team2059/dent
2
0
Fork 0
mirror of https://github.com/team2059/Dent synced 2025-01-27 22:21:07 -05:00
Code Issues Releases Wiki Activity

Removed extra vision code (untested)

Browse Source
This commit is contained in:
Austen Adler 2015-01-25 07:45:46 -05:00
parent 2037008242
commit 4f6ea560e3
1 changed files with 6 additions and 51 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

57
src/vision/vision.cpp
View File

@ -1,11 +1,11 @@
#include "cv.h"
#include "highgui.h"
IplImage* GetThresholdedImage(IplImage* img)
{
IplImage* GetThresholdedImage(IplImage* img){
// Convert the image into an HSV image
IplImage* imgHSV = cvCreateImage(cvGetSize(img), 8, 3);
cvCvtColor(img, imgHSV, CV_BGR2HSV);
IplImage* imgThreshed = cvCreateImage(cvGetSize(img), 8, 1);
// Set yellow to white and all other colors to black
//cvInRangeS(imgHSV, cvScalar(20, 100, 100), cvScalar(30, 255, 255), imgThreshed);
cvInRangeS(imgHSV, cvScalar(10, 100, 100), cvScalar(40, 255, 255), imgThreshed);
cvReleaseImage(&imgHSV);
@ -19,20 +19,13 @@ int main()
capture = cvCaptureFromCAM(0);
// Couldn't get a device? Throw an error and quit
if(!capture)
{
if(!capture){
printf("Could not initialize capturing...");
return -1;
}
// The two windows we'll be using
cvNamedWindow("video");
cvNamedWindow("thresh");
// This image holds the "scribble" data...
// the tracked positions of the ball
IplImage* imgScribble = NULL;
// An infinite loop
while(true)
{
while(true){
// Will hold a frame captured from the camera
IplImage* frame = 0;
frame = cvQueryFrame(capture);
@ -40,56 +33,18 @@ int main()
if(!frame)
break;
// If this is the first frame, we need to initialize it
if(imgScribble == NULL)
{
imgScribble = cvCreateImage(cvGetSize(frame), 8, 3);
}
// Holds the yellow thresholded image (yellow = white, rest = black)
IplImage* imgYellowThresh = GetThresholdedImage(frame);
// Calculate the moments to estimate the position of the ball
CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments));
cvMoments(imgYellowThresh, moments, 1);
// The actual moment values
double moment10 = cvGetSpatialMoment(moments, 1, 0);
double moment01 = cvGetSpatialMoment(moments, 0, 1);
double area = cvGetCentralMoment(moments, 0, 0);
// Holding the last and current ball positions
static int posX = 0;
static int posY = 0;
int lastX = posX;
int lastY = posY;
posX = moment10/area;
posY = moment01/area;
// Print it out for debugging purposes
printf("position (%d,%d)", posX, posY);
// We want to draw a line only if its a valid position
if(lastX>0 && lastY>0 && posX>0 && posY>0)
{
// Draw a yellow line from the previous point to the current point
cvLine(imgScribble, cvPoint(posX, posY), cvPoint(lastX, lastY), cvScalar(0,255,255), 5);
}
// Add the scribbling image and the frame...
cvAdd(frame, imgScribble, frame);
cvShowImage("thresh", imgYellowThresh);
cvShowImage("video", frame);
// Wait for a keypress
// Quit on keypress
int c = cvWaitKey(10);
if(c!=-1)
{
// If pressed, break out of the loop
if(c!=-1){
break;
}
// Release the thresholded image+moments... we need no memory leaks.. please
cvReleaseImage(&imgYellowThresh);
delete moments;
}
// We're done using the camera. Other applications can now use it
cvReleaseCapture(&capture);