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edge_simple.cpp
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edge_simple.cpp
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#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
#include <fstream>
#include <stdlib.h>
#include <string.h>
using namespace cv;
using namespace std;
int edgeThresh = 1;
int blurFactor = 3;
Mat image_empty, image_full;
Mat image_empty_gray, image_full_gray;
Mat image, gray, edge, cedge;
vector<vector<Point> > contours;
// define a trackbar callback
void onTrackbar(int, void*)
{
if(blurFactor > 0)
blur(gray, edge, Size(blurFactor,blurFactor));
imshow("Bluring", edge);
// Run the edge detector on grayscale
Canny(edge, edge, edgeThresh, edgeThresh*3, 3);
cedge = Scalar::all(0);
findContours( edge, contours, CV_RETR_LIST, CV_CHAIN_APPROX_TC89_L1);
drawContours( cedge, contours, -1, Scalar(128,255,255), 1, CV_AA);
//threshold(image, cedge, (double)edgeThresh, 256, THRESH_BINARY);
//image.copyTo(cedge, edge);
imshow("Edge map", cedge);
}
const char* keys =
{
"{1| |fruits.jpg|input image name}"
};
double x_to_robot(int x)
{
return (-x/(double)2.);
}
double y_to_robot(int y)
{
return (y/(double)2.);
}
int main( int argc, const char** argv )
{
CommandLineParser parser(argc, argv, keys);
string filename = parser.get<string>("1");
image = imread(filename, 1);
if(image.empty()) {
cout << "Cannot read image file: " << filename.c_str() << endl;
return -1;
}
cedge.create(image.size(), image.type());
cvtColor(image, gray, CV_BGR2GRAY);
/*
image_empty = imread("diff_empty.jpg", 1);
image_empty_gray.create(image_empty.size(), image_empty.type());
cvtColor(image_empty, image_empty_gray, CV_BGR2GRAY);
image_full = imread("diff_full.jpg", 1);
image_full_gray.create(image_full.size(), image_full.type());
cvtColor(image_full, image_full_gray, CV_BGR2GRAY);
image.create(image_empty_gray.size(), image_empty_gray.type());
absdiff(image_full_gray, image_empty_gray, image);
cedge.create(image.size(), image.type());
* */
//threshold(image, cedge, .3, 1, THRESH_BINARY);
//cvtColor(image, gray, CV_BGR2GRAY);
// Create a window
namedWindow("Bluring", 1);
namedWindow("Edge map", 1);
//imshow("Edge map", cedge);
//createTrackbar("threshold", "Edge map", &edgeThresh, 100, onTrackbar);
// create a toolbar
createTrackbar("Canny threshold", "Edge map", &edgeThresh, 100, onTrackbar);
createTrackbar("Blur", "Bluring", &blurFactor, 15, onTrackbar);
// Show the image
onTrackbar(0, 0);
// Wait for a key stroke; the same function arranges events processing
waitKey(0);
//imwrite("edge.png", cedge);
//FILE *output_file = fopen ("output.drawing", "wt");
ofstream output_file;
output_file.open("output.v2");
output_file << ".PROGRAM drawimage()" << endl;
output_file << " SET origin = TRANS(280,-80,198,0,180,0) ; Set the coordinates of the center of the circle" << endl;
output_file << " punch = 11.5" << endl;
output_file << " SPEED 250 MMPS ALWAYS" << endl;
output_file << " ACCEL 170, 170" << endl;
output_file << " COARSE 150 ALWAYS" << endl;
output_file << " MOVES origin ; Move linearly to the center of the workspace" << endl;
output_file << " BREAK ; Wait until destination has been reached" << endl << endl;
vector<Point> segment;
std::vector<vector<Point> >::size_type i;
std::vector<Point>::size_type j;
std::vector<Point>::size_type size, last;
for(i = 0; i != contours.size(); i++) {
segment = contours[i];
size = segment.size();
cout << "Segment :" << endl;
output_file << "CALL moveto(" << x_to_robot(segment[0].y) << "," << y_to_robot(segment[0].x) << ", 0)" << endl;
last = size-1;//min(size-1, size/2+4);
for(j = 0; j <= last; j+=2) {
cout << "\tx:" << segment[j].x << " y:" << segment[j].y << endl;
output_file << "CALL moveto(" << x_to_robot(segment[j].y) << "," << y_to_robot(segment[j].x) << ", punch)" << endl;
}
output_file << "CALL moveto(" << x_to_robot(segment[last].y) << "," << y_to_robot(segment[last].x) << ", punch)" << endl;
output_file << "CALL moveto(" << x_to_robot(segment[last].y) << "," << y_to_robot(segment[last].x) << ", 0)" << endl << endl;
}
output_file << "MOVES origin" << endl;
output_file << "BREAK" << endl << endl;
output_file << ".END";
output_file.close();
return 0;
}