WebSVN - OpenCV2-Cookbook - Diff - Rev 3 and 5 - /trunk/Chapter 04/finder.cpp


/*------------------------------------------------------------------------------------------*\
   This file contains material supporting chapter 4 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 <iostream>
#include <vector>
using namespace std;

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/video/tracking.hpp>

#include "objectFinder.h"
#include "colorhistogram.h"

int main()
{
        // Read reference image
        cv::Mat image= cv::imread("../baboon1.jpg");
        if (!image.data)
                return 0;

        // Define ROI
        cv::Mat imageROI= image(cv::Rect(110,260,35,40));
        cv::rectangle(image, cv::Rect(110,260,35,40),cv::Scalar(0,0,255));

        // Display image
        cv::namedWindow("Image");
        cv::imshow("Image",image);

        // Get the Hue histogram
        int minSat=65;
        ColorHistogram hc;
        cv::MatND colorhist= hc.getHueHistogram(imageROI);

        ObjectFinder finder;
        finder.setHistogram(colorhist);
        finder.setThreshold(0.2f);

        // Convert to HSV space
        cv::Mat hsv;
        cv::cvtColor(image, hsv, CV_BGR2HSV);

        // Split the image
        vector<cv::Mat> v;
        cv::split(hsv,v);

        // Eliminate pixels with low saturation
        cv::threshold(v[1],v[1],minSat,255,cv::THRESH_BINARY);
        cv::namedWindow("Saturation");
        cv::imshow("Saturation",v[1]);

        // Get back-projection of hue histogram
        int ch[1]={0};
        cv::Mat result= finder.find(hsv,0.0f,180.0f,ch,1);

        cv::namedWindow("Result Hue");
        cv::imshow("Result Hue",result);

        cv::bitwise_and(result,v[1],result);
        cv::namedWindow("Result Hue and");
        cv::imshow("Result Hue and",result);

        // Second image
        image= cv::imread("../baboon3.jpg");

        // Display image
        cv::namedWindow("Image 2");
        cv::imshow("Image 2",image);

        // Convert to HSV space
        cv::cvtColor(image, hsv, CV_BGR2HSV);

        // Split the image
        cv::split(hsv,v);

        // Eliminate pixels with low saturation
        cv::threshold(v[1],v[1],minSat,255,cv::THRESH_BINARY);
        cv::namedWindow("Saturation");
        cv::imshow("Saturation",v[1]);

        // Get back-projection of hue histogram
        result= finder.find(hsv,0.0f,180.0f,ch,1);

        cv::namedWindow("Result Hue");
        cv::imshow("Result Hue",result);

        // Eliminate low stauration pixels
        cv::bitwise_and(result,v[1],result);
        cv::namedWindow("Result Hue and");
        cv::imshow("Result Hue and",result);

        // Get back-projection of hue histogram
        finder.setThreshold(-1.0f);
        result= finder.find(hsv,0.0f,180.0f,ch,1);
        cv::bitwise_and(result,v[1],result);
        cv::namedWindow("Result Hue and raw");
        cv::imshow("Result Hue and raw",result);

        cv::Rect rect(110,260,35,40);
        cv::rectangle(image, rect, cv::Scalar(0,0,255));

        cv::TermCriteria criteria(cv::TermCriteria::MAX_ITER,10,0.01);
        cout << "meanshift= " << cv::meanShift(result,rect,criteria) << endl;

        cv::rectangle(image, rect, cv::Scalar(0,255,0));

        // Display image
        cv::namedWindow("Image 2 result");
        cv::imshow("Image 2 result",image);

        cv::waitKey();
        return 0;
 
