src/camera/rozkuk/rozkuk.cxx

   1 /*******************************************************************************
   2  *
   3  * rozkuk - OpenCV based corns camera recognition program
   4  *
   5  * Created for Eurobot 2010 competition.
   6  *
   7  * Petr Kubizňák (kubiznak.petr@gmail.com), 2010
   8  *
   9  ******************************************************************************/
  10
  11 #include <inttypes.h>
  12 #include <stdlib.h>
  13 #include <stdio.h>
  14 #include <sys/stat.h>
  15 #include <semaphore.h>
  16 #include <getopt.h>
  17 #include <unistd.h>
  18
  19 #include <opencv/cv.h>
  20 #include <opencv/highgui.h>
  21
  22 #include "clr2float.h"
  23 #include "masks_globals.h"
  24
  25 extern "C" {
  26 #include <roboorte_robottype.h>
  27 #include <robot.h>
  28 }
  29 /******************************************************************************/
  30
  31 // modes definitions
  32 #define MODE_QUIT                                       0x01
  33 #define MODE_REALTIME                   0x02
  34 #define MODE_RECOGNIZE          0x04
  35 #define MODE_WAIT                                       0x08
  36
  37 // mask of all modes / errors
  38 #define MASK_MODES                              0x0F
  39 #define MASK_ERRORS                             (~MASK_MODES)
  40
  41 // errors
  42 #define ERR_MASK_READ_FAILURE   0x10
  43
  44 // default mode in standard session
  45 #define START_MODE                              MODE_RECOGNIZE
  46
  47 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
  48
  49 // default mode in debug session
  50 #undef START_MODE
  51 #define START_MODE                              MODE_REALTIME
  52
  53 // highgui windows names
  54 #define WINDOW_ORIG                             "ROZKUK original scene"
  55 #define WINDOW_THRES                    "ROZKUK threshold"
  56 #define WINDOW_MASK                             "ROZKUK mask"
  57 #define WINDOW_PROD                             "ROZKUK product"
  58
  59 // values of keys
  60 #define KEY_ESC                                         0x1B
  61 #define KEY_SPACE                                       0x20
  62 #define KEY_P                                                   0x50
  63 #define KEY_R                                                   0x52
  64 #define KEY_S                                                   0x53
  65 #define KEY_W                                                   0x57
  66 #define KEY_p                                                   0x70
  67 #define KEY_r                                                   0x72
  68 #define KEY_s                                                   0x73
  69 #define KEY_w                                                   0x77
  70
  71 // number of frames passed in rozkuk mode before refresh
  72 #define PASS_FRAMES                             0
  73
  74 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
  75
  76 //default threshold and saturation
  77 #define THRESHOLD                                       70
  78 #define SATURATION                              1.0
  79
  80 //mask filename pattern
  81 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
  82 #define MASKFILENAME                    "./mask%02d%c%c.bin"
  83 #else                                                                                   /******************** PPC *******************/
  84 #define MASKFILENAME                    "/dev/flash/mask%02d%c%c.bin"                   // FIXME: insert correct filepath mask
  85 #endif                                                                          /*------------------------------------------*/
  86
  87 //size of frames from camera
  88 #define FRAME_WIDTH                             640
  89 #define FRAME_HEIGHT                    480
  90 #define FRAME_SIZE                              (FRAME_WIDTH * FRAME_HEIGHT)
  91
  92 //both (side and center) subresults will be returned in one int masked binary as 00ccssss
  93 #define MASK_SIDE         0x0F
  94 #define MASK_CENTER_SHIFT 4
  95 #define MASK_CENTER       (0x03 << 4)
  96
  97 struct robottype_orte_data orte;
  98
  99 /******************************************************************************/
 100
 101 // function declarations
 102 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 103 void drawPauseText(IplImage *img);
 104 int saveFrame(const IplImage *img);
