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-rw-r--r--2004/i/nono/src/ovision/optim.cc87
-rw-r--r--2004/i/nono/src/ovision/space.cc19
-rw-r--r--2004/i/nono/src/ovision/test_ovision_ogl.cc190
3 files changed, 295 insertions, 1 deletions
diff --git a/2004/i/nono/src/ovision/optim.cc b/2004/i/nono/src/ovision/optim.cc
new file mode 100644
index 0000000..cef97b5
--- /dev/null
+++ b/2004/i/nono/src/ovision/optim.cc
@@ -0,0 +1,87 @@
+
+#include "image/raw_loader.h"
+#include "map.h"
+#include "oconfig.h"
+#include "group.h"
+#include "space.h"
+
+
+#include <time.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/timeb.h>
+static struct timeval _tstart, _tend;
+static struct timezone tz;
+
+void tstart(void)
+{
+ gettimeofday(&_tstart, &tz);
+}
+void tend(void)
+{
+ gettimeofday(&_tend,&tz);
+}
+
+double tval()
+{
+ double t1, t2;
+ t1 = (double)_tstart.tv_sec + (double)_tstart.tv_usec/(1000*1000);
+ t2 = (double)_tend.tv_sec + (double)_tend.tv_usec/(1000*1000);
+ return t2-t1;
+}
+
+
+
+int
+main()
+{
+ /////////////////////////////////////////////////////////////////////////////////////////
+ /// Initialisation des classes
+ OConfig oconfig("rc/vision.conf");
+
+ Img img;
+ RawLoader rawLoader("../src/ovision/test.rgb", 360, 296, ImageLoader::rgb);
+ img.load(rawLoader);
+
+ Space space(img.width, img.height);
+ space.AddSetupPoint (356, 23, 300, 300);
+ space.AddSetupPoint (283, 171, 600, 600);
+ space.AddSetupPoint (253, 234, 1000, 900);
+ space.Setup ();
+
+ SegmNN segmNN(&img);
+ segmNN.BuildNN(oconfig.nn_NbCouleurs, LOAD_FROM_FILE);
+
+ Group group(&img, &segmNN);
+
+ Map map(&space);
+ /////////////////////////////////////////////////////////////////////////////////////////
+
+
+ /////////////////////////////////////////////////////////////////////////////////////////
+ /// Prends une image a partir de la camera et l'analyse
+
+ tstart ();
+ //segmNN.Segm();
+ tend ();
+ std::cout << "Segmentation:\t" << tval () << std::endl;
+
+ tstart ();
+ group.JumpPoints(oconfig.groupColor);
+ tend ();
+ std::cout << "Find Group:\t" << tval () << std::endl;
+
+ tstart ();
+ if (group.zoneListBall)
+ {
+ int x,y;
+ x = group.zoneListBall->centerx;
+ y = img.height - group.zoneListBall->centery;
+ space.GetLoc(x, y, x, y);
+ tend ();
+ std::cout << "Map:\t\t" << tval () << std::endl;
+
+ }
+ /////////////////////////////////////////////////////////////////////////////////////////
+}
+
diff --git a/2004/i/nono/src/ovision/space.cc b/2004/i/nono/src/ovision/space.cc
index 8f04ebd..705dd0c 100644
--- a/2004/i/nono/src/ovision/space.cc
+++ b/2004/i/nono/src/ovision/space.cc
@@ -38,20 +38,28 @@ void Space::CreateGnuPlotFile (int y)
FILE *file;
double locY, locX;
+ // Ouverture du fichier
file = fopen("dataY", "w+");
+
+ // Parcours pour tous les pixels verticaux de l'image
for (int i=0; i<296; i++)
{
GetLoc(0, i, locX, locY);
fprintf(file, "%i\t%lf\n", i, locY);
}
+ // Fermeture du fichier
fclose(file);
+ // Ouverture du fichier
file = fopen("dataX", "w+");
+
+ // Parcours de tous les pixels horizontaux
for (int i=0; i<352; i++)
{
GetLoc(0, y, locX, locY);
fprintf(file, "%i\t%lf\n", i, locX);
}
+ // Fermeture du fichier
fclose(file);
}
@@ -76,6 +84,7 @@ Space::AddSetupPoint(int x, int y, int distx, int disty)
void
Space::LoadFromFile()
{
+ // Parcours de tous les points du fichier dist
for (int i=0; i<oconfig->nbDistPoint; i++)
AddSetupPoint(oconfig->tabPoint[i*4+0], oconfig->tabPoint[i*4+1], oconfig->tabPoint[i*4+2], oconfig->tabPoint[i*4+3]);
@@ -96,34 +105,42 @@ Space::FindCoeffLine (double x1, double y1, double x2, double y2, double &a, dou
int
Space::Setup(double a, double b, double c)
{
+ // Assignation des coefficients pour le calcul des y
aY = a;
bY = b;
cY = c;
double a1, b1, a2, b2;
-
+
+ // Cherche les coordonnées de 2 droites
FindCoeffLine (65, 9, 118, 180, a1, b1);
FindCoeffLine (198, 10, 192, 180, a2, b2);
cout << a1 << " " << b1 << " " << a2 << " " << b2 << endl;
+ // Allocation de la mémoire
delete []tabY;
tabY = new double[imgHeight];
delete []tabX;
tabX = new double[imgHeight*imgWidth];
+ // Création du tableau de correspondance pour les x
double diffPix;
double unitPix;
double center;
for (int y=0; y<imgHeight; y++)
{
+ // Calcul de la "longeur réelle" d'un pixel
diffPix = (a2*y+b2) - (a1*y+b1);
unitPix = 100.0f / diffPix;
tabY[y] = unitPix;
