fixed for real

LightBar-CV/CMakeLists.txt

@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 2.8)
+project( CVBars )
+find_package( OpenCV )
+include_directories( ${OpenCV_INCLUDE_DIRS} )
+add_executable( CVBars CVBars.cpp )
+target_link_libraries( CVBars ${OpenCV_LIBS} )

LightBar-CV/CVBars.cpp

@@ -0,0 +1,159 @@
+#include <iostream>
+#include <vector>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/features2d.hpp>
+
+using namespace std;
+using namespace cv;
+
+#define CAMERA_OUTPUT_WINDOW_NAME "camera-output"
+#define OUTPUT_WINDOW_SCALAR 0.2
+//#define RUN_VIDEO
+
+Mat findRed (Mat myImage) 
+{
+    medianBlur(myImage, myImage, 31);
+    cvtColor(myImage,myImage,CV_BGR2HSV);
+    inRange(myImage,Scalar(0,0,240),Scalar(255,255,255),myImage); 
+
+    return myImage;
+}
+
+Mat findGreen (Mat myImage)
+{
+    medianBlur(myImage, myImage, 31);
+    cvtColor(myImage,myImage,CV_BGR2HSV);
+    inRange(myImage,Scalar(36,90,183),Scalar(169,255,255),myImage); 
+    //inRange(myImage,Scalar(36,00,0),Scalar(169,255,255),myImage); 
+    bitwise_not(myImage, myImage);
+    //cvtColor(myImage, myImage, CV_HSV2BGR);
+    //cvtColor(myImage, myImage, CV_BGR2GRAY);
+
+
+
+    //findContours(myImage, myImage, CV_RETR_EXTERNAL, CV_RETR_EXTERNAL);
+
+    // Test BLOB Code
+
+    SimpleBlobDetector::Params params;
+    params.minThreshold = 10;
+    params.maxThreshold = 1000;
+    params.filterByArea = false;
+    params.filterByCircularity = false;
+    params.filterByConvexity = false;
+    params.filterByInertia = false;
+
+    //Mat hsv_channels[3];
+    //split( myImage, hsv_channels );
+
+    // Set up the detector with default parameters.
+    //SimpleBlobDetector detector;
+    cv::Ptr<SimpleBlobDetector> detector = cv::SimpleBlobDetector::create(params);
+
+    //SURF surf;
+
+    // Detect blobs.
+    std::vector<KeyPoint> keypoints;
+    detector->detect( myImage/*hsv_channels[2]*/, keypoints);
+
+    printf("Keypoints Found %lu... OpenCV Version %d\n", keypoints.size(), CV_MAJOR_VERSION);
+
+    // Draw detected blobs as red circles.
+    // DrawMatchesFlags::DRAW_RICH_KEYPOINTS flag ensures the size of the circle corresponds to the size of blob
+    Mat im_with_keypoints;
+    drawKeypoints( myImage, keypoints, im_with_keypoints, Scalar(0,0,255), DrawMatchesFlags::DRAW_RICH_KEYPOINTS );
+     /*
+    for(int i = 0; i<keypoints.size(); i++)
+    {
+        printf("Key Point Size = %0.2f.. Location X = %0.2f.. Location Y = %0.2f\n", keypoints[i].size, keypoints[i].pt.x, keypoints[i].pt.y);
+    }
+    */
+    return im_with_keypoints;
+}
+
+int runVideo()
+{
+    CvCapture *camCapture;
+    int ret = 0;
+
+    if (!(camCapture = cvCaptureFromCAM(CV_CAP_ANY))) {
+        cout << "Failed to capture from camera" << endl; 
+
+        ret = 1;
+
+        goto exitCameraOpenFailed;
+    }
+
+    cout << "Camera opened successfully" << endl;
+    namedWindow( "Video", WINDOW_AUTOSIZE);
+
+    IplImage *cameraFrame;
+    int grabFrameRet;
+
+    while (true) {
+
+        if ((cameraFrame = cvQueryFrame(camCapture))) {
+            Mat myImage = cv::cvarrToMat(cameraFrame);
+
+            // Process Image
+            //medianBlur(myImage, myImage, 11);
+            //threshold(myImage, myImage, 160, 255, THRESH_BINARY);
+            //cvtColor(myImage,myImage,CV_BGR2HSV);
+            //inRange(myImage,Scalar(130,60,90),Scalar(255,255,255),myImage); 
+            myImage = findGreen(myImage);
+            // Display Image
+            imshow("Video", myImage);
+        }
+
+        if (cvWaitKey(60) != -1) {
+            cout << "Input" << endl;
+            break;
+        }
+    }
+
+    cout << "Done" << endl;
+
+    cvReleaseCapture(&camCapture); 
+    cvDestroyWindow(CAMERA_OUTPUT_WINDOW_NAME);
+exitCameraOpenFailed:
+    return ret;
+}
+
+int runSingleImage()
+{
+    // Read in image and set scale
+    Mat myImage = imread("barGreen.jpg");
+    double displayScale = OUTPUT_WINDOW_SCALAR;
+
+    // Display UnProcessed Image
+    namedWindow("Unprocessed Image", WINDOW_NORMAL);
+    Mat dispImage;
+    Size size(myImage.size().width * displayScale, myImage.size().height * displayScale);
+    resize(myImage, dispImage, size);
+    imshow("Unprocessed Image", dispImage);
+
+    // Process Image
+    //medianBlur(myImage, myImage, 17);
+    //threshold(myImage, myImage, 160, 255, THRESH_BINARY);
+
+    myImage = findGreen(myImage);
+
+    // Display Processed Image
+    namedWindow("Processed Image", WINDOW_NORMAL);
+    resize(myImage, dispImage, size);
+    imshow("Processed Image", dispImage);
+
+    waitKey();
+
+    return 0;
+}
+
+int main(int argc, char **argv)
+{
+#ifdef RUN_VIDEO
+    return runVideo();
+#else
+    return runSingleImage();
+#endif 
+}