[openrtm-commit:01131] r101 - in branches/newCMakeForVC2010/ImageProcessing/opencv/components/Edge: include/Edge src
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2013年 10月 10日 (木) 15:24:45 JST
Author: kawauchi
Date: 2013-10-10 15:24:45 +0900 (Thu, 10 Oct 2013)
New Revision: 101
Modified:
branches/newCMakeForVC2010/ImageProcessing/opencv/components/Edge/include/Edge/Edge.h
branches/newCMakeForVC2010/ImageProcessing/opencv/components/Edge/src/Edge.cpp
Log:
Edge component: Operator size has changed to the configuration and converted to the UTF-8 character code. refs #2704
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/Edge/include/Edge/Edge.h
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/Edge/include/Edge/Edge.h 2013-10-07 08:00:30 UTC (rev 100)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/Edge/include/Edge/Edge.h 2013-10-10 06:24:45 UTC (rev 101)
@@ -24,14 +24,10 @@
#include <cxcore.h>
#include <highgui.h>
-#define SOBEL_X_APERTURE_SIZE 3 // SobelƒIƒyƒŒ[ƒ^‚̃TƒCƒY (ƒŠƒtƒ@ƒŒƒ“ƒXŽQÆ)
-#define SOBEL_Y_APERTURE_SIZE 3 // SobelƒIƒyƒŒ[ƒ^‚̃TƒCƒY (ƒŠƒtƒ@ƒŒƒ“ƒXŽQÆ)
-#define LAPLACIAN_APERTURE_SIZE 3 // LaplacianƒIƒyƒŒ[ƒ^‚̃TƒCƒY (ƒŠƒtƒ@ƒŒƒ“ƒXŽQÆ)
+// cvConvertScaleAbs用定数
+#define SCALE 1 // ScaleAbsä¿‚æ•°
+#define SHIFT 0 // スケーリングã—ãŸå…¥åŠ›é…列ã®è¦ç´ ã«åŠ ãˆã‚‹å€¤
-// cvConvertScaleAbs—p’è”
-#define SCALE 1 // ScaleAbsŒW”
-#define SHIFT 0 // ƒXƒP[ƒŠƒ“ƒO‚µ‚½“ü—Í”z—ñ‚Ì—v‘f‚ɉÁ‚¦‚é’l
-
// Service implementation headers
// <rtc-template block="service_impl_h">
@@ -236,7 +232,24 @@
// Configuration variable declaration
// <rtc-template block="config_declare">
-
+ /*!
+ *
+ * - Name: sobel_x_size
+ * - DefaultValue: 3
+ */
+ int m_sobel_x_size;
+ /*!
+ *
+ * - Name: sobel_y_size
+ * - DefaultValue: 3
+ */
+ int m_sobel_y_size;
+ /*!
+ *
+ * - Name: laplacian_size
+ * - DefaultValue: 3
+ */
+ int m_laplacian_size;
// </rtc-template>
// DataInPort declaration
@@ -289,7 +302,7 @@
// <rtc-template block="private_operation">
// </rtc-template>
- IplImage* imageBuff; // ƒJƒƒ‰ƒCƒ[ƒW
+ IplImage* imageBuff; // カメライメージ
IplImage* grayImage;
IplImage* destinationImage_x;
IplImage* destinationImage_y;
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/Edge/src/Edge.cpp
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/Edge/src/Edge.cpp 2013-10-07 08:00:30 UTC (rev 100)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/Edge/src/Edge.cpp 2013-10-10 06:24:45 UTC (rev 101)
@@ -27,6 +27,18 @@
"max_instance", "1",
"language", "C++",
"lang_type", "compile",
+ // Configuration variables
+ "conf.default.sobel_x_size", "3",
+ "conf.default.sobel_y_size", "3",
+ "conf.default.laplacian_size", "3",
+ // Widget
+ "conf.__widget__.sobel_x_size", "radio",
+ "conf.__widget__.sobel_y_size", "radio",
+ "conf.__widget__.laplacian_size", "radio",
+ // Constraints
+ "conf.__constraints__.sobel_x_size", "(1,3,5,7)",
+ "conf.__constraints__.sobel_y_size", "(1,3,5,7)",
+ "conf.__constraints__.laplacian_size", "(1,3,5,7)",
""
};
// </rtc-template>
@@ -77,6 +89,9 @@
// </rtc-template>
// <rtc-template block="bind_config">
+ bindParameter("sobel_x_size", m_sobel_x_size, "3");
+ bindParameter("sobel_y_size", m_sobel_y_size, "3");
+ bindParameter("laplacian_size", m_laplacian_size, "3");
// </rtc-template>
return RTC::RTC_OK;