+ // Calcul du centre du robot sur l'image en fonction du y
center = a2*y + b2;
// cout << y << "\t" << tabY[y] << endl;
+
+ // Parcours de tous les x de la ligne et calcul de la distance correspondante
for (int x=0; x<imgWidth; x++)
tabX[y*imgWidth + x] = unitPix *(x - center);
}
diff --git a/2004/i/nono/src/ovision/test_ovision_ogl.cc b/2004/i/nono/src/ovision/test_ovision_ogl.cc
new file mode 100644
index 0000000..2f6dd7e
--- /dev/null
+++ b/2004/i/nono/src/ovision/test_ovision_ogl.cc
@@ -0,0 +1,190 @@
+
+#include "video4linux/video4linux.h"
+#include "map.h"
+#include "oconfig.h"
+#include "group.h"
+#include "space.h"
+
+#include <unistd.h>
+#include <fcntl.h>
+#include <signal.h>
+#include <stdlib.h>
+
+#include <iostream>
+
+int fifo;
+long pid;
+
+void
+endSleep(int numSignal)
+{
+ // Reassignement du signal handler
+ signal(SIGUSR1, endSleep);
+}
+
+
+void
+init ()
+{
+ signal(SIGUSR1, endSleep);
+
+ // Suppression de l'ancien fifo
+ system("rm -f uicmds");
+
+ // Creation du fifo
+ if (mknod("uicmds", S_IFIFO | 0666, 0) != 0 && errno != EEXIST)
+ {
+ std::cerr << " : Error during fifo creation";
+ return;
+ }
+
+ // Ouverture du fifo
+ fifo = open("uicmds", O_RDWR);
+ if (fifo < 0)
+ {
+ std::cerr << " : Error during fifo opening";
+ return;
+ }
+
+ // On choppe le pid du prog adjust situé dans le fichier adjust.PID
+ FILE *file;
+ file = fopen("adjust.PID", "r");
+ if (!file)
+ {
+ std::cerr << "UI:UI : PID file not found" << std::endl;
+ exit(1);
+ }
+ char buf[10];
+ fgets(buf, 10, file);
+ pid = atol(buf);
+ fclose(file);
+
+ // Ecriture du PID dans un fichier
+ long uiPid = getpid();
+ file = fopen("ui.PID", "w+");
+ if (!file)
+ {
+ std::cerr << "Error during file opening" << std::endl;
+ return;
+ }
+ fprintf(file, "%li\n", uiPid);
+ fclose(file);
+
+ // Ouverture du fifo
+ kill(pid, SIGUSR2);
+}
+
+void
+SendSignal(char *cmd)
+{
+ // Ecrit dans le fifo
+ write(fifo, cmd, 50);
+
+ // Envoie un signal USR1 au prog adjust
+ kill(pid, SIGUSR1);
+}
+
+
+
+void
+end ()
+{
+ close(fifo);
+
+ system("rm -f adjust.PID ui.PID");
+}
+
+int
+main ()
+{
+ /////////////////////////////////////////////////////////////////////////////////////////
+ /// Initialisation des classes
+ OConfig oconfig("rc/vision.conf");
+
+ Img img;
+ Video4Linux::ColorSpace cs;
+ cs = Video4Linux::rgb;
+ Video4Linux v4l("/dev/video", cs, 60000);
+ v4l.calibrate ();
+
+ // Prendre une image pour que la taille de l'image soit configuré
+ img.load (v4l);
+
+ Space space(img.width, img.height);
+ space.LoadFromFile ();
+ space.Setup (0.00603759, 0.593767, 291.474);
+
+
+ std::cout << "ok" << std::endl;
+
+ SegmNN segmNN(&img);
+ segmNN.BuildNN(oconfig.nn_NbCouleurs, LOAD_FROM_FILE);
+
+ Group group(&img, &segmNN);
+
+ Map map(&space);
+ /////////////////////////////////////////////////////////////////////////////////////////
+ init ();
+
+
+
+ /////////////////////////////////////////////////////////////////////////////////////////
+ /// Prends une image a partir de la camera et l'analyse
+ char filename[30];
+ char buf[40];
+ int i = 0;
+ while (1)
+ {
+ std::cout << "-----------------------------------------------------------------" << std::endl;
+ std::cout << "image n°" << i << std::endl;
+ img.load(v4l);
+ img.load(v4l);
+ sprintf(filename, "test%i.rgb", i);
+ img.WriteRGB(filename);
+ sprintf(buf, "n %s\n", filename);
+ SendSignal(buf);
+
+ group.JumpPoints(oconfig.groupColor, oconfig.goalColor);
+ group.ShowZones();
+ std::cout << "-------------\n" << std::endl;
+
+/* ZONE *pCur = group.zoneListBall;
+ int j=0;
+ while (pCur)
+ {
+ int x,y;
+ x = pCur->centerx;
+ y = img.height - pCur->centery;
+ space.GetLoc(x, y, x, y);
+ std::cout << j << ":" << x << " " << y << std::endl;
+ pCur = pCur->next;
+ j++;
+ }
+*/
+
+ std::cout << "-------------\n" << std::endl;
+ std::cout << "Map:\n" << std::endl;
+ map.AddBallsToMap (&group);
+ map.ShowBalls ();
+
+ double balX, balY;
+ if (map.GetCurBallPos (balX, balY))
+ std::cout << "Balle Courante: " << balX << " " << balY << std::endl;
+
+
+ if (map.IsTree ())
+ {
+ double treeX, treeY;
+ map.GetTreePos (treeX, treeY);
+ std::cout << "Tree: " << treeX << " " << treeY << std::endl;
+ }
+
+
+// sleep(1);
+ getchar();
+ i++;
+ }
+ /////////////////////////////////////////////////////////////////////////////////////////
+ end ();
+}
+