 105 void displayProduct(const CvMat *floatMat, int sideLayout, int centerLayout);
 106 void displayMasksSum(const CvMat *mat1, const CvMat *mat2, const char *windowName);
 107 void displayFloatMat(const CvMat *floatMat, const char *windowName);
 108 int modeRealtime(CvCapture* capture);
 109 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 110 int modeRecognize(CvCapture* capture);
 111 int modeWait(CvCapture *capture);
 112 int modeManager(int defaultMode);
 113 int countThreshold(const IplImage *frame);
 114 int recognize(const CvMat *frame, CvMat **masks, int masksCnt);
 115 int loadMask(const char *filename, CvMat **mask);
 116 int loadMasks(char color);
 117 void freeMasks(void);
 118
 119 /******************************************************************************/
 120
 121 // variable declarations
 122 CvMat **sideMasks=NULL;     //float mask matrices
 123 CvMat **centerMasks=NULL;
 124 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 125 CvFont font;                //text font
 126
 127 /******************************************************************************/
 128
 129 /** Writes text "pause" in the CAMERA window. */
 130 void drawPauseText(IplImage *img) {
 131         cvPutText(img,"pause", cvPoint(300,440), &font, cvScalar(255,255,255));
 132         cvShowImage(WINDOW_ORIG, img);
 133 }
 134
 135 /******************************************************************************/
 136
 137 /** Saves current image to a new file in the current directory. */
 138 int saveFrame(const IplImage *img) {
 139         struct stat stFileInfo;
 140         char filename[30] = "snapshot00.png";
 141         unsigned int i=0;
 142         //find a non-existent filename
 143         while(!stat(filename, &stFileInfo)) sprintf(filename, "snapshot%02d.png", ++i);
 144         //save image to file
 145         return cvSaveImage(filename, img);
 146 }
 147
 148 /******************************************************************************/
 149
 150 /** Displays in separate window the result of multiplying camera frame (in float)
 151   * and recognized mask.
 152   * @param floatMat Pointer to the camera frame converted to float matrix.
 153   * @param sideLayout Index of recognized side situation.
 154   * @param centerLayout Index of recognized center situation. */
 155 void displayProduct(const CvMat *floatMat, int sideLayout, int centerLayout) {
 156         CvMat *sideProduct = cvCloneMat(floatMat);
 157         CvMat *centerProduct = cvCloneMat(floatMat);
 158
 159         cvMul(floatMat, sideMasks[sideLayout], sideProduct);            //count product of frame and side mask
 160         cvMul(floatMat, centerMasks[centerLayout], centerProduct);      //count product of frame and center mask
 161         displayMasksSum(sideProduct, centerProduct, WINDOW_PROD);       //display sum
 162
 163         cvReleaseMat(&sideProduct);
 164         cvReleaseMat(&centerProduct);
 165 }
 166
 167 /******************************************************************************/
 168
 169 /** Displays a sum of two matrices in specified window. */
 170 void displayMasksSum(const CvMat *mat1, const CvMat *mat2, const char *windowName) {
 171         CvMat *sum = cvCloneMat(mat1);
 172
 173         cvAdd(mat1, mat2, sum);
 174         displayFloatMat(sum, windowName);
 175
 176         cvReleaseMat(&sum);
 177 }
 178
 179 /******************************************************************************/
 180
 181 /** Normalizes the matrix values and displays them in window specified by name.
 182   * @param floatMat Pointer to matrix data to display.
 183   * @param windowName Name of window in which to display the image. */
 184 void displayFloatMat(const CvMat *floatMat, const char *windowName) {
 185         double min=0.0, max=0.0;
 186         CvMat *normalized = cvCloneMat(floatMat);
 187
 188         cvMinMaxLoc(floatMat, &min, &max);                                                                                      // find extremes
 189         cvConvertScale(floatMat, normalized, 1/(max-min), -(min/(max-min)));            // normalize
 190         cvShowImage(windowName, normalized);
 191
 192         cvReleaseMat(&normalized);
 193 }
 194
 195 /******************************************************************************/
 196
 197 /** Displays a real video in a window (only for DEBUG session).
 198  * @param capture Pointer to a camera capture.
