source: liacs/mss/project/colour-tracking.c@ 15

Last change on this file since 15 was 15, checked in by Rick van der Zwet, 15 years ago

OpenCV 2.0 is better (from source). Secondly BLUR rocks to get rid of the noise

File size: 5.4 KB
RevLine 
[8]1/* OpenCV Hello world, with filtering of various filters
2 * Based on http://home.iitk.ac.in/~swagatk/faq/opencv.html#Colar_Based_Tracking
3 * Rick van der Zwet <info@rickvanderzwet.nl>
4 */
5
6#include <cv.h>
7#include <cxcore.h>
8#include <cvaux.h>
9#include <highgui.h>
10#include <stdio.h>
11
[9]12#define DEBUG 1
[8]13
[9]14#define RVALUE(x,y,step) (x*step+y*3+2)
15#define GVALUE(x,y,step) (x*step+y*3+1)
16#define BVALUE(x,y,step) (x*step+y*3+0)
17
18/* Used for playing with bounderies, returned max value of the pair */
19int max(const int x, const int y) {
20 return ((x > y) ? x : y);
21}
22
23/* Used for playing with bounderies, returned min value of the pair */
24int min(const int x, const int y) {
25 return ((x < y) ? x : y);
26
27}
28
[15]29int InitSystem(int argc, char *argv[]) {
[8]30 // Don't care which camera to use. Use specified number elsewise
[14]31 int cam_number = -1;
32 if (argc > 1)
[15]33 cam_number = atoi(argv[1]);
[14]34 printf("Using camera %i\n", cam_number);
[8]35 CvCapture *capture = cvCaptureFromCAM(cam_number);
36 int width = cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH);
37 int height = cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT);
38
39
[14]40 uchar *filterdata, *outdata, *routdata, *goutdata, *boutdata, *targetdata;
[8]41
42
43 //Create a window
44 cvNamedWindow("RGB_Image", CV_WINDOW_AUTOSIZE);
45 cvMoveWindow("RGB_Image",0,0);
46 cvNamedWindow("R_Image", CV_WINDOW_AUTOSIZE);
47 cvMoveWindow("R_Image",0,height);
48 cvNamedWindow("G_Image", CV_WINDOW_AUTOSIZE);
49 cvMoveWindow("G_Image",width,0);
50 cvNamedWindow("B_Image", CV_WINDOW_AUTOSIZE);
51 cvMoveWindow("B_Image",width,height);
52 cvNamedWindow("F_Image", CV_WINDOW_AUTOSIZE);
53
54
55 //Create Image Skeletons
56 IplImage *image = NULL;
57 IplImage *output = cvCreateImage( cvSize(width,height), 8, 3);
58 IplImage *boutput = cvCreateImage( cvSize(width,height), 8, 3);
59 IplImage *routput = cvCreateImage( cvSize(width,height), 8, 3);
60 IplImage *goutput = cvCreateImage( cvSize(width,height), 8, 3);
61 IplImage *filter = cvCreateImage( cvSize(width,height), 8, 3);
[9]62 IplImage *target = cvCreateImage( cvSize(width,height), 8, 3);
[8]63
64
65 // Some temp pointers
[9]66 int i, j, k, m, n, o, p;
67 int r, g, b;
68 int q;
69
[8]70
[14]71 int cvalue = 0;
72 int xmax = -10;
73 int ymax = -10;
[8]74 // Video run starts here ...
75 while (1)
76 {
77 image = cvQueryFrame(capture);
78
79 // We need some input before running any further
80 if (image == NULL) {
81 printf("Ehm no input in the image\n");
82 continue;
83 }
84
85 //This is needed for accessing pixel elements
86 int step = image->widthStep/sizeof(uchar);
87
[15]88 //cvCopy(image, output, NULL);
89 //Remove Noise from images
90 cvSmooth(image,output,CV_BLUR, 3, 3, 3,3);
[8]91 cvCopy(image, routput, NULL);
92 cvCopy(image, goutput, NULL);
93 cvCopy(image, boutput, NULL);
94
95
[9]96 outdata = (uchar *) output->imageData;
[8]97 routdata = (uchar *) routput->imageData;
98 goutdata = (uchar *) goutput->imageData;
99 boutdata = (uchar *) boutput->imageData;
[14]100 targetdata = (uchar *) target->imageData;
[8]101
[14]102 cvSub(output,filter,target,NULL);
103 cvalue = 20;
104 k = 0, p = 0, q = 0;
[8]105 for( m = 0; m < image->height; m++) //row
106 {
107 for( n = 0; n < image->width; n++) //column
108 {
[14]109 //p = targetdata[RVALUE(m,n,step)] + targetdata[GVALUE(m,n,step)] + targetdata[BVALUE(m,n,step)];
110 p = targetdata[RVALUE(m,n,step)] + targetdata[GVALUE(m,n,step)];
111 if ( p > cvalue)
112 {
113 q++;
114 if (q > 5) {
115 cvalue = p;
116 xmax = n;
117 ymax = m;
118 printf("Current value: %ix%i=%i\n", xmax, ymax, cvalue);
119 }
120 } else {
121 q = 0;
122 }
[9]123 routdata[BVALUE(m,n,step)] = 0; // clear blue part
124 routdata[GVALUE(m,n,step)] = 0; // clear green part
[8]125
[9]126 goutdata[BVALUE(m,n,step)] = 0; // clear blue part
127 goutdata[RVALUE(m,n,step)] = 0; // clear red part
[8]128
[9]129 boutdata[GVALUE(m,n,step)] = 0; // clear green part
130 boutdata[RVALUE(m,n,step)] = 0; // clear red part
[8]131 }
132 }
133
134 // Clear filter for new use
[9]135 // cvSetZero(filter);
136 // ... or clone orginal image for mapping over it
137 //cvCopy(goutput, filter, NULL);
[8]138
139 // Make it yellow
140 //cvOr( routput, goutput, filter, NULL);
141
[9]142 // XXX: Use stuff like cvMat, cvGetRawData instead of internal hacking
143 // Make green 'fade' out by the presence of many red as well
[14]144 // filterdata = (uchar *) filter->imageData;
[9]145
146 // Prepare combined output
[10]147 // Some way of making the picture more pretty
148 //cvSmooth(filter,target, CV_MEDIAN, 3, 3, 3, 3);
[14]149 cvCopy(output,filter, NULL);
[9]150 cvCircle(target, cvPoint(xmax, ymax), 10, CV_RGB(255,0,0),4, 8, 0);
[8]151
152
153 // Show all the images
154 cvShowImage("RGB_Image", output);
155 cvShowImage("R_Image", routput);
156 cvShowImage("B_Image", boutput);
157 cvShowImage("G_Image", goutput);
[9]158 cvShowImage("F_Image", target);
[8]159
160
[9]161 // wait for any to press to quit
162 // Eeks! also HACK to make it refresh properly
[15]163 if (cvWaitKey(20) != -1) {
[8]164 break;
165 }
166 } //for each frame ...
167
168
169 cvReleaseCapture(&capture);
170 cvDestroyWindow("RGB_Image");
171 cvDestroyWindow("R_Image");
172 cvDestroyWindow("G_Image");
173 cvDestroyWindow("B_Image");
174 cvDestroyWindow("F_Image");
175
176 return 0;
177
178}
179
[9]180// Get ourself into the highGUI main stuff
[15]181// Quick at 1.0.0, not needing in 2.0x anymore
[8]182int main(int argc, char *argv[]) {
[15]183 return InitSystem(argc, argv);
[8]184}
Note: See TracBrowser for help on using the repository browser.