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color threshold

This commit is contained in:
Balthazar SQUINABOL 2024-05-22 15:15:08 +02:00
parent 92aa22b579
commit 5b4769e8f0
6 changed files with 441 additions and 4 deletions
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bin/RedBallDetection Executable file
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data/color_params_data.xml Normal file
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<?xml version="1.0"?>
<opencv_storage>
<lowH>0</lowH>
<highH>179</highH>
<lowS>0</lowS>
<highS>219</highS>
<lowV>0</lowV>
<highV>255</highV>
</opencv_storage>

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lib/RedBallDetection.o Normal file
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makefile
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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/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 CameraCalibration: src/CameraCalibration.cpp
g++ -c src/CameraCalibration.cpp -o lib/CameraCalibration.o -I./include -I/usr/include/opencv4 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: clean:
rm lib/*.o rm lib/*.o
rm bin/* rm bin/*

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src/RedBallDetection.cpp Normal file
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#include <iostream>
#include <ctype.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/calib3d.hpp>
#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;
}

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#include <iostream>
#include <ctype.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <opencv2/calib3d.hpp>
#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;
}