IplImage *process(IplImage **_img)
{
fprintf(stderr, "Processing image:\n");
IplImage *img = *_img;
/* Convert to HSV */
print_time("Converting to HSV");
CvSize size = cvGetSize(img);
IplImage *hsv = cvCreateImage(size, IPL_DEPTH_8U, 3);
cvCvtColor(img, hsv, CV_BGR2HSV);
/* Generate mask */
CvMat *mask = cvCreateMat(size.height, size.width, CV_8UC1);
//cvInRangeS(hsv, cvScalar(0.11*256, 0.60*256, 0.20*256, 0),cvScalar(0.14*256, 1.00*256, 1.00*256, 0), mask);
cvInRangeS(hsv, cvScalar(0,0.6*256,0.6*256,0),cvScalar(0.21*256,256,256,0), mask);
cvReleaseImage(&hsv);
/* Perform morphological ops */
print_time("Performing morphologies");
IplConvKernel *se21 = cvCreateStructuringElementEx(21, 21, 10, 10, CV_SHAPE_RECT, NULL);
IplConvKernel *se11 = cvCreateStructuringElementEx(11, 11, 5, 5, CV_SHAPE_RECT, NULL);
cvClose(mask, mask, se21);
cvOpen(mask, mask, se11);
cvReleaseStructuringElement(&se21);
cvReleaseStructuringElement(&se11);
/* Hough transform */
IplImage *hough_in = cvCreateImage(size, 8, 1);
cvCopy(mask, hough_in, NULL);
int rows=size.height;
int cols=size.width;
int j,k;
int breakflag=0;
for(j=0;j<rows;j++) {
for(k=0;k<cols;k++)
{
CvScalar val=cvGet2D(hough_in,j,k);
if(val.val[0]==255)
{
sprintf(dat,"%d-%d:",k,j);
int rc = serialport_write(fd, dat);
if(rc==-1) return 0;
fprintf(fp,"%d %d\n",k,j);
breakflag=1;
break;
}
}
if(breakflag)
break;
}
return hough_in;
}
int filterByHSV(IplImage *src, CvScalar minHSV, CvScalar maxHSV, IplImage *dst) {
IplImage *tmp3d = cvCloneImage(src);
cvSmooth(tmp3d, tmp3d, CV_GAUSSIAN, 13, 0, 0, 0);
cvCvtColor(tmp3d, tmp3d, CV_BGR2HSV);
IplImage *tmp1dH_mask = cvCreateImage(cvGetSize(src), IPL_DEPTH_8U, 1);
IplImage *tmp1dS_mask = cvCreateImage(cvGetSize(src), IPL_DEPTH_8U, 1);
IplImage *tmp1dV_mask = cvCreateImage(cvGetSize(src), IPL_DEPTH_8U, 1);
cvSplit(tmp3d, tmp1dH_mask, tmp1dS_mask, tmp1dV_mask, NULL);
//printf("\rmin: %03d,%03d,%03d", (int)minHSV.val[0], (int)minHSV.val[1], (int)minHSV.val[2]);
//printf("\tmax: %03d,%03d,%03d", (int)maxHSV.val[0], (int)maxHSV.val[1], (int)maxHSV.val[2]);
if (minHSV.val[0] < maxHSV.val[0]) {
cvInRangeS(tmp1dH_mask, cvScalar(minHSV.val[0], 0, 0), cvScalar(maxHSV.val[0], 0, 0), tmp1dH_mask);
} else {
IplImage *tmp1d = cvCloneImage(tmp1dH_mask);
cvInRangeS(tmp1dH_mask, cvScalar(0, 0, 0), cvScalar(maxHSV.val[0], 0, 0), tmp1d);
cvInRangeS(tmp1dH_mask, cvScalar(minHSV.val[0], 0, 0), cvScalar(255, 0, 0), tmp1dH_mask);
cvOr(tmp1d, tmp1dH_mask, tmp1dH_mask, NULL);
cvReleaseImage(&tmp1d);
}
cvInRangeS(tmp1dS_mask, cvScalar(minHSV.val[1], 0, 0), cvScalar(maxHSV.val[1], 0, 0), tmp1dS_mask);
cvInRangeS(tmp1dV_mask, cvScalar(minHSV.val[2], 0, 0), cvScalar(maxHSV.val[2], 0, 0), tmp1dV_mask);
IplImage *tmp1d_mask = cvCreateImage(cvGetSize(src), IPL_DEPTH_8U, 1);
cvSet(tmp1d_mask, cvScalarAll(255), NULL);
cvAnd(tmp1d_mask, tmp1dH_mask, tmp1d_mask, NULL);
cvAnd(tmp1d_mask, tmp1dS_mask, tmp1d_mask, NULL);
cvAnd(tmp1d_mask, tmp1dV_mask, tmp1d_mask, NULL);
cvReleaseImage(&tmp1dH_mask);
cvReleaseImage(&tmp1dS_mask);
cvReleaseImage(&tmp1dV_mask);
cvClose(tmp1d_mask, tmp1d_mask, NULL, 2);
#define CONTROLS_WIDTHA 640/2
#define CONTROLS_HEIGHTA 480/2
#if 1
cvNamedWindow(CONTROL_WINDOW "4", 0);
cvResizeWindow(CONTROL_WINDOW "4", CONTROLS_WIDTHA, CONTROLS_HEIGHTA);
cvShowImage(CONTROL_WINDOW "4", tmp1d_mask);
#endif
cvCopy2(src, dst, tmp1d_mask);
cvReleaseImage(&tmp1d_mask);
return 0;
}
