//1999-02-18，鲍捷，胶粒效果
BOOL VPicEx::Pointillistic()
{
imgdes *srcimg=GetImgDes();
imgdes tmpsrc, tmp8;
int cols, rows, rcode;
static char kern1[10] = {0,-1,0,-1,5,-1,0,-1,0,1};
cols = CALC_WIDTH(srcimg);
rows = CALC_HEIGHT(srcimg);
allocimage(&tmpsrc, cols, rows, 24);
allocimage(&tmp8, cols, rows, 8);
if(srcimg->bmh->biBitCount == 8)
{
convertpaltorgb(srcimg, &tmpsrc);
}
else
{
copyimage(srcimg, &tmpsrc);
}
removenoise(&tmpsrc, &tmpsrc);
convertrgbtopalex(200, &tmpsrc, &tmp8, CR_OCTREEDIFF);
convertpaltorgb(&tmp8, &tmpsrc);
freeimage(&tmp8);
matrixconv(kern1, &tmpsrc, &tmpsrc);
if(srcimg->bmh->biBitCount == 8)
{
rcode = convertrgbtopal(256, &tmpsrc, srcimg);
}
else
{
rcode = copyimage(&tmpsrc, srcimg);
}
freeimage(&tmpsrc);
return(rcode == NO_ERROR);
}
/*
水彩效果平滑图像的不规则部分，然后强调色彩边界
（grayscale or color image, 8- or 24-bit. ）
*/
BOOL VPicEx::WaterColor()
{
imgdes *srcimg=GetImgDes();
imgdes tmpsrc;
int cols, rows, rcode;
double gamma = 0.7;
cols = CALC_WIDTH(srcimg);
rows = CALC_HEIGHT(srcimg);
allocimage(&tmpsrc, cols, rows, srcimg->bmh->biBitCount);
copyimage(srcimg, &tmpsrc);
gammabrighten(gamma, &tmpsrc, &tmpsrc);
removenoise(&tmpsrc, &tmpsrc);
removenoise(&tmpsrc, &tmpsrc);
removenoise(&tmpsrc, &tmpsrc);
sharpen(&tmpsrc, &tmpsrc);
rcode = copyimage(&tmpsrc, srcimg);
freeimage(&tmpsrc);
return(rcode == NO_ERROR);
}
void blob_main(sample_loc &s_loc)
{
/*
OpenCV defines HSV colors by the following ranges:
H: 0-180, S: 0-255, V: 0-255
*/
// hsvParams hsvWhite = {20,0,0,180,80,255}; // original
hsvParams hsvWhite = {0, 0, 230, 180, 20, 255}; // edited
hsvParams hsvPurple = {80,60,0,130,255,255};
hsvParams hsv = hsvWhite; // s_loc.whiteSample==true? hsvWhite:hsvPurple;
//Set up blob detection parameters
SimpleBlobDetector::Params params = setupObjectBlobParams();
vector<KeyPoint> keypoints;
// const string filename("/home/buckeye/catkin_ws/src/CapstoneROS/src/vision/samplePics/25ft3.jpg");
//Initialize camera
/*
VideoCapture cap(0);
if ( !cap.isOpened() ){
cout << "Cannot open the web cam" << endl;
return;
}
*/
while(true){
for(int n=1; n=4; n++)
{
stringstream ss;
ss << n;
string num = ss.str();
Mat img, imgHSV, imgTHRESH, out;
/* img = imread(filename, CV_LOAD_IMAGE_COLOR); */
// cap>>img;
img = imread("samplePics/pic"+num+".jpg", CV_LOAD_IMAGE_COLOR);
if(img.empty()){
cout << "can not open image" << endl;
s_loc.sample_not_found=true;
return;
}
//convert color to HSV, threshold and remove noise
cvtColor(img, imgHSV, COLOR_BGR2HSV);
findGrass(img,imgHSV);
cvtColor(img, imgHSV, COLOR_BGR2HSV);
inRange(imgHSV, Scalar(hsv.hL, hsv.sL, hsv.vL), Scalar(hsv.hH, hsv.sH, hsv.vH), imgTHRESH);
removenoise(imgTHRESH);
namedWindow("Input", WINDOW_AUTOSIZE);
namedWindow("Detection", WINDOW_AUTOSIZE);
Ptr<SimpleBlobDetector> blobDetect = SimpleBlobDetector::create(params);
blobDetect->detect( imgTHRESH, keypoints );
drawKeypoints(imgTHRESH, keypoints, out, CV_RGB(0,0,255), DrawMatchesFlags::DEFAULT);
/* Circle blobs
for(int i = 0; i < keypoints.size(); i++)
circle(out, keypoints[i].pt, 1.5*keypoints[i].size, CV_RGB(0,255,0), 20, 8);
*/
// Find largest keypoint blob, and use that in determining angle and distance
if(keypoints.size() >= 1){
int index = 0;
for (int i = 0; i < keypoints.size(); i++){
if( keypoints[i].size > keypoints[index].size ) {
index = i;
}
}
cout<<endl<<endl<<"Object Found"<<endl;
tilt_turn_degrees(imgTHRESH, keypoints[index].pt.y, keypoints[index].pt.x, &s_loc);
robot_angle(&s_loc, imgTHRESH, keypoints[index].pt.x);
}
else{
cout<<"No Object Found"<<endl;
}
imshow("Input", img);
// imwrite("exampleOfFindGrass.jpg", img);
imshow("Detection", out);
// imwrite("showingKeypoints.jpg", out);
waitKey(-1);
}
}
}
