diff --git a/bin/RedBallDetection b/bin/RedBallDetection
new file mode 100755
index 0000000..a253a1c
Binary files /dev/null and b/bin/RedBallDetection differ
diff --git a/data/color_params_data.xml b/data/color_params_data.xml
new file mode 100644
index 0000000..9f3780d
--- /dev/null
+++ b/data/color_params_data.xml
@@ -0,0 +1,9 @@
+
+
+0
+179
+0
+219
+0
+255
+
diff --git a/lib/RedBallDetection.o b/lib/RedBallDetection.o
new file mode 100644
index 0000000..b308650
Binary files /dev/null and b/lib/RedBallDetection.o differ
diff --git a/makefile b/makefile
index 253d66b..0e74847 100644
--- a/makefile
+++ b/makefile
@@ -1,9 +1,11 @@
-all: CameraCalibration
+all: CameraCalibration RedBallDetection
g++ lib/CameraCalibration.o -o bin/CameraCalibration -L/usr/lib/x86_64-linux-gnu `pkg-config --libs opencv4`
-
+ g++ lib/RedBallDetection.o -o bin/RedBallDetection -L/usr/lib/x86_64-linux-gnu `pkg-config --libs opencv4`
+
CameraCalibration: src/CameraCalibration.cpp
g++ -c src/CameraCalibration.cpp -o lib/CameraCalibration.o -I./include -I/usr/include/opencv4
-
+RedBallDetection: src/RedBallDetection.cpp
+ g++ -c src/RedBallDetection.cpp -o lib/RedBallDetection.o -I./include -I/usr/include/opencv4
clean:
rm lib/*.o
- rm bin/*
\ No newline at end of file
+ rm bin/*
diff --git a/src/RedBallDetection.cpp b/src/RedBallDetection.cpp
new file mode 100644
index 0000000..32e5f6a
--- /dev/null
+++ b/src/RedBallDetection.cpp
@@ -0,0 +1,199 @@
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+#define CAM_PARAMS_FILENAME "./data/microsoft_livecam_hd3000.xml"
+#define COLOR_PARAMS_FILENAME "./data/color_params_data.xml"
+#define FPS 30.0
+#define STRUCTURAL_ELEMENTS_SIZE 5
+
+bool readCameraParameters(std::string filename, cv::Mat &camMatrix, cv::Mat & distCoeffs)
+{
+ cv::FileStorage fs(filename, cv::FileStorage::READ);
+ if (!fs.isOpened())
+ {
+ std::cout << "[ERROR] Could not open the camera parameter file storage: " << filename << " !"<< std::endl;
+ return false;
+ }
+
+ fs["camera_matrix"] >> camMatrix;
+ fs["distortion_coefficients"] >> distCoeffs;
+
+ return true;
+}
+
+bool writeColorParameters(std::string filename, int iLowH, int iHighH, int iLowS, int iHighS, int iLowV, int iHighV)
+{
+ cv::FileStorage fs(filename, cv::FileStorage::WRITE);
+ if (!fs.isOpened())
+ {
+ std::cout << "[ERROR] Could not open the file storage: " << filename << " !"<< std::endl;
+ return false;
+ }
+ fs << "lowH" << iLowH;
+ fs << "highH" << iHighH;
+
+ fs << "lowS" << iLowS;
+ fs << "highS" << iHighS;
+
+ fs << "lowV" << iLowV;
+ fs << "highV" << iHighV;
+
+ // releases the writer
+ fs.release();
+
+ return true;
+}
+
+int main(int argc, char** argv)
+{
+ // initializes main parameters
+ std::string sCameraParamFilename = CAM_PARAMS_FILENAME;
+ std::string sColorParamFilename = COLOR_PARAMS_FILENAME;
+ int iStructuralElementSize = STRUCTURAL_ELEMENTS_SIZE;
+ float fFPS = FPS;
+
+ // updates main parameters from arguments
+ int opt;
+ while ((opt = getopt (argc, argv, ":i:f:o:s:")) != -1)
+ {
+ switch (opt)
+ {
+ case 'o':
+ sColorParamFilename = optarg;
+ break;
+ case 'f':
+ fFPS = atof(optarg);
+ break;
+ case 'i':
+ sCameraParamFilename = optarg;
+ break;
+ case 's':
+ iStructuralElementSize = atoi(optarg);
+ break;
+ case '?':
+ if (optopt == 'o' || optopt == 'f' || optopt == 'i' || optopt == 's')
+ fprintf (stderr, "Option -%c requires an argument.\n", optopt);
+ else if (isprint (optopt))
+ fprintf (stderr, "Unknown option `-%c'.\n", optopt);
+ else
+ fprintf (stderr, "Unknown option character `\\x%x'.\n", optopt);
