compilacion de la integracion

visrob2/CMakeLists.txt

@@ -9,16 +9,18 @@ PROJECT(NewVisRob2)
 SET (LIBRARY_OUTPUT_PATH    ${NewVisRob2_BINARY_DIR}/bin
 	CACHE PATH "Directory for Libraries")
 
+#set_source_files_properties(*.c PROPERTIES LANGUAGE CXX )
+
 add_subdirectory (src/Configuracion)
-add_subdirectory (src/Comunicacion)
+#add_subdirectory (src/Comunicacion)
 add_subdirectory (src/Havimo)
-add_subdirectory (src/DynamixelCustom)
+#add_subdirectory (src/DynamixelCustom)
 add_subdirectory (src/Poses)
-add_subdirectory (src/Utils)
+#add_subdirectory (src/Utils)
 add_subdirectory (src/Vision)
-add_subdirectory (src/ZigbeeVisionFilter)
+#add_subdirectory (src/ZigbeeVisionFilter)
 
-add_subdirectory (src/Zgb_console)
+#add_subdirectory (src/Zgb_console)
 
 INCLUDE_DIRECTORIES(./include)
  

visrob2/example/IntegradoWEB/CMakeLists.txt

+CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+PROJECT(integrationTest) 
+
+INCLUDE(FindPkgConfig) 
+find_package(OpenCV REQUIRED)
+find_package(cvBlob REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS} ${cvBlob_INCLUDE_DIRS})
+set(LIBS  ${cvBlob_LIBS}  ${OpenCV_LIBS})
+link_directories(${OpenCV_INCLUDE_DIRS} ${cvBlob_INCLUDE_DIRS}) 
+
+INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../../include)
+
+add_library(libICamera STATIC IMPORTED)
+set_property(TARGET libICamera PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/../../lib/libICamera.a)
+
+add_library(libvision STATIC IMPORTED)
+set_property(TARGET libvision PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/../../lib/libvision.a)
+
+set_source_files_properties(main.c PROPERTIES LANGUAGE CXX )
+
+add_executable(integrationTest main.c)
+
+SET_TARGET_PROPERTIES(integrationTest PROPERTIES LINKER_LANGUAGE CXX)
+
+target_link_libraries(integrationTest libvision libICamera ${LIBS} -lm)
+
+INSTALL(TARGETS integrationTest DESTINATION ${CMAKE_CURRENT_SOURCE_DIR})
\ No newline at end of file

visrob2/example/IntegradoWEB/main.c

+/*############################################################
+#                                                            #
+#  Proyecto Futbol de Robots.   -   PAIE 2014                #
+#  http://www.fing.edu.uy/inco/proyectos/futbot13/           #
+#                                                            #
+############################################################*/
+
+#include "vision.h"
+#include <stdio.h>
+
+int main() {
+    if (!vision_initialize(DEFAULT_HAVIMO_ID, DEFAULT_BAUDNUM, CYAN_COLOR))
+        return -1;
+    vision_checkVision(0);
+    vision_terminate();
+    printf("FINAL FELIZ...\n");
+    return 0;
+}

visrob2/include/Config.h

+
+#ifndef I_CONFIG
+#define I_CONFIG
+#include "confuse.h"
+cfg_t *initCfg(const char* fileConf);
+
+
+
+#endif
\ No newline at end of file

visrob2/include/iHaViMo.h

-/*############################################################
-#                                                            #
-#  Proyecto Visión robótica y reconstrucción espacial        #
-#           con aplicaciones prácticas. 2010                 #
-#  http://www.fing.edu.uy/inco/grupos/mina/pGrado/vision2010 #
-#                                                            #
-############################################################*/
-
-/**
- * iHaViMo.h: Interfaz de capa de Interaccion con HaViMo.
- * Realiza el pasaje de blobs detectados de la memoria de la camara a la memoria del controlador
- * @author: Gonzalo Gismero
- */
- 
-#ifndef I_HAVIMO
-#define I_HAVIMO
-
-#define CANT_REGIONS	15
-
-//Region index 0..15
-#define INVALID_REGION	0
-
-//Region color
-#define UNKOWN_REGION	0
-#define BALL_REGION		1
-#define FIELD_REGION	2
-#define MY_GOAL_REGION	3
-#define OPP_GOAL_REGION	4
-#define	ROBOT_REGION	5
-#define	CYAN_REGION		6
-#define MAGENTA_REGION	7
-
-#define IMAGE_WIDTH 	160 //px
-#define IMAGE_HEIGHT 	120	//px
-
-#define DISTANCIA_FOCAL_HAVIMO	164//d(cm) * ancho(px) / ancho(cm)
-#define DFH_FOR_PROPORTION		179
-
-struct blob {
-	unsigned int region_index;
-	unsigned int region_color;
-	unsigned int number_of_pixels;
-	unsigned int sum_of_x_coord_high;
-	unsigned int sum_of_x_coord_low;
-	unsigned int sum_of_y_coord_high;
-	unsigned int sum_of_y_coord_low;
-	unsigned int max_x;
-	unsigned int min_x;
-	unsigned int max_y;
-	unsigned int min_y;
-};
-
-/**
- * Inicializa las estructuras que utiliza la interfaz, y envía a HaViMo el primer pedido de procesamiento de frame.
- * Tambien inicializa las comunicaciones de la libreria dynamixel.
- *		HaViMo_dxl_ID:			identificador dxl de HaViMO. Por defecto es 100
- *		baudnum:				baudnum, por defecto es 1.
- */
-int vision_iHaViMo_initialize(int HaViMo_dxl_ID, int baudnum);
-
-/**
- * Elimina las estructuras utilizadas por el modulo.
- */
-int vision_iHaViMo_terminate(void);
-
-/**
- * Obtiene el siguiente frame de HaViMo. En caso de que no este disponible se devuelve NULL
- * Si el resultado es valido, antes de devolverlo se le pide a HaViMo que procese el siguiente frame.
- *		HaViMo_dxl_ID:			identificador dxl de HaViMO. Por defecto es 100
- */
-struct blob * vision_iHaViMo_getNextFrame(int HaViMo_dxl_ID);
-
-
-
-/*---------------FUNCIONES AUXILIARES PARA MANEJO DE BLOB---------------*/
-
-
-/**
- * Retorna la comparacion de los arrays de blobs b1 y b2
- *		b1:		array para comparar con b2
- *		b2:		array para comparar con b1
- */
-unsigned int blob_array_blob_equals(struct blob * b1, struct blob * b2);
-
-/**
- * Compara 2 blobs
- *		b1:		blob a comparar con b2
- *		b2:		blob a comparar con b1
- */
-unsigned int blob_equals(struct blob b1, struct blob b2);
-
-/**
- * Imprime un conjunto de blobs en consola. Se debe estar conectado a través del puerto serial.
- *		blobs:		array de blobs a imprimr
- */
-void vision_iHaViMo_printBlobs(struct blob* blobs);
-
-
-#endif

