int main(int argc, char* argv[])
{
//if we would like to calibrate our filter values, set to true.
bool calibrationMode = true;
//Matrix to store each frame of the webcam feed
Mat cameraFeed;
Mat threshold;
Mat HSV;
if(calibrationMode){
//create slider bars for HSV filtering
createTrackbars();
}
//video capture object to acquire webcam feed
VideoCapture capture;
//open capture object at location zero (default location for webcam)
capture.open(0);
//set height and width of capture frame
capture.set(CV_CAP_PROP_FRAME_WIDTH,FRAME_WIDTH);
capture.set(CV_CAP_PROP_FRAME_HEIGHT,FRAME_HEIGHT);
//start an infinite loop where webcam feed is copied to cameraFeed matrix
//all of our operations will be performed within this loop
waitKey(1000);
while(1){
//store image to matrix
capture.read(cameraFeed);
src = cameraFeed;
if( !src.data )
{ return -1; }
//convert frame from BGR to HSV colorspace
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
if(calibrationMode==true){
//need to find the appropriate color range values
// calibrationMode must be false
//if in calibration mode, we track objects based on the HSV slider values.
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,Scalar(H_MIN,S_MIN,V_MIN),Scalar(H_MAX,S_MAX,V_MAX),threshold);
morphOps(threshold);
imshow(windowName2,threshold);
//the folowing for canny edge detec
/// Create a matrix of the same type and size as src (for dst)
dst.create( src.size(), src.type() );
/// Convert the image to grayscale
cvtColor( src, src_gray, CV_BGR2GRAY );
/// Create a window
namedWindow( window_name, CV_WINDOW_AUTOSIZE );
/// Create a Trackbar for user to enter threshold
createTrackbar( "Min Threshold:", window_name, &lowThreshold, max_lowThreshold);
/// Show the image
trackFilteredObject(threshold,HSV,cameraFeed);
}
else{
//create some temp fruit objects so that
//we can use their member functions/information
Object blue("blue"), yellow("yellow"), red("red"), green("green");
//first find blue objects
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,blue.getHSVmin(),blue.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(blue,threshold,HSV,cameraFeed);
//then yellows
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,yellow.getHSVmin(),yellow.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(yellow,threshold,HSV,cameraFeed);
//then reds
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,red.getHSVmin(),red.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(red,threshold,HSV,cameraFeed);
//then greens
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,green.getHSVmin(),green.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(green,threshold,HSV,cameraFeed);
}
//show frames
//imshow(windowName2,threshold);
imshow(windowName,cameraFeed);
//imshow(windowName1,HSV);
//delay 30ms so that screen can refresh.
//image will not appear without this waitKey() command
waitKey(30);
}
return 0;
}
// start to track the point
void TrackerPoint::startTracking(){
//some boolean variables for different functionality within this
//program
bool trackObjects = true;
bool useMorphologicalFilters = true;
//Matrix to store each frame of the webcam feed
cv::Mat cameraFeed, cameraFeedLensCorrected;
//matrix storage for HSV image
cv::Mat HSV;
//matrix storage for binary threshold image
cv::Mat threshold;
//x and y values for the location of the object
int x = 0, y = 0;
//create slider bars for HSV filtering
createTrackBars();
//video capture object to acquire webcam feed
cv::VideoCapture capture;
//open capture object at location zero (default location for webcam)
if (!capture.isOpened()){
capture.open(cameraID);
}
//set height and width of capture frame
capture.set(cv::CAP_PROP_FRAME_WIDTH, FRAME_WIDTH);
capture.set(cv::CAP_PROP_FRAME_HEIGHT, FRAME_HEIGHT);
//start an infinite loop where webcam feed is copied to cameraFeed matrix
//all of our operations will be performed within this loop
while (1){
//store image to matrix
capture.read(cameraFeed);
//undistort images
cv::undistort(cameraFeed, cameraFeedLensCorrected, KMatrix, DistCoeffs);
//convert frame from BGR to HSV colorspace
cvtColor(cameraFeedLensCorrected, HSV, cv::COLOR_BGR2HSV);
//filter HSV image between values and store filtered image to
//threshold matrix
inRange(HSV, cv::Scalar(H_MIN, S_MIN, V_MIN), cv::Scalar(H_MAX, S_MAX, V_MAX), threshold);
//perform morphological operations on thresholded image to eliminate noise
//and emphasize the filtered object(s)
if (useMorphologicalFilters)
applyMorphologicalFilters(threshold);
//pass in thresholded frame to our object tracking function
//this function will return the x and y coordinates of the
//filtered object
if (trackObjects){
trackFilteredObject(x, y, threshold, cameraFeedLensCorrected);
// send signal with point information
doEmit(x, y);
}
//show frames
cv::imshow(windowName2, threshold);
cv::imshow(windowName, cameraFeedLensCorrected);
cv::imshow(windowName1, HSV);
//delay 30ms so that screen can refresh.
//image will not appear without this waitKey() command
cv::waitKey(30);
}
}
