//Diese Funktion erstellt 3 Fenster und 8 Trackbars
void ObjectTracking::setWindowSettings(){
namedWindow("Kalibrierung",1);
namedWindow("Farbe1",1);
//namedWindow("Trackfenster",1);
namedWindow("Farbe2",1);
moveWindow("Farbe1",800,50);
moveWindow("Farbe2",800,50);
moveWindow("Kalibrierung",50,50);
cvCreateTrackbar("LowerH", "Farbe1", &lowerH, 180, NULL);
cvCreateTrackbar("UpperH", "Farbe1", &upperH, 180, NULL);
cvCreateTrackbar("LowerS", "Farbe1", &lowerS, 256, NULL);
cvCreateTrackbar("UpperS", "Farbe1", &upperS, 256, NULL);
cvCreateTrackbar("LowerV", "Farbe1", &lowerV, 256, NULL);
cvCreateTrackbar("UpperV", "Farbe1", &upperV, 256, NULL);
cvCreateTrackbar("LowerH2", "Farbe2", &lowerH2, 180, NULL);
cvCreateTrackbar("UpperH2", "Farbe2", &upperH2, 180, NULL);
cvCreateTrackbar("LowerS2", "Farbe2", &lowerS2, 256, NULL);
cvCreateTrackbar("UpperS2", "Farbe2", &upperS2, 256, NULL);
cvCreateTrackbar("LowerV2", "Farbe2", &lowerV2, 256, NULL);
cvCreateTrackbar("UpperV2", "Farbe2", &upperV2, 256, NULL);
cvCreateTrackbar("rectangleSizeH", "Kalibrierung", &rHeight, 100, NULL);
cvCreateTrackbar("rectangleSizeW", "Kalibrierung", &rWidth, 100, NULL);
setTrackbarPos("rectangleSizeH", "Kalibrierung", 50);
setTrackbarPos("rectangleSizeW", "Kalibrierung", 50);
}
void skizImage::TestVideo()
{
string fileName("/home/xuweirong/video/kakumeiki.mp4");
VideoCapture cap(fileName);
if(!cap.isOpened())
printf("cap is not open\n");
namedWindow("video");
ShowAllVideoProperty( cap) ;
int slider =0 ;
namedWindow("Trackbar");
int maxSecond = (int) (cap.get(CV_CAP_PROP_FRAME_COUNT)/cap.get(CV_CAP_PROP_FPS)) ;
createTrackbar("TrackbarName","Trackbar",&slider,maxSecond,OnTimeSlider,&cap);
while(1)
{
Mat frame;
cap>>frame ;
FrameMessage(cap);
int pos = (int) (cap.get(CV_CAP_PROP_POS_MSEC) /1000.0) ;
setTrackbarPos("TrackbarName","Trackbar",pos);
//cvtColor(frame,frame,CV_BGR2GRAY);
imshow("video",frame);
if(waitKey(30)>=0)
break;
}
}
void Player::nextFrame(){
if(nowFrameNumber<frameNumber-1){
//nowFrameNumber++;
setTrackbarPos("Frame", "Weight", nowFrameNumber+1);
}
else{
cout << "the last frame" << endl;
}
}
void Player::initPlayer(ClipEntry& clipEntry)
{
this->clipEntry = &clipEntry;
clipMaskFileNames = ReadLines(Config.GetForegroundFolder(clipEntry));
frameNumber = clipEntry.GetFrameCount();
cout << "frameNumber: " << frameNumber << endl;
startFrameNumber = 0;
nowFrameNumber = 0;
waitKeyNumber = 32;
nowSequenceNumber = 0;
weightPath = Config.GetWeightsPath(clipEntry);
weightW = 1000;
weightH = 200;
sequencePath = Config.GetSequencePath(clipEntry);
initWeight();
initSequence();
namedWindow("Display", CV_WINDOW_AUTOSIZE);
namedWindow("Foreground", CV_WINDOW_AUTOSIZE);
namedWindow("Weight", CV_WINDOW_AUTOSIZE);
createTrackbar("Frame", "Weight", 0, frameNumber-1, changeBar, (void*)this);
setTrackbarPos("Frame", "Weight", nowFrameNumber);
createTrackbar("Speed", "Weight", 0, 6, changeSpeed, (void*)this);
setTrackbarPos("Speed", "Weight", 3);
if(clipEntry.Type == ClipType::Video){
Mat frame;
int num = 11;
while(num--)
clipEntry.Video.read(frame);
}
showFrame(s[0],1);
loop();
}
void Player::nextSequence(){
if(nowSequenceNumber<sequenceNumber-1){
nowSequenceNumber++;
//nowFrameNumber = s[nowSequenceNumber];
