void THISCLASS::OnStep() {
std::vector<Particle> rejectedparticles;
// Get and check input image
IplImage *inputimage = cvCloneImage(mCore->mDataStructureImageBinary.mImage);
IplImage *outputImage = mCore->mDataStructureImageBinary.mImage;
//mCore->mDataStructureImageBinary.mImage;
if (! inputimage) {
AddError(wxT("No input image."));
return;
}
if (inputimage->nChannels != 1) {
AddError(wxT("The input image is not a grayscale image."));
return;
}
cvZero(outputImage);
// We clear the ouput vector
mParticles.clear();
// Initialization
Particle tmpParticle; // Used to put the calculated value in memory
CvMoments moments; // Used to calculate the moments
std::vector<Particle>::iterator j; // Iterator used to stock the particles by size
// We allocate memory to extract the contours from the binary image
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* contour = 0;
// Init blob extraxtion
CvContourScanner blobs = cvStartFindContours(inputimage, storage, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
// This is used to correct the position in case of ROI
CvRect rectROI;
if (inputimage->roi != NULL) {
rectROI = cvGetImageROI(inputimage);
} else {
rectROI.x = 0;
rectROI.y = 0;
}
while ((contour = cvFindNextContour(blobs)) != NULL) {
// Computing the moments
cvMoments(contour, &moments);
// Computing particle area
tmpParticle.mArea = moments.m00;
tmpParticle.mCenter.x = (float)(rectROI.x + (moments.m10 / moments.m00 + 0.5)); // moments using Green theorem
tmpParticle.mCenter.y = (float)(rectROI.y + (moments.m01 / moments.m00 + 0.5)); // m10 = x direction, m01 = y direction, m00 = area as edicted in theorem
// Selection based on area
if ((mAreaSelection == false) || ((tmpParticle.mArea <= mMaxArea) && (tmpParticle.mArea >= mMinArea)))
{
tmpParticle.mCompactness = GetContourCompactness(contour);
if ((mCompactnessSelection == false) || ((tmpParticle.mCompactness > mMinCompactness) && (tmpParticle.mCompactness < mMaxCompactness)))
{
double tempValue = cvGetCentralMoment(&moments, 2, 0) - cvGetCentralMoment(&moments, 0, 2);
tmpParticle.mOrientation = atan(2 * cvGetCentralMoment(&moments, 1, 1) / (tempValue + sqrt(tempValue * tempValue + 4 * cvGetCentralMoment(&moments, 1, 1) * cvGetCentralMoment(&moments, 1, 1))));
if ((mOrientationSelection == false) || (((tmpParticle.mOrientation > mMinOrientation) && (tmpParticle.mOrientation < mMaxOrientation)) || ((tmpParticle.mOrientation > mMinOrientation + PI) && (tmpParticle.mOrientation < mMaxOrientation + PI)) || ((tmpParticle.mOrientation > mMinOrientation - PI) && (tmpParticle.mOrientation < mMaxOrientation - PI))))
{
cvDrawContours(outputImage, contour, cvScalarAll(255), cvScalarAll(255), 0, CV_FILLED);
// Check if we have already enough particles
if (mParticles.size() == mMaxNumber)
{
// If the particle is bigger than the smallest stored particle, store it, else do nothing
if (tmpParticle.mArea > mParticles.back().mArea)
{
// Find the place were it must be inserted, sorted by size
for (j = mParticles.begin(); (j != mParticles.end()) && (tmpParticle.mArea < (*j).mArea); j++);
// Fill unused values
tmpParticle.mID = -1;
tmpParticle.mIDCovariance = -1;
// Insert the particle
mParticles.insert(j, tmpParticle);
// Remove the smallest one
mParticles.pop_back();
}
}
else
{
// The particle is added at the correct place
// Find the place were it must be inserted, sorted by size
for (j = mParticles.begin(); (j != mParticles.end()) && (tmpParticle.mArea < (*j).mArea); j++);
// Fill unused values
tmpParticle.mID = -1;
tmpParticle.mIDCovariance = -1;
// Insert the particle
mParticles.insert(j, tmpParticle);
}
}
}
}
else
{
rejectedparticles.push_back(tmpParticle);
}
cvRelease((void**)&contour);
}
contour = cvEndFindContours(&blobs);
// If we need to display the particles
/* if(trackingimg->GetDisplay())
{
for(j=rejectedparticles.begin();j!=rejectedparticles.end();j++)
{
trackingimg->DrawCircle(cvPoint((int)(((*j).p).x),(int)(((*j).p).y)),CV_RGB(255,0,0));
}
