int main()
{
double time;
CvScalar hsv_min;
CvScalar hsv_max;
#ifdef VIDEO
CvCapture* capture = cvCreateFileCapture("E:\\Evan Lin\\CLUB\\PingPong\\OPENCV\\Table Tennis.flv");
//CvCapture *capture = cvCreateFileCapture("E:\\Evan Lin\\CLUB\\PingPong\\OPENCV\\Test\\motionTracking(ZC)\\bouncingBall.avi");
//CvCapture *capture = cvCreateFileCapture("E:\\Evan Lin\\CLUB\\PingPong\\OPENCV\\PingPongTest.avi");
//CvCapture *capture = cvCreateFileCapture("E:\\Evan Lin\\CLUB\\PingPong\\OPENCV\\WIN_20150803_103818.MP4");//WIN_20150803_102356.MP4
#else
CvCapture* capture = cvCreateCameraCapture(0);
#endif
if (!capture)
{
printf("ERROR ACQUIRING VIDEO FEED\n");
getchar();
return -1;
}
CvSize size = cvSize(cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH), cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT));
IplImage* frame = cvCreateImage(size, IPL_DEPTH_8U, 3);
IplImage* hsv_frame = cvCreateImage(size, IPL_DEPTH_8U, 3);
IplImage* thresholded = cvCreateImage(size, IPL_DEPTH_8U, 1);
cvInitFont(&font, CV_FONT_HERSHEY_COMPLEX, 0.5, 0.5, 0, 1, 1);
while (1)
{
#ifdef VIDEO
capture = cvCreateFileCapture("E:\\Evan Lin\\CLUB\\PingPong\\OPENCV\\Table Tennis.flv");
if (!capture)
{
printf("ERROR ACQUIRING VIDEO FEED\n");
getchar();
return -1;
}
while (cvGetCaptureProperty(capture, CV_CAP_PROP_POS_FRAMES) < cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_COUNT) - 1)
{
time = (double)cvGetTickCount();
frame = cvQueryFrame(capture);
if (!frame)
{
fprintf(stderr, "ERROR: frame is null...\n");
getchar();
exit(1);
}
cvCvtColor(frame, hsv_frame, CV_BGR2HSV);
hsv_min = cvScalar(H_MIN, S_MIN, S_MIN, 0);
hsv_max = cvScalar(H_MAX, S_MAX, V_MAX, 0);
cvInRangeS(hsv_frame, hsv_min, hsv_max, thresholded);
cvErode(thresholded, thresholded, NULL, 1);
cvDilate(thresholded, thresholded, NULL, 1);
//cvSmooth(thresholded, thresholded, CV_GAUSSIAN, 9, 9);
if (debugMode == true)
{
createTrackbars();
cvNamedWindow("HSV", CV_WINDOW_AUTOSIZE);
cvShowImage("HSV", thresholded);
}
else
{
cvDestroyWindow("trackbarControl");
cvDestroyWindow("HSV");
}
if (trackingEnabled)
{
searchForMovement(thresholded, frame);
}
if (showEnabled)
{
time = ((double)cvGetTickCount() - time) / cvGetTickFrequency();
double fps = 100000.0 / time;
char str[20];
sprintf(str, "FPS:%.2f", fps);
cvPutText(frame, str, cvPoint(0, 30), &font, cvScalar(255, 0, 0));
}
cvShowImage("Frame1", frame);
switch (cvWaitKey(33))
{
case 27: //'esc' key has been pressed, exit program.
//cvReleaseMemStorage();
cvReleaseCapture(&capture);
cvDestroyAllWindows();
return 0;
case 116: //'t' has been pressed. this will toggle tracking
trackingEnabled = !trackingEnabled;
if (trackingEnabled == false) printf("Tracking disabled.\n");
else printf("Tracking enabled.\n");
break;
case 100: //'d' has been pressed. this will debug mode
debugMode = !debugMode;
if (debugMode == false) printf("Debug mode disabled.\n");
else printf("Debug mode enabled.\n");
break;
case 115: //'s' has been pressed. this will debug mode
showEnabled = !showEnabled;
if (showEnabled == false) printf("Show mode disabled.\n");
else printf("Show mode enabled.\n");
break;
case 112: //'p' has been pressed. this will pause/resume the code.