 199  * @return Code of mode to switch to. */
 200 int modeRealtime(CvCapture* capture) {
 201         IplImage* frame = NULL;                                                                                                                         // frame from camera
 202         int pause=0;                                                                                                                                                                    // set pause=1 to pause the video
 203
 204         while(1) {
 205                 /* keyboard events handeling */
 206                 switch(cvWaitKey(10) & 0xFF) {                                                                                  // wait 10ms for an event
 207                 // stop capturing
 208                 case KEY_ESC:
 209                         return MODE_QUIT;
 210                 // switch to recognize mode
 211                 case KEY_R:
 212                 case KEY_r:
 213                         return MODE_RECOGNIZE;
 214                 // (un)pause
 215                 case KEY_P:
 216                 case KEY_p:
 217                         pause = !pause;
 218                         drawPauseText(frame);
 219                         break;
 220                 // save frame to file
 221                 case KEY_S:
 222                 case KEY_s:
 223                         saveFrame(frame);
 224                         break;
 225                 }
 226
 227                 frame = cvQueryFrame(capture);                                                                                  // Get one frame
 228                 if(!frame) {
 229                         perror("NULL frame");
 230                         continue;
 231                 }
 232
 233                 if(!pause) cvShowImage(WINDOW_ORIG, frame);                                     // show image (! Do not release the frame !)
 234         }
 235         return MODE_QUIT;
 236 }
 237 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 238
 239 /******************************************************************************/
 240
 241 /** Implements the camera recognition of corns.
 242  * In DEBUG session the results are also displayed on screen.
 243  * @param capture Pointer to a camera capture.
 244  * @return Code of mode to switch to. */
 245 int modeRecognize(CvCapture* capture) {
 246         IplImage *frame = NULL;                                                                                                                         // frame from camera
 247         IplImage *thresFrame = NULL;                                                                                                    // thresholded frame
 248         CvMat *floatMat = NULL;                                                                                                                         // float <-1,1> image of the frame
 249         int sideLayout, centerLayout;                                                                                                   // indices of recognized situation
 250 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 251         int framesPassed = PASS_FRAMES;                                                                                         // number of passed frames before refresh
 252         int pause=0;                                                                                                                                                                    // set pause=1 to pause processing
 253 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 254         while(1) {
 255
 256 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 257                 /* keyboard events handeling */
 258                 switch(cvWaitKey(10) & 0xFF) {                                                                                  // wait 10ms for an event
 259                 // stop capturing
 260                 case KEY_ESC:
 261                         return MODE_QUIT;
 262                 // skip the frame
 263                 case KEY_SPACE:
 264                         framesPassed = PASS_FRAMES;
 265                         break;
 266                 // switch to recognize mode
 267                 case KEY_R:
 268                 case KEY_r:
 269                         return MODE_REALTIME;
 270                 // (un)pause
 271                 case KEY_P:
 272                 case KEY_p:
 273                         pause = !pause;
 274                         drawPauseText(frame);
 275                         break;
 276                 // save frame to file
 277                 case KEY_S:
 278                 case KEY_s:
 279                         saveFrame(frame);
 280                         break;
 281                 // wait
 282                 case KEY_W:
 283                 case KEY_w:
 284                         return MODE_WAIT;
 285                 }
 286 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 287
 288                 // Get one frame
 289 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 290                 if(pause) cvQueryFrame(capture);
 291                 else
 292 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 293                         frame = cvQueryFrame(capture);
 294                 if(!frame) {
 295                         perror("NULL frame");
 296                         continue;
 297                 }
 298
 299 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 300                 if(pause) continue;
 301
 302                 // transform colorful image to its float <-1,1> representation
 303                 cvReleaseImage(&thresFrame);
 304                 thresFrame = cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,1);
 305 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 306                 // convert to float
 307                 int threshold = countThreshold(frame);
 308                 clr2float(frame, &floatMat, threshold, SATURATION, thresFrame); // get float representation (in DEBUG session, thresholded image is stored to thresFrame)
 309                 //recognize side and center layouts
 310                 sideLayout = recognize(floatMat, sideMasks, SIDEMASKSCNT);
 311                 centerLayout = recognize(floatMat, centerMasks, CENTERMASKSCNT);
 312                 //publish results
 313                 printf("thr: %d, side: %d, center: %d\n", threshold, sideLayout, centerLayout);
 314                 orte.camera_result.side = sideLayout;
 315                 orte.camera_result.center = centerLayout;
 316                 ORTEPublicationSend(orte.publication_camera_result);
 317
 318 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 319                 displayProduct(floatMat, sideLayout, centerLayout);
 320 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 321                 cvReleaseMat(&floatMat);
 322
 323 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 324                 if(framesPassed++ > PASS_FRAMES) {
 325                         framesPassed=0;
 326                         cvShowImage(WINDOW_ORIG, frame);                                                                        // show image (! Do not release the frame !)
