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();
}
//while(1)
{
src = imread("/home/yf/Pictures/tack2.png", 1);
cameraFeed = src;
if( !src.data )
{ return -1; }
//convert frame from BGR to HSV colorspace
cvtColor(src,HSV,CV_BGR2HSV);
//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,CV_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);
//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();
}
return 0;
}
void visual_servoing::processImage(const sensor_msgs::ImageConstPtr& msg)
{
// Convert the ROS image to an OpenCV Image
cv_bridge::CvImagePtr cv_ptr;
// try
// {
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
// }
// catch(cv_bridge::Exception& e)
// {
// ROS_ERROR("cv_bridge exception: %s", e.what());
// return;
// }
Mat camerafeed = cv_ptr->image;
Mat threshold;
Mat HSV;
// visual_servoing the threshed image
createTrackbars();
cvtColor(cv_ptr->image,HSV,COLOR_BGR2HSV);
cvtColor(cv_ptr->image,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);
trackRobot(this->robot, threshold,HSV,cv_ptr->image);
cv::setMouseCallback("Original Image", mouseEventCallback, &(this->clickedPoint));
//Robot's position over time
int robotX = this->robot.getXPos();
int robotY = this->robot.getYPos();
int clickedX = (int)this->clickedPoint.x;
int clickedY = (int)this->clickedPoint.y;
// Draw target point
if(clickedX != -1 && clickedY != -1)
{
cv::circle(cv_ptr->image, cv::Point(clickedX, clickedY), 5, cv::Scalar(255, 0, 0));
cv::putText(cv_ptr->image, intToString(clickedX)+ " , "
+ intToString(clickedY), cv::Point(clickedX, clickedY + 20), 1, 1,Scalar(255, 0, 0));
}
// Calculate deltas
int delta_x = robotX - clickedX;
int delta_y = robotY - clickedY;
imshow(windowName,cv_ptr->image);
waitKey(3);
}
int main(int argc, char* argv[])
{
cuerpo humano;
bool grabarmeneada = false;
bool calibrationMode = false;
Mat cameraFeed;
Mat threshold;
Mat HSV;
cv::Size frameSize(FRAME_WIDTH, FRAME_HEIGHT);
Mat figura= Mat::zeros(frameSize, CV_8UC1);
vector<Mat> spl;
if(calibrationMode){
createTrackbars();
}
VideoCapture captura;
captura.open(1);
//
cv::VideoWriter grabar;
//figura = Mat::zeros(frameSize, CV_8UC1);
if(grabarmeneada){
string filename = "meneate.avi";
//fcc
int fcc = CV_FOURCC('D','I','V','3');
int fps = 10;
grabar = VideoWriter(filename, fcc, fps, frameSize);
if(!grabar.isOpened()){
cout<<"ERROR al grabar archivo"<<endl;
getchar();
return -1;
}
}
captura.set(CV_CAP_PROP_FRAME_WIDTH,FRAME_WIDTH);
captura.set(CV_CAP_PROP_FRAME_HEIGHT,FRAME_HEIGHT);
while(1){
captura.read(cameraFeed);
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
if(calibrationMode==true){
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);
trackFilteredObject(threshold,HSV,cameraFeed,figura, humano);
}else{
nodo marca;
marca.setHSVmin(Scalar(24,2,240));
marca.setHSVmax(Scalar(85,115,256));
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,marca.getHSVmin(),marca.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(threshold,HSV,cameraFeed,figura, humano);
if(grabarmeneada){
split(cameraFeed, spl);
for (int i =0; i < 3; ++i)
spl[i] = figura;
merge(spl, figura);
grabar.write(figura);
}
}
imshow(windowName2,threshold);
imshow(windowName,cameraFeed);
grabar.write(figura);
imshow(meneate,figura);
//imshow(windowName1,HSV);
switch(waitKey(1)){
case 27://ESC
return 0;
}
waitKey(10);
}
return 0;
}
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(1);
//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);
//convert frame from BGR to HSV colorspace
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
//cvtColor(cameraFeed,HSV,COLOR_BGR2YCrCb);
if(calibrationMode==true){
//if in calibration mode, we track objects based on the HSV slider values.
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
//cvtColor(cameraFeed,HSV,COLOR_BGR2YCrCb);
inRange(HSV,Scalar(H_MIN,S_MIN,V_MIN),Scalar(H_MAX,S_MAX,V_MAX),threshold);
morphOps(threshold);
imshow(windowName2,threshold);
trackFilteredObject(threshold,HSV,cameraFeed);
}else{
Sample BlueRock("BlueRock"), RedPuck("RedPuck"), OrangePipe("OrangePipe"), PinkBall("PinkBall");
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
//cvtColor(cameraFeed,HSV,COLOR_BGR2YCrCb);
inRange(HSV,BlueRock.getHSVmin(),BlueRock.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(BlueRock,threshold,HSV,cameraFeed);
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
//cvtColor(cameraFeed,HSV,COLOR_BGR2YCrCb);
inRange(HSV,RedPuck.getHSVmin(),RedPuck.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(RedPuck,threshold,HSV,cameraFeed);
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
//cvtColor(cameraFeed,HSV,COLOR_BGR2YCrCb);
inRange(HSV,OrangePipe.getHSVmin(),OrangePipe.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(OrangePipe,threshold,HSV,cameraFeed);
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
//cvtColor(cameraFeed,HSV,COLOR_BGR2YCrCb);
inRange(HSV,PinkBall.getHSVmin(),PinkBall.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(PinkBall,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;
}
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(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
while(1){
//store image to matrix
capture.read(cameraFeed);
//convert frame from BGR to HSV colorspace
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
if(calibrationMode==true){
//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);
trackFilteredObject(threshold,HSV,cameraFeed);
}else{
//create some temp fruit objects so that
//we can use their member functions/information
Fruit apple("apple"), banana("banana"), cherry("cherry");
//first find apples
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,apple.getHSVmin(),apple.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(apple,threshold,HSV,cameraFeed);
//then bananas
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,banana.getHSVmin(),banana.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(banana,threshold,HSV,cameraFeed);
//then cherries
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,cherry.getHSVmin(),cherry.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(cherry,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;
}
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;
}
