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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 | |||
5 | PointedEar | 18 | #include "color_detector/colordetector.h" |
19 | #include <opencv2/imgproc/imgproc.hpp> |
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3 | PointedEar | 20 | |
21 | cv::Mat ColorDetector::process(const cv::Mat &image) { |
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22 | |||
23 | // re-allocate binary map if necessary |
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24 | // same size as input image, but 1-channel |
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25 | result.create(image.rows,image.cols,CV_8U); |
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26 | |||
27 | // re-allocate intermediate image if necessary |
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28 | converted.create(image.rows,image.cols,image.type()); |
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29 | |||
30 | // Converting to Lab color space |
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31 | cv::cvtColor(image, converted, CV_BGR2Lab); |
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32 | |||
33 | // get the iterators |
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34 | cv::Mat_<cv::Vec3b>::iterator it= converted.begin<cv::Vec3b>(); |
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35 | cv::Mat_<cv::Vec3b>::iterator itend= converted.end<cv::Vec3b>(); |
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36 | cv::Mat_<uchar>::iterator itout= result.begin<uchar>(); |
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37 | |||
38 | // for each pixel |
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39 | for ( ; it!= itend; ++it, ++itout) { |
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40 | |||
41 | // process each pixel --------------------- |
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42 | |||
43 | // compute distance from target color |
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44 | if (getDistance(*it)<minDist) { |
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45 | |||
46 | *itout= 255; |
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47 | |||
48 | } else { |
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49 | |||
50 | *itout= 0; |
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51 | } |
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52 | |||
53 | // end of pixel processing ---------------- |
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54 | } |
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55 | |||
56 | return result; |
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57 | } |
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58 |