imageCapture::imageCapture(Mat image, int& counter, int amountOfColors, int AmountOfProjectedPointsPerColor, int totalProjectedColumns, vector<vector<Point>>& twoDPointSpace) {
colorObject redLower("redLower"), redUpper("redUpper"), green("green"), blue("blue"), white("white");
// get blue points
cvtColor(image, HSV, COLOR_BGR2HSV);
inRange(HSV, blue.getHSVmin(), blue.getHSVmax(), threshold);
morphOps(threshold);
trackFilteredObject(blue, threshold, image, counter, twoDPointSpace);
// get red points
cvtColor(image, HSV, COLOR_BGR2HSV);
inRange(HSV, redLower.getHSVmin(), redLower.getHSVmax(), lowerRedImage);
inRange(HSV, redUpper.getHSVmin(), redUpper.getHSVmax(), upperRedImage);
addWeighted(lowerRedImage, 1.0, upperRedImage, 1.0, 0.0, threshold);
morphOps(threshold);
trackFilteredObject(redUpper, threshold, image, counter, twoDPointSpace);
//get green points
cvtColor(image, HSV, COLOR_BGR2HSV);
inRange(HSV, green.getHSVmin(), green.getHSVmax(), threshold);
morphOps(threshold);
trackFilteredObject(green, threshold, image, counter, twoDPointSpace);
//get white points
cvtColor(image, HSV, COLOR_BGR2HSV);
inRange(HSV, white.getHSVmin(), white.getHSVmax(), threshold);
morphOps(threshold);
trackFilteredObject(white, threshold, image, counter, twoDPointSpace);
counter++;
}
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 ballDetect :: initDetect(char *videoInput){
VideoCapture capture;
Mat src, src_HSV, processed;
int x=0; int y=0;
Mat currentFrame, back, fore;
BackgroundSubtractorMOG2 bg;
std::vector<std::vector<cv::Point> > contours;
capture.open(videoInput);
capture.set(CV_CAP_PROP_FRAME_WIDTH, FRAME_WIDTH);
capture.set(CV_CAP_PROP_FRAME_HEIGHT, FRAME_HEIGHT);
// int xyz=1;
while(1){
// cout<<xyz++<<endl;
capture.read(src);
cvtColor(src, src_HSV, COLOR_BGR2HSV);
bg.operator ()(src, fore);
bg.getBackgroundImage(back);
erode(fore, fore, Mat());
dilate(fore, fore, Mat());
findContours(fore, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
// drawContours(src, contours, -1, Scalar(0, 0, 255), 2);
contourCount=contours.size();
if(white_collide.x != -1 && white_collide.y!=-1){
circle(src, white_collide, 2, Scalar(0, 0, 0), 2);
circle(src, white_initial, 2, Scalar(0, 0, 0), 2);
line(src, white_initial, white_collide, Scalar(255, 255, 255), 1, CV_AA);
}
inRange(src_HSV, *minval, *maxval, processed);
morphOps(processed);
trackFilteredObject(x, y, processed, src);
for(int i=0;i<(int)white_position.size()-1;++i){
line(src, white_position[i], white_position[i+1], Scalar(255, 255, 255), 1, CV_AA);
}
while(white_collide.x == -1 && white_collide.y==-1){
setMouseCallback("source", onMouseClick, &src);
putText(src, "Specify Point", Point(750, 40), 1, 1, Scalar(255, 0, 0), 2);
imshow("source", src);
waitKey(5);
}
imshow("source", src);
waitKey(5);
}
}
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);
}
// this folk is responsible for modifying the video preview (each img frame)
// by colour detecting and drawing a green frame
void do_frame ( Mat& cameraFeed, cv::Scalar hsv_min, cv::Scalar hsv_max ) {
Mat HSV;
Mat threshold;
// Object white("white");
//white
// opencv cvtColor: http://docs.opencv.org/2.4/modules/imgproc/doc/miscellaneous_transformations.html
// test and know
cvtColor(cameraFeed, HSV, COLOR_BGR2HSV); /*not clear if image comes rgb(a) or bgr from java - bgr it is, yep!*/
// cvtColor(cameraFeed,HSV,CV_RGB2HSV); /*not clear if image comes rgb(a) or bgr from java*/
// inRange(HSV,white.getHSVmin(),white.getHSVmax(),threshold);
inRange(HSV, hsv_min, hsv_max, threshold);
morphOps(threshold);
trackFilteredObject ( threshold );
}
// Created by Marzouq Abedur Rahman 16/11/2015
// Priority level 1, carry out experiments immediately after Mark 1 arrive.
// This program will only work in direct input, so additional tweaks must be made for the response to be in 'MAVlink'
// format.
