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/*
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%%%%%% 欢迎到www.opencvchina.com下载源代码和资料 %%%%%%
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*/
/*
* Code written by Lya (GeckoGeek.fr)
*/
#include "opencv/highgui.h"
#include "opencv/cv.h"
//#include"linux_serial.h"
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h> /*Unix标准函数定义*/
/*the time server using shared memory */
#include<stdio.h>
#include<sys/shm.h>
#include<time.h>
#include<signal.h>
#define TIME_MEM_KEY 99 //共享内存 号
#define SEG_SIZE ((size_t)10)
#define oops(m,x) {perror(m); exit(x);}
// Maths methods
#define max(a, b) ((a) > (b) ? (a) : (b))
#define min(a, b) ((a) < (b) ? (a) : (b))
#define abs(x) ((x) > 0 ? (x) : -(x))
#define sign(x) ((x) > 0 ? 1 : -1)
// Step mooving for object min & max
#define STEP_MIN 5
#define STEP_MAX 100
//#define flag 1
#define noflag 0
//串口终端接收
//char buf1[255];
//int res = 0;
int seg_id;
int move_flag = 0;
int line_flag = 0;
int temp_fd = 0;
// FILE *fp_color = NULL; //采样颜色指针
IplImage *image;
IplImage *temp;
IplImage *remain_image;
IplImage* img2;
// Position of the object we overlay
CvPoint objectPos = cvPoint(-1, -1);
// Next position of the object we overlay
CvPoint objectNextPos;
CvPoint center = cvPoint(320, 240);
// Color tracked and our tolerance towards it
static int h = 0, s = 0, v = 0, tolerance = 10;
void RotateImage(IplImage *src,IplImage *dst,CvPoint center,float angle,float factor)
{//以点center为旋转中心，对src旋转angle度并缩放factor倍。
float m[6];
CvMat mat=cvMat(2,3,CV_32FC1,m);
m[0] = (float)(factor*cos(-angle*CV_PI/180.));
m[1] = (float)(factor*sin(-angle*CV_PI/180.));
m[2] = center.x;
m[3] = -m[1];
m[4] = m[0];
m[5] = center.y;
cvSetZero(dst);
cvGetQuadrangleSubPix(src,dst,&mat);
}
/*
* Transform the image into a two colored image, one color for the color we want to track, another color for the others colors
* From this image, we get two datas : the number of pixel detected, and the center of gravity of these pixel
*/
CvPoint binarisation(IplImage* image, int *nbPixels) {
int x, y;
CvScalar pixel;
IplImage *hsv, *mask;
IplConvKernel *kernel;
int sommeX = 0, sommeY = 0;
*nbPixels = 0;
// Create the mask &initialize it to white (no color detected)
mask = cvCreateImage(cvGetSize(image), image->depth, 1);
// Create the hsv image
hsv = cvCloneImage(image);
cvCvtColor(image, hsv, CV_BGR2HSV);
// We create the mask
cvInRangeS(hsv, cvScalar(h - tolerance -1, s - tolerance, 0), cvScalar(h + tolerance -1, s + tolerance, 255), mask);
// Create kernels for the morphological operation
kernel = cvCreateStructuringElementEx(3, 3, 1, 1, CV_SHAPE_ELLIPSE);
// Morphological opening (inverse because we have white pixels on black background)
cvErode(mask, mask, kernel, 1); //my replace
cvDilate(mask, mask, kernel, 1);
// cvErode(mask, mask, kernel, 1);
// We go through the mask to look for the tracked object and get its gravity center
for(x = 0; x < mask->width; x++) {
for(y = 0; y < mask->height; y++) {
// If its a tracked pixel, count it to the center of gravity's calcul
if(((uchar *)(mask->imageData + y*mask->widthStep))[x] == 255) {
sommeX += x;
sommeY += y;
(*nbPixels)++;
}
}
}
// Show the result of the mask image
cvShowImage("GeckoGeek Mask", mask);
// We release the memory of kernels
cvReleaseStructuringElement(&kernel);