visrob2/include/iVisionModule.h

+/*############################################################
+#                                                            #
+#  Proyecto Futbol de Robots.   -   PAIE 2014                #
+#  http://www.fing.edu.uy/inco/proyectos/futbot13/           #
+#                                                            #
+############################################################*/
+
+/**
+ * iVisionModule.h: Interfaz de capa de Interaccion con Camara.
+ * Realiza el pasaje de blobs detectado.
+ */
+
+#ifndef I_VISION_MODULE
+#define I_VISION_MODULE
+
+//Region index 0..15
+#define INVALID_REGION  0
+
+//Region color
+#define UNKOWN_REGION   0
+#define BALL_REGION     1
+#define FIELD_REGION    2
+#define MY_GOAL_REGION  3
+#define OPP_GOAL_REGION 4
+#define	ROBOT_REGION    5
+#define	CYAN_REGION     6
+#define MAGENTA_REGION  7
+
+#define CANT_REGIONS    15
+
+#define IMAGE_WIDTH     160 //px
+#define IMAGE_HEIGHT    120	//px
+
+#define DISTANCIA_FOCAL_HAVIMO  164//d(cm) * ancho(px) / ancho(cm)
+#define DFH_FOR_PROPORTION      179
+
+struct blob {
+    unsigned int region_index;
+    unsigned int region_color;
+    unsigned int number_of_pixels;
+    unsigned int sum_of_x_coord_high;
+    unsigned int sum_of_x_coord_low;
+    unsigned int sum_of_y_coord_high;
+    unsigned int sum_of_y_coord_low;
+    unsigned int max_x;
+    unsigned int min_x;
+    unsigned int max_y;
+    unsigned int min_y;
+};
+
+/**
+ * Inicializa las estructuras que utiliza la interfaz.
+ */
+int iVisionModule_initialize(int ID, int rate);
+
+/**
+ * Elimina las estructuras utilizadas por el modulo.
+ */
+int iVisionModule_terminate(void);
+
+/**
+ * Obtiene el siguiente frame de la camara. En caso de que no este disponible se devuelve NULL
+ * Si el resultado es valido, antes de devolverlo se procesa.
+ */
+struct blob * iVisionModule_getNextFrame(int ID);
+
+
+/*---------------FUNCIONES AUXILIARES PARA MANEJO DE BLOB---------------*/
+
+/**
+ * Retorna la comparacion de los arrays de blobs b1 y b2
+ *      b1:     array para comparar con b2
+ *      b2:     array para comparar con b1
+ */
+unsigned int blob_array_blob_equals(struct blob * b1, struct blob * b2);
+
+/**
+ * Compara 2 blobs
+ *      b1:     blob a comparar con b2
+ *      b2:     blob a comparar con b1
+ */
+unsigned int blob_equals(struct blob b1, struct blob b2);
+
+/**
+ * Imprime un conjunto de blobs en consola. Se debe estar conectado a través del puerto serial.
+ *      blobs:      array de blobs a imprimr
+ */
+void iVisionModule_printBlobs(struct blob* blobs);
+
+#endif

visrob2/include/vision.h

@@ -15,7 +15,7 @@
 #ifndef I_VISION
 #define I_VISION
 
-#include "iHaViMo.h"
+#include "iVisionModule.h"
 
 #define MYSELF									0 //No se retornan datos del propio robot. No es utilizado
 #define BALL									1

visrob2/src/Configuracion/CMakeLists.txt

@@ -6,6 +6,7 @@ INCLUDE_DIRECTORIES(../../include)
  
 ADD_LIBRARY(Configuracion STATIC Config.c)
 SET_PROPERTY(TARGET Configuracion PROPERTY SOVERSION 1.0)
+
 INSTALL(TARGETS Configuracion DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/../../lib)
 install(FILES Config.h DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/../../include)
 

visrob2/src/Havimo/CMakeLists.txt

 CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
-PROJECT(libHavimo)
+
+PROJECT(libICamera)
+INCLUDE(FindPkgConfig) 
+
 
 INCLUDE_DIRECTORIES(../../include)
  
-ADD_LIBRARY(havimo STATIC iHaViMo.c)
-SET_PROPERTY(TARGET havimo PROPERTY SOVERSION 1.0)
-INSTALL(TARGETS havimo DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/../../lib)
\ No newline at end of file
+IF(CAMARA STREQUAL "hav")
+	MESSAGE("Se usara la interface iHaViMo")
+	file (GLOB i_camera_SRC "iHaViMo.c") 
+	add_definitions(-DUSE_HAVIMO) 
+ELSEIF(CAMARA  STREQUAL "web")
+	MESSAGE("Se usara la interface icvBlobs")
+	find_package(OpenCV REQUIRED)
+	find_package(cvBlob REQUIRED)
+	include_directories(${OpenCV_INCLUDE_DIRS} ${cvBlob_INCLUDE_DIRS})
+	set(LIBS  ${cvBlob_LIBS}  ${OpenCV_LIBS})
+	link_directories(${OpenCV_INCLUDE_DIRS} ${cvBlob_INCLUDE_DIRS}) 
+
+	set_source_files_properties(icvBlobs.c PROPERTIES LANGUAGE CXX )
+	file (GLOB i_camera_SRC  utilsBlobs.cpp utilsBlobs.h  icvBlobs.c )
+	add_definitions(-DUSE_WEB)
+
+ELSE(CAMARA STREQUAL "")
+	MESSAGE("NO SE DEFINIO CAMARA")
+ENDIF()
+
+ADD_LIBRARY(ICamera STATIC ${i_camera_SRC})
+
+IF(CAMARA  STREQUAL "web")
+	SET_TARGET_PROPERTIES(ICamera PROPERTIES LINKER_LANGUAGE CXX)
+	target_link_libraries(ICamera ${LIBS})
+ENDIF()
+
+SET_PROPERTY(TARGET ICamera PROPERTY SOVERSION 1.0)
+INSTALL(TARGETS ICamera DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/../../lib)
+

