Subversion Repositories OpenCV2-Cookbook

/*------------------------------------------------------------------------------------------*\

   This file contains material supporting chapter 3 of the cookbook:  

   Computer Vision Programming using the OpenCV Library.

   by Robert Laganiere, Packt Publishing, 2011.

   This program is free software; permission is hereby granted to use, copy, modify,

   and distribute this source code, or portions thereof, for any purpose, without fee,

   subject to the restriction that the copyright notice may not be removed

   or altered from any source or altered source distribution.

   The software is released on an as-is basis and without any warranties of any kind.

   In particular, the software is not guaranteed to be fault-tolerant or free from failure.

   The author disclaims all warranties with regard to this software, any use,

   and any consequent failure, is purely the responsibility of the user.

   Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name

\*------------------------------------------------------------------------------------------*/

#include "color_detector/colordetector.h"

#include <opencv2/imgproc/imgproc.hpp>

cv::Mat ColorDetector::process(const cv::Mat &image) {

          // re-allocate binary map if necessary

          // same size as input image, but 1-channel

          result.create(image.rows,image.cols,CV_8U);

          // re-allocate intermediate image if necessary

          converted.create(image.rows,image.cols,image.type());

          // Converting to Lab color space 

          cv::cvtColor(image, converted, CV_BGR2Lab);

          // get the iterators

          cv::Mat_<cv::Vec3b>::iterator it= converted.begin<cv::Vec3b>();

          cv::Mat_<cv::Vec3b>::iterator itend= converted.end<cv::Vec3b>();

          cv::Mat_<uchar>::iterator itout= result.begin<uchar>();

          // for each pixel

          for ( ; it!= itend; ++it, ++itout) {

                // process each pixel ---------------------

                  // compute distance from target color

                  if (getDistance(*it)<minDist) {

                          *itout= 255;

                  } else {

                          *itout= 0;

                  }

        // end of pixel processing ----------------

          }

          return result;

}