CvContourPolygon *cvSimplifyPolygon(CvContourPolygon const *p, double const delta)
{
CV_FUNCNAME("cvSimplifyPolygon");
__CV_BEGIN__;
{
CV_ASSERT(p!=NULL);
CV_ASSERT(p->size()>2);
double furtherDistance=0.;
unsigned int furtherIndex=0;
CvContourPolygon::const_iterator it=p->begin();
++it;
for (unsigned int i=1; it!=p->end(); ++it, i++)
{
double d = cvDistancePointPoint(*it, p->front());
if (d>furtherDistance)
{
furtherDistance = d;
furtherIndex = i;
}
}
if (furtherDistance<delta)
{
CvContourPolygon *result = new CvContourPolygon;
result->push_back(p->front());
return result;
}
bool *pnUseFlag = new bool[p->size()];
for (int i=1; i<p->size(); i++) pnUseFlag[i] = false;
pnUseFlag[0] = pnUseFlag[furtherIndex] = true;
simplifyPolygonRecursive(p, 0, furtherIndex, pnUseFlag, delta);
simplifyPolygonRecursive(p, furtherIndex, -1, pnUseFlag, delta);
CvContourPolygon *result = new CvContourPolygon;
for (int i=0; i<p->size(); i++)
if (pnUseFlag[i])
result->push_back((*p)[i]);
delete[] pnUseFlag;
return result;
}
__CV_END__;
}
CvContourPolygon *cvConvertChainCodesToPolygon(CvContourChainCode const *cc)
{
CV_FUNCNAME("cvConvertChainCodesToPolygon");
__CV_BEGIN__;
{
CV_ASSERT(cc!=NULL);
CvContourPolygon *contour = new CvContourPolygon;
unsigned int x = cc->startingPoint.x;
unsigned int y = cc->startingPoint.y;
contour->push_back(cvPoint(x, y));
if (cc->chainCode.size())
{
CvChainCodes::const_iterator it=cc->chainCode.begin();
CvChainCode lastCode = *it;
x += cvChainCodeMoves[*it][0];
y += cvChainCodeMoves[*it][1];
++it;
for (; it!=cc->chainCode.end(); ++it)
{
if (lastCode!=*it)
{
contour->push_back(cvPoint(x, y));
lastCode=*it;
}
x += cvChainCodeMoves[*it][0];
y += cvChainCodeMoves[*it][1];
}
}
return contour;
}
__CV_END__;
}
void cvWriteContourPolygonSVG(const CvContourPolygon& p, const string& filename, const CvScalar& stroke, const CvScalar& fill)
{
int minx=INT_MAX;
int miny=INT_MAX;
int maxx=INT_MIN;
int maxy=INT_MIN;
stringstream buffer("");
for (CvContourPolygon::const_iterator it=p.begin(); it!=p.end(); ++it)
{
if (it->x>maxx)
maxx = it->x;
if (it->x<minx)
minx = it->x;
if (it->y>maxy)
maxy = it->y;
if (it->y<miny)
miny = it->y;
buffer << it->x << "," << it->y << " ";
}
ofstream f;
f.open(filename.c_str());
f << "<?xml version=\"1.0\" encoding=\"ISO-8859-1\" standalone=\"no\"?>" << endl;
f << "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 20010904//EN\" \"http://www.w3.org/TR/2001/REC-SVG-20010904/DTD/svg10.dtd\">" << endl;
f << "<svg xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\" xml:space=\"preserve\" width=\"" << maxx-minx << "px\" height=\"" << maxy-miny << "px\" viewBox=\"" << minx << " " << miny << " " << maxx << " " << maxy << "\" zoomAndPan=\"disable\" >" << endl;
f << "<polygon fill=\"rgb(" << fill.val[0] << "," << fill.val[1] << "," << fill.val[2] << ")\" stroke=\"rgb(" << stroke.val[0] << "," << stroke.val[1] << "," << stroke.val[2] << ")\" stroke-width=\"1\" points=\"" << buffer.str() << "\"/>" << endl;
f << "</svg>" << endl;
f.close();
}
int main(int argc, char** argv)
{
CvTracks tracks;
/*drawing*/
CvPoint pt3;
/*colors*/
CvScalar green = CV_RGB(0,255,0);
cvNamedWindow("red_object_tracking", CV_WINDOW_AUTOSIZE);
CvCapture* capture;
capture = cvCreateFileCapture (argv[1]);
assert( capture != NULL );
IplImage *img = cvQueryFrame( capture );
CvSize imgSize = cvGetSize(img);
IplImage *frame = cvCreateImage(cvGetSize(img), img->depth, img->nChannels);
IplConvKernel* morphKernel = cvCreateStructuringElementEx(3, 3, 1, 1, CV_SHAPE_RECT, NULL);
//unsigned int frameNumber = 0;
unsigned int blobNumber = 0;
bool quit = false;
while (!quit)
{
IplImage *img = cvQueryFrame( capture );
cvConvertScale(img, frame, 1, 0);
IplImage *segmentated = cvCreateImage(imgSize, 8, 1);
// Detecting red pixels:
// (This is very slow, use direct access better...)
