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| 3 | PointedEar | 1 | /*------------------------------------------------------------------------------------------*\ |
| 2 | This file contains material supporting chapter 3 of the cookbook: |
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| 3 | Computer Vision Programming using the OpenCV Library. |
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| 4 | by Robert Laganiere, Packt Publishing, 2011. |
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| 5 | |||
| 6 | This program is free software; permission is hereby granted to use, copy, modify, |
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| 7 | and distribute this source code, or portions thereof, for any purpose, without fee, |
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| 8 | subject to the restriction that the copyright notice may not be removed |
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| 9 | or altered from any source or altered source distribution. |
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| 10 | The software is released on an as-is basis and without any warranties of any kind. |
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| 11 | In particular, the software is not guaranteed to be fault-tolerant or free from failure. |
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| 12 | The author disclaims all warranties with regard to this software, any use, |
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| 13 | and any consequent failure, is purely the responsibility of the user. |
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| 14 | |||
| 15 | Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name |
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| 16 | \*------------------------------------------------------------------------------------------*/ |
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| 17 | |||
| 18 | #if !defined COLORDETECT |
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| 19 | #define COLORDETECT |
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| 20 | |||
| 21 | #include <opencv2/core/core.hpp> |
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| 5 | PointedEar | 22 | #include <opencv2/imgproc/imgproc.hpp> |
| 3 | PointedEar | 23 | |
| 24 | class ColorDetector { |
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| 25 | |||
| 26 | private: |
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| 27 | |||
| 28 | // minimum acceptable distance |
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| 29 | int minDist; |
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| 30 | |||
| 31 | // target color |
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| 32 | cv::Vec3b target; |
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| 33 | |||
| 34 | // image containing resulting binary map |
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| 35 | cv::Mat result; |
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| 36 | |||
| 37 | // image containing color converted image |
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| 38 | cv::Mat converted; |
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| 39 | |||
| 40 | // inline private member function |
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| 41 | // Computes the distance from target color. |
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| 42 | int getDistance(const cv::Vec3b& color) const { |
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| 43 | // return static_cast<int>(cv::norm<int,3>(cv::Vec3i(color[0]-target[0],color[1]-target[1],color[2]-target[2]))); |
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| 44 | return abs(color[0]-target[0])+ |
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| 45 | abs(color[1]-target[1])+ |
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| 46 | abs(color[2]-target[2]); |
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| 47 | } |
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| 48 | |||
| 49 | public: |
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| 50 | |||
| 51 | // empty constructor |
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| 52 | ColorDetector() : minDist(100) { |
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| 53 | |||
| 54 | // default parameter initialization here |
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| 55 | target[0]= target[1]= target[2]= 0; |
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| 56 | } |
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| 57 | |||
| 58 | // Getters and setters |
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| 59 | |||
| 60 | // Sets the color distance threshold. |
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| 61 | // Threshold must be positive, otherwise distance threshold |
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| 62 | // is set to 0. |
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| 63 | void setColorDistanceThreshold(int distance) { |
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| 64 | |||
| 65 | if (distance<0) |
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| 66 | distance=0; |
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| 67 | minDist= distance; |
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| 68 | } |
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| 69 | |||
| 70 | // Gets the color distance threshold |
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| 71 | int getColorDistanceThreshold() const { |
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| 72 | |||
| 73 | return minDist; |
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| 74 | } |
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| 75 | |||
| 76 | // Sets the color to be detected |
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| 77 | void setTargetColor(unsigned char red, unsigned char green, unsigned char blue) { |
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| 78 | |||
| 79 | cv::Mat tmp(1,1,CV_8UC3); |
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| 80 | tmp.at<cv::Vec3b>(0,0)[0]= blue; |
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| 81 | tmp.at<cv::Vec3b>(0,0)[1]= green; |
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| 82 | tmp.at<cv::Vec3b>(0,0)[2]= red; |
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| 83 | |||
| 84 | // Converting the target to Lab color space |
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| 85 | cv::cvtColor(tmp, tmp, CV_BGR2Lab); |
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| 86 | |||
| 87 | target= tmp.at<cv::Vec3b>(0,0); |
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| 88 | } |
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| 89 | |||
| 90 | // Sets the color to be detected |
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| 91 | void setTargetColor(cv::Vec3b color) { |
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| 92 | |||
| 93 | cv::Mat tmp(1,1,CV_8UC3); |
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| 94 | tmp.at<cv::Vec3b>(0,0)= color; |
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| 95 | |||
| 96 | // Converting the target to Lab color space |
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| 97 | cv::cvtColor(tmp, tmp, CV_BGR2Lab); |
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| 98 | |||
| 99 | target= tmp.at<cv::Vec3b>(0,0); |
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| 100 | } |
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| 101 | |||
| 102 | // Gets the color to be detected |
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| 103 | cv::Vec3b getTargetColor() const { |
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| 104 | |||
| 105 | return target; |
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| 106 | } |
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| 107 | |||
| 108 | // Processes the image. Returns a 1-channel binary image. |
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| 109 | cv::Mat process(const cv::Mat &image); |
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| 110 | }; |
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| 111 | |||
| 112 | |||
| 113 | #endif |