *vinstance, void *recvCallBackParam)
	Orte camera result callback function.
void	rcv_cmr_ctrl_cb (const ORTERecvInfo *info, void *vinstance, void *recvCallBackParam)
	Orte camera control callback function.
void	rcv_robot_switches_cb (const ORTERecvInfo *info, void *vinstance, void *recvCallBackParam)
	Orte switches control callback function.
int	getParamI (int argc, char *argv[], char *imgFilename)
int	main (int argc, char *argv[])
	The program may on PC be called with -i argument followed by an image filename, i.e.
int	recognize (IplImage *gray_frame)
	Returns an ordinary number of recognized configuration.
void	displayFrames (const char *window_name, IplImage *frame)
	Displays analytic frames on screen (on PC), or saves (input) frame to file.
void	initGUI (void)
	Initializes GUI, displays static video window.
int	getStartMode (int argc, char *argv[], char *imgFilename)
	If "-i filename" is in argv, filename is stored to imgFilename.
Variables
struct robottype_orte_data	orte
bool	camera_control_on = false
CvFont	fontLarge

---

Define Documentation

#define BARCAM_DEBUG

#define KEY_1   0x31

#define KEY_2   0x32

#define KEY_3   0x33

#define KEY_4   0x34

#define KEY_5   0x35

#define KEY_6   0x36

#define KEY_7   0x37

#define KEY_8   0x38

#define KEY_ESC   0x1B

#define KEY_MINUS   0x2D

#define KEY_O   0x4f

#define KEY_o   0x6f

#define KEY_P   0x50

#define KEY_p   0x70

#define KEY_PLUS   0x2B

#define KEY_R   0x52

#define KEY_r   0x72

#define KEY_S   0x53

#define KEY_s   0x73

#define KEY_SPACE   0x20

#define KEY_V   0x56

#define KEY_v   0x76

#define KEY_W   0x57

#define KEY_w   0x77

#define MODE_IMAGE   0x10

#define MODE_QUIT   0x01

#define MODE_RECOGNIZE   0x04

#define MODE_VIDEO   0x02

#define MODE_WAIT   0x08

#define ROI_HEIGHT   WINDOW_HEIGHT

#define ROI_WIDTH   WINDOW_WIDTH

#define ROI_X   0

#define ROI_Y   0

#define SNAPSHOTFILENAME   "snapshot%02d.png"

#define WINDOW_HEIGHT   480

#define WINDOW_ORIG   "BARCAM original scene"

#define WINDOW_PROD   "BARCAM recognition product"

#define WINDOW_WIDTH   640

#define WITH_GUI

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Function Documentation

int countThreshold

(

const IplImage *

frame

)

Returns a threshold computed from the frame.

Parameters:

frame

Frame to compute a threshold from.

Returns:

Mean of all pixels of the frame.

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void destroyGUI

(

void

)

Destroys highgui windows.

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void displayFrames

(

IplImage *

frame

)

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void displayFrames	(	const char *	window_name,
		IplImage *	frame
	)

Displays analytic frames on screen (on PC), or saves (input) frame to file.

Parameters:

	frame	Input frame from camera.
	window_name	Name of the window to show frame in.

bool getCameraControlOn

(

void

)

[inline]

Returns actual state of orte.camera_control.on.

If value changed from previous call, informative output is printed.

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int getParamI	(	int	argc,
		char *	argv[],
		char *	imgFilename
	)

int getStartMode	(	int	argc,
		char *	argv[],
		char *	imgFilename
	)

If "-i filename" is in argv, filename is stored to imgFilename.

Returns:

Mode to switch to.

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void initGUI

(

void

)

Initializes GUI, displays static video window.

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int main	(	int	argc,
		char *	argv[]
	)

The program may on PC be called with -i argument followed by an image filename, i.e.

rozkuk -i image.png, then the program runs in image mode. Else call it without arguments. On PC it starts in video mode, to switch modes keyboard is used (R-recognize, W-wait, Esc-quit). On PPC only two modes are available - recognize and wait. Orte's camera_control_on variable is used to switch between them.

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int modeImage

(

char *

imageFilename

)

Simulates MODE_RECOGNIZE over one specified image filename (PC only).

Parameters:

imageFilename

Image to load and recognize.

Returns:

Code of mode to switch to.

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int modeManager	(	int	defaultMode,
		char *	paramC
	)

Switches between modes of the program.

Parameters:

	defaultMode	The first mode to run.
	paramC	Used only in MODE_IMAGE mode (store filepath here).

Returns:

Zero on success, error number on fail.

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int modeRecognize	(	CvCapture *	capture,
		CvRect *	roi
	)

Implements the camera recognition of corns configurations.

Parameters:

	capture	Pointer to a camera capture.
	roi	Pointer to ROI rectangle.

Returns:

Code of mode to switch to.

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int modeVideo	(	CvCapture *	capture,
		CvRect *	roi
	)

Displays just a real video in a window (only on PC).

Parameters:

	capture	Pointer to a camera capture.
	roi	Pointer to ROI rectangle.

Returns:

Code of mode to switch to.

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int modeWait

(

int

previousMode

)

Waits until orte.camera_control.on is set to true or, on PC P-key is pressed.

Waits until orte.camera_control.on is set to true or, on PC, W or P key is pressed.

Parameters:

previousMode

Mode to switch to when waiting stops.

Returns:

Code of mode to switch to.

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void rcv_cmr_ctrl_cb	(	const ORTERecvInfo *	info,
		void *	vinstance,
		void *	recvCallBackParam
	)

Orte camera control callback function.

Sets actual value of orte.camera_control.on to camera_control_on.

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void rcv_robot_switches_cb	(	const ORTERecvInfo *	info,
		void *	vinstance,
		void *	recvCallBackParam
	)

Orte switches control callback function.

Sets actual value of orte.robot_switches.team_color to robot_switches_color.

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int recognize

(

IplImage *

gray_frame

)

Returns an ordinary number of recognized configuration.

Parameters:

frame

Frame to be processed.

Returns:

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int recognize

(

const CvMat *

frame

)

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int recognizeMode_processKeys

(

IplImage *

frame

)

On PC processes keyboard events, on PPC does nothing.

Parameters:

frame

Last camera frame.

Returns:

MODE_RECOGNIZE or mode to switch to.

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int saveFrame

(

const CvArr *

img

)

Saves current image to a new file in the current directory.

Parameters:

img

Image to save to file.

Returns:

Value returned by cvSaveImage.

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void selectROI	(	CvCapture *	capture,
		CvRect *	roi
	)

Setting region of interest in the ROI window.

Parameters:

	capture	Pointer to a camera capture.
	roi	Pointer to ROI rectangle.

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void send_cmr_res_cb	(	const ORTESendInfo *	info,
		void *	vinstance,
		void *	recvCallBackParam
	)

Orte camera result callback function.

Does nothing.

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void setAnalyticWindowsVisible

(

bool

visible

)

Sets visibility of 3 analytic windows (threshold, mask and product).

Parameters:

visible

Use true to display windows, false to hide.

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int waitMode_processKeys

(

int

previousMode

)

Returns mode to switch to from wait mode.

On PC processes keyboard events, on PPC just tests for orte.camera_control.on value.

Parameters:

previousMode

Mode to switch to, if no more waiting is needed.

Returns:

Mode to switch to.

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Variable Documentation

bool camera_control_on = false

CvFont fontLarge

struct robottype_orte_data orte