// Not a big deal, just use os commands as the raspberry pi will do the image processing.
int main(int argc, char* argv[])
{
//Matrix to store camera frames
Mat cameraFeed;
Mat threshold,thresholdRed,thresholdBlue,thresholdGreen;
Mat HSV;
VideoCapture capture;
capture.open(0);
capture.set(CV_CAP_PROP_FRAME_WIDTH,FRAME_WIDTH);
capture.set(CV_CAP_PROP_FRAME_HEIGHT,FRAME_HEIGHT);
//Create infinite loop
bool loop = true;
while(loop)
{
capture >> cameraFeed;
capture.read(cameraFeed);
//Convert to HSV
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
//ADD GAUSIAN BLUR
GaussianBlur(HSV,HSV,Size(5,5),0,0);
Object groundRobotRed("groundRobotRed");
//Values taken from trackbars
groundRobotRed.setHSVmin(Scalar(18, 44, 103));
groundRobotRed.setHSVmax(Scalar(36,142,249));
inRange(HSV,groundRobotRed.getHSVmin(),groundRobotRed.getHSVmax(),thresholdRed);
morphOps(thresholdRed);
trackFilteredObject(groundRobotRed,thresholdRed,HSV,cameraFeed);
//Quadcopter Systems Check
if (flying == 0)
{
std::cout<<"hello:"<<std::endl;
test_control.conn();
test=test_control.isConnected();
cout<<"test:"<<test<<endl;
if (test)
testing();
else
loop = false;
}
//If object is located on the top of the screen
if(groundRobotRed.getYPos()<<240)
{
//Pitch forward command, insert the mavlink command here
test_control.transmit(570, 565, 500, 500, 0, 0, 0, 0, 0);
std:cout<<"Pitch Complete"<<std::endl;
}
else
{
//Hover command
test_control.transmit(570,565,500,500,0,0,0,0,0);
}
capture.release();
HSV.release();
thresholdRed.release();
capture.open(0);
imshow(windowName,cameraFeed);
waitKey(10);
}
return 0;
}
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(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;
}
bool ShapesDetector::scan_colour(Mat HSV_img,HSV_Param Filt_Type, int thres) {
cv::Mat threshold;
int xPos,yPos;
int x_min_box = thres;
int x_max_box = FRAME_WIDTH-thres;
int y_min_box = thres;
int y_max_box = FRAME_HEIGHT-thres;
Shape tempShape;
vector<Shape> tempShapes;
//initiallize temp shape with color
tempShape.setColour(Filt_Type.getColour());
//initiallize box constraints
if(thres < 0) {
x_min_box = CENTER_BOX_X_MIN;
x_max_box = CENTER_BOX_X_MAX;
y_min_box = CENTER_BOX_Y_MIN;
y_max_box = CENTER_BOX_Y_MAX;
}
cv::inRange(HSV_img,Filt_Type.getHSVmin(),Filt_Type.getHSVmax(),threshold);
if(Filt_Type.getColour() == red) {
cv::Mat temp;
cv::Scalar HSV_min = Filt_Type.getHSVmin();
cv::Scalar HSV_max = Filt_Type.getHSVmax();
HSV_min.val[0] = RED_H_MIN_2;
HSV_max.val[0] = RED_H_MAX_2;
cv::inRange(HSV_img,HSV_min,HSV_max,temp);
bitwise_or(threshold, temp, threshold);
//cv::imshow("red threshold",threshold);
//waitKey(50);
}
morphOps(threshold);
//these two vectors needed for output of findContours
vector< vector<Point> > contours;
cv::Mat approx;
cv::Mat edges_map;
vector<Vec4i> hierarchy;
vector<Vec3f> circles;
//find contours of filtered image using openCV findContours function
cv::findContours(threshold,contours,hierarchy,CV_RETR_CCOMP,CV_CHAIN_APPROX_SIMPLE );
//cv::Canny(threshold, edges_map, 5, 250, 7, true);
//cv::HoughCircles(edges_map, circles, CV_HOUGH_GRADIENT, 1, 100, 180, 30 ,20, 210);
//use moments method to find the position
double refArea = 0;
bool objectFound = false;
if (hierarchy.size() > 0) {
int numObjects = hierarchy.size();
//if number of objects greater than MAX_NUM_OBJECTS we have a noisy filter
if(numObjects<MAX_NUM_OBJECTS) {
for (int index = 0; index >= 0; index = hierarchy[index][0]) {
Moments moment = moments((cv::Mat)contours[index]);
double area = moment.m00;
//if the area is less than 20 px by 20px then it is probably just noise
//if the area is the same as the 3/2 of the image size, probably just a bad filter
//we only want the object with the largest area so we safe a reference area each
//iteration and compare it to the area in the next iteration.
if(area>MIN_OBJECT_AREA) {
approxPolyDP(Mat(contours[index]), approx, arcLength(Mat(contours[index]), true)*0.04, true);
drawContours(img_info, approx, -1, Scalar(0,255,0), 5, 4);
xPos = moment.m10/area;
yPos = moment.m01/area;
tempShape.setXPos(xPos);
tempShape.setYPos(yPos);
int corners = approx.size().height;
if(corners == 3) {
tempShape.setShape(triangle_sh);
} else if(corners == 4) {
tempShape.setShape(square_sh);
} else if(corners > 5) {
tempShape.setShape(circle_sh);
}
if(corners >= 3) {
tempShapes.push_back(tempShape);
}
}
}
}
}
/*//ROS_INFO("Circles Detected: %d",circles.size());
for( size_t i = 0; i < circles.size(); i++ ) {
tempShape.setXPos(cvRound(circles[i][0]));
tempShape.setYPos(cvRound(circles[i][1]));
tempShape.setRadius(cvRound(circles[i][2]));
tempShape.setShape(circle_sh);
tempShapes.push_back(tempShape);
}*/
for( size_t i = 0; i < tempShapes.size(); i++ ) {
int xPos = tempShapes[i].getXPos();
int yPos = tempShapes[i].getYPos();
if((xPos < x_max_box && xPos > x_min_box) && (yPos < y_max_box && yPos > y_min_box)) {
Shapes.push_back(tempShapes[i]);
}
}
return true;
}
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;
}
