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 extern "C" {
  12 #include <inttypes.h>
  13 #include <stdlib.h>
  14 #include <stdio.h>
  15 #include <semaphore.h>
  16 #include <getopt.h>
  17
  18 #include <orte.h>
  19 //#include "roboorte.h"
  20
  21 //#include "rozporte.h"
  22 }
  23
  24 #include <cv.h>
  25 #include <highgui.h>
  26
  27 #include "clr2float.h"
  28
  29 /******************************************************************************/
  30
  31 // modes definitions
  32 #define MODE_QUIT                                       0x01
  33 #define MODE_REALTIME                   0x02
  34 #define MODE_RECOGNIZE          0x04
  35
  36 // mask of all modes / errors
  37 #define MASK_MODES                              0x07
  38 #define MASK_ERRORS                             ~MASK_MODES
  39
  40 // default mode in standard session
  41 #define START_MODE                              MODE_RECOGNIZE
  42
  43 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
  44
  45 // default mode in debug session
  46 #undef START_MODE
  47 #define START_MODE                              MODE_REALTIME
  48
  49 // highgui windows names
  50 #define WINDOW_ORIG                             "ROZKUK original scene"
  51 #define WINDOW_THRES                    "ROZKUK threshold"
  52
  53 // values of keys
  54 #define KEY_ESC                                         0x1B
  55 #define KEY_SPACE                                       0x20
  56 #define KEY_P                                                   0x50
  57 #define KEY_R                                                   0x52
  58 #define KEY_p                                                   0x70
  59 #define KEY_r                                                   0x72
  60
  61 // number of frames passed in rozkuk mode before refresh
  62 #define PASS_FRAMES                             0
  63
  64 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
  65
  66 #define THRESHOLD                                       50
  67
  68
  69 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
  70
  71 /******************************************************************************/
  72
  73 CvFont font;                                            //text font
  74
  75 /******************************************************************************/
  76
  77 /** Writes text "pause" in the CAMERA window. */
  78 void drawPauseText(IplImage *img) {
  79         cvPutText(img,"pause", cvPoint(300,440), &font, cvScalar(255,255,255));
  80         cvShowImage(WINDOW_ORIG, img);
  81 }
  82
  83 /******************************************************************************/
  84
  85 /** Displays a real video in a window (only for DEBUG session).
  86  * @param capture Pointer to a camera capture.
  87  * @return Code of mode to switch to. */
  88 int modeRealtime(CvCapture* capture) {
  89   IplImage* frame = NULL;                                                                                                                               // frame from camera
  90   int pause=0;                                                                                                                                                                  // set pause=1 to pause the video
  91
  92         while(1) {
  93                 /* keyboard events handeling */
  94     switch(cvWaitKey(10) & 0xFF) {                                                                                      // wait 10ms for an event
  95     // stop capturing
  96     case KEY_ESC:
  97         return MODE_QUIT;
  98     // switch to recognize mode
  99     case KEY_R:
 100     case KEY_r:
 101         return MODE_RECOGNIZE;
 102     // (un)pause
 103     case KEY_P:
 104     case KEY_p:
 105         pause = !pause;
 106         drawPauseText(frame);
 107         break;
 108     }
 109
 110     frame = cvQueryFrame(capture);                                                                                      // Get one frame
 111     if(!frame) {
 112       perror("NULL frame");
 113       continue;
 114     }
 115
 116     if(!pause) cvShowImage(WINDOW_ORIG, frame);                                 // show image (! Do not release the frame !)
 117         }
 118         return MODE_QUIT;
 119 }
 120 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 121
 122 /******************************************************************************/
 123
 124 /** Implements the camera recognition of corns.
 125  * In DEBUG session the results are also displayed on screen.
 126  * @param capture Pointer to a camera capture.
