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#ifdef GUI
#include <cv.h>
#include <highgui.h>
#endif
#include <stdlib.h>
#include <iostream>
#include <rvjpeg.h>
#include <xthread.h>
#include <robotinocom.h>
#include <fstream>
#define IPFILENAME "../../robotinoip.txt"
#define OMEGAMAX 40
#define VX 100
unsigned int timestampOfLastImage = 0;
std::string getIpFromFile( std::string filename )
{
std::string ip;
std::ifstream is;
is.open( filename.c_str() );
if( is.is_open() )
{
is >> ip;
is.close();
}
else
{
ip = "127.0.0.1";
}
return ip;
}
void errorCb( void* data, int error )
{
std::cout << std::endl << "Error " << RobotinoCom::errorString( error ) << std::endl;
}
void connectedCb( void* data )
{
std::cout << std::endl << "Connected" << std::endl;
}
void connectionClosedCb( void* data )
{
std::cout << std::endl << "Connection closed." << std::endl;
}
int main( int argc, char** argv )
{
std::string hostname;
hostname = getIpFromFile( IPFILENAME );
RobotinoCom::Image rawImage;
#ifdef GUI
IplImage* src = NULL;
IplImage* gray = NULL;
#endif
RobotinoCom com;
RVJpeg rvjpeg;
RobotinoCom::CameraParameters param = com.cameraParameters();
unsigned int i = 0;
int thres = 5000;
int lineX = 0;
int omega = 0;
if( false == com.init() )
{
return 1;
}
com.setErrorCallback( &errorCb, NULL );
com.setConnectedCallback( &connectedCb, NULL );
com.setConnectionClosedCallback( &connectionClosedCb, NULL );
#ifdef GUI
cvNamedWindow("Live Image",1);
cvNamedWindow("Gray Image",1);
cvCreateTrackbar( "Threshold", "Gray Image", &thres, 20000, NULL );
#endif
std::cout << "Connecting to host " << hostname;
com.connectToHost( hostname );
while( com.state() == RobotinoCom::ConnectingState )
{
std::cout << ".";
XThread::msleep( 200 );
}
std::cout << std::endl;
if( com.error() != RobotinoCom::NoError )
{
goto CLEANUP;
}
std::cout << "Press q to quit." << std::endl;
com.setImageRequest( true );
param.compression = RobotinoCom::LowCompression;
param.resolution = RobotinoCom::QVGA;
com.setCameraParameters( param );
#ifdef GUI
while( 'q' != cvWaitKey( 1 ) )
#else
while( false == com.bumper() )
#endif
{
if( timestampOfLastImage > 0 )
{
if( com.msecsElapsed() - timestampOfLastImage < 500 )
{
if( lineX != -1 )
{
omega = -lineX + rawImage.parameters.width / 2;
if( omega < 20 && omega > -20 )
{
omega = 0;
}
if( omega > OMEGAMAX )
{
omega = OMEGAMAX;
}
if( omega < -OMEGAMAX )
{
omega = -OMEGAMAX;
}
}
else
{
if( omega > 0 )
{
omega = OMEGAMAX;
}
else
{
omega = -OMEGAMAX;
}
}
std::cout << omega << std::endl;
if( 0 == omega )
{
com.setVelocity( VX, 0, omega );
}
else
{
com.setVelocity( 0, 0, omega );
}
}
}
if( com.receiveIoStatus() == false )
{
break;
}
const RobotinoCom::Image* image = com.lockImage();
if( image != NULL )
{
timestampOfLastImage = image->timestamp;
unsigned int width = 0;
unsigned int height = 0;
if( RobotinoCom::JPG == image->parameters.type )
{
if( rvjpeg.setDecodeSource( image->data, image->dataSize ) )
{
rvjpeg.sourceImageSize( &width, &height );
}
}
else if( RobotinoCom::RAW == image->parameters.type )
{
width = image->parameters.width;
height = image->parameters.height;
}
if( 0 != width && 0 != height )
{
if( rawImage.parameters.width != width || rawImage.parameters.height != height )
{
delete [] rawImage.data;
rawImage.data = new unsigned char[width*height*3];
rawImage.dataSize = width*height*3;
rawImage.parameters.width = width;
rawImage.parameters.height = height;
}
#ifdef GUI
CvSize size;
size.width = width;
size.height = height;
if( NULL != src )
{
if( src->width != width || src->height != height )
{
cvReleaseImageHeader(&src);
cvReleaseImageHeader(&gray);
src = cvCreateImageHeader( size, IPL_DEPTH_8U, 3 );
gray = cvCreateImageHeader( size, IPL_DEPTH_8U, 1 );
}
}
else
{
src = cvCreateImageHeader( size, IPL_DEPTH_8U, 3 );
gray = cvCreateImageHeader( size, IPL_DEPTH_8U, 1 );
}
#endif
if( RobotinoCom::JPG == image->parameters.type )
{
rvjpeg.setDestination( (char*)rawImage.data, rawImage.dataSize, RVJpeg::BGR );
rvjpeg.decode();
}
else if( RobotinoCom::RAW == image->parameters.type )
{
memcpy( (void*)rawImage.data, (const void*)image->data, image->dataSize );
}
com.unlockImage();
#ifdef GUI
cvSetData( src, rawImage.data, rawImage.parameters.width * 3 );
cvSetData( gray, lineDetector.sobelImage(), lineDetector.width() );
if( lineX != -1 )
{
CvPoint p1;
p1.x = lineX - 2;
p1.y = gray->height - 5 ;
CvPoint p2;
p2.x = lineX + 2;
p2.y = gray->height - 1;
cvRectangle( gray, p1, p2, cvScalar(200) );
}
cvShowImage("Live Image",src);
cvShowImage("Gray Image",gray);
#endif
}
}
}
CLEANUP:
#ifdef GUI
cvReleaseImageHeader( &src );
cvReleaseImageHeader( &gray );
cvDestroyWindow("Live Image");
cvDestroyWindow("Gray Image");
#endif
delete [] rawImage.data;
return 0;
}
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