mirror of
https://github.com/AntoineHX/LivingMachine.git
synced 2025-05-03 13:20:45 +02:00
116 lines
3.6 KiB
C++
116 lines
3.6 KiB
C++
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#include <cv.h>
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#include <highgui.h>
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#include <cxcore.h>
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//callback for trackbar. nothing to be done here
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void on_trackbar( int, void* )
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{
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}
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int main(int argc, char* argv[])
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{
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int height,width,step,channels; //parameters of the image we are working on
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int posX, posY; //Position objet
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CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments)); //Variable moyenne position
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// Open capture device. 0 is /dev/video0, 1 is /dev/video1, etc.
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CvCapture* capture = cvCaptureFromCAM( 0 );
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if( !capture ){
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printf("ERROR: capture is NULL \n" );
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return -1;
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}
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// grab an image from the capture
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IplImage* frame = cvQueryFrame( capture );
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// Create a window in which the captured images will be presented
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cvNamedWindow( "Camera", CV_WINDOW_AUTOSIZE );
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cvNamedWindow( "HSV", CV_WINDOW_AUTOSIZE );
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cvNamedWindow( "Binaire", CV_WINDOW_AUTOSIZE );
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// get the image data
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height = frame->height;
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width = frame->width;
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step = frame->widthStep;
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// capture size -
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CvSize size = cvSize(width,height);
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// Initialize different images that are going to be used in the program
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IplImage* hsv_frame = cvCreateImage(size, IPL_DEPTH_8U, 3); // image converted to HSV plane
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IplImage* threshold = cvCreateImage(size, IPL_DEPTH_8U, 1);
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//Controle couleur
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cvNamedWindow("Control", CV_WINDOW_AUTOSIZE); //create a window called "Control"
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//Setup Kirby
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int iLowH = 139;
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int iHighH = 179;
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int iLowS = 48;
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int iHighS = 255;
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int iLowV = 101;
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int iHighV = 255;
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//Create trackbars in "Control" window
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cvCreateTrackbar("LowH", "Control", &iLowH, 179); //Hue (0 - 179)
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cvCreateTrackbar("HighH", "Control", &iHighH, 179);
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cvCreateTrackbar("LowS", "Control", &iLowS, 255); //Saturation (0 - 255)
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cvCreateTrackbar("HighS", "Control", &iHighS, 255);
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cvCreateTrackbar("LowV", "Control", &iLowV, 255); //Value (0 - 255)
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cvCreateTrackbar("HighV", "Control", &iHighV, 255);
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while( 1 )
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{
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// Get one frame
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frame = cvQueryFrame( capture );
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if( !frame ){
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printf("ERROR: frame is null...\n" );
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break;
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}
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// Covert color space to HSV as it is much easier to filter colors in the HSV color-space.
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cvCvtColor(frame, hsv_frame, CV_BGR2HSV);
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//Binarisation
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cvInRangeS(hsv_frame, cvScalar(iLowH, iLowS, iLowV), cvScalar(iHighH, iHighS, iHighV), threshold);
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//Blur
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cvSmooth( threshold, threshold, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites
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// Calculate the moments to estimate the position of the ball
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cvMoments(threshold, moments, 1);
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// The actual moment values
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double moment10 = cvGetSpatialMoment(moments, 1, 0);
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double moment01 = cvGetSpatialMoment(moments, 0, 1);
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double area = cvGetCentralMoment(moments, 0, 0);
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posX= moment10/area;
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posY= moment01/area;
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cvCircle(frame, cvPoint(posX,posY), 5, cvScalar(0,0,255), -1, 8, 0 );
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cvShowImage( "Camera", frame ); // Original stream with detected ball overlay
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cvShowImage( "HSV", hsv_frame); // Original stream in the HSV color space
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cvShowImage( "Binaire", threshold); // The stream after color filtering
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if( (cvWaitKey(10) ) >= 0 ) break; //Arret capture
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}
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cvWaitKey(0); //Fin programme
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// Release the capture device housekeeping
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cvReleaseCapture( &capture );
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cvReleaseImage(&threshold);
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return 0;
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}
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