// We release the memory of the mask
cvReleaseImage(&mask);
// We release the memory of the hsv image
cvReleaseImage(&hsv);
// If there is no pixel, we return a center outside the image, else we return the center of gravity
if(*nbPixels > 0)
return cvPoint((int)(sommeX / (*nbPixels)), (int)(sommeY / (*nbPixels)));
else
return objectPos;//return cvPoint(-1, -1);
}
/*
* Add a circle on the video that fellow your colored object
*/
void addObjectToVideo(IplImage* image, CvPoint objectNextPos, int nbPixels) {
int objectNextStepX, objectNextStepY;
// Calculate circle next position (if there is enough pixels)
if (nbPixels > 10) {
// Move step by step the object position to the desired position
if (abs(objectPos.x - objectNextPos.x) > STEP_MIN) {
move_flag = 1;
}
if (abs(objectPos.y - objectNextPos.y) > STEP_MIN) {
move_flag = 1;
}
// -1 = object isn't within the camera range
}
objectPos.x = objectNextPos.x;
objectPos.y = objectNextPos.y;
// Draw an object (circle) centered on the calculated center of gravity
if (nbPixels > 10)
cvDrawCircle(image, objectPos, 15, CV_RGB(255, 0, 0), -1);
// We show the image on the window
cvShowImage("GeckoGeek Color Tracking", image);
}
void addObjectToMyVideo(IplImage* image, CvPoint objectNextPos, int nbPixels) {
int objectNextStepX, objectNextStepY;
/*
// Calculate circle next position (if there is enough pixels)
if (nbPixels > 10) {
// Reset position if no pixel were found
if (objectPos.x == -1 || objectPos.y == -1) {
objectPos.x = objectNextPos.x;
objectPos.y = objectNextPos.y;
}
// Move step by step the object position to the desired position
if (abs(objectPos.x - objectNextPos.x) > STEP_MIN) {
objectNextStepX = max(STEP_MIN, min(STEP_MAX, abs(objectPos.x - objectNextPos.x) / 2));
objectPos.x += (-1) * sign(objectPos.x - objectNextPos.x) * objectNextStepX;
}
if (abs(objectPos.y - objectNextPos.y) > STEP_MIN) {
objectNextStepY = max(STEP_MIN, min(STEP_MAX, abs(objectPos.y - objectNextPos.y) / 2));
objectPos.y += (-1) * sign(objectPos.y - objectNextPos.y) * objectNextStepY;
}
objectPos.x = objectNextPos.x;
objectPos.y = objectNextPos.y;
// -1 = object isn't within the camera range
} else {
objectPos.x = -1;
objectPos.y = -1;
}
*/
// Draw an object (circle) centered on the calculated center of gravity
if (nbPixels > 5)
{
if( line_flag)
{
cvCopy(remain_image, img2, NULL); //载入上一幅有实际笔迹的图像
cvLine(img2,objectPos, objectNextPos, CV_RGB(255, 0, 0), 8, -1);
cvCopy(img2, remain_image, NULL); //将这一副有实际笔迹绘制的图像保存起来
}
else
{
cvCopy(remain_image, img2, NULL); //载入上一幅有实际笔迹的图像
cvDrawCircle(img2, objectPos, 8, CV_RGB(255, 0, 0), -1);
}
}
// cvDrawCircle(image, objectPos, 15, CV_RGB(255, 0, 0), -1);
// We show the image on the window
cvShowImage("my window", img2);
}
/*
* Get the color of the pixel where the mouse has clicked
* We put this color as model color (the color we want to tracked)
*/
void getObjectColor(int event, int x, int y, int flags, void *param = NULL) {
// Vars
CvScalar pixel;
IplImage *hsv;
if(event == CV_EVENT_LBUTTONUP) {
// Get the hsv image
hsv = cvCloneImage(image);
cvCvtColor(image, hsv, CV_BGR2HSV);
// Get the selected pixel
pixel = cvGet2D(hsv, y, x);
// Change the value of the tracked color with the color of the selected pixel
h = (int)pixel.val[0];
s = (int)pixel.val[1];
v = (int)pixel.val[2];
//fseek(fp_color, 0, SEEK_SET);
