zmienienie algorytmu przetwarzania obrazu, dodanie wyswietlania znacznika,zmiana ustawien xlib,
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Mariusz Pacek committed
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@@ -9,121 +9,185 @@
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#include <opencv2/objdetect/objdetect.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/video/tracking.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include "opencv2/opencv.hpp"
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#include <opencv/cv.h>
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#include <math.h>
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#include <iostream>
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#include <stdio.h>
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#include <assert.h>
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#include <unistd.h>
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#include <cvblob.h>
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#include "opencv2/opencv.hpp"
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#include <opencv/cv.h>
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#include "Media.hpp"
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#include <iostream>
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#include <ctype.h>
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#include <stdlib.h>
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#include<stdio.h>
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#include <math.h>
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using namespace cv;
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using namespace std;
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using namespace cvb;
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Mat frame, img1;
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Point point;
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Point matchLoc;
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int drag = 0;
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int key = 0;
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CvRect rect;
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bool done;
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int r = 51, g = 99, b = 57;
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int rT = 90, gT = 255, bT = 129;
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int maxArea=1000, minArea=170;
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void setR(int v) {r = v;}
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void setG(int v) {g = v;}
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void setB(int v) {b = v;}
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void setRT(int v) {rT = v;}
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void setGT(int v) {gT = v;}
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void setBT(int v) {bT = v;}
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void mouseHandler(int event, int x, int y, int flags, void* param) {
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if (event == CV_EVENT_LBUTTONUP) {
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point = Point(x, y);
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done = true;
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}
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}
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void setMax(int v){maxArea = v;}
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void setMin(int v){minArea = v;}
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void matchImage(Mat &img1, Mat &img2) {
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Mat imgOutput;
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int row = img1.rows - img2.rows + 1;
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int col = img1.cols - img2.cols + 1;
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imgOutput.create(col, row, CV_32FC1);
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matchTemplate(img1, img2, imgOutput, CV_TM_CCOEFF_NORMED);
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normalize(imgOutput, imgOutput, 0, 1, NORM_MINMAX, -1, Mat());
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Point minLoc, maxLoc;
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double minVal, maxVal;
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minMaxLoc(imgOutput, &minVal, &maxVal, &minLoc, &maxLoc, Mat());
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matchLoc = maxLoc;
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}
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int main(int, char**) {
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VideoCapture cap(0); // open the default camera
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if (!cap.isOpened()) // check if we succeeded
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return -1;
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Media mouse;
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bool mouseon = true;
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int x, y;
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int x, x1, y, y1;
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// W H
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pair<int,int> res = mouse.getResolution();
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pair<int, int> res = mouse.getResolution();
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VideoCapture cap(0); // open the default camera
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if (!cap.isOpened()) // check if we succeeded
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return 0;
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namedWindow("result", 1);
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namedWindow("output", 1);
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namedWindow("bin", 1);
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CvBlobs blobs;
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CvTracks tracks;
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IplImage *red = 0, *tmp = 0,* framee=0,*labelImg=0;
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Mat edges, frame;
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cap >> frame;
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red = cvCreateImage(cvSize(frame.cols, frame.rows), IPL_DEPTH_8U, 1);
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tmp = cvCreateImage(cvSize(frame.cols, frame.rows), IPL_DEPTH_8U, 3);
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labelImg = cvCreateImage(cvGetSize(red), IPL_DEPTH_LABEL, 1);
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framee= cvCreateImage(cvGetSize(red), 8, 3);
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cvCreateTrackbar("R","bin",&r,255,setR);
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cvCreateTrackbar("G","bin",&g,255,setG);
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cvCreateTrackbar("B","bin",&b,255,setB);
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cvCreateTrackbar("RT","bin",&rT,255,setRT);
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cvCreateTrackbar("BT","bin",&bT,255,setBT);
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cvCreateTrackbar("GT","bin",&gT,255,setGT);
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cvCreateTrackbar("min","bin",&minArea,1000,setMin);
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cvCreateTrackbar("max","bin",&maxArea,100000,setMax);
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flip(frame, frame, 1);
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for (;;) {
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cap >> frame; // gt a new frame from camera
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Mat rawTemplate, rawSearch;
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while (!done) {
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cap >> frame;
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flip(frame, frame, 1);
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cvtColor(frame, edges, CV_BGR2HSV);
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imshow("result", frame);
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if (rect.width > 0)
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frame = frame(rect);
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setMouseCallback("result", mouseHandler, NULL);
