rozkuk.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 <opencv/cv.h>
#include <opencv/highgui.h>
#include "clr2float.h"
#include "masks_globals.h"
#include "t_decision_box.h"
#include <roboorte_robottype.h>
#include <robot.h>

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Defines
#define	MODE_QUIT   0x01
#define	MODE_VIDEO   0x02
#define	MODE_RECOGNIZE   0x04
#define	MODE_WAIT   0x08
#define	MODE_IMAGE   0x10
#define	WINDOW_ORIG   "ROZKUK original scene"
#define	WINDOW_THRES   "ROZKUK threshold"
#define	WINDOW_MASK   "ROZKUK mask"
#define	WINDOW_PROD   "ROZKUK product"
#define	WINDOW_WIDTH   640
#define	WINDOW_HEIGHT   480
#define	KEY_ESC   0x1B
#define	KEY_SPACE   0x20
#define	KEY_P   0x50
#define	KEY_R   0x52
#define	KEY_S   0x53
#define	KEY_V   0x56
#define	KEY_W   0x57
#define	KEY_p   0x70
#define	KEY_r   0x72
#define	KEY_s   0x73
#define	KEY_v   0x76
#define	KEY_w   0x77
#define	KEY_PLUS   -0x55
#define	KEY_MINUS   -0x53
#define	SATURATION   1.0
#define	THRESHOLD_SHIFT   -25
#define	SNAPSHOTFILENAME   "snapshot%02d.pnm"
#define	DECISION_BOX_SIZE   3
Functions
int	saveFrame (const CvArr *img)
	Saves current image to a new file in the current directory.
void	displayProduct (const CvMat *floatMat, int sideConfig, int centerConfig)
	Displays in product window the result of multiplying camera frame (in float) and recognized mask.
void	displayMatSum (const CvMat *mat1, const CvMat *mat2, const char *windowName)
	Displays a sum of two matrices in specified window.
void	displayFloatMat (const CvMat *floatMat, const char *windowName)
	Normalizes the matrix values and displays them in window specified by name.
int	countThreshold (const IplImage *frame)
	Returns a threshold computed from the frame.
int	recognize (const CvMat *frame, CvMat **masks, int masksCnt, double *resDist)
	Returns an ordinary number of recognized configuration.
int	modeImage (char *imageFilename)
	Simulates MODE_RECOGNIZE over one specified image filename (PC only).
void	drawPauseText (IplImage *img)
	Writes text "pause" in the CAMERA window.
int	modeVideo (CvCapture *capture)
	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, IplImage **thrFrame, CvMat *fMat, int cfgSide, int cfgCenter)
	Displays analytic frames on screen (on PC), or saves (input) frame to file (on PPC in debug mode).
int	modeRecognize (CvCapture *capture, CORBA_octet currentColor)
	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, W or 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.
int	loadMask (const char *filename, CvMat **mask)
	Loads binary (float) data to *mask from file.
int	loadMasks (char color)
	Loads all the float masks from files.
void	freeMasks (void)
	Frees the memory allocated for masks.
bool	getCameraControlOn (void)
	Returns actual state of orte.camera_control.on.
CORBA_octet	getRobotSwitchesColor (void)
	Returns actual state of orte.robot_switches.team_color.
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.
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
CORBA_octet	robot_switches_color = 100
bool	camera_control_on = false
CvMat **	sideMasks = NULL
CvMat **	centerMasks = NULL
CvFont	fontLarge

---

Define Documentation

#define DECISION_BOX_SIZE   3

#define KEY_ESC   0x1B

#define KEY_MINUS   -0x53

#define KEY_p   0x70

#define KEY_P   0x50

#define KEY_PLUS   -0x55

#define KEY_r   0x72

#define KEY_R   0x52

#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 SATURATION   1.0

#define SNAPSHOTFILENAME   "snapshot%02d.pnm"

#define THRESHOLD_SHIFT   -25

#define WINDOW_HEIGHT   480

#define WINDOW_MASK   "ROZKUK mask"

#define WINDOW_ORIG   "ROZKUK original scene"

#define WINDOW_PROD   "ROZKUK product"

#define WINDOW_THRES   "ROZKUK threshold"

#define WINDOW_WIDTH   640

---

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.

void destroyGUI

(

void

)

Destroys highgui windows.

void displayFloatMat	(	const CvMat *	floatMat,
		const char *	windowName
	)

Normalizes the matrix values and displays them in window specified by name.

Parameters:

	floatMat	Pointer to matrix data to display.
	windowName	Name of window in which to display the image.

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void displayFrames	(	IplImage *	frame,
		IplImage **	thrFrame,
		CvMat *	fMat,
		int	cfgSide,
		int	cfgCenter
	)

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

Parameters:

	frame	Input frame from camera.
	thrFrame	Thresholded frame.
	fMat	Float representation of frame.
	cfgSide	Index of current side configuration.
	cfgCenter	Index of current center configuration.

void displayMatSum	(	const CvMat *	mat1,
		const CvMat *	mat2,
		const char *	windowName
	)

Displays a sum of two matrices in specified window.

Parameters:

	mat1	First float matrix.
	mat2	Second float matrix.
	windowName	Window specifier.

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void displayProduct	(	const CvMat *	floatMat,
		int	sideConfig,
		int	centerConfig
	)

Displays in product window the result of multiplying camera frame (in float) and recognized mask.

Parameters:

	floatMat	Pointer to the camera frame converted to float matrix.
	sideConfig	Index of recognized side situation.
	centerConfig	Index of recognized center situation.

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void drawPauseText

(

IplImage *

img

)

Writes text "pause" in the CAMERA window.

Parameters:

img

Frame to display with PAUSE text.

void freeMasks

(

void

)

Frees the memory allocated for masks.

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bool getCameraControlOn

(

void

)

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
	)

CORBA_octet getRobotSwitchesColor

(

void

)

[inline]

Returns actual state of orte.robot_switches.team_color.

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

Returns:

Actual team color.

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

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

Returns:

Mode to switch to.

void initGUI

(

void

)

Initializes GUI, displays static video window.

int loadMask	(	const char *	filename,
		CvMat **	mask
	)

Loads binary (float) data to *mask from file.

Parameters:

	filename	Path to file to read.
	mask	Address of array, where to alloc memory and store the data.

Returns:

Length of read data or zero in case of error.

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int loadMasks

(

char

color

)

Loads all the float masks from files.

Parameters:

color

Actual team color - use 'b' or 'y'.

Returns:

Zero if ok, else non-zero.

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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,
		CORBA_octet	currentColor
	)

Implements the camera recognition of corns configurations.

Parameters:

	capture	Pointer to a camera capture.
	currentColor	Number of starting color. If it changes in orte during recognition, this mode needs to restart (to load suitable masks).

Returns:

Code of mode to switch to.

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int modeVideo

(

CvCapture *

capture

)

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

Parameters:

capture

Pointer to a camera capture.

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, 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	(	const CvMat *	frame,
		CvMat **	masks,
		int	masksCnt,
		double *	resDist
	)

Returns an ordinary number of recognized configuration.

Parameters:

	frame	Float representation of frame.
	masks	Array of masks to compare with.
	masksCnt	Size of the array.
	resDist	If not NULL, a distance between the best and second best result is stored here.

Returns:

Number of recognized configuration.

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.

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

Orte camera result callback function.

Does nothing.

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

CvMat** centerMasks = NULL

CvFont fontLarge

struct robottype_orte_data orte

CORBA_octet robot_switches_color = 100

CvMat** sideMasks = NULL