+ return 1;
+ default:
+ abort ();
+ }
+ }
+
+ // distorted/undistorted image
+ bool bIsImageUndistorted = true;
+
+ // reads camera intrinsic parameters
+ cv::Mat cameraMatrix, distCoeffs;
+ bool isCamParamsSet = readCameraParameters(sCameraParamFilename, cameraMatrix, distCoeffs);
+
+ // checks if the camera parameters were successfully read
+ if (!isCamParamsSet)
+ {
+ std::cout << "[WARNING] Camera intrinsic parameters could not be loaded!" << std::endl;
+ }
+
+ // creates a camera grabber
+ cv::VideoCapture cap(0, cv::CAP_V4L2);
+
+ // checks if the camera was successfully opened
+ if (!cap.isOpened())
+ {
+ std::cout << "[ERROR] Cannot open the webcam" << std::endl;
+ return 1;
+ }
+
+ cv::namedWindow("Control", cv::WINDOW_AUTOSIZE); //create a window called "Control"
+
+ // sets min/max value for HSV color representation
+ int iLowH = 0;
+ int iHighH = 179;
+
+ int iLowS = 0;
+ int iHighS = 255;
+
+ int iLowV = 0;
+ int iHighV = 255;
+
+ // creates trackbars in "Control" window
+ cv::createTrackbar("LowH", "Control", &iLowH, 179); //Hue (0 - 179)
+ cv::createTrackbar("HighH", "Control", &iHighH, 179);
+
+ cv::createTrackbar("LowS", "Control", &iLowS, 255); //Saturation (0 - 255)
+ cv::createTrackbar("HighS", "Control", &iHighS, 255);
+
+ cv::createTrackbar("LowV", "Control", &iLowV, 255); //Value (0 - 255)
+ cv::createTrackbar("HighV", "Control", &iHighV, 255);
+
+ while (true)
+ {
+ cv::Mat imgOriginal;
+
+ bool bSuccess = cap.read(imgOriginal); // read a new frame from video
+
+ if (!bSuccess) //if not success, break loop
+ {
+ std::cout << "[WARNING] Cannot read a frame from video stream" << std::endl;
+ break;
+ }
+
+ if (bIsImageUndistorted && isCamParamsSet)
+ {
+ cv::Mat temp = imgOriginal.clone();
+ cv::undistort(temp, imgOriginal, cameraMatrix, distCoeffs);
+ }
+
+ //Convert the captured frame from BGR to HSV
+ cv::Mat imgHSV;
+ cvtColor(imgOriginal, imgHSV, cv::COLOR_BGR2HSV);
+
+ //Threshold the image based on the trackbar values
+ cv::Mat imgThresholded;
+ inRange(imgHSV, cv::Scalar(iLowH, iLowS, iLowV), cv::Scalar(iHighH, iHighS, iHighV), imgThresholded);
+
+ //morphological opening (remove small objects from the foreground)
+ cv::erode(imgThresholded, imgThresholded, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(iStructuralElementSize, iStructuralElementSize)) );
+ cv::dilate( imgThresholded, imgThresholded, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(iStructuralElementSize, iStructuralElementSize)) );
+
+ //morphological closing (fill small holes in the foreground)
+ cv::dilate( imgThresholded, imgThresholded, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(iStructuralElementSize, iStructuralElementSize)) );
+ cv::erode(imgThresholded, imgThresholded, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(iStructuralElementSize, iStructuralElementSize)) );
+
+ cv::imshow("Thresholded Image", imgThresholded); //show the thresholded image
+ cv::imshow("Original", imgOriginal); //show the original image
+
+ // waits for awhile depending on the FPS value
+ // checks if ESC was pressed to exit
+ char key = (char)cv::waitKey(1000.0/fFPS);
+ //wait for 'esc' key press for 30ms. If 'esc' key is pressed, break loop
+ if (key == 27)
+ {
+ std::cout << "[INFO] esc key is pressed by user -> Shuting down!" << std::endl;
+ break;
+ }
+ if (key == 'u')
+ {
+ bIsImageUndistorted = !bIsImageUndistorted;
+ std::cout << "[INFO] Image undistorted: " << bIsImageUndistorted<< std::endl;
+ }
+ if (key == 's')
+ {
