[openrtm-commit:01132] r102 - in branches/newCMakeForVC2010/ImageProcessing/opencv/components/Findcontour: include/Findcontour src
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2013年 10月 11日 (金) 17:40:29 JST
Author: kawauchi
Date: 2013-10-11 17:40:29 +0900 (Fri, 11 Oct 2013)
New Revision: 102
Modified:
branches/newCMakeForVC2010/ImageProcessing/opencv/components/Findcontour/include/Findcontour/Findcontour.h
branches/newCMakeForVC2010/ImageProcessing/opencv/components/Findcontour/src/Findcontour.cpp
Log:
Findcontour component: Contour parameters has changed to the configuration and converted to the UTF-8 character code. refs #2704
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/Findcontour/include/Findcontour/Findcontour.h
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/Findcontour/include/Findcontour/Findcontour.h 2013-10-10 06:24:45 UTC (rev 101)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/Findcontour/include/Findcontour/Findcontour.h 2013-10-11 08:40:29 UTC (rev 102)
@@ -24,12 +24,8 @@
#include <cxcore.h>
#include <highgui.h>
-#define THRESHOLD_MAX_VALUE 255 // 2’l‰»‚ÌÛ‚ÉŽg—p‚·‚éÅ‘å’l
+#define THRESHOLD_MAX_VALUE 255 // 2値化ã®éš›ã«ä½¿ç”¨ã™ã‚‹æœ€å¤§å€¤
-#define CONTOUR_MAX_LEVEL 1 // •`‰æ‚³‚ê‚é—ÖŠs‚Ìő僌ƒxƒ‹
-#define LINE_THICKNESS 2 // ü‚Ì‘¾‚³
-#define LINE_TYPE 8 // ü‚ÌŽí—Þ
-
// Service implementation headers
// <rtc-template block="service_impl_h">
@@ -234,7 +230,30 @@
// Configuration variable declaration
// <rtc-template block="config_declare">
+ /*!
+ *
+ * - Name: nThresholdLv
+ * - DefaultValue: 100
+ */
int m_nThresholdLv;
+ /*!
+ *
+ * - Name: nContourLv
+ * - DefaultValue: 1
+ */
+ int m_nContourLv;
+ /*!
+ *
+ * - Name: nLineThickness
+ * - DefaultValue: 2
+ */
+ int m_nLineThickness;
+ /*!
+ *
+ * - Name: nLineType
+ * - DefaultValue: CV_AA
+ */
+ int m_nLineType;
// </rtc-template>
// DataInPort declaration
@@ -279,13 +298,14 @@
// <rtc-template block="private_operation">
// </rtc-template>
- IplImage* imageBuff; // ƒJƒƒ‰ƒCƒ[ƒW
+ IplImage* imageBuff; // カメライメージ
IplImage* grayImage;
IplImage* binaryImage;
IplImage* contourImage;
int find_contour_num;
CvSeq* find_contour;
CvScalar red;
+ CvScalar green;
};
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/Findcontour/src/Findcontour.cpp
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/Findcontour/src/Findcontour.cpp 2013-10-10 06:24:45 UTC (rev 101)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/Findcontour/src/Findcontour.cpp 2013-10-11 08:40:29 UTC (rev 102)
@@ -27,9 +27,15 @@
"language", "C++",
"lang_type", "compile",
// Configuration variables
