/**
* @brief ImageProcessing::imageProcess
* @param rawImage
* @return
*/
QImage ImageProcessing::imageProcess(QImage *rawImage)
{
this->rawImage = *rawImage;
resultImage = rawImage;
// threshold
getThresholdImage(resultImage);
// morpology
if( enableMorpology == true ) {
for(int i=0; i<erodeNum; i++)
erode(resultImage);
for(int i=0; i<dilateNum; i++)
dilate(resultImage);
}
// get objects position
getObjectsPosition(resultImage);
ball->updatePosition(ballPos);
robot->updatePosition(robotPos);
emit signalFindBall(ballPos);
emit signalFindRobot(robotPos);
// predict
predictCourse(resultImage);
// tracking
ballTracking();
if( ball->found() == true ) {
emit signalImageProcessCompleted();
}
// draw fence
drawFence();
return *resultImage;
}
int main()
{
CvCapture* capture = 0;
printf("Initializing Capture...\n");
// capture = cvCreateFileCapture("http://192.168.1.100/videostream.cgi?user=admin&pwd=123456");
capture = cvCaptureFromCAM( CV_CAP_ANY );
printf("Camera found\n");
if(!capture){printf("Could not initialize camera...\n");}
printf("Capture Success!!!\n");
cvNamedWindow("Video", CV_WINDOW_AUTOSIZE);
cvResizeWindow("Video", 640,480);
cvMoveWindow("Video", 0,100);
cvNamedWindow("HSV",CV_WINDOW_AUTOSIZE);
cvNamedWindow("ROI");
cvMoveWindow("ROI", 700,100);
int state = 0;
int track = 1;
int change= 2;
int reset = 3;
int clear = 4;
while(1)
{
// Hold frame captured from camera
IplImage* img = cvQueryFrame(capture);
if(!img){printf("Image Query Failed");break;}
key = cvWaitKey(10);
if(key=='t'){state = track;}
if(key=='c'){state = change;}
if(key=='r'){state = reset;}
if(key=='q'){state = clear;}
key = cvWaitKey(10);
if(state == track)
{
printf("Tracking\n");
imgRed = getThresholdImage(img);
imgPos = getMoment(img);
}
key = cvWaitKey(10);
if(state == change)
{
cvRectangle(img,cvPoint(250,300),cvPoint(400,200),CV_RGB(255,0,0),5,8);
cvWaitKey(30);
cvShowImage("Video",img);
//printf("Getting Color\n");
IplImage* imgColor = getColor(img);
state = 0;
}
key = cvWaitKey(10);
if(state == reset)
{
printf("Resetting\n");
minC = hsv_min;
maxC = hsv_max;
state = 0;
}
if(state == clear)
{
printf("Paused\n");
state = 0;
}
else
{
key = cvWaitKey(10);
}
cvShowImage("HSV", imgRed);
cvShowImage("Video", img);
cvReleaseImage(&imgPos);
cvReleaseImage(&imgRed);
if ( (cvWaitKey(10) & 255) == 27 ) break;
//key = cvWaitKey(10);
}
cvDestroyWindow("Video");
cvDestroyWindow("HSV");
cvDestroyWindow("ROI");
cvReleaseCapture(&capture);
}