visrob2/src/Havimo/Makefile

-/*############################################################
-#                                                            #
-#  Proyecto Visión robótica y reconstrucción espacial        #
-#           con aplicaciones prácticas. 2010                 #
-#  http://www.fing.edu.uy/inco/grupos/mina/pGrado/vision2010 #
-#                                                            #
-############################################################*/
-
-# Hey Emacs, this is a -*- makefile -*-
-#----------------------------------------------------------------------------
-# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.
-#
-# Released to the Public Domain
-#
-# Additional material for this makefile was written by:
-# Peter Fleury
-# Tim Henigan
-# Colin O'Flynn
-# Reiner Patommel
-# Markus Pfaff
-# Sander Pool
-# Frederik Rouleau
-# Carlos Lamas
-#
-#----------------------------------------------------------------------------
-# On command line:
-#
-# make all = Make software.
-#
-# make clean = Clean out built project files.
-#
-# make coff = Convert ELF to AVR COFF.
-#
-# make extcoff = Convert ELF to AVR Extended COFF.
-#
-# make program = Download the hex file to the device, using avrdude.
-#                Please customize the avrdude settings below first!
-#
-# make debug = Start either simulavr or avarice as specified for debugging, 
-#              with avr-gdb or avr-insight as the front end for debugging.
-#
-# make filename.s = Just compile filename.c into the assembler code only.
-#
-# make filename.i = Create a preprocessed source file for use in submitting
-#                   bug reports to the GCC project.
-#
-# To rebuild project do "make clean" then "make all".
-#----------------------------------------------------------------------------
-
-
-# MCU name
-MCU = atmega2561
-
-
-# Processor frequency.
-#     This will define a symbol, F_CPU, in all source code files equal to the 
-#     processor frequency. You can then use this symbol in your source code to 
-#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
-#     automatically to create a 32-bit value in your source code.
-#     Typical values are:
-#         F_CPU =  1000000
-#         F_CPU =  1843200
-#         F_CPU =  2000000
-#         F_CPU =  3686400
-#         F_CPU =  4000000
-#         F_CPU =  7372800
-#         F_CPU =  8000000
-#         F_CPU = 11059200
-#         F_CPU = 14745600
-#         F_CPU = 16000000
-#         F_CPU = 18432000
-#         F_CPU = 20000000
-F_CPU = 16000000
-
-
-# Output format. (can be srec, ihex, binary)
-FORMAT = ihex
-
-
-# Target file name (without extension).
-TARGET = libhavimo
-
-
-# Object files directory
-#     To put object files in current directory, use a dot (.), do NOT make
-#     this an empty or blank macro!
-OBJDIR = ./output
-
-
-# List C source files here. (C dependencies are automatically generated.)
-SRC = iHaViMo.c
-
-
-# List C++ source files here. (C dependencies are automatically generated.)
-CPPSRC = 
-
-
-# List Assembler source files here.
-#     Make them always end in a capital .S.  Files ending in a lowercase .s
-#     will not be considered source files but generated files (assembler
-#     output from the compiler), and will be deleted upon "make clean"!
-#     Even though the DOS/Win* filesystem matches both .s and .S the same,
-#     it will preserve the spelling of the filenames, and gcc itself does
-#     care about how the name is spelled on its command-line.
-ASRC =
-
-
-# Optimization level, can be [0, 1, 2, 3, s]. 
-#     0 = turn off optimization. s = optimize for size.
-#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
-OPT = s
-
-
-# Debugging format.
-#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
-#     AVR Studio 4.10 requires dwarf-2.
-#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
-DEBUG = dwarf-2
-
-
-# List any extra directories to look for include files here.
-#     Each directory must be seperated by a space.
-#     Use forward slashes for directory separators.
-#     For a directory that has spaces, enclose it in quotes.
-EXTRAINCDIRS = ../../include/
-
-
-# Compiler flag to set the C Standard level.
-#     c89   = "ANSI" C
-#     gnu89 = c89 plus GCC extensions
-#     c99   = ISO C99 standard (not yet fully implemented)
-#     gnu99 = c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-
-
-# Place -D or -U options here for C sources
-CDEFS = -DF_CPU=$(F_CPU)UL
-
-
-# Place -D or -U options here for ASM sources
-ADEFS = -DF_CPU=$(F_CPU)
-
-
-# Place -D or -U options here for C++ sources
-CPPDEFS = -DF_CPU=$(F_CPU)UL
-#CPPDEFS += -D__STDC_LIMIT_MACROS
-#CPPDEFS += -D__STDC_CONSTANT_MACROS
-
-
-
-#---------------- Compiler Options C ----------------
-#  -g*:          generate debugging information
-#  -O*:          optimization level
-#  -f...:        tuning, see GCC manual and avr-libc documentation
-#  -Wall...:     warning level
-#  -Wa,...:      tell GCC to pass this to the assembler.
-#    -adhlns...: create assembler listing
-CFLAGS = -g$(DEBUG)
-CFLAGS += $(CDEFS)
-CFLAGS += -O$(OPT)
-CFLAGS += -funsigned-char
-CFLAGS += -funsigned-bitfields
-CFLAGS += -fpack-struct
-CFLAGS += -fshort-enums
-CFLAGS += -Wall
-CFLAGS += -Wstrict-prototypes
-#CFLAGS += -mshort-calls
-#CFLAGS += -fno-unit-at-a-time
-#CFLAGS += -Wundef
-#CFLAGS += -Wunreachable-code
-#CFLAGS += -Wsign-compare
-CFLAGS += -Wa,-adhlns=$(<:%.c=$(OBJDIR)/%.lst)
-CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
-CFLAGS += $(CSTANDARD)
-
-
-#---------------- Compiler Options C++ ----------------
-#  -g*:          generate debugging information
-#  -O*:          optimization level
-#  -f...:        tuning, see GCC manual and avr-libc documentation
-#  -Wall...:     warning level
-#  -Wa,...:      tell GCC to pass this to the assembler.
-#    -adhlns...: create assembler listing
-CPPFLAGS = -g$(DEBUG)
-CPPFLAGS += $(CPPDEFS)
-CPPFLAGS += -O$(OPT)
-CPPFLAGS += -funsigned-char
-CPPFLAGS += -funsigned-bitfields
-CPPFLAGS += -fpack-struct
-CPPFLAGS += -fshort-enums
-CPPFLAGS += -fno-exceptions
-CPPFLAGS += -Wall
-CPPFLAGS += -Wundef
-#CPPFLAGS += -mshort-calls
-#CPPFLAGS += -fno-unit-at-a-time
-#CPPFLAGS += -Wstrict-prototypes
-#CPPFLAGS += -Wunreachable-code
-#CPPFLAGS += -Wsign-compare
-CPPFLAGS += -Wa,-adhlns=$(<:%.cpp=$(OBJDIR)/%.lst)
-CPPFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
-#CPPFLAGS += $(CSTANDARD)
-
-
-#---------------- Assembler Options ----------------
-#  -Wa,...:   tell GCC to pass this to the assembler.
-#  -adhlns:   create listing
-#  -gstabs:   have the assembler create line number information; note that
-#             for use in COFF files, additional information about filenames
-#             and function names needs to be present in the assembler source
-#             files -- see avr-libc docs [FIXME: not yet described there]
-#  -listing-cont-lines: Sets the maximum number of continuation lines of hex 
-#       dump that will be displayed for a given single line of source input.
-ASFLAGS = $(ADEFS) -Wa,-adhlns=$(<:%.S=$(OBJDIR)/%.lst),-gstabs,--listing-cont-lines=100
-
-
-#---------------- Library Options ----------------
-# Minimalistic printf version
-PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
-
-# Floating point printf version (requires MATH_LIB = -lm below)
-PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
-
-# If this is left blank, then it will use the Standard printf version.
-PRINTF_LIB = 
-#PRINTF_LIB = $(PRINTF_LIB_MIN)
-#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
-
-
-# Minimalistic scanf version
-SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
-
-# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
-SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
-
-# If this is left blank, then it will use the Standard scanf version.
-SCANF_LIB = 
-#SCANF_LIB = $(SCANF_LIB_MIN)
-#SCANF_LIB = $(SCANF_LIB_FLOAT)
-
-
-MATH_LIB = -lm
-
-
-# List any extra directories to look for libraries here.
-#     Each directory must be seperated by a space.
-#     Use forward slashes for directory separators.
-#     For a directory that has spaces, enclose it in quotes.
-EXTRALIBDIRS = ../../libinclude
-EXTRALIB = -ldynamixel_custom 
-
-
-
-#---------------- External Memory Options ----------------
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# used for variables (.data/.bss) and heap (malloc()).
-#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# only used for heap (malloc()).
-#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff
-
-EXTMEMOPTS =
-
-
-
-#---------------- Linker Options ----------------
-#  -Wl,...:     tell GCC to pass this to linker.
-#    -Map:      create map file
-#    --cref:    add cross reference to  map file
-LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
-LDFLAGS += $(EXTMEMOPTS)