- "conf.default.threshold_level", "10",
+ "conf.default.threshold_level", "100",
+ "conf.default.contour_level", "1",
+ "conf.default.line_thickness", "2",
+ "conf.default.line_type", "CV_AA",
// Widget
"conf.__widget__.threshold_level", "slider.1",
+ "conf.__widget__.contour_level", "text",
+ "conf.__widget__.line_thickness", "text",
+ "conf.__widget__.line_type", "text",
// Constraints
"conf.__constraints__.threshold_level", "0<=x<=255",
""
@@ -78,7 +84,10 @@
// </rtc-template>
// <rtc-template block="bind_config">
- bindParameter("threshold_level", m_nThresholdLv, "10");
+ bindParameter("threshold_level", m_nThresholdLv, "100");
+ bindParameter("contour_level", m_nContourLv, "1");
+ bindParameter("line_thickness", m_nLineThickness, "2");
+ bindParameter("line_type", m_nLineType, "CV_AA");
// </rtc-template>
return RTC::RTC_OK;
@@ -108,18 +117,19 @@
RTC::ReturnCode_t Findcontour::onActivated(RTC::UniqueId ec_id)
{
- // ƒCƒ[ƒW—pƒƒ‚ƒŠ‚̉Šú‰»
+ // イメージ用メモリã®åˆæœŸåŒ–
imageBuff = NULL;
grayImage = NULL;
binaryImage = NULL;
contourImage = NULL;
- // OutPort‰æ–ʃTƒCƒY‚̉Šú‰»
+ // OutPortç”»é¢ã‚µã‚¤ã‚ºã®åˆæœŸåŒ–
m_image_contour.width = 0;
m_image_contour.height = 0;
find_contour = NULL;
red = CV_RGB( 255, 0, 0 );
+ green = CV_RGB( 0, 255, 0 );
return RTC::RTC_OK;
}
@@ -129,7 +139,7 @@
{
if(imageBuff != NULL )
{
- // ƒCƒ[ƒW—pƒƒ‚ƒŠ‚̉ð•ú
+ // イメージ用メモリã®è§£æ”¾
cvReleaseImage(&imageBuff);
cvReleaseImage(&grayImage);
cvReleaseImage(&binaryImage);
@@ -142,18 +152,18 @@
RTC::ReturnCode_t Findcontour::onExecute(RTC::UniqueId ec_id)
{
- // V‚µ‚¢ƒf[ƒ^‚̃`ƒFƒbƒN
+ // æ–°ã—ã„データã®ãƒã‚§ãƒƒã‚¯
if(m_image_origIn.isNew()){
- // InPortƒf[ƒ^‚Ì“Ç‚Ýž‚Ý
+ // InPortデータã®èªã¿è¾¼ã¿
m_image_origIn.read();
- // InPort‚ÆOutPort‚̉æ–ʃTƒCƒYˆ—‚¨‚æ‚уCƒ[ƒW—pƒƒ‚ƒŠŠm•Û
+ // InPortã¨OutPortã®ç”»é¢ã‚µã‚¤ã‚ºå‡¦ç†ãŠã‚ˆã³ã‚¤ãƒ¡ãƒ¼ã‚¸ç”¨ãƒ¡ãƒ¢ãƒªç¢ºä¿
if( m_image_orig.width != m_image_contour.width || m_image_orig.height != m_image_contour.height)
{
m_image_contour.width = m_image_orig.width;
m_image_contour.height = m_image_orig.height;
- // InPort‚̃Cƒ[ƒWƒTƒCƒY‚ª•ÏX‚³‚ꂽê‡
+ // InPortã®ã‚¤ãƒ¡ãƒ¼ã‚¸ã‚µã‚¤ã‚ºãŒå¤‰æ›´ã•ã‚ŒãŸå ´åˆ
if(imageBuff != NULL)
{
cvReleaseImage(&imageBuff);
@@ -162,59 +172,59 @@
cvReleaseImage(&contourImage);
}
- // ƒCƒ[ƒW—pƒƒ‚ƒŠ‚ÌŠm•Û
+ // イメージ用メモリã®ç¢ºä¿
imageBuff = cvCreateImage( cvSize(m_image_orig.width, m_image_orig.height), IPL_DEPTH_8U, 3 );
grayImage = cvCreateImage( cvSize(m_image_orig.width, m_image_orig.height), IPL_DEPTH_8U, 1 );
binaryImage = cvCreateImage( cvSize(m_image_orig.width, m_image_orig.height), IPL_DEPTH_8U, 1);
contourImage = cvCreateImage( cvSize(m_image_orig.width, m_image_orig.height), IPL_DEPTH_8U, 3);