setTrackbarPos("Frame", "Weight", s[nowSequenceNumber]);
}
else{
cout << "the last frame" << endl;
}
}
void guiContrast(InputArray src_)
{
string window_name = "contrast";
Mat src = src_.getMat();
namedWindow(window_name);
int a = 10;
int b = 0;
cv::createTrackbar("a/10", window_name, &a, 1024);
cv::createTrackbar("b", window_name, &b, 256);
int key = 0;
cv::Mat show;
while (key != 'q')
{
show = a / 10.0*src + b;
imshow(window_name, show);
key = waitKey(33);
if (key == 'l')
{
a--;
setTrackbarPos("a/10", window_name, a);
}
if (key == 'j')
{
a++;
setTrackbarPos("a/10", window_name, a);
}
if (key == 'i')
{
b++;
setTrackbarPos("b", window_name, b);
}
if (key == 'k')
{
b--;
setTrackbarPos("b", window_name, b);
}
}
destroyWindow(window_name);
}
void guiAlphaBlend(const Mat& src1, const Mat& src2)
{
Mat s1,s2;
if(src1.channels()==1)cvtColor(src1,s1,CV_GRAY2BGR);
else s1 = src1;
if(src2.channels()==1)cvtColor(src2,s2,CV_GRAY2BGR);
else s2 = src2;
namedWindow("alphaBlend");
int a = 0;
createTrackbar("a","alphaBlend",&a,100);
int key = 0;
Mat show;
while(key!='q')
{
addWeighted(s1,1.0-a/100.0,s2,a/100.0,0.0,show);
imshow("alphaBlend",show);
key = waitKey(1);
if(key=='f')
{
a = (a > 0) ? 0 : 100;
setTrackbarPos("a","alphaBlend",a);
}
}
}
// callback do mouse para calibragem de cor (Johnathan)
void Calibration::callbackMouseClickColor(int evt, int x, int y, int flags, void* param){
if(evt == CV_EVENT_LBUTTONDOWN){
// staticInputImage está em HSV e staticInputImage2 está em RGB
Vec3b p = staticInputImage.at<Vec3b>(y,x);
Vec3b p2 = staticInput2Image.at<Vec3b>(y,x);
/*
- Pega o valor do HSV do click, adiciona uma porcentagem para cima para ser o limite superior
e retira uma porcentagem para ser o limite inferior do intervalo de cor
*/
int hMin = (int)p[0]*0.8;
int sMin = (int)p[1]*0.6;
int vMin = (int)p[2]*0.6;
int hMax = (int)p[0]*1.2;
int sMax = (int)p[1]*1.4;
int vMax = (int)p[2]*1.4;
/* Guarda o valor em RGB do click */
staticColor.rgb[r] = (int)p2[2];
staticColor.rgb[g] = (int)p2[1];
staticColor.rgb[b] = (int)p2[0];
// Pega os valores de HSV Max e Min criados com o click e atualiza as trackbars
staticVisionColorHelper[0] = hMin;
staticVisionColorHelper[1] = sMin;
staticVisionColorHelper[2] = vMin;
staticVisionColorHelper[3] = hMax;
staticVisionColorHelper[4] = sMax;
staticVisionColorHelper[5] = vMax;
setTrackbarPos("HMin", "values", staticVisionColorHelper[0]);
setTrackbarPos("HMax", "values", staticVisionColorHelper[3]);
setTrackbarPos("SMin", "values", staticVisionColorHelper[1]);
setTrackbarPos("SMax", "values", staticVisionColorHelper[4]);
setTrackbarPos("VMin", "values", staticVisionColorHelper[2]);
setTrackbarPos("VMax", "values", staticVisionColorHelper[5]);
}
}
void guiZoom(InputArray src, OutputArray dst)
{
const int width = src.size().width;
const int height = src.size().height;
string wname = "Zoom";
namedWindow(wname);
int th=1;
//Point mpt = Point(width/2, height/2);
Point mpt = Point(410, 230);
int d = 40;
int z = 7;
createTrackbar("x", wname,&mpt.x, width-1);
createTrackbar("y", wname,&mpt.y, height-1);
createTrackbar("d", wname,&d, min(width,height)-1);
createTrackbar("zoom", wname,&z, 20);
int key = 0;
setMouseCallback(wname,onMouse,&mpt);
