for tests

visrob2/camera_setup.sh

@@ -2,4 +2,10 @@
 
 # unset auto exposure - RPI camera
 v4l2-ctl --list-ctrls
+v4l2-ctl --set-ctrl white_balance_temperature_auto=0
+v4l2-ctl --set-ctrl exposure_auto=1
+v4l2-ctl --set-ctrl exposure_absolute=250
+v4l2-ctl --set-ctrl exposure_auto_priority=0
+v4l2-ctl --set-ctrl focus_auto=0
+v4l2-ctl --set-ctrl white_balance_temperature=3000
 

visrob2/example/IntegradoWEB/main.c

@@ -8,31 +8,54 @@
 #include "vision.h"
 #include <stdio.h>
 
+#define CANT_ITER 5
+#define ROBOT_H  29.5
+
 int main() {
+    FILE *fileOut = fopen("salidaTEST", "w");
+    int iter = 0;
+
     if (!vision_initialize(DEFAULT_HAVIMO_ID, DEFAULT_BAUDNUM, MAGENTA_COLOR))
         return -1;
-    if(vision_checkVision(0)) {
-
-        unsigned short int i;
-        char buffer [33];
-
-        for(i = 0; i < obj_size; i++) {
-            printf("::");
-            printf("%hu",objects[i].type);
-            printf(" ");
-            printf("%d",objects[i].x);
-            printf(" ");
-            printf("%u",objects[i].y);
-            printf(" ");
-            printf("%u",objects[i].z);
-            printf(" ");
-            printf("%hu",objects[i].likeness_level);
-            printf("\n");
+
+    vision_setPanAndTiltInDegrees(0,0);
+    vision_setRobotHeight(ROBOT_H);
+
+    fprintf(fileOut,"START TEST\n");
+    do {
+        fprintf(fileOut,"ITER %d\n",iter);
+        if(vision_checkVision(0)) {
+
+            unsigned short int i;
+            char buffer [33];
+
+            for(i = 0; i < obj_size; i++) {
+                fprintf(fileOut,"::");
+                fprintf(fileOut,"%hu",objects[i].type);
+                fprintf(fileOut," ");
+                fprintf(fileOut,"%d",objects[i].x);
+                fprintf(fileOut," ");
+                fprintf(fileOut,"%u",objects[i].y);
+                fprintf(fileOut," ");
+                fprintf(fileOut,"%u",objects[i].z);
+                fprintf(fileOut," ");
+                fprintf(fileOut,"%hu",objects[i].likeness_level);
+                fprintf(fileOut,"\n");
+            }
+        } else {
+            fprintf(fileOut,"error getting frame");
         }
-    }
-    printf("---\n");
+        iter++;
+    } while (iter < CANT_ITER);
 
     vision_terminate();
+    fprintf(fileOut,"THE END!\n");
+    fclose (fileOut);
     printf("THE END!\n");
     return 0;
 }
+//
+//    // open file to save info
+//    textfile << "blobs_" << std::setw(5) << std::setfill('0') << frameNumber;
+//    myfile.open (textfile.str().c_str(),std::ios_base::app);    // concatena cada linea al final del archivo
+//

visrob2/src/Havimo/icvBlobs.c

@@ -11,7 +11,7 @@
 #include <stdio.h>
 #include <stdlib.h>
 
-int BLOB_LENGTH = 0x10; //se leen 16 bytes
+//int BLOB_LENGTH = 0x10; //se leen 16 bytes
 
 /**
  * Retorna la comparacion de los arrays de blobs b1 y b2

visrob2/src/Havimo/utilsBlobs.cpp

@@ -36,7 +36,7 @@ IplImage *img;
 CvSize imgSize;
 IplImage *frame;
 int frameNumber;
-int num = 0;
+int num = -1;
 
 /* BALL - FIELD - MY GOAL - OPP GOAL - ROBOT BODY - CYAN - MAGENTA */
 cv::Scalar *calibsMIN;
@@ -171,7 +171,7 @@ int utilBlobs_getFrame(){
 /*    img = cvLoadImage(imagen,1);*/
     cvConvertScale(img, frame, 1, 0);
     std::stringstream filename;
-    filename << "IMG" << std::setw(5) << std::setfill('0') << num++ << ".png";
+    filename << "ORIGINAL_IMG_" << std::setw(5) << std::setfill('0') << ++num << ".png";
     cvSaveImage(filename.str().c_str(),frame);
     return 1;
 }
@@ -296,23 +296,23 @@ void utilBlobs_getBlobs(struct blob* result){
     int indice=0;
     CvBlobs blobsitos;
     for (int i=0; i < CANT_CALIBRACIONES && indice < CANT_REGIONS; i++){
-            IplImage *labelImg = cvCreateImage(cvGetSize(frame), IPL_DEPTH_LABEL, 1);
-            getOneColorBlobs(hsv, labelImg, blobsitos, imgSize, calibsMIN[i], calibsMAX[i]);
-            cvRenderBlobs(labelImg, blobsitos, frame, frame, CV_BLOB_RENDER_BOUNDING_BOX);
-            std::stringstream filename;
-            filename << "debugBLOB_" << std::setw(5) << std::setfill('0') << indice << ".png";
-            cvSaveImage(filename.str().c_str(),frame);
-
-            CvBlobs::const_iterator it = blobsitos.begin();
-            CvBlob* bloby;
-            while (it!=blobsitos.end() && indice < CANT_REGIONS){
-                bloby = (*it).second;
-                result [indice++] = infoToBlob(*bloby, indice+1, i+1);
-                it++;
-            }
+        IplImage *labelImg = cvCreateImage(cvGetSize(frame), IPL_DEPTH_LABEL, 1);
+        getOneColorBlobs(hsv, labelImg, blobsitos, imgSize, calibsMIN[i], calibsMAX[i]);
+        cvRenderBlobs(labelImg, blobsitos, frame, frame, CV_BLOB_RENDER_BOUNDING_BOX);
+        std::stringstream filename;
+        filename << "debugBLOB_" << std::setw(5) << std::setfill('0') << num << std::setw(5) << std::setfill('0') << indice << ".png";
+        cvSaveImage(filename.str().c_str(),frame);
+
+        CvBlobs::const_iterator it = blobsitos.begin();
+        CvBlob* bloby;
+        while (it!=blobsitos.end() && indice < CANT_REGIONS){
+            bloby = (*it).second;
+            result [indice++] = infoToBlob(*bloby, indice+1, i+1);
+            it++;
+        }
 
-            cvReleaseImage(&labelImg);
-            cvReleaseBlobs(blobsitos);
+        cvReleaseImage(&labelImg);
+        cvReleaseBlobs(blobsitos);
     }
     cvReleaseImage(&hsv);
     while(indice < CANT_REGIONS) result [indice++] = fillZeros();