for(j=particles.begin();j!=particles.end();j++)
{
trackingimg->DrawCircle(cvPoint((int)(((*j).p).x),(int)(((*j).p).y)),CV_RGB(0,255,0));
trackingimg->Cover(cvPoint((int)(((*j).p).x),(int)(((*j).p).y)),CV_RGB(255,0,0),2);
}
} */
cvReleaseImage(&inputimage);
cvRelease((void**)&contour);
cvReleaseMemStorage(&storage);
// Set these particles
mCore->mDataStructureParticles.mParticles = &mParticles;
// Let the DisplayImage know about our image
DisplayEditor de(&mDisplayOutput);
if (de.IsActive()) {
de.SetParticles(&mParticles);
de.SetMainImage(mCore->mDataStructureImageBinary.mImage);
}
}
double cveGetCentralMoment(CvMoments* moments, int xOrder, int yOrder)
{
return cvGetCentralMoment(moments, xOrder, yOrder);
}
int main() {
raspicam::RaspiCam_Cv Camera; // Camera Object
cv::Mat frame;
// Set camera params
Camera.set(CV_CAP_PROP_FORMAT, CV_8UC3); // For color
Camera.set(CV_CAP_PROP_FRAME_WIDTH, 640);
Camera.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
// Open camera
std::cout << "Opening camera...\n";
if (! Camera.open()) {
std::cerr << "Error opening camera!\n";
return -1;
}
// The two windows we'll be using
cvNamedWindow("video");
cvNamedWindow("thresh");
cvMoveWindow("video", 0, 0);
cvMoveWindow("thresh", 240, 0);
int thresh_h[] {0, 18};
int thresh_s[] {160, 255};
int thresh_v[] {144, 255};
const int max_thresh(255);
cv::createTrackbar(" H min:", "thresh", &thresh_h[0], max_thresh, nullptr);
cv::createTrackbar(" H max:", "thresh", &thresh_h[1], max_thresh, nullptr);
cv::createTrackbar(" S min:", "thresh", &thresh_s[0], max_thresh, nullptr);
cv::createTrackbar(" S max:", "thresh", &thresh_s[1], max_thresh, nullptr);
cv::createTrackbar(" V min:", "thresh", &thresh_v[0], max_thresh, nullptr);
cv::createTrackbar(" V max:", "thresh", &thresh_v[1], max_thresh, nullptr);
// This image holds the "scribble" data, the tracked positions of the ball
IplImage* imgScribble = NULL;
cv::Mat frame_mat;
while (true) {
if (! Camera.grab()) {
break;
}
Camera.retrieve(frame_mat);
// Will hold a frame captured from the camera
IplImage frame = frame_mat;
// If this is the first frame, we need to initialize it
if (imgScribble == NULL) {
imgScribble = cvCreateImage(cvGetSize(&frame), 8, 3);
}
// Holds the yellow thresholded image (yellow = white, rest = black)
IplImage* imgYellowThresh = GetThresholdedImage(&frame, thresh_h, thresh_s, thresh_v);
// Calculate the moments to estimate the position of the ball
CvMoments moments;
cvMoments(imgYellowThresh, &moments, 1);
// The actual moment values
double moment10 = cvGetSpatialMoment(&moments, 1, 0);
double moment01 = cvGetSpatialMoment(&moments, 0, 1);
double area = cvGetCentralMoment(&moments, 0, 0);
// Holding the last and current ball positions
static int posX = 0;
static int posY = 0;
int lastX = posX;
int lastY = posY;
posX = moment10 / area;
posY = moment01 / area;
// Print it out for debugging purposes
printf("position (%d,%d)\n", posX, posY);
// We want to draw a line only if its a valid position
if (lastX > 0 && lastY > 0 && posX > 0 && posY > 0) {
// Draw a yellow line from the previous point to the current point
cvLine(imgScribble, cvPoint(posX, posY), cvPoint(lastX, lastY), cvScalar(0,255,255), 5);
}
// Add the scribbling image and the frame... and we get a combination of the two
cvAdd(&frame, imgScribble, &frame);
cvCvtColor(&frame, &frame, CV_BGR2RGB);
cvShowImage("video", &frame);
// cvShowImage("video", imgScribble);
cvShowImage("thresh", imgYellowThresh);
// Wait for a keypress
int c = cvWaitKey(10);
if (c != -1) {
// If pressed, break out of the loop
break;
}
}
return 0;
}
int main()
{
// Initialize capturing live feed from the camera
CvCapture* capture = 0;
capture = cvCaptureFromCAM(1); //depending on from which camera you are Capturing
// Couldn't get a device? Throw an error and quit
if(!capture)
{
printf("Could not initialize capturing...\n");
return -1;
}
// The two windows we'll be using
cvNamedWindow("video");
cvNamedWindow("thresh");
// This image holds the "scribble" data...