+ writeColorParameters(sColorParamFilename, iLowH, iHighH, iLowS, iHighS, iLowV, iHighV);
+ std::cout << "[INFO] Color parameters saved to file: " << sColorParamFilename << std::endl;
+ }
+
+
+ }
+
+ return 0;
+}
diff --git a/src/RedBallTracking.cpp b/src/RedBallTracking.cpp
new file mode 100644
index 0000000..89f535f
--- /dev/null
+++ b/src/RedBallTracking.cpp
@@ -0,0 +1,227 @@
+#include
+#include
+#include
+#include
+#include
+
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+#include
+
+#define CAM_PARAMS_FILENAME "./data/microsoft_livecam_hd3000.xml"
+#define COLOR_PARAMS_FILENAME "./data/color_params_data.xml"
+#define FPS 30.0
+#define STRUCTURAL_ELEMENTS_SIZE 5
+#define AREA_THRESOLD 1000
+
+using namespace cv;
+using namespace std;
+
+bool readCameraParameters(std::string filename, cv::Mat &camMatrix, cv::Mat & distCoeffs)
+{
+ cv::FileStorage fs(filename, cv::FileStorage::READ);
+ if (!fs.isOpened())
+ {
+ std::cout << "[ERROR] Could not open the camera parameter file storage: " << filename << " !"<< std::endl;
+ return false;
+ }
+
+ fs["camera_matrix"] >> camMatrix;
+ fs["distortion_coefficients"] >> distCoeffs;
+
+ return true;
+}
+
+bool readColorParameters(std::string filename, int iLowH, int& iHighH, int& iLowS, int& iHighS, int& iLowV, int& iHighV)
+{
+ cv::FileStorage fs(filename, cv::FileStorage::READ);
+ if (!fs.isOpened())
+ {
+ std::cout << "[ERROR] Could not open the color paramter file storage: " << filename << " !"<< std::endl;
+ return false;
+ }
+
+ fs["lowH"] >> iLowH;
+ fs["highH"] >> iHighH;
+
+ fs["lowS"] >> iLowS;
+ fs["highS"] >> iHighS;
+
+ fs["lowV"] >> iLowV;
+ fs["highV"] >> iHighV;
+
+ return true;
+}
+
+ int main( int argc, char** argv )
+ {
+ // initializes main parameters
+ std::string sCameraParamFilename = CAM_PARAMS_FILENAME;
+ std::string sColorParamFilename = COLOR_PARAMS_FILENAME;
+ float fFPS = FPS;
+ int iStructuralElementSize = STRUCTURAL_ELEMENTS_SIZE;
+ int iAreaThresold = AREA_THRESOLD;
+
+ // updates main parameters from arguments
+ int opt;
+ while ((opt = getopt (argc, argv, ":c:f:s:a:i:")) != -1)
+ {
+ switch (opt)
+ {
+ case 'c':
+ sColorParamFilename = optarg;
+ break;
+ case 'f':
+ fFPS = atof(optarg);
+ break;
+ case 's':
+ iStructuralElementSize = atoi(optarg);
+ break;
+ case 'a':
+ iAreaThresold = atoi(optarg);
+ break;
+ case 'i':
+ sCameraParamFilename = optarg;
+ break;
+ case '?':
+ if (optopt == 'c' || optopt == 'f' || optopt == 's' || optopt == 'a')
+ fprintf (stderr, "Option -%c requires an argument.\n", optopt);
+ else if (isprint (optopt))
+ fprintf (stderr, "Unknown option `-%c'.\n", optopt);
+ else
+ fprintf (stderr, "Unknown option character `\\x%x'.\n", optopt);
+ return 1;
+ default:
+ abort ();
+ }
+ }
+
+ // reads color parameters from the file storage
+ int iLowH, iHighH, iLowS, iHighS, iLowV, iHighV;
+ bool isColorParamsSet = readColorParameters(sColorParamFilename, iLowH, iHighH, iLowS, iHighS, iLowV, iHighV);
+
+ // checks if the color parameters were successfully read
+ if (!isColorParamsSet)
+ {
+ std::cout << "[ERROR] Color parameters could not be loaded!" << std::endl;
+ return -1;
+ }
+
+ // distorted/undistorted image
+ bool bIsImageUndistorted = true;
+
+ // reads camera intrinsic parameters
+ cv::Mat cameraMatrix, distCoeffs;
+ bool isCamParamsSet = readCameraParameters(sCameraParamFilename, cameraMatrix, distCoeffs);
+
+ // checks if the camera parameters were successfully read
+ if (!isCamParamsSet)
+ {
+ std::cout << "[WARNING] Camera intrinsic parameters could not be loaded!" << std::endl;
