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#include <stdio.h>
#include <math.h>
#include <deque>
#include "opencv/cv.h"
#include "opencv/highgui.h"
#include "opencv/cxcore.h"
using namespace std;
CvSeq* getCirclesInImage(IplImage*, CvMemStorage*, IplImage*);
float eucdist(CvPoint, CvPoint);
void drawCircleAndLabel(IplImage*, float*, const char*);
bool circlesBeHomies(float*, float*);
const int MIN_IDENT = 50;
const int MAX_RAD_DIFF = 10;
const int HISTORY_SIZE = 5;
const int X_THRESH = 15;
const int Y_THRESH = 15;
const int R_THRESH = 20;
const int MATCHES_THRESH = 3;
const int HUE_BINS = 32;
int main(int argc, char *argv[])
{
CvCapture *capture = 0; //The camera
IplImage* frame = 0; //The images you bring out of the camera
//Open the camera
capture = cvCaptureFromCAM( 0 );
if (!capture )
{
printf("Could not connect to camera\n" );
return 1;
}
frame = cvQueryFrame( capture );
//Create two output windows
cvNamedWindow( "raw_video", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "processed_video", CV_WINDOW_AUTOSIZE );
//Used as storage element for Hough circles
CvMemStorage* storage = cvCreateMemStorage(0);
// Grayscale image
IplImage* grayscaleImg = cvCreateImage(cvSize(640, 480), 8/*depth*/, 1/*channels*/);
CvPoint track1 = {-1, -1};
CvPoint track2 = {-1, -1};
float rad1 = -1;
float rad2 = -1;
deque<CvSeq*> samples;
int key = 0;
while(key != 27 /*escape key to quit*/ )
{
//Query for the next frame
frame = cvQueryFrame( capture );
if( !frame ) break;
deque<CvSeq*> stableCircles;
//show the raw image in one of the windows
cvShowImage( "raw_video", frame );
CvSeq* circles = getCirclesInImage(frame, storage, grayscaleImg);
//Iterate through the list of circles found by cvHoughCircles()
for(int i = 0; i < circles->total; i++ )
{
int matches = 0;
float* p = (float*)cvGetSeqElem( circles, i );
float x = p[0];
float y = p[1];
float r = p[2];
if (x-r < 0 || y-r < 0 || x+r >= frame->width || y+r >= frame->height)
{
continue;
}
for (int j = 0; j < samples.size(); j++)
{
CvSeq* oldSample = samples[j];
for (int k = 0; k < oldSample->total; k++)
{
float* p2 = (float*)cvGetSeqElem( oldSample, k );
if (circlesBeHomies(p, p2))
{
matches++;
break;
}
}
}
if (matches > MATCHES_THRESH)
{
cvSetImageROI(frame, cvRect(x-r, y-r, 2*r, 2*r));
IplImage* copy = cvCreateImage(cvSize(2*r, 2*r), frame->depth, 3);
cvCvtColor(frame, copy, CV_BGR2HSV);
IplImage* hue = cvCreateImage(cvGetSize(copy), copy->depth, 1);
cvCvtPixToPlane(copy, hue, 0, 0, 0);
int hsize[] = {HUE_BINS};
float hrange[] = {0,180};
float* range[] = {hrange};
IplImage* hueArray[] = {hue};
int channel[] = {0};
CvHistogram* hist = cvCreateHist(1, hsize, CV_HIST_ARRAY, range, 1);
cvCalcHist(hueArray, hist, 0, 0);
cvNormalizeHist(hist, 1.0);
int highestBinSeen = -1;
float maxVal = -1;
for (int b=0; b<HUE_BINS; b++)
{
float binVal = cvQueryHistValue_1D(hist, b);
if (binVal > maxVal)
{
maxVal = binVal;
highestBinSeen = b;
}
}
cvResetImageROI(frame);
const char *color;
switch(highestBinSeen)
{
case 2: case 3: case 4:
color = "orange";
break;
case 5: case 6: case 7: case 8:
color = "yellow";
break;
case 9: case 10: case 11: case 12:
case 13: case 14: case 15: case 16:
color = "green";
break;
case 17: case 18: case 19: case 20:
case 21: case 22: case 23:
color = "blue";
break;
case 24: case 25: case 26: case 27: case 28:
color = "purple";
break;
default:
color = "red";
}
char label[64];
sprintf(label, "color: %s", color);
drawCircleAndLabel(frame, p, label);
}
}
samples.push_back(circles);
if (samples.size() > HISTORY_SIZE)
{
samples.pop_front();
}
cvShowImage( "processed_video", frame);
//Get the last key that's been pressed for input
key = cvWaitKey( 1 );
}
}
CvSeq* getCirclesInImage(IplImage* frame, CvMemStorage* storage, IplImage* grayscaleImg)
{
// houghification
// Convert to a single-channel, grayspace image
cvCvtColor(frame, grayscaleImg, CV_BGR2GRAY);
// Gaussian filter for less noise
cvSmooth(grayscaleImg, grayscaleImg, CV_GAUSSIAN, 7, 9 );
//Detect the circles in the image
CvSeq* circles = cvHoughCircles(grayscaleImg,
storage,
CV_HOUGH_GRADIENT,
2,
grayscaleImg->height/4,
200,
100 );
return circles;
}
float eucdist(CvPoint c1, CvPoint c2)
{
float d = sqrt(pow((float)c1.x - c2.x, 2) + pow((float)c1.y - c2.y, 2));
return d;
}
void drawCircleAndLabel(IplImage* frame, float* p, const char* label)
{
//Draw the circle on the original image
//There's lots of drawing commands you can use!
CvFont font;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 1, 1, 0.0, 1, 8);
cvCircle( frame, cvPoint(cvRound(p[0]),cvRound(p[1])), cvRound(p[2]), CV_RGB(255,0,0), 3, 8, 0 );
cvPutText( frame, label, cvPoint(cvRound(p[0]),cvRound(p[1])), &font, CV_RGB(255,0,0) );
}
bool circlesBeHomies(float* c1, float* c2)
{
return (abs(c1[0]-c2[0]) < X_THRESH) && (abs(c1[1]-c2[1]) < Y_THRESH) && (abs(c1[2]-c2[2]) < R_THRESH);
} |
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