 327                         cvShowImage(WINDOW_THRES, thresFrame);
 328                         displayMasksSum(sideMasks[sideLayout], centerMasks[centerLayout], WINDOW_MASK);                 // display selected mask
 329                         cvReleaseImage(&thresFrame);
 330                 }
 331 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 332
 333         }
 334         return MODE_QUIT;
 335 }
 336
 337 /******************************************************************************/
 338
 339 /** Waits while no action is wanted. To stop waiting set orte.camera_control.on=TRUE
 340   * or in DEBUG session press W key.
 341   * @param capture Pointer to a camera capture.
 342   * @return Code of mode to switch to. */
 343 int modeWait(CvCapture *capture) {
 344         while(!orte.camera_control.on) {
 345 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 346                 //process keyboard events
 347                 switch(cvWaitKey(10) & 0xFF) {                                                                                  // wait 10ms for an event
 348                 // exit program
 349                 case KEY_ESC:
 350                         return MODE_QUIT;
 351
 352                 // stop waiting
 353                 case KEY_W:
 354                 case KEY_w:
 355                         return MODE_RECOGNIZE;
 356
 357                 }
 358 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 359                 printf("waiting...\n");
 360                 sleep(1);
 361         }
 362         return MODE_RECOGNIZE;
 363 }
 364
 365 /******************************************************************************/
 366
 367 /** Switches between modes of the program.
 368  * @param defaultMode The first mode to run. */
 369 int modeManager(int defaultMode) {
 370         int mode=defaultMode;
 371         int ret;
 372         CvCapture* capture;
 373
 374         // connect to a camera
 375         while(!(capture=cvCaptureFromCAM(CV_CAP_ANY))) {
 376                 perror("NULL capture");
 377                 usleep(500*1000);
 378         }
 379
 380 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 381         // create gui windows and init font
 382         cvNamedWindow(WINDOW_ORIG, CV_WINDOW_AUTOSIZE);                         // real camera video / one frame viewer
 383         cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0, 0, 1);             //init text font
 384 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 385
 386         while(!(mode & MODE_QUIT)) {
 387                 switch(mode & MASK_MODES) {
 388
 389 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 390                 case MODE_REALTIME:
 391                         cvDestroyWindow(WINDOW_THRES);
 392                         mode = modeRealtime(capture);
 393                         break;
 394 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 395
 396                 case MODE_RECOGNIZE:
 397 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 398                         cvNamedWindow(WINDOW_THRES, CV_WINDOW_AUTOSIZE);
 399                         cvMoveWindow(WINDOW_THRES, cvQueryFrame(capture)->width, 0);
 400                         cvNamedWindow(WINDOW_MASK, CV_WINDOW_AUTOSIZE);
 401                         cvMoveWindow(WINDOW_MASK, 0, cvQueryFrame(capture)->height+50);
 402                         cvNamedWindow(WINDOW_PROD, CV_WINDOW_AUTOSIZE);
 403                         cvMoveWindow(WINDOW_PROD, cvQueryFrame(capture)->width, cvQueryFrame(capture)->height+50);
 404 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 405                         //load masks and run recognition mode, then free masks (they are in memory only while in recognition mode)
 406                         if((ret=loadMasks((orte.camera_control.game_color==BLUE ? clBLUE : clYELLOW)))) return ret;
 407                         mode = modeRecognize(capture);
 408                         freeMasks();
 409                         break;
 410
 411                 case MODE_WAIT:
 412                         mode = modeWait(capture);
 413                         break;
 414
 415                 default:
 416                         goto end;                       // jump out of the loop
 417                 }
 418         }
 419
 420 end:
 421         cvReleaseCapture(&capture);
 422 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 423         cvDestroyWindow(WINDOW_ORIG);
 424         cvDestroyWindow(WINDOW_THRES);
 425         cvDestroyWindow(WINDOW_MASK);
 426         cvDestroyWindow(WINDOW_PROD);
 427 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 428         return mode & MASK_ERRORS;
 429 }
 430
 431 /******************************************************************************/
 432
 433 /** Returns a threshold computed from the frame. */
 434 int countThreshold(const IplImage *frame) {
 435         return cvAvg(frame).val[0];
 436 }
 437
 438 /******************************************************************************/
 439
 440 /** Returns an ordinary number of recognized layout.
