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#include "traitement.h"
int h = 0;
int s = 0;
CvPoint objectPos = cvPoint (-1, -1);
IplImage *img;
void trackColor (unsigned char* buffer, int width, int height)
{
int nbPixels;
const int channel = 3;
CvPoint objectNextPos;
img = cvCreateImage (cvSize (width, height), IPL_DEPTH_8U, channel);
for (int i=0;i<channel*width*height;i+=channel)
{
img->imageData[i] = buffer[i+2];
img->imageData[i+1] = buffer[i+1];
img->imageData[i+2] = buffer[i];
}
objectNextPos = binarization (img, &nbPixels);
addObjectToVideo (img, objectNextPos, nbPixels);
}
CvPoint binarization (IplImage* img_orig, int* nbPixels)
{
int tolerance = 10;
const int ROWS_KERNEL = 5;
const int COLS_KERNEL = 5;
const int ANCHOR_X_KERNEL = 2;
const int ANCHOR_Y_KERNEL = 2;
const int CHANNEL_HSV = 3;
const int CHANNEL_MASK = 1;
int sommeX = 0;
int sommeY = 0;
IplConvKernel* kernel;
*nbPixels = 0;
/* Convert BGR image to a HSV image */
IplImage* img_hsv = cvCreateImage (cvGetSize (img_orig), img_orig->depth, CHANNEL_HSV);
cvCvtColor (img_orig, img_hsv, CV_BGR2HSV);
/* Binarization of the HSV image */
IplImage* mask = cvCreateImage (cvGetSize (img_hsv), img_hsv->depth, CHANNEL_MASK);
/*
* We take a group of pixels around an HSV color without taking the V, in order to ignore the lighting
* We therefore use a tolerance value for the color, such that we take a set of pixels with colors in the specified interval. The formula is:
* H studied pixel <= H color chosen +/- tolerance
* and S studied pixel <= S color chosen +/- tolerance
*/
cvInRangeS (img_hsv, cvScalar (h - tolerance - 1, s - tolerance), cvScalar (h + tolerance - 1, s + tolerance, 255), mask);
/* We created a core elliptical with 5x5 */
kernel = cvCreateStructuringElementEx (COLS_KERNEL, ROWS_KERNEL, ANCHOR_X_KERNEL, ANCHOR_Y_KERNEL, CV_SHAPE_ELLIPSE);
/* Dilation to build dense groups of pixels of our object */
cvDilate (mask, mask, kernel);
/* Erosion to remove isolated pixels that do not correspond to our object */
cvErode (mask, mask, kernel);
/* We go through the mask to look for the tracked object and get its gravity center */
for (int x=0;x<mask->width;x++)
{
for (int y=0;y<mask->height;y++)
{
/* If its a tracked pixel, count it to the center of gravity's calcul */
if (((uchar *)(mask->imageData + y*mask->widthStep))[x] == 255)
{
sommeX += x;
sommeY += y;
(*nbPixels)++;
}
}
}
cvShowImage("mask", mask);
cvReleaseStructuringElement (&kernel);
cvReleaseImage (&img_hsv);
cvReleaseImage (&mask);
/* If there is no pixel, we return a center outside the image, else we return the center of gravity */
if (*nbPixels > 0)
{
return cvPoint ((int)(sommeX / (*nbPixels)), (int)(sommeY / (*nbPixels)));
}
else
{
return cvPoint (-1, -1);
}
}
void addObjectToVideo (IplImage* image, CvPoint objectNextPos, int nbPixels)
{
int objectNextStepX, objectNextStepY;
/* Calculate circle next position (if there is enough pixels) */
if (nbPixels > 10)
{
/* Reset position if no pixel were found */
if (objectPos.x == -1 || objectPos.y == -1)
{
objectPos.x = objectNextPos.x;
objectPos.y = objectNextPos.y;
}
/* Move step by step the object position to the desired position */
if (abs (objectPos.x - objectNextPos.x) > STEP_MIN)
{
objectNextStepX = max (STEP_MIN, min (STEP_MAX, abs(objectPos.x - objectNextPos.x) / 2));
objectPos.x += (-1) * sign (objectPos.x - objectNextPos.x) * objectNextStepX;
}
if (abs (objectPos.y - objectNextPos.y) > STEP_MIN)
{
objectNextStepY = max (STEP_MIN, min (STEP_MAX, abs (objectPos.y - objectNextPos.y) / 2));
objectPos.y += (-1) * sign (objectPos.y - objectNextPos.y) * objectNextStepY;
}
/* -1 = object isn't within the picture range */
}
else
{
objectPos.x = -1;
objectPos.y = -1;
}
/* Draw an object (circle) centered on the calculated center of gravity */
if (nbPixels > 10)
{
cvDrawCircle (image, objectPos, 15, CV_RGB (255, 0, 0), -1);
}
/* We show the image on the window */
cvShowImage ("img", image);
}
void getObjectColor(int event, int x, int y, int flags, void *param)
{
FILE *fichier = fopen ("test.txt", "r");
FILE *fichier2 = fopen ("test2.txt", "w");
int hs[2];
if (fichier != NULL && fichier2 != NULL)
{
fscanf (fichier, "%d %d", &hs[0], &hs[1]);
fprintf (fichier2, "h:%d s:%d", hs[0], hs[1]);
fclose (fichier);
fclose (fichier2);
}
h = hs[0];
s = hs[1];
}
} |