// the tracked positions of the ball
IplImage* imgScribble = NULL;
// An infinite loop
while(true)
{
// Will hold a frame captured from the camera
IplImage* frame = 0;
frame = cvQueryFrame(capture);
// If we couldn't grab a frame... quit
if(!frame)
break;
// If this is the first frame, we need to initialize it
if(imgScribble == NULL)
{
imgScribble = cvCreateImage(cvGetSize(frame), 8, 3);
}
// Holds the yellow thresholded image (yellow = white, rest = black)
IplImage* imgYellowThresh = GetThresholdedImage(frame);
// Calculate the moments to estimate the position of the ball
CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments));
cvMoments(imgYellowThresh, moments, 1);
// The actual moment values
double moment10 = cvGetSpatialMoment(moments, 1, 0);
double moment01 = cvGetSpatialMoment(moments, 0, 1);
double area = cvGetCentralMoment(moments, 0, 0);
// Holding the last and current ball positions
static int posX = 0;
static int posY = 0;
int lastX = posX;
int lastY = posY;
posX = moment10/area;
posY = moment01/area;
// Print it out for debugging purposes
printf("position (%d,%d)\n", posX, posY);
// We want to draw a line only if its a valid position
if(lastX>0 && lastY>0 && posX>0 && posY>0)
{
// Draw a yellow line from the previous point to the current point
cvLine(imgScribble, cvPoint(posX, posY), cvPoint(lastX, lastY), cvScalar(0,255,255), 5);
}
// Add the scribbling image and the frame... and we get a combination of the two
cvAdd(frame, imgScribble, frame);
cvShowImage("thresh", imgYellowThresh);
cvShowImage("video", frame);
// Wait for a keypress
int c = cvWaitKey(10);
if(c!=-1)
{
// If pressed, break out of the loop
break;
}
// Release the thresholded image... we need no memory leaks.. please
cvReleaseImage(&imgYellowThresh);
delete moments;
}
// We're done using the camera. Other applications can now use it
cvReleaseCapture(&capture);
return 0;
}
int trackObject(IplImage* imgThresh, int R, int G, int B, int player){
// Calculate the moments of 'imgThresh'
CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments));
cvMoments(imgThresh, moments, 1);
double moment10 = cvGetSpatialMoment(moments, 1, 0);
double moment01 = cvGetSpatialMoment(moments, 0, 1);
double area = cvGetCentralMoment(moments, 0, 0);
// if the area<1000, I consider that the there are no object in the image and it's because of the noise, the area is not zero
if(area>1000){
// Draw a yellow line from the previous point to the current point
if (player ==1){
posX1 = moment10/area;
posY1 = moment01/area;
}
if (player ==2){
posX2 = moment10/area;
posY2 = moment01/area;
}
switch (player){
case 1:
if (posY1-lastY1 < 40 && posY1-lastY1 > 100){printf ("Player%i: Abajo\n", player);caso=0;}
if (posY1-lastY1 > 40 && posY1-lastY1 < 100){printf ("Player%i: Abajo\n", player);caso=-1;}
if (posY1-lastY1<-40 && posY1-lastY1>-100){printf ("Player%i: Arriba\n", player);caso=1;}
if (posX1-lastX1<-50 && posX1-lastX1>-100){printf ("Player%i: Derecha\n", player);caso=2;}
if (posX1-lastX1>50 && posX1-lastX1<100){printf ("Player%i: Izquierda\n", player);caso=-2;}
lastX1 = posX1;
lastY1 = posY1;
break;
case 2:
if (posY2-lastY2 < 40 && posY2-lastY2 > 100){printf ("Player%i: Abajo\n", player);caso=0;}
if (posY2-lastY2 > 40 && posY2-lastY2 < 100){printf ("Player%i: Abajo\n", player);caso=-1;}
if (posY2-lastY2<-40 && posY2-lastY2>-100){printf ("Player%i: Arriba\n", player);caso=1;}
if (posX2-lastX2<-50 && posX2-lastX2>-100){printf ("Player%i: Derecha\n", player);caso=2;}
if (posX2-lastX2>50 && posX2-lastX2<100){printf ("Player%i: Izquierda\n", player);caso=-2;}
lastX2 = posX2;
lastY2 = posY2;
break;
}
}
free(moments);
return caso;
}
int trackObject(IplImage* imgThresh, int R, int G, int B, int player){
// Calculate the moments of 'imgThresh'
cvMoments(imgThresh, moments, 1);
moment10 = cvGetSpatialMoment(moments, 1, 0);
moment01 = cvGetSpatialMoment(moments, 0, 1);
area = cvGetCentralMoment(moments, 0, 0);
// if the area<1000, I consider that the there are no object in the image and it's because of the noise, the area is not zero
if(area>1000){
// Draw a yellow line from the previous point to the current point
if (player ==1){
posX1 = moment10/area;
posY1 = moment01/area;
}
if (player ==2){
posX2 = moment10/area;
posY2 = moment01/area;
}
switch (player){
case 1:
if (posY1-lastY1 > 20 ){
caso=-1;
}
if (posY1-lastY1<-20 ){
caso=1;
}
if (posX1-lastX1<-50 ){
caso=2;
}
if (posX1-lastX1>50 ){
caso=-2;
}
break;
case 2:
if (posY2-lastY2 > 20 ){
caso= -1;
}
if (posY2-lastY2<-20 ){
caso= 1;
}
if (posX2-lastX2<-50 ){
caso= 2;
}
if (posX2-lastX2>50 ){
caso= -2;
}
break;
}
lastX1 = posX1;
lastY1 = posY1;
lastX2 = posX2;
lastY2 = posY2;
}
return caso;
}//fin funcion #2