Mat dest;
Mat input = src.getMat();
int mode = 0;
while(key!='q')
{
input.copyTo(dest);
z = max(z,1);
Rect rct = Rect(mpt.x, mpt.y, d,d);
Scalar color = Scalar(0,0,255);
int thick = 2;
rectangle(dest, rct, color, thick);
Mat crop;
dest(rct).copyTo(crop);
Mat res;
resize(crop,res, Size(z*d,z*d), 0,0, INTER_NEAREST);
if(res.cols <= dest.cols && res.rows <= dest.rows)
{
if(mode==0) res.copyTo(dest(Rect(0, 0 ,res.size().width, res.size().height)));
else if(mode==1) res.copyTo(dest(Rect(dest.cols-1-res.size().width, 0, res.size().width, res.size().height)));
else if(mode==2) res.copyTo(dest(Rect(dest.cols-1-res.size().width, dest.rows-1-res.size().height, res.size().width, res.size().height)));
else if(mode==3) res.copyTo(dest(Rect(0, dest.rows-1-res.size().height, res.size().width, res.size().height)));
}
imshow(wname,dest);
key = waitKey(1);
setTrackbarPos("x",wname,mpt.x);
setTrackbarPos("y",wname,mpt.y);
if(key=='r')
{
mode++;
if(mode>4) mode=0;
}
if(key=='s')
{
imwrite("out.png", dest);
}
}
dest.copyTo(dst);
destroyWindow(wname);
}
void ObjectTracking::update()
{
//überprüfen ob eine Gegenstandsfarbe kalibriert wurde, wenn nicht voreingestellte Werte nehmen
if(!farbe)
{
hueLower = 180;
hue2 = 0;
saturationLower = 255;
saturationUpper = 0;
valueLower = 255;
valueUpper = 0;
}
Mat frame; //Kamerabild
Mat frameHSV;//Kamerbild in HSV Farben
cap >> frame; // neues frame von der Kamera abrufen
GaussianBlur(frame,frame,Size(7,7),3,3); // Bild mit Gaussian Blur Filter glätten
cvtColor(frame, frameHSV, CV_BGR2HSV); //Kameraframe von BGR Farben in HSV Farben umwandeln
//Eckpunkte des Kalibrierungsfeldes setzen
Point upperleft((frame.cols/2)-rHeight,(frame.rows/2)-rWidth);
Point downright((frame.cols/2)+rHeight,(frame.rows/2)+rWidth);
//solange keine Farbe kalibriert wurde oder wenn "j" für die kalibrierung gedrückt wurde wird ein Rotes Rechteck angezeigt
//Abfragen der "j" Taste für das Kalibrierungfeld
v = cvWaitKey(1);
if((char)v==106 ){
kalibrierung = true;
}
if(!farbe || kalibrierung)
{
rectangle(frame,upperleft,downright,Scalar(0,0,255),2);
}
//Wenn "k" gedrückt wird, dann werden die Farben aus dem roten Rechteck zur Erkennung des Gegenstandes gesetzt
c = cvWaitKey(1);
if((char)c==107 && kalibrierung == true)
{
cout << Gegenstand << endl;
hueLower = 180;
hue2 = 0;
saturationLower = 255;
saturationUpper = 0;
valueLower = 255;
valueUpper = 0;
farbe = true;
kalibrierung = false;
//verschachtelte for-Schleife läuft alle Pixel im roten Rechteck durch und ermittel die Höchsten und Niedrigsten Werte im Feld um die Schwarz-Weiß Maske zu setzen
for(int y = upperleft.y+1; y < downright.y; y++)
{
for(int x = upperleft.x+1; x < downright.x; x++)
{
if(hueLower > frameHSV.at<Vec3b>(y,x)[0])
{
if(Gegenstand == 1){
hueLower = frameHSV.at<Vec3b>(y,x)[0];
setTrackbarPos("LowerH", "Farbe1", hueLower);
}
if(Gegenstand == 2){
hueLower = frameHSV.at<Vec3b>(y,x)[0];
setTrackbarPos("LowerH2", "Farbe2", hueLower);
}
}
if(hue2 < frameHSV.at<Vec3b>(y,x)[0])
{
if(Gegenstand == 1){
hue2 = frameHSV.at<Vec3b>(y,x)[0];
setTrackbarPos("UpperH", "Farbe1", hue2);
}
if(Gegenstand == 2){
hue2 = frameHSV.at<Vec3b>(y,x)[0];
setTrackbarPos("UpperH2", "Farbe2", hue2);
}
}