 441         * @param frame Float representation of frame. */
 442 int recognize(const CvMat *frame, CvMat **masks, int masksCnt) {
 443         double max = cvDotProduct(frame, masks[0]);
 444         int maxInd = 0;
 445         for(int i=1; i<masksCnt; i++)   {
 446                 double prod = cvDotProduct(frame, masks[i]);
 447                 if(prod > max) {
 448                         max = prod;
 449                         maxInd = i;
 450                 }
 451         }
 452         return maxInd;
 453 }
 454
 455 /******************************************************************************/
 456
 457 /** Loads binary (float) data to *mask from file.
 458  * @param filename Path to file to read.
 459  * @param mask Address of array, where to alloc memory and store the data.
 460  * @return Length of read data or zero in case of error. */
 461 int loadMask(const char *filename, CvMat **mask) {
 462         float *data;
 463         int len;
 464         FILE *pFile = fopen(filename, "rb");                                                                    //open binary file for reading
 465         if(!pFile) {
 466                 char msg[200];
 467                 sprintf(msg, "Mask %s cannot be loaded.", filename);
 468                 perror(msg);
 469                 fprintf(stderr, "Run me from _build/user/camera/rozkuk\n");
 470                 return 0;
 471         }
 472
 473         *mask = cvCreateMat(FRAME_HEIGHT, FRAME_WIDTH, CV_32FC1);
 474         data = (*mask)->data.fl;
 475         len = fread((float *)data, sizeof(float), FRAME_SIZE, pFile);   //read data
 476
 477         fclose(pFile);
 478         return len;
 479 }
 480
 481 /******************************************************************************/
 482
 483 /** Loads all the float masks from files.
 484  * @return Zero if ok, else non-zero. */
 485 int loadMasks(char color) {
 486         char filename[100];
 487         //alloc memory for arrays of masks
 488         sideMasks = (CvMat **)malloc(SIDEMASKSCNT*sizeof(CvMat *));
 489         centerMasks = (CvMat **)malloc(CENTERMASKSCNT*sizeof(CvMat *));
 490         //load masks
 491         for(int i=0; i<SIDEMASKSCNT; i++) {
 492                 sprintf(filename, MASKFILENAME, i, orSIDE, color);
 493                 if(!loadMask(filename, sideMasks+i)) return ERR_MASK_READ_FAILURE;
 494         }
 495         for(int i=0; i<CENTERMASKSCNT; i++) {
 496                 sprintf(filename, MASKFILENAME, i, orCENTER, color);
 497                 if(!loadMask(filename, centerMasks+i)) return ERR_MASK_READ_FAILURE;
 498         }
 499         return 0;
 500 }
 501
 502 /******************************************************************************/
 503
 504 /** Frees the memory alloced for masks. */
 505 void freeMasks(void) {
 506         for(int i=0; i<SIDEMASKSCNT; i++) cvReleaseMat(sideMasks+i);
 507         for(int i=0; i<CENTERMASKSCNT; i++) cvReleaseMat(centerMasks+i);
 508         free(sideMasks);
 509         free(centerMasks);
 510 }
 511
 512 /******************************************************************************/
 513
 514 int main(int argc, char *argv[]) {
 515         int ret;
 516
 517         ret = robottype_roboorte_init(&orte);
 518         if(ret < 0) {
 519                 fprintf(stderr, "robottype_roboorte_init failed\n");
 520                 return ret;
 521         }
 522         robottype_publisher_camera_result_create(&orte, NULL, NULL);
 523         robottype_subscriber_camera_control_create(&orte, NULL, NULL);
 524
 525         modeManager(START_MODE);
 526
 527         ret = robottype_roboorte_destroy(&orte);
 528         return ret;
 529 }
 530