-LDFLAGS += $(patsubst %,-L%,$(EXTRALIBDIRS))
-LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) $(EXTRALIB)
-#LDFLAGS += -T linker_script.x
-
-
-
-#---------------- Programming Options (avrdude) ----------------
-
-# Programming hardware
-# Type: avrdude -c ?
-# to get a full listing.
-#
-AVRDUDE_PROGRAMMER = stk500v2
-
-# com1 = serial port. Use lpt1 to connect to parallel port.
-AVRDUDE_PORT = com1    # programmer connected to serial device
-
-AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
-#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
-
-
-# Uncomment the following if you want avrdude's erase cycle counter.
-# Note that this counter needs to be initialized first using -Yn,
-# see avrdude manual.
-#AVRDUDE_ERASE_COUNTER = -y
-
-# Uncomment the following if you do /not/ wish a verification to be
-# performed after programming the device.
-#AVRDUDE_NO_VERIFY = -V
-
-# Increase verbosity level.  Please use this when submitting bug
-# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> 
-# to submit bug reports.
-#AVRDUDE_VERBOSE = -v -v
-
-AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
-AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
-AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
-AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
-
-
-
-#---------------- Debugging Options ----------------
-
-# For simulavr only - target MCU frequency.
-DEBUG_MFREQ = $(F_CPU)
-
-# Set the DEBUG_UI to either gdb or insight.
-# DEBUG_UI = gdb
-DEBUG_UI = insight
-
-# Set the debugging back-end to either avarice, simulavr.
-DEBUG_BACKEND = avarice
-#DEBUG_BACKEND = simulavr
-
-# GDB Init Filename.
-GDBINIT_FILE = __avr_gdbinit
-
-# When using avarice settings for the JTAG
-JTAG_DEV = /dev/com1
-
-# Debugging port used to communicate between GDB / avarice / simulavr.
-DEBUG_PORT = 4242
-
-# Debugging host used to communicate between GDB / avarice / simulavr, normally
-#     just set to localhost unless doing some sort of crazy debugging when 
-#     avarice is running on a different computer.
-DEBUG_HOST = localhost
-
-
-
-#============================================================================
-
-
-# Define programs and commands.
-SHELL = sh
-CC = avr-gcc
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-AR = avr-ar rcs
-NM = avr-nm
-AVRDUDE = avrdude
-REMOVE = rm -f
-REMOVEDIR = rm -rf
-COPY = cp
-WINSHELL = cmd
-
-
-# Define Messages
-# English
-MSG_ERRORS_NONE = Errors: none
-MSG_BEGIN = -------- begin --------
-MSG_END = --------  end  --------
-MSG_SIZE_BEFORE = Size before: 
-MSG_SIZE_AFTER = Size after:
-MSG_COFF = Converting to AVR COFF:
-MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
-MSG_FLASH = Creating load file for Flash:
-MSG_EEPROM = Creating load file for EEPROM:
-MSG_EXTENDED_LISTING = Creating Extended Listing:
-MSG_SYMBOL_TABLE = Creating Symbol Table:
-MSG_LINKING = Linking:
-MSG_COMPILING = Compiling C:
-MSG_COMPILING_CPP = Compiling C++:
-MSG_ASSEMBLING = Assembling:
-MSG_CLEANING = Cleaning project:
-MSG_CREATING_LIBRARY = Creating library:
-
-
-
-
-# Define all object files.
-OBJ = $(SRC:%.c=$(OBJDIR)/%.o) $(CPPSRC:%.cpp=$(OBJDIR)/%.o) $(ASRC:%.S=$(OBJDIR)/%.o) 
-
-# Define all listing files.
-LST = $(SRC:%.c=$(OBJDIR)/%.lst) $(CPPSRC:%.cpp=$(OBJDIR)/%.lst) $(ASRC:%.S=$(OBJDIR)/%.lst) 
-
-
-# Compiler flags to generate dependency files.
-GENDEPFLAGS = -MMD -MP -MF .dep/$(@F).d
-
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
-ALL_CPPFLAGS = -mmcu=$(MCU) -I. -x c++ $(CPPFLAGS) $(GENDEPFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-
-
-
-# Default target.
-all: begin gccversion sizebefore build sizeafter end
-
-# Change the build target to build a HEX file or a library.
-#build: elf hex eep lss sym
-build: lib
-
-
-elf: $(TARGET).elf
-hex: $(TARGET).hex
-eep: $(TARGET).eep
-lss: $(TARGET).lss
-sym: $(TARGET).sym
-LIBNAME=$(TARGET).a
-lib: ../../lib/$(LIBNAME)
-
-
-
-# Eye candy.
-# AVR Studio 3.x does not check make's exit code but relies on
-# the following magic strings to be generated by the compile job.
-begin:
-	@echo
-	@echo $(MSG_BEGIN)
-
-end:
-	@echo $(MSG_END)
-	@echo
-
-
-# Display size of file.
-HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
-ELFSIZE = $(SIZE) --mcu=$(MCU) --format=avr $(TARGET).elf
-
-sizebefore:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
-	2>/dev/null; echo; fi
-
-sizeafter:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
-	2>/dev/null; echo; fi
-
-
-
-# Display compiler version information.
-gccversion : 
-	@$(CC) --version
-
-
-
-# Program the device.  
-program: $(TARGET).hex $(TARGET).eep
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
-
-
-# Generate avr-gdb config/init file which does the following:
-#     define the reset signal, load the target file, connect to target, and set 
-#     a breakpoint at main().
-gdb-config: 
-	@$(REMOVE) $(GDBINIT_FILE)
-	@echo define reset >> $(GDBINIT_FILE)
-	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
-	@echo end >> $(GDBINIT_FILE)
-	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
-	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
-ifeq ($(DEBUG_BACKEND),simulavr)
-	@echo load  >> $(GDBINIT_FILE)
-endif
-	@echo break main >> $(GDBINIT_FILE)
-
-debug: gdb-config $(TARGET).elf
-ifeq ($(DEBUG_BACKEND), avarice)
-	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
-	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
-	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
-	@$(WINSHELL) /c pause
-
-else
-	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
-	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
-endif
-	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
-
-
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT = $(OBJCOPY) --debugging
-COFFCONVERT += --change-section-address .data-0x800000
-COFFCONVERT += --change-section-address .bss-0x800000
-COFFCONVERT += --change-section-address .noinit-0x800000
-COFFCONVERT += --change-section-address .eeprom-0x810000
-
-
-
-coff: $(TARGET).elf
-	@echo
-	@echo $(MSG_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
-
-
-extcoff: $(TARGET).elf
-	@echo
-	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
-
-
-
-# Create final output files (.hex, .eep) from ELF output file.
-%.hex: %.elf
-	@echo
-	@echo $(MSG_FLASH) $@
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom -R .fuse -R .lock $< $@
-
-%.eep: %.elf
-	@echo
-	@echo $(MSG_EEPROM) $@
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 --no-change-warnings -O $(FORMAT) $< $@ || exit 0
-
-# Create extended listing file from ELF output file.
-%.lss: %.elf
-	@echo
-	@echo $(MSG_EXTENDED_LISTING) $@
-	$(OBJDUMP) -h -S -z $< > $@
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-	@echo
-	@echo $(MSG_SYMBOL_TABLE) $@
-	$(NM) -n $< > $@
-
-
-
-# Create library from object files.
-.SECONDARY : $(TARGET).a
-.PRECIOUS : $(OBJ)
-%.a: $(OBJ)
-	@echo
-	@echo $(MSG_CREATING_LIBRARY) $@
-	$(AR) $@ $(OBJ)
-
-
-# Link: create ELF output file from object files.
-.SECONDARY : $(TARGET).elf
-.PRECIOUS : $(OBJ)
-%.elf: $(OBJ)
-	@echo
-	@echo $(MSG_LINKING) $@
-	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
-
-
-# Compile: create object files from C source files.
-$(OBJDIR)/%.o : %.c
-	@echo
-	@echo $(MSG_COMPILING) $<
-	$(CC) -c $(ALL_CFLAGS) $< -o $@ 
-
-
-# Compile: create object files from C++ source files.
-$(OBJDIR)/%.o : %.cpp
-	@echo
-	@echo $(MSG_COMPILING_CPP) $<
-	$(CC) -c $(ALL_CPPFLAGS) $< -o $@ 
-
-
-# Compile: create assembler files from C source files.
-%.s : %.c
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Compile: create assembler files from C++ source files.
-%.s : %.cpp
-	$(CC) -S $(ALL_CPPFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-$(OBJDIR)/%.o : %.S
-	@echo
-	@echo $(MSG_ASSEMBLING) $<
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-
-# Create preprocessed source for use in sending a bug report.
-%.i : %.c
-	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ 
-	
-
-# Target: clean project.
-clean: begin clean_list end
-
-clean_list :
-	@echo
-	@echo $(MSG_CLEANING)
-	$(REMOVE) $(TARGET).hex
-	$(REMOVE) $(TARGET).eep
-	$(REMOVE) $(TARGET).cof
-	$(REMOVE) $(TARGET).elf
-	$(REMOVE) $(TARGET).map
-	$(REMOVE) $(TARGET).sym
-	$(REMOVE) $(TARGET).lss
-	$(REMOVE) $(SRC:%.c=$(OBJDIR)/%.o)
-	$(REMOVE) $(SRC:%.c=$(OBJDIR)/%.lst)
-	$(REMOVE) $(SRC:.c=.s)
-	$(REMOVE) $(SRC:.c=.d)
-	$(REMOVE) $(SRC:.c=.i)
-	$(REMOVE) $(LIBNAME)
-	$(REMOVEDIR) .dep
-
-
-# Create object files directory
-$(shell mkdir $(OBJDIR) 2>/dev/null)
-
-
-# Include the dependency files.
--include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
-
-
-# Listing of phony targets.
-.PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex eep lss sym coff extcoff \
-clean clean_list program debug gdb-config
-
-