//fprintf(fp_color,"%d %d %d", h, s, v);
// Release the memory of the hsv image
cvReleaseImage(&hsv);
}
}
/*
//串口中断程序
void
signal_handler_IO (int status)
{
memset (buf1, 0, sizeof(buf1));
res = read (fd, buf1, 255);
printf ("nread=%d,%s\n", res, buf1);
// if (res ==1)
// STOP = 1; //stop loop if only a CR was input
}
*/
/*
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%% %%%%%%
%%%%%% 欢迎到www.opencvchina.com下载源代码和资料 %%%%%%
%%%%%% %%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
*/
int main() {
int *mem_ptr; //共享内存
void close_shm();//关闭共享内存
long fpos; //临时文件偏移量
int write_num= 0; //写入字节数
FILE *fp = NULL; //需要注意
fp = fopen("/tmp/serial", "w+");
temp_fd = fileno(fp);
//fp_color = fopen("/home/helei/.coolwrite", "w+");
if(NULL == fp)
{
return -1; //要返回错误代码
}
//fscanf(fp_color, "%d %d %d", &h, &s, &v);
signal( SIGINT, (void*) close_shm); //捕捉ctrl+c 信号
seg_id = shmget(TIME_MEM_KEY, SEG_SIZE, 0777); //设置共享内存
if ( seg_id == -1)
oops("shmget", 1);
mem_ptr = shmat( seg_id, NULL, 0); //获得共享内存
if( mem_ptr == (void *) -1)
oops("shmat", 2);
// Image & hsvImage
IplImage *hsv;
// Video Capture
CvCapture *capture;
// Key for keyboard event
char key;
// Number of tracked pixels
int nbPixels;
// Initialize the video Capture (200 => CV_CAP_V4L2)
capture = cvCreateCameraCapture(0);
// Check if the capture is ok
if (!capture) {
printf("Can't initialize the video capture.\n");
return -1;
}
img2=cvCreateImage(cvSize(640,480),IPL_DEPTH_32F,3); //my code
remain_image = cvCreateImage(cvGetSize(img2),img2->depth,img2->nChannels); //初始化保存图像
// Create the windows
cvNamedWindow("my window",CV_WINDOW_AUTOSIZE); //my code
cvNamedWindow("GeckoGeek Color Tracking", CV_WINDOW_AUTOSIZE);
cvNamedWindow("GeckoGeek Mask", CV_WINDOW_AUTOSIZE);
cvMoveWindow("GeckoGeek Color Tracking", 0, 100);
cvMoveWindow("GeckoGeek Mask", 650, 100);
// Mouse event to select the tracked color on the original image
cvSetMouseCallback("GeckoGeek Color Tracking", getObjectColor);
temp=cvCreateImage(cvSize(640,480),8,3);
// While we don't want to quit
while(key != 'Q' && key != 'q') {
// We get the current image
image = cvQueryFrame(capture);
RotateImage(image, temp, center, 180, 1);//图像颠倒180度
image = temp;
// If there is no image, we exit the loop
if(!image)
continue;
//fscanf(fp_color, "%d %d %d", &h, &s, &v);
//printf("%d %d %d\n",h, s, v);
objectNextPos = binarisation(image, &nbPixels);
if(*mem_ptr) //如果声音分析程序设置共享内存为1
{
addObjectToMyVideo(img2, objectNextPos, nbPixels);
}
addObjectToVideo(image, objectNextPos, nbPixels);
addObjectToMyVideo(img2, objectNextPos, nbPixels);
line_flag = *mem_ptr;
//通过串口发送数据
// serial_return = send_serial(objectPos, *mem_ptr, fd);
if( move_flag == 1)
{
write_num = fprintf(fp, "%d %d %d ", objectPos.x, (480 - objectPos.y), *mem_ptr);
fflush(fp);
fsync(temp_fd);
move_flag = 0;
}
//清理重置笔迹
if (key == 'c'|| key == 'C')
{
cvSetZero(img2);
cvSetZero(remain_image);
fclose(fp);
fp = fopen("/tmp/serial", "w+");
}
// We wait 10 ms
key = cvWaitKey(10);
}
// Destroy the windows we have created
cvDestroyWindow("GeckoGeek Color Tracking");
cvDestroyWindow("GeckoGeek Mask");
// Destroy the capture
cvReleaseCapture(&capture);
fclose(fp); //关闭文件描述符
//fclose(fp_color);
return 0;
}
void close_shm()
{
shmctl( seg_id, IPC_RMID, NULL);
exit(0);
}
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