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imshow("result", frame);
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cvWaitKey(10);
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}
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tmp->imageData = (char*) edges.data;
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framee->imageData = (char*) frame.data;
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Point p1 = Point(point.x - 20, point.y - 20);
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Point p2 = Point(point.x + 20, point.y + 20);
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rectangle(frame, p1, p2, CV_RGB(255, 0, 0), 1, 8, 0);
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Rect ra = Rect(p1, p2);
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Mat imgTemplate = frame(ra);
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Point p3 = Point(p1.x - 30, p1.y - 30);
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Point p4 = Point(p2.x + 60, p2.y + 60);
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Mat searchRegion = frame(Rect(p3, p4));
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rawTemplate = imgTemplate = imgTemplate.clone();
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rawSearch = searchRegion = searchRegion.clone();
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matchImage(searchRegion, imgTemplate);
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char key = -1;
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Rect solution = Rect(Point(matchLoc.x + p3.x, matchLoc.y + p3.y), Point(matchLoc.x + imgTemplate.cols + p3.x, matchLoc.y +
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imgTemplate.rows + p3.y));
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while (true) {
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cap >> frame;
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flip(frame, frame, 1);
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Point p1 = Point(matchLoc.x, matchLoc.y);
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Point p2 = Point(matchLoc.x + imgTemplate.cols, matchLoc.y + imgTemplate.rows);
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imgTemplate = searchRegion.clone();
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imgTemplate = imgTemplate(Rect(p1, p2));
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searchRegion = frame.clone();
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searchRegion = searchRegion(Rect(p3, p4));
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matchImage(searchRegion, imgTemplate);
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solution = Rect(Point(matchLoc.x + p3.x, matchLoc.y + p3.y), Point(matchLoc.x + imgTemplate.cols + p3.x, matchLoc.y +
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imgTemplate.rows + p3.y));
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if ((x = solution.x - 50) <= 0)
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x = 0;
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else
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if ((x = solution.x - 50) >= 640)
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x = 640;
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if ((y = solution.y - 50) <= 0)
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y = 0;
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else
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if ((y = solution.y - 50) >= 480)
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y = 480;
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if ((x1 = solution.x + solution.width + 50) <= 0)
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x1 = 0;
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else
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if ((x1 = solution.x + solution.width + 50) >= 640)
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x1 = 640;
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if ((y1 = solution.y + solution.height + 50) <= 0)
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y1 = 0;
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else
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if ((y1 = solution.y + solution.height + 50) >= 480)
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y1 = 480;
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p3 = Point(x, y);
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p4 = Point(x1, y1);
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rectangle(frame, p3, p4, Scalar(0, 0, 255), 2, 8, 0);
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rectangle(frame, solution, Scalar(255, 0, 0), 2, 8, 0);
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x = (int) (solution.x + solution.x + solution.width) / 2;
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y = (int) (solution.y + solution.y + solution.height) / 2;
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cvInRangeS(tmp, Scalar(r, g, b), Scalar(rT, gT, bT), red);
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cvDilate(red, red, NULL, 3);
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cvErode(red, red, NULL, 4);
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cvDilate(red, red, NULL, 2);
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cvLabel(red, labelImg, blobs);
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cvFilterByArea(blobs, minArea, maxArea);
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cvRenderBlobs(labelImg, blobs, framee, framee, CV_BLOB_RENDER_BOUNDING_BOX);
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cvUpdateTracks(blobs, tracks, 200, 5);
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cvRenderTracks(tracks, framee, framee, CV_TRACK_RENDER_ID | CV_TRACK_RENDER_BOUNDING_BOX);
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for (CvBlobs::const_iterator it = blobs.begin(); it != blobs.end(); ++it) {
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x = (int) it->second->centroid.x;
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y = (int) it->second->centroid.y;
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if (mouseon) {
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mouse.setMouse(x/(double)frame.cols*res.second,y/(double)frame.rows*res.first);
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}
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mouse.setMouse(x / (double) frame.cols * res.second, y / (double) frame.rows * res.first,3);
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mouse.drawArc(x / (double) frame.cols * res.second, y / (double) frame.rows * res.first, 3);
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imshow("result3", searchRegion);
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imshow("result", frame);
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imshow("output", imgTemplate);
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key = waitKey(1);
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if (key == 'q')
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break;
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}
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imshow("output", Mat(framee));
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imshow("bin", Mat(red));
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char key = (char) waitKey(1);
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switch (key) {
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case 'a':
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mouseon = mouseon ? false : true;
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case 'r':
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imgTemplate = rawTemplate.clone();
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searchRegion = frame.clone();
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break;
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}
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if (key == 'b') break; //exit program
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}
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destroyAllWindows();
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// the camera will be deinitialized automatically in VideoCapture destructor
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return 0;
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}
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