visrob2/src/Havimo/iHaViMo.c

@@ -4,12 +4,20 @@
 #           con aplicaciones prcticas. 2010                 #
 #  http://www.fing.edu.uy/inco/grupos/mina/pGrado/vision2010 #
 #                                                            #
+##############################################################
+#                                                            #
+#  Modificaciones:                                           #
+#   * Agosto 2014 : FutBot.                                  #
+#     Descripcion : Se modifican cabezales para dar soporte  #
+#         a otros modulos de vision. - ver iVisionModule.h   #
+#         con cabezales                                      #
+#                                                            #
 ############################################################*/
 
-#include "iHaViMo.h"
+#include "iVisionModule.h"
 
 #include <dynamixel.h>
-#include <util/delay.h>
+#include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
 
@@ -107,12 +115,12 @@ struct blob unsigned16ToBlob(unsigned int u1, unsigned int u2, unsigned int u3,
 /**
  * Obtiene el siguiente frame de HaViMo. En caso de que no este disponible se devuelve NULL
  * Si el resultado es valido, antes de devolverlo se le pide a HaViMo que procese el siguiente frame.
- *		HaViMo_dxl_ID:			identificador dxl de HaViMO. Por defecto es 100
+ *		ID:			identificador dxl de HaViMO. Por defecto es 100
  */
-struct blob * vision_iHaViMo_getNextFrame(int HaViMo_dxl_ID) {
+struct blob * iVisionModule_getNextFrame(int ID) {
 
 	//Preguntamos si ya se puede acceder a la camara
-	dxl_ping(HaViMo_dxl_ID);
+	dxl_ping(ID);
 
 	if (dxl_get_result() != COMM_RXSUCCESS ) {
 		//No esta pronto el frame
@@ -128,7 +136,7 @@ struct blob * vision_iHaViMo_getNextFrame(int HaViMo_dxl_ID) {
 	for(indice = 0; indice < CANT_REGIONS; indice++) {
 
 		//Pido la informacion del primer blob
-		enviarReadData(HaViMo_dxl_ID, readFrom, BLOB_LENGTH);
+		enviarReadData(ID, readFrom, BLOB_LENGTH);
 
 		_delay_ms(DELAY_MS);
 
@@ -158,7 +166,7 @@ struct blob * vision_iHaViMo_getNextFrame(int HaViMo_dxl_ID) {
 	}
 
 	//Capture
-	enviarCapture(HaViMo_dxl_ID);
+	enviarCapture(ID);
 
 	//return
 	return result;
@@ -168,16 +176,16 @@ struct blob * vision_iHaViMo_getNextFrame(int HaViMo_dxl_ID) {
 /**
  * Inicializa las estructuras que utiliza la interfaz, y enva a HaViMo el primer pedido de procesamiento de frame.
  * Tambien inicializa las comunicaciones de la libreria dynamixel.
- *		HaViMo_dxl_ID:			identificador dxl de HaViMO. Por defecto es 100
- *		baudnum:				baudnum, por defecto es 1.
+ *		ID:			identificador dxl de HaViMO. Por defecto es 100
+ *		rate:		baudnum, por defecto es 1.
  */
-int vision_iHaViMo_initialize(int HaViMo_dxl_ID, int baudnum) {
+int iVisionModule_initialize(int ID, int rate) {
 
 	//Inicializamos la conexin
-	dxl_initialize(0, baudnum);
+	dxl_initialize(0, rate);
 
 	//Realizamos el primer capture
-	enviarCapture(HaViMo_dxl_ID);
+	enviarCapture(ID);
 
 	return 1;
 }
@@ -185,7 +193,7 @@ int vision_iHaViMo_initialize(int HaViMo_dxl_ID, int baudnum) {
 /**
  * Elimina las estructuras utilizadas por el modulo.
  */
-int vision_iHaViMo_terminate() {
+int iVisionModule_terminate() {
 	//terminar conexion
 	dxl_terminate();
 
@@ -209,7 +217,7 @@ void mostrarBlob(struct blob b) {
  * Imprime un conjunto de blobs en consola. Se debe estar conectado a travs del puerto serial.
  *		blobs:					array de blobs a imprimr
  */
-void vision_iHaViMo_printBlobs(struct blob* blobs ) {
+void iVisionModule_printBlobs(struct blob* blobs ) {
 	if(blobs != NULL) {
 		int i;
 		for(i = 0; i < 15; i++) {
@@ -221,9 +229,3 @@ void vision_iHaViMo_printBlobs(struct blob* blobs ) {
 		printf("blobs es NULL\n");
 	}
 }
-
-
-
-
-
-

