303 lines
7.8 KiB
C++
303 lines
7.8 KiB
C++
/*
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* File: main.cpp
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* Author: mar
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*
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* Created on 7 kwiecień 2013, 19:36
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*/
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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 "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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#include <cvblob.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 searchSize = 20;
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Point p1, p2, p3, p4;
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Mat imgTemplate, searchRegion, rawTemplate, rawSearch, tran;
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Rect solution;
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bool noHand = false;
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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 = 10000, minArea = 500;
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bool hideWindow = false;
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IplImage *red = 0, *tmp = 0, * framee = 0, *labelImg = 0;
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CvBlobs blobs;
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CvTracks tracks;
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void setR(int v) {
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r = v;
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}
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void setG(int v) {
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g = v;
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}
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void setB(int v) {
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b = v;
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}
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void setRT(int v) {
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rT = v;
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}
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void setGT(int v) {
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gT = v;
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}
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void setBT(int v) {
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bT = v;
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}
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void setMax(int v) {
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maxArea = v;
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}
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void setMin(int v) {
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minArea = v;
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}
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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 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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void setRegion(Point point,int frameX,int frameY) {
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int setRegionSize = 20;
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if ((p1 = point.x - setRegionSize) > frameX ) p1 = frameX;
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else
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if ((p1 = point.x - setRegionSize) < 0) p1 = 0;
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if ((p2 = point.y - setRegionSize) > frameY) p2 = frameY;
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else
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if ((p2 = point.y - setRegionSize) < 0) p2 = 0;
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p1 = Point(point.x - 20, point.y - 20);
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p2 = Point(point.x + 20, point.y + 20);
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Rect ra = Rect(p1, p2);
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imgTemplate = frame(ra);
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p3 = Point(p1.x - 30, p1.y - 30);
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p4 = Point(p2.x + 60, p2.y + 60);
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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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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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}
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Point searchHand(Mat &img) {
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cvtColor(frame, tran, CV_BGR2HSV);
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tmp->imageData = (char*) tran.data;
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cvInRangeS(tmp, Scalar(r, g, b), Scalar(rT, gT, bT), red);
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cvSmooth(red, red, CV_BLUR, 3);
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cvSmooth(red, red, CV_MEDIAN, 3);
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cvDilate(red, red, NULL, 3);
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cvErode(red, red, NULL, 8);
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cvDilate(red, red, NULL, 2);
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imshow("cos", Mat(red));
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////cvtColor(frame, frame, CV_RGB2GRAY);
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framee->imageData = (char*) img.data;
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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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frame = Mat(framee);
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cout << "jestem" << endl;
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for (CvBlobs::const_iterator it = blobs.begin(); it != blobs.end(); ++it) {
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int x = (int) it->second->centroid.x;
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int y = (int) it->second->centroid.y;
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return Point(x, y);
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}
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return Point(0, 0);
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}
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int main(int, char**) {
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Media mouse;
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bool mouseon = true;
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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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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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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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cap >> frame;
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int frameX = frame.cols, frameY = frame.rows;
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flip(frame, frame, 1);
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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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while (!done) {
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cap >> frame;
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flip(frame, frame, 1);
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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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setRegion(point);
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char key = -1;
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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 - searchSize) <= 0)
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x = 0;
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else
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if ((x = solution.x - searchSize) >= frameX)
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x = frameX;
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if ((y = solution.y - searchSize) <= 0)
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y = 0;
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else
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if ((y = solution.y - searchSize) >= frameY)
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y = frameY;
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if ((x1 = solution.x + solution.width + searchSize) <= 0)
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x1 = 0;
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else
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if ((x1 = solution.x + solution.width + searchSize) >= frameX)
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x1 = frameX;
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if ((y1 = solution.y + solution.height + searchSize) <= 0)
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y1 = 0;
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else
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if ((y1 = solution.y + solution.height + searchSize) >= frameY)
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y1 = frameY;
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p3 = Point(x, y);
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p4 = Point(x1, y1);
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if ((solution.x + solution.width == frameX || solution.y + solution.height ==
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frameY || solution.x == 0 || solution.y == 0)) {
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Point center = searchHand(frame);
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setRegion(center);
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}
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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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//mouse.setMouse(x / (double) frame.cols * res.first, y / (double) frame.rows * res.second, 3);
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//mouse.drawArc(x / (double) frame.cols * res.first, y / (double) frame.rows * res.second, 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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imshow("bin", Mat(red));
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key = waitKey(1);
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if (key == 'q')
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break;
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switch (key) {
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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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}
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return 0;
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}
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