Revision: 8410
http://playerstage.svn.sourceforge.net/playerstage/?rev=8410&view=rev
Author: thjc
Date: 2009-11-15 13:17:03 +0000 (Sun, 15 Nov 2009)
Log Message:
-----------
didnt actually add the new files from the blobtracker patch
Added Paths:
-----------
code/player/trunk/server/drivers/dio/blobtracker/
code/player/trunk/server/drivers/dio/blobtracker/CMakeLists.txt
code/player/trunk/server/drivers/dio/blobtracker/blobtracker.cc
Added: code/player/trunk/server/drivers/dio/blobtracker/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/dio/blobtracker/CMakeLists.txt
(rev 0)
+++ code/player/trunk/server/drivers/dio/blobtracker/CMakeLists.txt
2009-11-15 13:17:03 UTC (rev 8410)
@@ -0,0 +1,2 @@
+PLAYERDRIVER_OPTION (blobtracker build_blobtracker ON)
+PLAYERDRIVER_ADD_DRIVER (blobtracker build_blobtracker SOURCES blobtracker.cc)
Added: code/player/trunk/server/drivers/dio/blobtracker/blobtracker.cc
===================================================================
--- code/player/trunk/server/drivers/dio/blobtracker/blobtracker.cc
(rev 0)
+++ code/player/trunk/server/drivers/dio/blobtracker/blobtracker.cc
2009-11-15 13:17:03 UTC (rev 8410)
@@ -0,0 +1,406 @@
+/*
+ * Player - One Hell of a Robot Server
+ * Copyright (C) 2000 Brian Gerkey et al.
+ *
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/*
+ *
+ * Blob tracker that sends ptz commands in order to make camera follow certain
blobs.
+ */
+
+/** @ingroup drivers */
+/** @{ */
+/** @defgroup driver_Blobtracker Blobtracker
+ * @brief Blob tracker that sends ptz commands in order to make camera follow
certain blobs.
+
+...@par Compile-time dependencies
+
+- None
+
+...@par Provides
+
+- @ref interface_dio - lowest bit of dio bits is set to 1 whenever any of
desired blobs is found
+
+...@par Requires
+
+- @ref interface_blobfinder
+- @ref interface_ptz
+
+...@par Configuration requests
+
+- None
+
+...@par Configuration file options
+
+- r (integer)
+ - Default: 0
+ - r value of desired blobs RGB
+- g (integer)
+ - Default: 0
+ - g value of desired blobs RGB
+- b (integer)
+ - Default: 0
+ - b value of desired blobs RGB
+- idle_area (double)
+ - Default: 0.4
+ - Valid value range 0.0 to 1.0
+ - Middle part of the image where blob moves are not followed
+ - Border cases: 0.0 - no part of the image is idle, 1.0 - whole image
+- step (degrees)
+ - Default: 1.0
+ - How many degrees to move during one iteration
+ - The default value (1.0) is good for Stage,
+ however it's too small for Logitech Sphere AF camera
+- pan_speed (degrees)
+ - Default: 10.0
+ - Angular pan speed
+- tilt_speed (degrees)
+ - Default: 10.0
+ - Agular tilt speed
+- zoom (degrees)
+ - Default: not set
+ - Field of view (typically it is not required to set this value)
+ - Negative value means 'not set' - field of view will not be changed
+
+...@par Example
+
+Look for a green sheet:
+
+...@verbatim
+driver
+(