if(saturationLower > frameHSV.at<Vec3b>(y,x)[1])
{
if(Gegenstand == 1){
saturationLower = frameHSV.at<Vec3b>(y,x)[1];
setTrackbarPos("LowerS", "Farbe1", saturationLower);
}
if(Gegenstand == 2){
saturationLower = frameHSV.at<Vec3b>(y,x)[1];
setTrackbarPos("LowerS2", "Farbe2", saturationLower);
}
}
if(saturationUpper < frameHSV.at<Vec3b>(y,x)[1])
{
if(Gegenstand == 1){
saturationUpper = frameHSV.at<Vec3b>(y,x)[1];
setTrackbarPos("UpperS", "Farbe1", saturationUpper);
}
if(Gegenstand == 2){
saturationUpper = frameHSV.at<Vec3b>(y,x)[1];
setTrackbarPos("UpperS2", "Farbe2", saturationUpper);
}
}
if(valueLower > frameHSV.at<Vec3b>(y,x)[2])
{
if(Gegenstand == 1){
valueLower = frameHSV.at<Vec3b>(y,x)[2];
setTrackbarPos("LowerV", "Farbe1", valueLower);
}
if(Gegenstand == 2){
valueLower = frameHSV.at<Vec3b>(y,x)[2];
setTrackbarPos("LowerV2", "Farbe2", valueLower);
}
}
if(valueUpper < frameHSV.at<Vec3b>(y,x)[2])
{
if(Gegenstand == 1){
valueUpper = frameHSV.at<Vec3b>(y,x)[2];
setTrackbarPos("UpperV", "Farbe1", valueUpper);
}
if(Gegenstand == 2){
valueUpper = frameHSV.at<Vec3b>(y,x)[2];
setTrackbarPos("UpperV2", "Farbe2", valueUpper);
}
}
if(Gegenstand == 3){
Gegenstand = 0;
}
}
}Gegenstand ++;
}
//Erstellen der Schwarz-Weiß-Maske anhand der gesetzten Unter-/Oberwerte
inRange(frameHSV, Scalar(lowerH,lowerS,lowerV), Scalar(upperH,upperS,upperV), swmaske);
//Erstellen der Schwar-Weiß-Maske anhand der gesetzten Unter-/Oberwerte
inRange(frameHSV, Scalar(lowerH2,lowerS2,lowerV2), Scalar(upperH2,upperS2,upperV2), swmaske2);
//ermitteln des Mittelpunktes der weißen Pixel
Xzähler = 1;
Yzähler = 1;
Xmittel = 0;
Ymittel = 0;
Xzähler2 = 1;
Yzähler2 = 1;
Xmittel2 = 0;
Ymittel2 = 0;
for(int y = 0 ; y < frame.rows ; y++)
{
for(int x = 0; x<frame.cols; x++)
{
if(swmaske.at<uchar>(y,x) == 255)
{
Xmittel +=x;
Xzähler ++;
Ymittel += y;
Yzähler ++;
}
if(swmaske2.at<uchar>(y,x) == 255)
{
Xmittel2 +=x;
Xzähler2 ++;
Ymittel2 += y;
Yzähler2 ++;
}
}
}
// Mittelwert für X und Y ausrechnen
Xmittel = Xmittel/Xzähler;
Ymittel = Ymittel/Yzähler;
Xmittel2 = Xmittel2/Xzähler2;
Ymittel2 = Ymittel2/Yzähler2;
//Trackpfad im Bild "tracking" zeichnen
line(tracking, Point(Xmittelalt,Ymittelalt), Point(Xmittel,Ymittel), Scalar(0,255,255),1);
circle(tracking, Point(Xmittel,Ymittel) , 1, Scalar(0,0,255),1);
line(tracking, Point(Xmittelalt2,Ymittelalt2), Point(Xmittel2,Ymittel2), Scalar(255,0,0),1);
circle(tracking, Point(Xmittel2,Ymittel2) , 1, Scalar(255,0,255),1);
Xmittelalt = Xmittel;
Ymittelalt = Ymittel;
Xmittelalt2 = Xmittel2;
Ymittelalt2 = Ymittel2;
int range = 50;
//Bilder anzeigen
imshow("Kalibrierung",frame);
imshow("Farbe1",swmaske);
imshow("Farbe2",swmaske2);
//Trackingfenster nur zum Überprüfen des Trackingpfades
//imshow("fenster3",tracking);
}
vector<vector<double>> calibrator(CvCapture* cap){
// Ball Threshold values
int h_min, s_min, v_min, h_max, s_max, v_max, write, variablecount,getconfig;
namedWindow("Thresh");
namedWindow("Thresitud");
Mat frame;
vector<Mat> frames;
vector<double> ball;
vector<double> goal;
vector<double> lines;
vector<int> *arrptr;
bool onlyonce = true;
vector<vector<double>> values;
string filename = "config.txt";
string variable;
string line_from_config;
ofstream fout;
ifstream fin;