pause = !pause;
if (pause == true)
{
printf("Code paused, press 'p' again to resume\n");
while (pause == true)
{
//stay in this loop until
switch (cvWaitKey())
{
case 112:
//change pause back to false
pause = false;
printf("Code resumed.\n");
break;
}
}
}
}
}
}
#else
time = (double)GetTickCount();
//time = (double)cvGetTickCount();
frame = cvQueryFrame(capture);
if (!frame)
{
fprintf(stderr, "ERROR: frame is null...\n");
getchar();
exit(1);
}
cvCvtColor(frame, hsv_frame, CV_BGR2HSV);
hsv_min = cvScalar(H_MIN, S_MIN, S_MIN, 0);
hsv_max = cvScalar(H_MAX, S_MAX, V_MAX, 0);
cvInRangeS(hsv_frame, hsv_min, hsv_max, thresholded);
cvErode(thresholded, thresholded, NULL, 1);
cvErode(thresholded, thresholded, NULL, 1);
cvErode(thresholded, thresholded, NULL, 1);
cvDilate(thresholded, thresholded, NULL, 1);
//cvSmooth(thresholded, thresholded, CV_GAUSSIAN, 9, 9);
if (debugMode == true)
{
createTrackbars();
cvNamedWindow("HSV", CV_WINDOW_AUTOSIZE);
cvShowImage("HSV", thresholded);
}
else
{
cvDestroyWindow("trackbarControl");
cvDestroyWindow("HSV");
}
if (trackingEnabled)
{
searchForMovement(thresholded, frame);
}
if (showEnabled)
{
//time = ((double)cvGetTickCount() - time) / cvGetTickFrequency();
//double fps = 100000.0 / time;
time = (double)GetTickCount() - time;
double fps = 1000.0 / time;
char str[20];
sprintf(str, "FPS:%.2f", fps);
cvPutText(frame, str, cvPoint(0, 30), &font, cvScalar(255, 0, 0));
}
cvShowImage("Frame1", frame);
}
int main_track(){
//some boolean variables for added functionality
bool objectDetected = false;
//these two can be toggled by pressing 'd' or 't'
bool debugMode = false;
bool trackingEnabled = false;
//pause and resume code
bool pause = false;
//set up the matrices that we will need
//the two frames we will be comparing
Mat frame1,frame2;
//their grayscale images (needed for absdiff() function)
Mat grayImage1,grayImage2;
//resulting difference image
Mat differenceImage;
//thresholded difference image (for use in findContours() function)
Mat thresholdImage;
//video capture object.
VideoCapture capture;
capture.open(0);
if(!capture.isOpened()){
cout<<"ERROR ACQUIRING VIDEO FEED\n";
getchar();
return -1;
}
while(1){
//we can loop the video by re-opening the capture every time the video reaches its last frame
//capture.open("C:\\Users\\Ran_the_User\\Documents\\GitHub\\3Drobot\\camera3D\\src\\externals\\bouncingBall.avi");
//check if the video has reach its last frame.
//we add '-1' because we are reading two frames from the video at a time.
//if this is not included, we get a memory error!
//while(capture.get(CV_CAP_PROP_POS_FRAMES)<capture.get(CV_CAP_PROP_FRAME_COUNT)-1)
{
//read first frame
capture.read(frame1);
//convert frame1 to gray scale for frame differencing
cv::cvtColor(frame1,grayImage1,COLOR_BGR2GRAY);
//copy second frame
capture.read(frame2);
//convert frame2 to gray scale for frame differencing
cv::cvtColor(frame2,grayImage2,COLOR_BGR2GRAY);
//perform frame differencing with the sequential images. This will output an "intensity image"
//do not confuse this with a threshold image, we will need to perform thresholding afterwards.
cv::absdiff(grayImage1,grayImage2,differenceImage);
//threshold intensity image at a given sensitivity value
cv::threshold(differenceImage,thresholdImage,SENSITIVITY_VALUE,255,THRESH_BINARY);
if(debugMode==true){
//show the difference image and threshold image
cv::imshow("Difference Image",differenceImage);
cv::imshow("Threshold Image", thresholdImage);
}else{
//if not in debug mode, destroy the windows so we don't see them anymore
cv::destroyWindow("Difference Image");
cv::destroyWindow("Threshold Image");
}
//blur the image to get rid of the noise. This will output an intensity image
cv::blur(thresholdImage,thresholdImage,cv::Size(BLUR_SIZE,BLUR_SIZE));
//threshold again to obtain binary image from blur output
cv::threshold(thresholdImage,thresholdImage,SENSITIVITY_VALUE,255,THRESH_BINARY);
if(debugMode==true){
//show the threshold image after it's been "blurred"
imshow("Final Threshold Image",thresholdImage);
}
else {
//if not in debug mode, destroy the windows so we don't see them anymore
cv::destroyWindow("Final Threshold Image");
}
//if tracking enabled, search for contours in our thresholded image
if(trackingEnabled){
searchForMovement(thresholdImage,frame1);
}
//show our captured frame
imshow("Frame1",frame1);
//check to see if a button has been pressed.
//this 10ms delay is necessary for proper operation of this program
//if removed, frames will not have enough time to referesh and a blank
//image will appear.
switch(waitKey(10)){
case 27: //'esc' key has been pressed, exit program.
return 0;
case 116: //'t' has been pressed. this will toggle tracking
trackingEnabled = !trackingEnabled;
if(trackingEnabled == false) cout<<"Tracking disabled."<<endl;
else cout<<"Tracking enabled."<<endl;
break;
case 100: //'d' has been pressed. this will debug mode
debugMode = !debugMode;
if(debugMode == false) cout<<"Debug mode disabled."<<endl;
else cout<<"Debug mode enabled."<<endl;
break;
case 112: //'p' has been pressed. this will pause/resume the code.
pause = !pause;
if(pause == true){ cout<<"Code paused, press 'p' again to resume"<<endl;
while (pause == true){
//stay in this loop until
switch (waitKey()){
//a switch statement inside a switch statement? Mind blown.
case 112:
//change pause back to false
pause = false;
cout<<"Code Resumed"<<endl;
break;
}
}
}
}
}
//release the capture before re-opening and looping again.
//capture.release();
}
return 0;
}