+ name "camerauvc"
+ provides ["camera:0"]
+ port "/dev/video1"
+ size [640 480]
+)
+driver
+(
+ name "sphereptz"
+ provides ["ptz:0"]
+ port "/dev/video1"
+ autoreset 0
+)
+driver
+(
+ name "cmvision"
+ provides ["blobfinder:0"]
+ requires ["camera:0"]
+ colorfile "colors.txt"
+)
+driver
+(
+ name "blobtracker"
+ provides ["dio:0"]
+ requires ["6665:blobfinder:0" "6665:ptz:0"]
+ r 0
+ g 255
+ b 0
+ step 5.0
+ alwayson 1
+)
+...@endverbatim
+
+colors.txt file I used for this was:
+
+...@verbatim
+[Colors]
+(255, 0, 0) 0.000000 10 Red
+( 0,255, 0) 0.000000 10 Greeen
+( 0, 0,255) 0.000000 10 Blue
+
+[Thresholds]
+( 25:164, 80:120,150:240)
+( 20:220, 50:120, 40:115)
+( 15:190,145:255, 40:120)
+...@endverbatim
+
+...@author Paul Osmialowski
+
+*/
+/** @} */
+
+#include <libplayercore/playercore.h>
+
+#include <stddef.h>
+#include <string.h>
+#include <math.h>
+
+#define EPS 0.0000001
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+#ifndef DTOR
+#define DTOR(d) ((d) * (M_PI) / 180.0)
+#endif
+
+class Blobtracker : public Driver
+{
+public:
+ Blobtracker(ConfigFile * cf, int section);
+ virtual ~Blobtracker();
+ virtual int Setup();
+ virtual int Shutdown();
+ virtual int ProcessMessage(QueuePointer & resp_queue, player_msghdr * hdr,
void * data);
+private:
+ player_devaddr_t r_blobfinder_addr;
+ player_devaddr_t r_ptz_addr;
+ player_devaddr_t p_dio_addr;
+ Device * r_blobfinder_dev;
+ Device * r_ptz_dev;
+ player_ptz_data_t ptz_data;
+ unsigned char r;
+ unsigned char g;
+ unsigned char b;
+ double idle_area;
+ double step;
+ double pan_speed;
+ double tilt_speed;
+ double zoom;
+ bool valid_ptz_data;
+};
+
+Blobtracker::Blobtracker(ConfigFile * cf, int section) : Driver(cf, section,
true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
+{
+ memset(&(this->r_blobfinder_addr), 0, sizeof(player_devaddr_t));
+ memset(&(this->r_ptz_addr), 0, sizeof(player_devaddr_t));
+ memset(&(this->p_dio_addr), 0, sizeof(player_devaddr_t));
+ this->r_blobfinder_dev = NULL;
+ this->r_ptz_dev = NULL;
+ memset(&(this->ptz_data), 0, sizeof(ptz_data));
+ this->ptz_data.pan = 0.0;
+ this->ptz_data.tilt = 0.0;
+ this->r = 0;
+ this->g = 0;
+ this->b = 0;
+ this->idle_area = 0.0;
+ this->step = 0.0;
+ this->pan_speed = 0.0;
+ this->tilt_speed = 0.0;
+ this->valid_ptz_data = false;
+ if (cf->ReadDeviceAddr(&(this->p_dio_addr), section, "provides",
+ PLAYER_DIO_CODE, -1, NULL))
+ {
+ PLAYER_ERROR("cannot provide dio device");
+ this->SetError(-1);
+ return;
+ }
+ if (this->AddInterface(this->p_dio_addr))
+ {
+ this->SetError(-1);
+ return;
+ }
+ if (cf->ReadDeviceAddr(&(this->r_blobfinder_addr), section, "requires",
+ PLAYER_BLOBFINDER_CODE, -1, NULL))
+ {
+ PLAYER_ERROR("cannot require blobfinder device");
+ this->SetError(-1);
+ return;
+ }
+ if (cf->ReadDeviceAddr(&(this->r_ptz_addr), section, "requires",
+ PLAYER_PTZ_CODE, -1, NULL))
+ {
+ PLAYER_ERROR("cannot require ptz device");