}
 

Rev 3	Rev 5
1	/------------------------------------------------------------------------------------------\	1	/------------------------------------------------------------------------------------------\
2	This file contains material supporting chapter 4 of the cookbook:	2	This file contains material supporting chapter 4 of the cookbook:
3	Computer Vision Programming using the OpenCV Library.	3	Computer Vision Programming using the OpenCV Library.
4	by Robert Laganiere, Packt Publishing, 2011.	4	by Robert Laganiere, Packt Publishing, 2011.
5		5
6	This program is free software; permission is hereby granted to use, copy, modify,	6	This program is free software; permission is hereby granted to use, copy, modify,
7	and distribute this source code, or portions thereof, for any purpose, without fee,	7	and distribute this source code, or portions thereof, for any purpose, without fee,
8	subject to the restriction that the copyright notice may not be removed	8	subject to the restriction that the copyright notice may not be removed
9	or altered from any source or altered source distribution.	9	or altered from any source or altered source distribution.
10	The software is released on an as-is basis and without any warranties of any kind.	10	The software is released on an as-is basis and without any warranties of any kind.
11	In particular, the software is not guaranteed to be fault-tolerant or free from failure.	11	In particular, the software is not guaranteed to be fault-tolerant or free from failure.
12	The author disclaims all warranties with regard to this software, any use,	12	The author disclaims all warranties with regard to this software, any use,
13	and any consequent failure, is purely the responsibility of the user.	13	and any consequent failure, is purely the responsibility of the user.
14		14
15	Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name	15	Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
16	\------------------------------------------------------------------------------------------/	16	\------------------------------------------------------------------------------------------/
17		17
18	#include <iostream>	18	#include <iostream>
19	#include <vector>	19	#include <vector>
20	using namespace std;	20	using namespace std;
21		21
22	#include <opencv2\core\core.hpp>	22	#include <opencv2/core/core.hpp>
23	#include <opencv2\highgui\highgui.hpp>	23	#include <opencv2/highgui/highgui.hpp>
24	#include <opencv2\imgproc\imgproc.hpp>	24	#include <opencv2/imgproc/imgproc.hpp>
25	#include <opencv2\video\tracking.hpp>	25	#include <opencv2/video/tracking.hpp>
26		26
27	#include "objectFinder.h"	27	#include "objectFinder.h"
28	#include "colorhistogram.h"	28	#include "colorhistogram.h"
29		29
30	int main()	30	int main()
31	{	31	{
32	// Read reference image	32	// Read reference image
33	cv::Mat image= cv::imread("../baboon1.jpg");	33	cv::Mat image= cv::imread("../baboon1.jpg");
34	if (!image.data)	34	if (!image.data)
35	return 0;	35	return 0;
36		36
37	// Define ROI	37	// Define ROI
38	cv::Mat imageROI= image(cv::Rect(110,260,35,40));	38	cv::Mat imageROI= image(cv::Rect(110,260,35,40));
39	cv::rectangle(image, cv::Rect(110,260,35,40),cv::Scalar(0,0,255));	39	cv::rectangle(image, cv::Rect(110,260,35,40),cv::Scalar(0,0,255));
40		40
41	// Display image	41	// Display image
42	cv::namedWindow("Image");	42	cv::namedWindow("Image");
43	cv::imshow("Image",image);	43	cv::imshow("Image",image);
44		44
45	// Get the Hue histogram	45	// Get the Hue histogram
46	int minSat=65;	46	int minSat=65;
47	ColorHistogram hc;	47	ColorHistogram hc;
48	cv::MatND colorhist= hc.getHueHistogram(imageROI,minSat);	48	cv::MatND colorhist= hc.getHueHistogram(imageROI);
49		49
50	ObjectFinder finder;	50	ObjectFinder finder;
51	finder.setHistogram(colorhist);	51	finder.setHistogram(colorhist);
52	finder.setThreshold(0.2f);	52	finder.setThreshold(0.2f);
53		53
54	// Convert to HSV space	54	// Convert to HSV space
55	cv::Mat hsv;	55	cv::Mat hsv;
56	cv::cvtColor(image, hsv, CV_BGR2HSV);	56	cv::cvtColor(image, hsv, CV_BGR2HSV);
57		57
