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Ajout du pointage de position de l'objet (A)

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AntoineUPMC 2017-04-25 17:37:42 +02:00
parent 3700086fc8
commit 73704e5139
3 changed files with 28 additions and 11 deletions
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code/DisplayImage.cpp
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@ -12,16 +12,17 @@ void on_trackbar( int, void* )
int main(int argc, char* argv[]) int main(int argc, char* argv[])
{ {
int height,width,step,channels; //parameters of the image we are working on int height,width,step,channels; //parameters of the image we are working on
int posX, posY; //Position objet
CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments)); //Variable moyenne position
// Open capture device. 0 is /dev/video0, 1 is /dev/video1, etc. // Open capture device. 0 is /dev/video0, 1 is /dev/video1, etc.
CvCapture* capture = cvCaptureFromCAM( 0 ); CvCapture* capture = cvCaptureFromCAM( 0 );
if( !capture ) if( !capture ){
{ printf("ERROR: capture is NULL \n" );
fprintf( stderr, "ERROR: capture is NULL \n" );
getchar();
return -1; return -1;
} }
// grab an image from the capture // grab an image from the capture
IplImage* frame = cvQueryFrame( capture ); IplImage* frame = cvQueryFrame( capture );
@ -71,22 +72,36 @@ int main(int argc, char* argv[])
// Get one frame // Get one frame
frame = cvQueryFrame( capture ); frame = cvQueryFrame( capture );
if( !frame ) if( !frame ){
{ printf("ERROR: frame is null...\n" );
fprintf( stderr, "ERROR: frame is null...\n" );
getchar();
break; break;
} }
// Covert color space to HSV as it is much easier to filter colors in the HSV color-space. // Covert color space to HSV as it is much easier to filter colors in the HSV color-space.
cvCvtColor(frame, hsv_frame, CV_BGR2HSV); cvCvtColor(frame, hsv_frame, CV_BGR2HSV);
//Binarisation
cvInRangeS(hsv_frame, cvScalar(iLowH, iLowS, iLowV), cvScalar(iHighH, iHighS, iHighV), threshold); cvInRangeS(hsv_frame, cvScalar(iLowH, iLowS, iLowV), cvScalar(iHighH, iHighS, iHighV), threshold);
//Blur
cvSmooth( threshold, threshold, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites
// Calculate the moments to estimate the position of the ball
cvMoments(threshold, moments, 1);
// The actual moment values
double moment10 = cvGetSpatialMoment(moments, 1, 0);
double moment01 = cvGetSpatialMoment(moments, 0, 1);
double area = cvGetCentralMoment(moments, 0, 0);
posX= moment10/area;
posY= moment01/area;
cvCircle(frame, cvPoint(posX,posY), 5, cvScalar(0,0,255), -1, 8, 0 );
cvShowImage( "Camera", frame ); // Original stream with detected ball overlay cvShowImage( "Camera", frame ); // Original stream with detected ball overlay
cvShowImage( "HSV", hsv_frame); // Original stream in the HSV color space cvShowImage( "HSV", hsv_frame); // Original stream in the HSV color space
cvShowImage( "Binaire", threshold); // The stream after color filtering cvShowImage( "Binaire", threshold); // The stream after color filtering
if( (cvWaitKey(10) ) >= 0 ) break; //Arret capture if( (cvWaitKey(10) ) >= 0 ) break; //Arret capture
} }
@ -94,6 +109,8 @@ int main(int argc, char* argv[])
// Release the capture device housekeeping // Release the capture device housekeeping
cvReleaseCapture( &capture ); cvReleaseCapture( &capture );
cvDestroyWindow( "mywindow" );
cvReleaseImage(&threshold);
return 0; return 0;
} }