}
- // InPort‚̉æ–ʃf[ƒ^‚ðƒRƒs[
+ // InPortã®ç”»é¢ãƒ‡ãƒ¼ã‚¿ã‚’コピー
memcpy( imageBuff->imageData, (void *)&(m_image_orig.pixels[0]), m_image_orig.pixels.length() );
memcpy( contourImage->imageData, (void *)&(m_image_orig.pixels[0]), m_image_orig.pixels.length() );
- // RGB‚©‚çƒOƒŒ[ƒXƒP[ƒ‹‚É•ÏŠ·
+ // RGBã‹ã‚‰ã‚°ãƒ¬ãƒ¼ã‚¹ã‚±ãƒ¼ãƒ«ã«å¤‰æ›
cvCvtColor( imageBuff, grayImage, CV_RGB2GRAY);
- // ƒOƒŒ[ƒXƒP[ƒ‹‚©‚ç2’l‚É•ÏŠ·‚·‚é
+ // グレースケールã‹ã‚‰2値ã«å¤‰æ›ã™ã‚‹
cvThreshold( grayImage, binaryImage, m_nThresholdLv, THRESHOLD_MAX_VALUE, CV_THRESH_BINARY );
- // ’Šo‚³‚ꂽ—ÖŠs‚ð•Û‘¶‚·‚é—̈æ
+ // 抽出ã•ã‚ŒãŸè¼ªéƒã‚’ä¿å˜ã™ã‚‹é ˜åŸŸ
CvMemStorage* storage = cvCreateMemStorage( 0 );
- // 2’l‰æ‘œ’†‚Ì—ÖŠs‚ðŒ©‚Â‚¯A‚»‚Ì”‚ð•Ô‚·
+ // 2値画åƒä¸ã®è¼ªéƒã‚’見ã¤ã‘ã€ãã®æ•°ã‚’è¿”ã™
find_contour_num = cvFindContours(
- binaryImage, // “ü—͉摜(‚WƒrƒbƒgƒVƒ“ƒOƒ‹ƒ`ƒƒƒ“ƒlƒ‹j
- storage, // ’Šo‚³‚ꂽ—ÖŠs‚ð•Û‘¶‚·‚é—̈æ
- &find_contour, // ˆê”ÔŠO‘¤‚Ì—ÖŠs‚ւ̃|ƒCƒ“ƒ^‚ւ̃|ƒCƒ“ƒ^
- sizeof( CvContour ), // ƒV[ƒPƒ“ƒXƒwƒbƒ_‚̃TƒCƒY
- CV_RETR_LIST, // ’Šoƒ‚[ƒh
- CV_CHAIN_APPROX_NONE, // „’èŽè–@
- cvPoint( 0, 0 ) // ƒIƒtƒZƒbƒg
+ binaryImage, // 入力画åƒ(８ビットシングルãƒãƒ£ãƒ³ãƒãƒ«ï¼‰
+ storage, // 抽出ã•ã‚ŒãŸè¼ªéƒã‚’ä¿å˜ã™ã‚‹é ˜åŸŸ
+ &find_contour, // 一番外å´ã®è¼ªéƒã¸ã®ãƒã‚¤ãƒ³ã‚¿ã¸ã®ãƒã‚¤ãƒ³ã‚¿
+ sizeof( CvContour ), // シーケンスヘッダã®ã‚µã‚¤ã‚º
+ CV_RETR_LIST, // 抽出モード
+ CV_CHAIN_APPROX_NONE, // 推定手法
+ cvPoint( 0, 0 ) // オフセット
);
cvDrawContours(
- contourImage, // —ÖŠs‚ð•`‰æ‚·‚é‰æ‘œ
- find_contour, // ʼn‚Ì—ÖŠs‚ւ̃|ƒCƒ“ƒ^
- red, // ŠO‘¤—ÖŠsü‚ÌF
- red, // “à‘¤—ÖŠsüiŒŠj‚ÌF
- CONTOUR_MAX_LEVEL, // •`‰æ‚³‚ê‚é—ÖŠs‚Ìő僌ƒxƒ‹
- LINE_THICKNESS, // •`‰æ‚³‚ê‚é—ÖŠsü‚Ì‘¾‚³
- LINE_TYPE, // ü‚ÌŽí—Þ
- cvPoint( 0, 0 ) // ƒIƒtƒZƒbƒg
+ contourImage, // 輪éƒã‚’æç”»ã™ã‚‹ç”»åƒ
+ find_contour, // 最åˆã®è¼ªéƒã¸ã®ãƒã‚¤ãƒ³ã‚¿
+ red, // 外å´è¼ªéƒç·šã®è‰²
+ green, // 内å´è¼ªéƒç·šï¼ˆç©´ï¼‰ã®è‰²
+ m_nContourLv, // æç”»ã•ã‚Œã‚‹è¼ªéƒã®æœ€å¤§ãƒ¬ãƒ™ãƒ«
+ m_nLineThickness, // æç”»ã•ã‚Œã‚‹è¼ªéƒç·šã®å¤ªã•
+ m_nLineType, // ç·šã®ç¨®é¡ž
+ cvPoint( 0, 0 ) // オフセット
);
- // ‰æ‘œƒf[ƒ^‚̃TƒCƒYŽæ“¾
+ // ç”»åƒãƒ‡ãƒ¼ã‚¿ã®ã‚µã‚¤ã‚ºå–å¾—
int len = contourImage->nChannels * contourImage->width * contourImage->height;
m_image_contour.pixels.length(len);
- // •Ï“]‚µ‚½‰æ‘œƒf[ƒ^‚ðOutPort‚ɃRƒs[
+ // 変転ã—ãŸç”»åƒãƒ‡ãƒ¼ã‚¿ã‚’OutPortã«ã‚³ãƒ”ー
memcpy((void *)&(m_image_contour.pixels[0]), contourImage->imageData, len);
- // •Ï“]‚µ‚½‰æ‘œƒf[ƒ^‚ðOutPort‚©‚ço—Í
+ // 変転ã—ãŸç”»åƒãƒ‡ãƒ¼ã‚¿ã‚’OutPortã‹ã‚‰å‡ºåŠ›
m_image_contourOut.write();
- // ’Šo‚³‚ꂽ—ÖŠs‚ð‰ð•ú
+ // 抽出ã•ã‚ŒãŸè¼ªéƒã‚’解放
cvReleaseMemStorage( &storage );
}
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