1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
|
#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);
} |