visrob2/src/Havimo/icvBlobs.c

+/*############################################################
+#                                                            #
+#  Proyecto Futbol de Robots.   -   PAIE 2014                #
+#  http://www.fing.edu.uy/inco/proyectos/futbot13/           #
+#                                                            #
+############################################################*/
+
+#include "iVisionModule.h"
+#include "utilsBlobs.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+
+int BLOB_LENGTH = 0x10; //se leen 16 bytes
+
+/**
+ * Retorna la comparacion de los arrays de blobs b1 y b2
+ *      b1:	    array para comparar con b2
+ *      b2:     array para comparar con b1
+ */
+unsigned int blob_array_blob_equals(struct blob * b1, struct blob * b2) {
+    int i;
+    unsigned int res = 0;
+    for(i = 0; i < CANT_REGIONS; i++) {
+        res  = res + blob_equals(b1[i], b2[i]);
+    }
+    return res;
+}
+
+/**
+ * Compara 2 blobs
+ *  	b1:	    blob a comparar con b2
+ *  	b2:	    blob a comparar con b1
+ */
+unsigned int blob_equals(struct blob b1, struct blob b2) {
+    if(b1.region_index == b2.region_index &&
+        b1.region_color == b2.region_color &&
+        b1.number_of_pixels == b2.number_of_pixels &&
+        b1.sum_of_x_coord_high == b2.sum_of_x_coord_high &&
+        b1.sum_of_x_coord_low == b2.sum_of_x_coord_low &&
+        b1.sum_of_y_coord_high == b2.sum_of_y_coord_high &&
+        b1.sum_of_y_coord_low == b2.sum_of_y_coord_low &&
+        b1.max_x == b2.max_x && b1.min_x == b2.min_x &&
+        b1.max_y == b2.max_y && b1.min_y == b2.min_y)
+            return 1;
+
+    return 0;
+}
+
+/**
+ * Obtiene el siguiente frame de la camara. En caso de que no este disponible se devuelve NULL
+ * Si el resultado es valido, antes de devolverlo se procesa.
+ */
+struct blob * iVisionModule_getNextFrame(int ID) { // --FIXME ningun parametro necesario
+    //Preguntamos si ya se puede acceder a la camara
+    if (!utilBlobs_getFrame()) { //--FIXME esta funcion obtiene un nuevo frame, retorna null si hay algun problema con la lectura desde la cam
+        //No esta pronto el frame
+        return NULL;
+    }
+
+    //Obtenemos los blobs detectados
+    struct blob* result = (struct blob*)malloc(sizeof(struct blob)*CANT_REGIONS);
+    utilBlobs_getBlobs(result); // --FIXME esta funcion procesa el frame obtenido retornando la estructura de blobs
+    iVisionModule_printBlobs(result);
+    printf("\n\n\nSALIO\n\n");
+
+    return result;
+}
+
+/**
+ * Inicializa las estructuras que utiliza la interfaz.
+ */
+int iVisionModule_initialize(int ID, int rate) { // --FIXME ver parametros si se necesita alguno
+    //Inicializamos la conexión
+    return utilBlobs_initialize(); // --FIXME aca va la llamada a iniciar la conexion con la camara y demas estructuras como cargar
+                                   // del conf las variables retorna 1 si todo OK - 0 si hubo algun problema con la conexion de camara
+}
+
+/**
+ * Elimina las estructuras utilizadas por el modulo.
+ */
+int iVisionModule_terminate() {
+    //terminar conexion
+    utilBlobs_terminate(); // --FIXME aca va la llamada a terminar la conexion con la camara y liberacion de estructuras
+    return 1;
+}
+
+
+/**
+ * Imprime un blob en consola.
+ *      blob: blob a imprimr
+ */
+void mostrarBlob(struct blob b) {
+    printf("region_index: %u\n", b.region_index);
+    printf("region_color: %u\n", b.region_color);
+    printf("number_of_pixels: %u\n", b.number_of_pixels);
+    printf("sum_of_x_coord: %4u%4u\n", b.sum_of_x_coord_high, b.sum_of_x_coord_low);
+    printf("sum_of_y_coord: %4u%4u\n", b.sum_of_y_coord_high, b.sum_of_y_coord_low);
+    printf("max_x: %u\n", b.max_x);
+    printf("min_x: %u\n", b.min_x);
+    printf("max_y: %u\n", b.max_y);
+    printf("min_y: %u\n", b.min_y);
+}
+
+/**
+ * Imprime un conjunto de blobs en consola.
+ *      blobs:    array de blobs a imprimr
+ */
+void iVisionModule_printBlobs(struct blob* blobs ) {
+    printf("\n\n\nBLOBS DESCUBIERTOS\n\n");
+    if(blobs != NULL) {
+        int i;
+        for(i = 0; i < CANT_REGIONS; i++) {
+            printf("blobs[%d]:\n",i);
+            mostrarBlob(blobs[i]);
+            printf("-----------\n");
+        }
+    } else {
+        printf("blobs es NULL\n");
+    }
+}