@@ -106,7 +121,7 @@
RTC::ReturnCode_t Edge::onActivated(RTC::UniqueId ec_id)
{
- // ƒCƒ[ƒW—pƒƒ‚ƒŠ‚̉Šú‰»
+ // イメージ用メモリã®åˆæœŸåŒ–
imageBuff = NULL;
grayImage = NULL;
destinationImage_x = NULL;
@@ -115,7 +130,7 @@
destinationEdge = NULL;
edgeImage = NULL;
- // OutPort‰æ–ʃTƒCƒY‚̉Šú‰»
+ // OutPortç”»é¢ã‚µã‚¤ã‚ºã®åˆæœŸåŒ–
m_image_edge_sobel_x.width = m_image_edge_sobel_y.width = m_image_edge_LAPLACIAN.width = 0;
m_image_edge_sobel_x.height = m_image_edge_sobel_y.height = m_image_edge_LAPLACIAN.height = 0;
@@ -129,7 +144,7 @@
{
if(imageBuff != NULL)
{
- // ƒCƒ[ƒW—pƒƒ‚ƒŠ‚̉ð•ú
+ // イメージ用メモリã®è§£æ”¾
cvReleaseImage(&imageBuff);
cvReleaseImage(&destinationImage_x);
cvReleaseImage(&destinationImage_y);
@@ -145,18 +160,18 @@
RTC::ReturnCode_t Edge::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‚ƒŠ‚ÌŠm•Û
+ // InPortã¨OutPortã®ç”»é¢ã‚µã‚¤ã‚ºå‡¦ç†ãŠã‚ˆã³ã‚¤ãƒ¡ãƒ¼ã‚¸ç”¨ãƒ¡ãƒ¢ãƒªã®ç¢ºä¿
if( m_image_orig.width != m_image_edge_sobel_x.width || m_image_orig.height != m_image_edge_sobel_x.height)
{
m_image_edge_sobel_x.width = m_image_edge_sobel_y.width = m_image_edge_LAPLACIAN.width = m_image_orig.width;
m_image_edge_sobel_x.height = m_image_edge_sobel_y.height = m_image_edge_LAPLACIAN.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);
@@ -168,7 +183,7 @@
cvReleaseImage(&edgeImage);
}
- // 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 );
destinationImage_x = cvCreateImage( cvSize(m_image_orig.width, m_image_orig.height), IPL_DEPTH_16S, 1 );
@@ -178,36 +193,36 @@
edgeImage = 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() );
- // RGB‚©‚çƒOƒŒ[ƒXƒP[ƒ‹‚É•ÏŠ·
+ // RGBã‹ã‚‰ã‚°ãƒ¬ãƒ¼ã‚¹ã‚±ãƒ¼ãƒ«ã«å¤‰æ›
cvCvtColor( imageBuff, grayImage, CV_RGB2GRAY );
// Sobel_X
- // X•ûŒü‚ÌSobelƒIƒyƒŒ[ƒ^‚ð‚©‚¯‚é
- cvSobel( grayImage, destinationImage_x, 1, 0, SOBEL_X_APERTURE_SIZE );
+ // Xæ–¹å‘ã®Sobelオペレータをã‹ã‘ã‚‹
+ cvSobel( grayImage, destinationImage_x, 1, 0, m_sobel_x_size );
- // 16ƒrƒbƒg‚Ì•„†‚ ‚èƒf[ƒ^‚ð8ƒrƒbƒg‚Ì•„†‚È‚µƒf[ƒ^‚É•ÏŠ·‚·‚é
+ // 16ビットã®ç¬¦å·ã‚りデータを8ビットã®ç¬¦å·ãªã—データã«å¤‰æ›ã™ã‚‹
cvConvertScaleAbs( destinationImage_x, destinationEdge, SCALE, SHIFT );
- // ƒOƒŒ[ƒXƒP[ƒ‹‚©‚çRGB‚É•ÏŠ·
+ // グレースケールã‹ã‚‰RGBã«å¤‰æ›
cvCvtColor( destinationEdge, edgeImage, CV_GRAY2RGB );
- // ‰æ‘œƒf[ƒ^‚̃TƒCƒYŽæ“¾
+ // ç”»åƒãƒ‡ãƒ¼ã‚¿ã®ã‚µã‚¤ã‚ºå–å¾—
len = edgeImage->nChannels * edgeImage->width * edgeImage->height;
m_image_edge_sobel_x.pixels.length(len);
- // ”½“]‚µ‚½‰æ‘œƒf[ƒ^‚ðOutPort‚ɃRƒs[
+ // å転ã—ãŸç”»åƒãƒ‡ãƒ¼ã‚¿ã‚’OutPortã«ã‚³ãƒ”ー
memcpy( (void *)&(m_image_edge_sobel_x.pixels[0]), edgeImage->imageData, len );
- // ”½“]‚µ‚½‰æ‘œƒf[ƒ^‚ðOutPort‚©‚ço—Í
+ // å転ã—ãŸç”»åƒãƒ‡ãƒ¼ã‚¿ã‚’OutPortã‹ã‚‰å‡ºåŠ›
m_image_edge_sobel_xOut.write();
// Sobel_Y
- // Y•ûŒü‚ÌSobelƒIƒyƒŒ[ƒ^‚ð‚©‚¯‚é
- cvSobel( grayImage, destinationImage_y, 0, 1, SOBEL_Y_APERTURE_SIZE );
+ // Yæ–¹å‘ã®Sobelオペレータをã‹ã‘ã‚‹
+ cvSobel( grayImage, destinationImage_y, 0, 1, m_sobel_y_size );
cvConvertScaleAbs( destinationImage_y, destinationEdge, SCALE, SHIFT );
@@ -221,7 +236,7 @@
// LAPLACIAN
- cvLaplace( grayImage, destinationImage_LAPLACIAN, LAPLACIAN_APERTURE_SIZE );
+ cvLaplace( grayImage, destinationImage_LAPLACIAN, m_laplacian_size );
cvConvertScaleAbs( destinationImage_LAPLACIAN, destinationEdge, SCALE, SHIFT );
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