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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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| 22 | |||
| 23 | class ColorDetector { |
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| 24 | |||
| 25 | private: |
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| 26 | |||
| 27 | // minimum acceptable distance |
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| 28 | int minDist; |
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| 29 | |||
| 30 | // target color |
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| 31 | cv::Vec3b target; |
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| 32 | |||
| 33 | // image containing resulting binary map |
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| 34 | cv::Mat result; |
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| 35 | |||
| 36 | // image containing color converted image |
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| 37 | cv::Mat converted; |
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| 38 | |||
| 39 | // inline private member function |
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| 40 | // Computes the distance from target color. |
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| 41 | int getDistance(const cv::Vec3b& color) const { |
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| 42 | // 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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| 43 | return abs(color[0]-target[0])+ |
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| 44 | abs(color[1]-target[1])+ |
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| 45 | abs(color[2]-target[2]); |
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| 46 | } |
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| 47 | |||
| 48 | public: |
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| 49 | |||
| 50 | // empty constructor |
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| 51 | ColorDetector() : minDist(100) { |
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| 52 | |||
| 53 | // default parameter initialization here |
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| 54 | target[0]= target[1]= target[2]= 0; |
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| 55 | } |
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| 56 | |||
| 57 | // Getters and setters |
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| 58 | |||
| 59 | // Sets the color distance threshold. |
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| 60 | // Threshold must be positive, otherwise distance threshold |
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| 61 | // is set to 0. |
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| 62 | void setColorDistanceThreshold(int distance) { |
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| 63 | |||
| 64 | if (distance<0) |
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| 65 | distance=0; |
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| 66 | minDist= distance; |
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| 67 | } |
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| 68 | |||
| 69 | // Gets the color distance threshold |
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| 70 | int getColorDistanceThreshold() const { |
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| 71 | |||
| 72 | return minDist; |
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| 73 | } |
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| 74 | |||
| 75 | // Sets the color to be detected |
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| 76 | void setTargetColor(unsigned char red, unsigned char green, unsigned char blue) { |
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| 77 | |||
| 78 | cv::Mat tmp(1,1,CV_8UC3); |
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| 79 | tmp.at<cv::Vec3b>(0,0)[0]= blue; |
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| 80 | tmp.at<cv::Vec3b>(0,0)[1]= green; |
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| 81 | tmp.at<cv::Vec3b>(0,0)[2]= red; |
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| 82 | |||
| 83 | // Converting the target to Lab color space |
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| 84 | cv::cvtColor(tmp, tmp, CV_BGR2Lab); |
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| 85 | |||
| 86 | target= tmp.at<cv::Vec3b>(0,0); |
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| 87 | } |
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| 88 | |||
| 89 | // Sets the color to be detected |
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| 90 | void setTargetColor(cv::Vec3b color) { |
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| 91 | |||
| 92 | cv::Mat tmp(1,1,CV_8UC3); |
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| 93 | tmp.at<cv::Vec3b>(0,0)= color; |
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| 94 | |||
| 95 | // Converting the target to Lab color space |
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| 96 | cv::cvtColor(tmp, tmp, CV_BGR2Lab); |
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| 97 | |||
| 98 | target= tmp.at<cv::Vec3b>(0,0); |
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| 99 | } |
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| 100 | |||
| 101 | // Gets the color to be detected |
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| 102 | cv::Vec3b getTargetColor() const { |
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| 103 | |||
| 104 | return target; |
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| 105 | } |
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| 106 | |||
| 107 | // Processes the image. Returns a 1-channel binary image. |
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| 108 | cv::Mat process(const cv::Mat &image); |
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| 109 | }; |
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| 110 | |||
| 111 | |||
| 112 | #endif |