visrob2/src/Havimo/utilsBlobs.cpp

+/*############################################################
+#                                                            #
+#  Proyecto Futbol de Robots.   -   PAIE 2014                #
+#  http://www.fing.edu.uy/inco/proyectos/futbot13/           #
+#                                                            #
+############################################################*/
+
+#include "utilsBlobs.h"
+#include "iVisionModule.h"
+
+#include <fstream>
+#include <iomanip>
+
+#include <opencv/cv.h>
+#include <opencv/highgui.h>
+using namespace cv;
+
+#include <cvblob.h>
+using namespace cvb;
+
+#define WIDTH               640
+#define HEIGHT              480
+#define FPS                 5
+#define CANT_CALIBRACIONES  1
+
+CvCapture *capture;
+IplImage *img;
+CvSize imgSize;
+IplImage *frame;
+int frameNumber;
+
+// AMARILLO - AZUL - NARANJA - MAGENTA -cam web     --FIXME levantar del .conf
+//cv::Scalar calibsMIN [] = {cv::Scalar(19,208,80),cv::Scalar(43,26,40),cv::Scalar(6,160,75),cv::Scalar(167,110,44)};
+//cv::Scalar calibsMAX [] = {cv::Scalar(24,249,125),cv::Scalar(113,132,58),cv::Scalar(15,226,184),cv::Scalar(179,187,102)};
+
+// AMARILLO - AZUL - NARANJA - MAGENTA -cam CSI
+cv::Scalar calibsMIN [] = {cv::Scalar(9,156,44),cv::Scalar(121,83,46),cv::Scalar(13,229,75),cv::Scalar(-4,172,42)};
+cv::Scalar calibsMAX [] = {cv::Scalar(17,245,124),cv::Scalar(121,83,46),cv::Scalar(13,229,75),cv::Scalar(-4,172,42)};
+
+/**
+ * Inicializa las estructuras que utiliza. Carga archivo de configuracion
+ */
+int utilBlobs_initialize(){
+    if (!(capture = cvCaptureFromCAM(0))){
+        fprintf(stderr, "== ERROR 0 - revisar conexion a camara.\n");
+        return 0;
+    }
+    // setting properties to camera for better captures
+    cvSetCaptureProperty(capture,CV_CAP_PROP_FRAME_WIDTH,WIDTH);
+    cvSetCaptureProperty(capture,CV_CAP_PROP_FRAME_HEIGHT,HEIGHT);
+    cvSetCaptureProperty(capture,CV_CAP_PROP_FPS,FPS);
+
+    if (!cvGrabFrame(capture)) {
+        fprintf(stderr,"== ERROR 1 - revisar conexion a camara. Posible desconexion.\n");
+        return 0;
+    }
+    img = cvRetrieveFrame(capture);
+
+    //img = cvLoadImage("segmentada.png",1);
+    imgSize = cvGetSize(img);
+    frame = cvCreateImage(imgSize, img->depth, img->nChannels);
+    frameNumber = 0;
+
+    return 1;
+}
+
+/**
+ * Elimina las estructuras utilizadas por el modulo.
+ */
+void utilBlobs_terminate(){
+    cvReleaseImage(&frame);
+    cvReleaseCapture(&capture);
+}
+
+/**
+ * Obtiene un nuevo frame de la camara conectada, retorna -1 si hay algún problema con la lectura desde la camara
+ */
+int utilBlobs_getFrame(){
+    if (!cvGrabFrame(capture)) {
+        fprintf(stderr,"== ERROR 1 - revisar conexion a camara. Posible desconexion.\n");
+        return 0;
+    }
+    img = cvRetrieveFrame(capture);
+    //img = cvLoadImage("segmentada.png",1);
+    cvConvertScale(img, frame, 1, 0);
+    return 1;
+}
+
+void getOneColorBlobs (const IplImage *hsvImage, IplImage * labelImg, CvBlobs &blobs, CvSize imgSize, cv::Scalar min, cv::Scalar max) {
+    IplConvKernel* morphKernel = cvCreateStructuringElementEx(3, 3, 1, 1, CV_SHAPE_RECT, NULL); // --TODO determine best kernel for each object
+    IplImage *segmentated = cvCreateImage(imgSize, 8, 1);
+
+    // segmentation, min and max thresholds to keep interested pixels
+    cvInRangeS(hsvImage, min, max, segmentated);
+
+    if (min.val[0] < 0) {
+        min.val[0] = 180 - min.val[0];
+        max.val[0] = 180;
+        IplImage *segmentated2 = cvCreateImage(imgSize, 8, 1);
+        cvInRangeS(hsvImage, min, max, segmentated2);
+        cvAdd(segmentated,segmentated2,segmentated);
+    }
+
+    // morphological transformations
+    cvErode(segmentated, segmentated, morphKernel, 1);
+    cvDilate(segmentated, segmentated, morphKernel, 3);
+
+    // get blobs, returns image labeled and map(etiq, blob)
+    unsigned int result = cvLabel(segmentated, labelImg, blobs);
+
+    // filter by area to keep biggest ones --TODO determine best min-max size of blob
+    cvFilterByArea(blobs, 100, 1000000);
+
+    cvReleaseImage(&segmentated);
+    cvReleaseStructuringElement(&morphKernel);
+}
+
+struct blob fillZeros(){
+    struct blob res;
+
+    res.region_index = (unsigned int) 0;
+    res.region_color = (unsigned int) 0;
+    res.number_of_pixels = (unsigned int) 0;
+
+    res.sum_of_x_coord_high = (unsigned int) 0;
+    res.sum_of_x_coord_low = (unsigned int) 0;
+
+    res.sum_of_y_coord_high = (unsigned int) 0;
+    res.sum_of_y_coord_low = (unsigned int) 0;
+
+    res.max_x = (unsigned int) 0;
+    res.min_x = (unsigned int) 0;
+    res.max_y = (unsigned int) 0;
+    res.min_y = (unsigned int) 0;
+/*
+    printf("===== START DEBUG =====\n");
+    printf("reg_idx: %u\n", res.region_index);
+    printf("reg_col: %u\n", res.region_color);
+    printf("nro_pix: %u\n", res.number_of_pixels);
+    printf("suma__x: %u%u\n", res.sum_of_x_coord_high, res.sum_of_x_coord_low);
+    printf("suma__y: %u%u\n", res.sum_of_y_coord_high, res.sum_of_y_coord_low);
+    printf("maxim_x: %u\n", res.max_x);
+    printf("minim_x: %u\n", res.min_x);
+    printf("maxim_y: %u\n", res.max_y);
+    printf("minim_y: %u\n", res.min_y);
+    printf("===== FIN DEBUG =====\n");
+*/
+    return res;
+}
+
+struct blob infoToBlob(CvBlob info, unsigned int region_idx){
+    struct blob res;
+
+    res.region_index = region_idx+1;
+    res.region_color = BALL_REGION;
+    res.number_of_pixels = info.area;
+
+    res.sum_of_x_coord_high = 0;
+    res.sum_of_x_coord_low = 0;
+
+    res.sum_of_y_coord_high = 0;
+    res.sum_of_y_coord_low = 0;
+
+    res.max_x = info.maxx;
+    res.min_x = info.minx;
+    res.max_y = info.maxy;
+    res.min_y = info.miny;
+/*
+    printf("===== START DEBUG =====\n");
+    printf("reg_idx: %u\n", res.region_index);
+    printf("reg_col: %u\n", res.region_color);
+    printf("nro_pix: %u\n", res.number_of_pixels);
+    printf("suma__x: %u%u\n", res.sum_of_x_coord_high, res.sum_of_x_coord_low);
+    printf("suma__y: %u%u\n", res.sum_of_y_coord_high, res.sum_of_y_coord_low);
+    printf("maxim_x: %u\n", res.max_x);
+    printf("minim_x: %u\n", res.min_x);
+    printf("maxim_y: %u\n", res.max_y);
+    printf("minim_y: %u\n", res.min_y);
+    printf("===== FIN DEBUG =====\n");
+*/
+    return res;
+}
+
+void saveBlobs (unsigned int frameNumber, CvBlobs blobs) {
+    std::stringstream textfile, line;
+    std::ofstream myfile;
+
+    // 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
+
+    // LINE TO SAVE FOR EACH BLOB:
+    // label|area|centroidX,Y|minX,maxX,minY,maxY|moment00,01,10,11,20,02|centroidMoment11,20,02|
+    // normalaizedCentralMoment11,20,02|HuMoment1,2
+    for (CvBlobs::const_iterator it=blobs.begin(); it!=blobs.end(); ++it)
+    {
+        CvBlob* blob = (*it).second;
+
+        line << (*blob).label << "|" << (*blob).area << "|" << (*blob).centroid.x << "," << (*blob).centroid.y <<"|" << (*blob).minx << "," << (*blob).maxx << "," << (*blob).miny << "," << (*blob).maxy << ","<< "|" << (*blob).m00 << "," << (*blob).m01 << "," << (*blob).m10 << "," << (*blob).m11 << "," << (*blob).m20 << "," << (*blob).m02 << "|" << (*blob).u11 << "," << (*blob).u20 << "," << (*blob).u02 << "|" << (*blob).n11 << "|" << (*blob).n20 << "|" << (*blob).n02 << "|" << (*blob).p1 << "|" << (*blob).p2 << std::endl;
+
+        myfile << line.str();
+        line.clear();
+        line.str(std::string());
+    }
+
+    myfile.close();
+}
+
+/**
+ * Procesa el frame obtenido retornando la estructura de los blobs encontrados
+ */
+void utilBlobs_getBlobs(struct blob* result){
+    // get HSV image
+    IplImage *hsv = cvCreateImage(imgSize, 8, 3);
+    cvCvtColor(frame,hsv,CV_BGR2HSV);
+
+    CvBlobs blobsitos;
+    for (int i=0; i < CANT_CALIBRACIONES; i++){
+        IplImage *labelImg = cvCreateImage(cvGetSize(frame), IPL_DEPTH_LABEL, 1);
+        getOneColorBlobs(hsv, labelImg, blobsitos, imgSize, calibsMIN[0], calibsMAX[0]);
+        cvRenderBlobs(labelImg, blobsitos, frame, frame, CV_BLOB_RENDER_BOUNDING_BOX);
+
+        CvBlobs::const_iterator it = blobsitos.begin();
+        unsigned int indice;
+        for(indice = 0; indice < CANT_REGIONS; indice++) {
+            CvBlob* bloby;
+            if (it!=blobsitos.end()){
+                bloby = (*it).second;
+                result [indice] = infoToBlob(*bloby, indice);
+                it++;
+            } else {
+                result [indice] = fillZeros();
+            }
+        }
+
+        //saveBlobs(frameNumber++, blobsitos);
+        cvReleaseImage(&labelImg);
+        cvReleaseBlobs(blobsitos);
+    }
+    cvReleaseImage(&hsv);
+}
+