+ this->SetError(-1);
+ return;
+ }
+ this->r = static_cast<unsigned char>(cf->ReadInt(section, "r", 0));
+ this->g = static_cast<unsigned char>(cf->ReadInt(section, "g", 0));
+ this->b = static_cast<unsigned char>(cf->ReadInt(section, "b", 0));
+ this->idle_area = cf->ReadFloat(section, "idle_area", 0.4);
+ if ((this->idle_area < 0.0) || (this->idle_area > 1.0))
+ {
+ PLAYER_ERROR("invalid idle_area value");
+ this->SetError(-1);
+ return;
+ }
+ this->step = cf->ReadAngle(section, "step", DTOR(1.0));
+ if ((this->step) < EPS)
+ {
+ PLAYER_ERROR("invalid step value");
+ this->SetError(-1);
+ return;
+ }
+ this->pan_speed = cf->ReadAngle(section, "pan_speed", DTOR(10.0));
+ if ((this->pan_speed) < EPS)
+ {
+ PLAYER_ERROR("invalid pan_speed value");
+ this->SetError(-1);
+ return;
+ }
+ this->tilt_speed = cf->ReadAngle(section, "tilt_speed", DTOR(10.0));
+ if ((this->tilt_speed) < EPS)
+ {
+ PLAYER_ERROR("invalid tilt_speed value");
+ this->SetError(-1);
+ return;
+ }
+ this->zoom = cf->ReadAngle(section, "zoom", -1.0);
+}
+
+Blobtracker::~Blobtracker() { }
+
+int Blobtracker::Setup()
+{
+ memset(&(this->ptz_data), 0, sizeof(ptz_data));
+ this->valid_ptz_data = false;
+ this->r_blobfinder_dev = deviceTable->GetDevice(this->r_blobfinder_addr);
+ if (!(this->r_blobfinder_dev)) return -1;
+ if (this->r_blobfinder_dev->Subscribe(this->InQueue))
+ {
+ this->r_blobfinder_dev = NULL;
+ return -1;
+ }
+ this->r_ptz_dev = deviceTable->GetDevice(this->r_ptz_addr);
+ if (!(this->r_ptz_dev))
+ {
+ this->r_blobfinder_dev->Unsubscribe(this->InQueue);
+ this->r_blobfinder_dev = NULL;
+ return -1;
+ }
+ if (this->r_ptz_dev->Subscribe(this->InQueue))
+ {
+ this->r_blobfinder_dev->Unsubscribe(this->InQueue);
+ this->r_blobfinder_dev = NULL;
+ this->r_ptz_dev = NULL;
+ return -1;
+ }
+ return 0;
+}
+
+int Blobtracker::Shutdown()
+{
+ if (this->r_blobfinder_dev)
this->r_blobfinder_dev->Unsubscribe(this->InQueue);
+ this->r_blobfinder_dev = NULL;
+ if (this->r_ptz_dev) this->r_ptz_dev->Unsubscribe(this->InQueue);
+ this->r_ptz_dev = NULL;
+ return 0;
+}
+
+int Blobtracker::ProcessMessage(QueuePointer & resp_queue, player_msghdr *
hdr, void * data)
+{
+ uint32_t idle_width, idle_height, u, v;
+ player_blobfinder_data_t * bdata;
+ player_dio_data_t ddata;
+ player_ptz_cmd_t cmd;
+ int i, idx;
+ double dPan, dTilt;
+
+ if (!hdr)
+ {
+ PLAYER_ERROR("NULL header");
+ return -1;
+ }
+ if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
+ PLAYER_BLOBFINDER_DATA_BLOBS,
+ this->r_blobfinder_addr))
+ {
+ if (!data)
+ {
+ PLAYER_ERROR("NULL data");
+ return -1;
+ }
+ bdata = reinterpret_cast<player_blobfinder_data_t *>(data);
+ idle_width = static_cast<uint32_t>(static_cast<double>(bdata->width) *
(this->idle_area));
+ idle_height = static_cast<uint32_t>(static_cast<double>(bdata->height) *
(this->idle_area));