for (unsigned int j=0; j<imgSize.height; j++)
for (unsigned int i=0; i<imgSize.width; i++)
{
CvScalar c = cvGet2D(frame, j, i);
double b = ((double)c.val[0])/255.;
double g = ((double)c.val[1])/255.;
double r = ((double)c.val[2])/255.;
unsigned char f = 255*((r<0.15)&&(b<0.15)&&(g<0.15));
//unsigned char f = 255*((r>0.5+g)&&(r>0.5+b));
cvSet2D(segmentated, j, i, CV_RGB(f, f, f));
}
cvMorphologyEx(segmentated, segmentated, NULL, morphKernel, CV_MOP_OPEN, 1);
cvShowImage("segmentated", segmentated);
IplImage *labelImg = cvCreateImage(cvGetSize(frame), IPL_DEPTH_LABEL, 1);
CvBlobs blobs;
unsigned int result = cvLabel(segmentated, labelImg, blobs);
cvFilterByArea(blobs, 50, (frame->width*frame->height)/30);
//cvRenderBlobs(labelImg, blobs, frame, frame, CV_BLOB_RENDER_BOUNDING_BOX);
//cvUpdateTracks(blobs, tracks, 200., 5);
//cvRenderTracks(tracks, frame, frame, CV_TRACK_RENDER_ID|CV_TRACK_RENDER_BOUNDING_BOX);
int l = 0;
for (CvBlobs::const_iterator it=blobs.begin(); it!=blobs.end(); ++it, l++)
{
//define marker corners
pt3 = cvPoint(it->second->centroid.x,it->second->centroid.y);
// draw small corner circle
cvCircle(frame, pt3, 3, green, 1, 8, 0);
CvContourPolygon *polygon = cvConvertChainCodesToPolygon(&(*it).second->contour);
double perimeter = cvContourPolygonPerimeter(polygon);
CvContourPolygon *sPolygon = cvSimplifyPolygon(polygon, 5. );
CvContourPolygon *cPolygon = cvPolygonContourConvexHull(sPolygon);
if (1)
// if (sPolygon->size()==4)
{
for (CvContourPolygon::const_iterator itp=sPolygon->begin(); itp!=sPolygon->end(); ++itp)
{
int x = itp->x;
int y = itp->y;
CvPoint pt1 = cvPoint(x,y);
cvCircle(frame, pt1, 3, CV_RGB(255, 128, 50), 1, 8, 0);
cvRenderContourPolygon(sPolygon, frame, CV_RGB(0, 0, 255));
}
}
//cvRenderContourChainCode(&(*it).second->contour, frame);
//cvRenderContourPolygon(sPolygon, frame, CV_RGB(0, 0, 255));
//cvRenderContourPolygon(cPolygon, frame, CV_RGB(0, 255, 0));
}
cvNamedWindow("red_object_tracking", CV_WINDOW_NORMAL) ;
cvShowImage("red_object_tracking", frame);
/*std::stringstream filename;
filename << "redobject_" << std::setw(5) << std::setfill('0') << frameNumber << ".png";
cvSaveImage(filename.str().c_str(), frame);*/
cvReleaseImage(&labelImg);
cvReleaseImage(&segmentated);
char k = cvWaitKey(0)&0xff;
switch (k)
{
case 27:
case 'q':
case 'Q':
quit = true;
break;
case 's':
case 'S':
for (CvBlobs::const_iterator it=blobs.begin(); it!=blobs.end(); ++it)
{
std::stringstream filename;
filename << "redobject_blob_" << std::setw(5) << std::setfill('0') << blobNumber << ".png";
cvSaveImageBlob(filename.str().c_str(), img, it->second);
blobNumber++;
std::cout << filename.str() << " saved!" << std::endl;
}
break;
}
for (CvBlobs::const_iterator it=blobs.begin(); it!=blobs.end(); ++it)
{
std::cout << "Blob #" << it->second->label << ": Area=" << it->second->area << ", Centroid=(" << it->second->centroid.x << ", " << it->second->centroid.y << ")" << std::endl;
}
cvReleaseBlobs(blobs);
//frameNumber++;
}
cvReleaseStructuringElement(&morphKernel);
cvReleaseImage(&frame);
cvDestroyWindow("red_object_tracking");
return 0;
}