 127  * @return Code of mode to switch to. */
 128 int modeRecognize(CvCapture* capture) {
 129         IplImage *frame = NULL;                                                                                                                         // frame from camera
 130   IplImage *thresFrame = NULL;                                                                                                  // thresholded frame
 131   float *floatMap = NULL;                                                                                                                               // float <-1,1> image of the frame
 132 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 133   int framesPassed = PASS_FRAMES;                                                                                               // number of passed frames before refresh
 134         int pause=0;                                                                                                                                                                    // set pause=1 to pause processing
 135 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 136
 137         while(1) {
 138 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 139                 /* keyboard events handeling */
 140     switch(cvWaitKey(10) & 0xFF) {                                                                                      // wait 10ms for an event
 141     // stop capturing
 142     case KEY_ESC:
 143         return MODE_QUIT;
 144     // skip the frame
 145     case KEY_SPACE:
 146         framesPassed = PASS_FRAMES;
 147         break;
 148     // switch to recognize mode
 149     case KEY_R:
 150     case KEY_r:
 151         return MODE_REALTIME;
 152     // (un)pause
 153     case KEY_P:
 154     case KEY_p:
 155         pause = !pause;
 156         drawPauseText(frame);
 157         break;
 158     }
 159 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 160
 161                 // Get one frame
 162 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 163                 if(pause) cvQueryFrame(capture);
 164                 else
 165 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 166                         frame = cvQueryFrame(capture);
 167     if(!frame) {
 168       perror("NULL frame");
 169       continue;
 170     }
 171
 172 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 173                 if(pause) continue;
 174
 175     // transform colorful image to its float <-1,1> representation
 176     cvReleaseImage(&thresFrame);
 177         thresFrame = cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,1);
 178 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 179         clr2float(frame, &floatMap, THRESHOLD, thresFrame);     // get float representation (in DEBUG session, thresholded image is stored to thresFrame)
 180
 181 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 182                 if(framesPassed++ > PASS_FRAMES) {
 183             framesPassed=0;
 184             cvShowImage(WINDOW_ORIG, frame);                                                                    // show image (! Do not release the frame !)
 185         cvShowImage(WINDOW_THRES, thresFrame);
 186                 }
 187 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 188
 189         }
 190         return MODE_QUIT;
 191 }
 192
 193 /******************************************************************************/
 194
 195 /** Switches between modes of the program.
 196  * @param defaultMode The first mode to run. */
 197 int modeManager(int defaultMode) {
 198         int mode=defaultMode;
 199   CvCapture* capture;
 200
 201         // connect to a camera
 202   while(!(capture=cvCaptureFromCAM(CV_CAP_ANY))) {
 203           perror("NULL capture");
 204     usleep(500*1000);
 205   }
 206
 207 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 208         // create gui windows and init font
 209   cvNamedWindow(WINDOW_ORIG, CV_WINDOW_AUTOSIZE);                               // real camera video / one frame viewer
 210         cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0, 0, 1);             //init text font
 211 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 212
 213   while(!(mode & MODE_QUIT)) {
 214         switch(mode & MASK_MODES) {
 215
 216 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 217         case MODE_REALTIME:
 218                 cvDestroyWindow(WINDOW_THRES);
 219                 mode = modeRealtime(capture);
 220                 break;
 221 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 222
 223         case MODE_RECOGNIZE:
 224 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 225                 cvNamedWindow(WINDOW_THRES, CV_WINDOW_AUTOSIZE);
 226                 cvMoveWindow(WINDOW_THRES, cvQueryFrame(capture)->width, 0);
 227 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 228                 mode = modeRecognize(capture);
 229                 break;
 230
 231         default:
 232                 goto end;                       // jump out of the loop
 233         }
 234   }
 235
 236 end:
 237   cvReleaseCapture(&capture);
 238 #ifdef ROZKUK_DEBUG                             /************ DEBUG SESSION ONLY ************/
 239   cvDestroyWindow(WINDOW_ORIG);
 240   cvDestroyWindow(WINDOW_THRES);
 241 #endif                                                                          /*----------- DEBUG SESSION ONLY -----------*/
 242   return mode & MASK_ERRORS;
 243 }
 244
 245 /******************************************************************************/
 246
 247 int main(int argc, char *argv[]) {
 248 /*  while (orte_init()) {
 249     perror("orte_init");
 250     usleep(500*1000);
 251   }
 252 */
 253         return modeManager(START_MODE);
 254 }
 255