+ if ((idle_width > 0) && (idle_height > 0) && ((bdata->blobs_count) > 0))
+ {
+ idx = -1;
+ for (i = 0; i < static_cast<int>(bdata->blobs_count); i++)
+ {
+ if ((((bdata->blobs[i].color >> 16) & 0xff) == (this->r)) &&
(((bdata->blobs[i].color >> 8) & 0xff) == (this->g)) && ((bdata->blobs[i].color
& 0xff) == (this->b)))
+ {
+ idx = i;
+ break;
+ }
+ }
+ memset(&ddata, 0, sizeof ddata);
+ ddata.count = 1;
+ dPan = 0.0;
+ dTilt = 0.0;
+ if (!(idx < 0))
+ {
+ u = (bdata->width - idle_width) / 2;
+ v = u + idle_width;
+ if ((bdata->blobs[idx].x) < u) dPan = step;
+ if (((bdata->blobs[idx].x) >= u) && ((bdata->blobs[idx].x) <= v)) dPan
= 0.0;
+ if ((bdata->blobs[idx].x) > v) dPan = -step;
+ u = (bdata->height - idle_height) / 2;
+ v = u + idle_height;
+ if ((bdata->blobs[idx].y) < u) dTilt = step;
+ if (((bdata->blobs[idx].y) >= u) && ((bdata->blobs[idx].y) <= v))
dTilt = 0.0;
+ if ((bdata->blobs[idx].y) > v) dTilt = -step;
+ ddata.bits = 1;
+ } else ddata.bits = 0;
+ this->Publish(this->p_dio_addr,
+ PLAYER_MSGTYPE_DATA,
+ PLAYER_DIO_DATA_VALUES,
+ reinterpret_cast<void *>(&ddata),
+ 0, NULL, true); // copy = true, do not dispose data placed
on local stack!
+ if ((this->valid_ptz_data) && ((fabs(dPan) > EPS) || (fabs(dTilt) >
EPS)))
+ {
+ this->valid_ptz_data = false;
+ memset(&cmd, 0, sizeof cmd);
+ cmd.pan = this->ptz_data.pan + dPan;
+ cmd.tilt = this->ptz_data.tilt + dTilt;
+ if (this->zoom < 0.0) cmd.zoom = this->ptz_data.zoom;
+ else cmd.zoom = this->zoom;
+ cmd.panspeed = this->pan_speed;
+ cmd.tiltspeed = this->tilt_speed;
+ this->r_ptz_dev->PutMsg(this->InQueue, PLAYER_MSGTYPE_CMD,
PLAYER_PTZ_CMD_STATE, reinterpret_cast<void *>(&cmd), 0, NULL);
+ }
+ }
+ return 0;
+ }
+ if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
+ PLAYER_PTZ_DATA_STATE,
+ this->r_ptz_addr))
+ {
+ if (!data)
+ {
+ PLAYER_ERROR("NULL data");
+ return -1;
+ }
+ this->ptz_data = *(reinterpret_cast<player_ptz_data *>(data));
+ this->valid_ptz_data = true;
+ return 0;
+ }
+ return -1;
+}
+
+// A factory creation function, declared outside of the class so that it
+// can be invoked without any object context (alternatively, you can
+// declare it static in the class). In this function, we create and return
+// (as a generic Driver*) a pointer to a new instance of this driver.
+Driver * Blobtracker_Init(ConfigFile * cf, int section)
+{
+ // Create and return a new instance of this driver
+ return reinterpret_cast<Driver *>(new Blobtracker(cf, section));
+}
+
+// A driver registration function, again declared outside of the class so
+// that it can be invoked without object context. In this function, we add
+// the driver into the given driver table, indicating which interface the
+// driver can support and how to create a driver instance.
+void blobtracker_Register(DriverTable * table)
+{
+ table->AddDriver("blobtracker", Blobtracker_Init);
+}
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