vector<string> line;
variablecount = 1;
fin.open(filename);
getconfig = 0;
write = 0;
h_min = 0;
s_min = 0;
v_min = 0;
h_max = 255,
s_max = 255;
v_max = 255;
createTrackbar( "H min", "Thresh", &h_min, SLIDER_MAX, NULL);
createTrackbar( "H max", "Thresh", &h_max, SLIDER_MAX, NULL);
createTrackbar( "S min", "Thresh", &s_min, SLIDER_MAX, NULL);
createTrackbar( "S max", "Thresh", &s_max, SLIDER_MAX, NULL);
createTrackbar( "V min", "Thresh", &v_min, SLIDER_MAX, NULL);
createTrackbar( "V max", "Thresh", &v_max, SLIDER_MAX, NULL);
// WRITE to file
createTrackbar("WRITE", "Thresh", &write, 1, NULL);
createTrackbar("QUIT CONFIG", "Thresh", &getconfig, 1, NULL);
cout<< "Enne ifi" << endl;
if (fin.is_open())
{
cout << "IF" << endl;
getline(fin,line_from_config);
while (line_from_config != "")
{
cout<<"WHILE"<<endl;
line = split(line_from_config, " ");
if (line[0] == "Ball"){
for (int i = 1; i < line.size(); i++){
ball.push_back(atoi(line[i].c_str()));
cout<<line[i]<<endl;
}
}
else if (line[0] == "Goal"){
for (int i = 1; i < line.size(); i++){
goal.push_back(atoi(line[i].c_str()));
cout<<line[i]<<endl;
}
}
else if (line[0] == "Lines"){
for (int i = 1; i < line.size(); i++){
lines.push_back(atoi(line[i].c_str()));
cout<<line[i]<<endl;
}
}
else
{
break;
}
getline(fin,line_from_config);
}
values.push_back(ball);
values.push_back(goal);
values.push_back(lines);
}
else
{
cout<<"File is empty or not opened"<<endl;
}
while (true){
if (write == 1) {
if (onlyonce)
{
fout.open(filename);
values.clear();
onlyonce = false;
}
if(variablecount == 1){
variable = "Ball";
ball.push_back(h_min);
ball.push_back(s_min);
ball.push_back(v_min);
ball.push_back(h_max);
ball.push_back(s_max);
ball.push_back(v_max);
values.push_back(ball);
}
else if(variablecount == 2){
variable = "Goal";
goal.push_back(h_min);
goal.push_back(s_min);
goal.push_back(v_min);
goal.push_back(h_max);
goal.push_back(s_max);
goal.push_back(v_max);
values.push_back(goal);
}
else if(variablecount == 3){
variable = "Lines";
lines.push_back(h_min);
lines.push_back(s_min);
lines.push_back(v_min);
lines.push_back(h_max);
lines.push_back(s_max);
lines.push_back(v_max);
values.push_back(lines);
}
fout << variable << " " << h_min << " " << s_min <<
" " << v_min << " " << h_max << " " << s_max <<
" " << v_max << endl;
cout << variable << " " << h_min << " " << s_min <<
" " << v_min << " " << h_max << " " << s_max <<
" " << v_max << endl;
variablecount = variablecount +1;
h_min = 0;
s_min = 0;
v_min = 0;
h_max = 255,
s_max = 255;
v_max = 255;
write = 0;
setTrackbarPos("H min", "Thresh", h_min);
setTrackbarPos("S min", "Thresh", s_min);
setTrackbarPos("V min", "Thresh", v_min);
setTrackbarPos("H max", "Thresh", h_max);
setTrackbarPos("S max", "Thresh", s_max);
setTrackbarPos("V max", "Thresh", v_max);
setTrackbarPos("WRITE", "Thresh", write);
}
if (getconfig == 1)
{
}
// take a frame, threshold it, display the thresholded image
frame = cvQueryFrame( cap );
frames = thresholder(frame,h_min, s_min, v_min, h_max, s_max, v_max ); // added values as argument, previously h_min, s_min ....
imshow("Thresh", frames[0]);
imshow("CALIBRATOR", frames[0]);
int c = cvWaitKey(10);
if( (char)c == 27) {
cvDestroyAllWindows();
return values;
}
}
}