+ }
+
+ // creates a camera grabber
+ VideoCapture cap(0, cv::CAP_V4L2); //capture the video from webcam
+
+ // checks if the camera was successfully opened
+ if ( !cap.isOpened() ) // if not success, exit program
+ {
+ cout << "[ERROR] Could not open the camera!" << endl;
+ return -1;
+ }
+
+ // inits previous x,y location of the ball
+ int iLastX = -1;
+ int iLastY = -1;
+
+ // captures a temporary image from the camera
+ Mat imgTmp;
+ cap.read(imgTmp);
+
+ // creates a black image with the size as the camera output
+ Mat imgLines = Mat::zeros( imgTmp.size(), CV_8UC3 );
+
+ // main loop launched every FPS
+ while (true)
+ {
+ // reads a new frame from video
+ cv::Mat imgOriginal;
+ bool bSuccess = cap.read(imgOriginal);
+
+ // checks if a new frame was grabbed
+ if (!bSuccess) //if not success, break loop
+ {
+ std::cout << "[WARNING] Could not read a new frame from video stream" << std::endl;
+ break;
+ }
+
+ if (bIsImageUndistorted && isCamParamsSet)
+ {
+ cv::Mat temp = imgOriginal.clone();
+ cv::undistort(temp, imgOriginal, cameraMatrix, distCoeffs);
+ }
+
+ // converts the captured frame from BGR to HSV
+ cv::Mat imgHSV;
+ cvtColor(imgOriginal, imgHSV, cv::COLOR_BGR2HSV);
+
+ // thresholds the image based on the trackbar values
+ cv::Mat imgThresholded;
+ inRange(imgHSV, cv::Scalar(iLowH, iLowS, iLowV), cv::Scalar(iHighH, iHighS, iHighV), imgThresholded);
+
+ // applies morphological opening (removes small objects from the foreground)
+ cv::erode(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(iStructuralElementSize, iStructuralElementSize)) );
+ cv::dilate( imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(iStructuralElementSize, iStructuralElementSize)) );
+
+ // applies morphological closing (removes small holes from the foreground)
+ cv::dilate( imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(iStructuralElementSize, iStructuralElementSize)) );
+ cv::erode(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(iStructuralElementSize, iStructuralElementSize)) );
+
+ // calculates the moments of the thresholded image
+ Moments oMoments = moments(imgThresholded);
+ double dM01 = oMoments.m01;
+ double dM10 = oMoments.m10;
+ double dArea = oMoments.m00;
+
+ // if the area <= iAreaThresold, considers that the there are no object in the image and it's because of the noise, the area is not zero
+ if (dArea > iAreaThresold)
+ {
+ // calculates the position of the ball
+ int posX = dM10 / dArea;
+ int posY = dM01 / dArea;
+
+ if (iLastX >= 0 && iLastY >= 0 && posX >= 0 && posY >= 0)
+ {
+ // draww a red line from the previous point to the current point
+ line(imgLines, Point(posX, posY), Point(iLastX, iLastY), Scalar(0,0,255), 2);
+ }
+
+ // stores the current position for enxt frame
+ iLastX = posX;
+ iLastY = posY;
+ }
+
+ // displays the thresholded image
+ imshow("Thresholded Image", imgThresholded);
+
+ // shows the original image with the tracking (red) lines
+ imgOriginal = imgOriginal + imgLines;
+ imshow("Original", imgOriginal);
+
+ // waits for awhile depending on the FPS value
+ char key = (char)cv::waitKey(1000.0/fFPS);
+ // checks if ESC was pressed to exit
+ if (key == 27) // if 'esc' key is pressed, break loop
+ {
+ std::cout << "[INFO] esc key is pressed by user -> Shuting down!" << std::endl;
+ break;
+ }
+ if (key == 'u')
+ {
+ bIsImageUndistorted = !bIsImageUndistorted;
+ std::cout << "[INFO] Image undistorted: " << bIsImageUndistorted<< std::endl;
+ }
+ }
+
+ return 0;
+}
\ No newline at end of file