visrob2/src/Havimo/utilsBlobs.h

+/*############################################################
+#                                                            #
+#  Proyecto Futbol de Robots.   -   PAIE 2014                #
+#  http://www.fing.edu.uy/inco/proyectos/futbot13/           #
+#                                                            #
+############################################################*/
+
+#ifndef I_UTILSBLOBS
+#define I_UTILSBLOBS
+
+/**
+ * Inicializa las estructuras que utiliza. Carga archivo de configuracion
+ */
+int utilBlobs_initialize();
+
+/**
+ * Elimina las estructuras utilizadas por el modulo.
+ */
+void utilBlobs_terminate();
+
+/**
+ * Obtiene un nuevo frame de la camara conectada, retorna -1 si hay algún problema con la lectura desde la camara
+ */
+int utilBlobs_getFrame();
+
+/**
+ * Procesa el frame obtenido retornando la estructura de los blobs encontrados
+ */
+void utilBlobs_getBlobs(struct blob*);
+
+#endif

visrob2/src/Vision/CMakeLists.txt

@@ -2,12 +2,18 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
  
 PROJECT(libvision)
  
-INCLUDE_DIRECTORIES(../../include)
+INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../../include)
 
-file (GLOB vision_SRC "*.h" "*.c")
+set_source_files_properties( objRecognition.c vision.c clasification.c PROPERTIES LANGUAGE CXX )
 
+file (GLOB vision_SRC "*.h" "*.c" )
 
 ADD_LIBRARY(vision STATIC ${vision_SRC})
 
+target_link_libraries(vision -lm)
+
+SET_TARGET_PROPERTIES(vision PROPERTIES LINKER_LANGUAGE CXX)
+
 SET_PROPERTY(TARGET vision PROPERTY SOVERSION 1.0)
+
 INSTALL(TARGETS vision DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/../../lib)
\ No newline at end of file

visrob2/src/Vision/clasification.c

@@ -8,10 +8,11 @@
 
 #include "clasification.h"
 
-#include "iHaViMo.h"
+#include "iVisionModule.h"
 #include <stdlib.h>
+#include <stdio.h>
 #include <math.h>
-#include <util/delay.h>
+//#include <util/delay.h>
 
 int HaViMo_id;
 
@@ -56,7 +57,7 @@ int vision_cla_canBlobsBeMerged(struct blob a, struct blob b, unsigned int x_thr
  */
 int vision_cls_initialize(int HaViMo_dxl_ID, int baudnum) {
 	HaViMo_id = HaViMo_dxl_ID;
-	return vision_iHaViMo_initialize(HaViMo_dxl_ID, baudnum);
+	return iVisionModule_initialize(HaViMo_dxl_ID, baudnum);
 }
 
 /**
@@ -105,16 +106,15 @@ void vision_cls_mergeGoalBlobsByRegion(struct blob* blobs, short int region_colo
  * 		force_frame		fuerza la obtencion del frame.
  */
 struct blob* vision_cls_getNextFrame(unsigned short int force_frame) {
-
-	struct blob* blobs = vision_iHaViMo_getNextFrame(HaViMo_id);
+	struct blob* blobs = iVisionModule_getNextFrame(HaViMo_id);
 
 	if(force_frame) {
 		while(blobs == NULL){
-			_delay_ms(FORCE_FRAME_MS_DELAY);
-			blobs = vision_iHaViMo_getNextFrame(HaViMo_id);
+			//_delay_ms(FORCE_FRAME_MS_DELAY);
+			blobs = iVisionModule_getNextFrame(HaViMo_id);
 		}
 	} else {
-		if(blobs == NULL) return NULL;
+		if(blobs == NULL) { printf("null blobs\n"); return NULL; }
 	}
 
 	//Preprocesamiento del array de blobs
@@ -124,16 +124,19 @@ struct blob* vision_cls_getNextFrame(unsigned short int force_frame) {
 	do {
 		blobs_merged = 0;
 		for(i = 0; i < CANT_REGIONS; i++) {
+		    printf("procesar\n");
 			if(blobs[i].region_index != INVALID_REGION) {
+			    printf("no es invalida\n");
 				if(blobs[i].max_x - blobs[i].min_x <= MIN_PX_SIZE_FOR_BLOB || blobs[i].max_y - blobs[i].min_y <= MIN_PX_SIZE_FOR_BLOB) {
 					//Invalidamos el blob
+					printf("invalido blobs\n");
 					blobs[i].region_index = INVALID_REGION;
 				} else {
 					for(j = i + 1; j < CANT_REGIONS; j++) {
 						if(blobs[j].region_index != INVALID_REGION && blobs[i].region_color == blobs[j].region_color &&
                             vision_cla_canBlobsBeMerged(blobs[i], blobs[j], THRESHOLD_X, THRESHOLD_Y)) {
 							//Se combinan los blobs
-							
+                            printf("blobs combinados\n");
 							blobs[j].region_index = INVALID_REGION;
 
 							if(blobs[i].max_x < blobs[j].max_x)
@@ -151,7 +154,7 @@ struct blob* vision_cls_getNextFrame(unsigned short int force_frame) {
 						}
 					}
 				}
-			}
+			} else printf("es invalida\n");
 		}
 	} while(blobs_merged);
 
@@ -162,5 +165,5 @@ struct blob* vision_cls_getNextFrame(unsigned short int force_frame) {
  * Finaliza clasificacion. Finaliza iHaViMo.
  */
 void vision_cls_terminate(void) {
-	vision_iHaViMo_terminate();
+    iVisionModule_terminate();
 }

visrob2/src/Vision/clasification.h

@@ -15,7 +15,7 @@
 #ifndef I_VISION_CLASIFICATION
 #define I_VISION_CLASIFICATION
 
-#include "iHaViMo.h"
+#include "iVisionModule.h"
 
 #define MIN_PX_SIZE_FOR_BLOB	2//Quitamos los blobs que tengan un ancho o largo de 2 pixeles
 

visrob2/src/Vision/objRecognition.c

@@ -9,9 +9,9 @@
 #include "vision.h"
 #include "clasification.h"
 #include "objRecognition.h"
+#include "vectmath.h"
 
 #include <math.h>
-#include <vectmath.h>
 #include <stdio.h>
 #include <stdlib.h>
 

visrob2/src/Vision/objRecognition.h

@@ -16,7 +16,7 @@
 #define I_VISION_OBJ_RECOGNITION
 
 #include "vision.h"
-#include <vectmath.h>
+#include "vectmath.h"
 #include <stdlib.h>
 #include <stdio.h>
 

visrob2/src/Vision/vision.c

@@ -9,7 +9,7 @@
 #include "vision.h"
 
 #include <math.h>
-#include "iHaViMo.h"
+#include "iVisionModule.h"
 #include "objRecognition.h"
 
 /**
@@ -56,7 +56,8 @@ void vision_setRobotHeight(double height) {
 void processBlobs(void) {
 
 	//Identificamos la bola
-	vision_objRec_detectBall(); 
+	unsigned short int hayPelota = vision_objRec_detectBall();
+	printf("PELOTA = %d\n");
 
 	//Identificamos los agentes
 	vision_objRec_detectAllies();