58	// Split the image	58	// Split the image
59	vector<cv::Mat> v;	59	vector<cv::Mat> v;
60	cv::split(hsv,v);	60	cv::split(hsv,v);
61		61
62	// Eliminate pixels with low saturation	62	// Eliminate pixels with low saturation
63	cv::threshold(v[1],v[1],minSat,255,cv::THRESH_BINARY);	63	cv::threshold(v[1],v[1],minSat,255,cv::THRESH_BINARY);
64	cv::namedWindow("Saturation");	64	cv::namedWindow("Saturation");
65	cv::imshow("Saturation",v[1]);	65	cv::imshow("Saturation",v[1]);
66		66
67	// Get back-projection of hue histogram	67	// Get back-projection of hue histogram
68	int ch[1]={0};	68	int ch[1]={0};
69	cv::Mat result= finder.find(hsv,0.0f,180.0f,ch,1);	69	cv::Mat result= finder.find(hsv,0.0f,180.0f,ch,1);
70		70
71	cv::namedWindow("Result Hue");	71	cv::namedWindow("Result Hue");
72	cv::imshow("Result Hue",result);	72	cv::imshow("Result Hue",result);
73		73
74	cv::bitwise_and(result,v[1],result);	74	cv::bitwise_and(result,v[1],result);
75	cv::namedWindow("Result Hue and");	75	cv::namedWindow("Result Hue and");
76	cv::imshow("Result Hue and",result);	76	cv::imshow("Result Hue and",result);
77		77
78	// Second image	78	// Second image
79	image= cv::imread("../baboon3.jpg");	79	image= cv::imread("../baboon3.jpg");
80		80
81	// Display image	81	// Display image
82	cv::namedWindow("Image 2");	82	cv::namedWindow("Image 2");
83	cv::imshow("Image 2",image);	83	cv::imshow("Image 2",image);
84		84
85	// Convert to HSV space	85	// Convert to HSV space
86	cv::cvtColor(image, hsv, CV_BGR2HSV);	86	cv::cvtColor(image, hsv, CV_BGR2HSV);
87		87
88	// Split the image	88	// Split the image
89	cv::split(hsv,v);	89	cv::split(hsv,v);
90		90
91	// Eliminate pixels with low saturation	91	// Eliminate pixels with low saturation
92	cv::threshold(v[1],v[1],minSat,255,cv::THRESH_BINARY);	92	cv::threshold(v[1],v[1],minSat,255,cv::THRESH_BINARY);
93	cv::namedWindow("Saturation");	93	cv::namedWindow("Saturation");
94	cv::imshow("Saturation",v[1]);	94	cv::imshow("Saturation",v[1]);
95		95
96	// Get back-projection of hue histogram	96	// Get back-projection of hue histogram
97	result= finder.find(hsv,0.0f,180.0f,ch,1);	97	result= finder.find(hsv,0.0f,180.0f,ch,1);
98		98
99	cv::namedWindow("Result Hue");	99	cv::namedWindow("Result Hue");
100	cv::imshow("Result Hue",result);	100	cv::imshow("Result Hue",result);
101		101
102	// Eliminate low stauration pixels	102	// Eliminate low stauration pixels
103	cv::bitwise_and(result,v[1],result);	103	cv::bitwise_and(result,v[1],result);
104	cv::namedWindow("Result Hue and");	104	cv::namedWindow("Result Hue and");
105	cv::imshow("Result Hue and",result);	105	cv::imshow("Result Hue and",result);
106		106
107	// Get back-projection of hue histogram	107	// Get back-projection of hue histogram
108	finder.setThreshold(-1.0f);	108	finder.setThreshold(-1.0f);
109	result= finder.find(hsv,0.0f,180.0f,ch,1);	109	result= finder.find(hsv,0.0f,180.0f,ch,1);
110	cv::bitwise_and(result,v[1],result);	110	cv::bitwise_and(result,v[1],result);
111	cv::namedWindow("Result Hue and raw");	111	cv::namedWindow("Result Hue and raw");
112	cv::imshow("Result Hue and raw",result);	112	cv::imshow("Result Hue and raw",result);
113		113
114	cv::Rect rect(110,260,35,40);	114	cv::Rect rect(110,260,35,40);
115	cv::rectangle(image, rect, cv::Scalar(0,0,255));	115	cv::rectangle(image, rect, cv::Scalar(0,0,255));
116		116
117	cv::TermCriteria criteria(cv::TermCriteria::MAX_ITER,10,0.01);	117	cv::TermCriteria criteria(cv::TermCriteria::MAX_ITER,10,0.01);
118	cout << "meanshift= " << cv::meanShift(result,rect,criteria) << endl;	118	cout << "meanshift= " << cv::meanShift(result,rect,criteria) << endl;
119		119
120	cv::rectangle(image, rect, cv::Scalar(0,255,0));	120	cv::rectangle(image, rect, cv::Scalar(0,255,0));
121		121
122	// Display image	122	// Display image
123	cv::namedWindow("Image 2 result");	123	cv::namedWindow("Image 2 result");
124	cv::imshow("Image 2 result",image);	124	cv::imshow("Image 2 result",image);
125		125
126	cv::waitKey();	126	cv::waitKey();
127	return 0;	127	return 0;
128	}	-
129		128	}
-		129

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