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@arasharchor
Forked from sm00th/ballTracking.cpp
Created October 3, 2016 17:51
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OpenCV code for arduino balltracking project http://youtu.be/G2nHMlx8npQ
#include <opencv2/core/core.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iostream>
#include <fcntl.h>
#include <unistd.h>
#include <termios.h>
using namespace std;
using namespace cv;
void threshImage( Mat input, Mat output, int serial ) {
Mat hsvImg = Mat::zeros( input.size(), input.type() );
vector<Vec3f> circles;
blur( input, hsvImg, Size( 9, 9 ) );
cvtColor( hsvImg, hsvImg, CV_BGR2HSV );
inRange( hsvImg, Scalar( 70, 30, 30 ), Scalar( 100, 255, 255 ), output );
HoughCircles( output, circles, CV_HOUGH_GRADIENT, 2, output.rows/4, 100, 40, 20, 200);
Size imgSize = input.size();
Point imgCenter( imgSize.width/2, imgSize.height/2 );
for( size_t i = 0; i < circles.size() && i < 1; i++ ) {
Point center(cvRound(circles[i][0]), cvRound(circles[i][1]));
int radius = cvRound(circles[i][2]);
int xDiff = imgCenter.x - center.x;
int yDiff = imgCenter.y - center.y;
char sendBuf;
if( abs( yDiff ) > radius ) {
yDiff = yDiff > 0 ? 30 : 10;
} else {
yDiff = 20;
}
if( abs( xDiff ) > radius ) {
xDiff = xDiff > 0 ? 3 : 1;
} else {
xDiff = 2;
}
if( xDiff != 2 || yDiff != 20 ) {
sendBuf = xDiff + yDiff;
write( serial, &sendBuf, 1 );
}
rectangle(
input,
Point(
circles[i][0] - radius,
circles[i][1] - radius
),
Point(
circles[i][0] + radius,
circles[i][1] + radius
),
Scalar( 0, 255, 0 ),
3,
8,
0
);
line( input, imgCenter, center, Scalar( 255, 0, 0 ), 3, 8, 0 );
}
}
int openSerial( const char *path ) {
int port;
struct termios options;
port = open( path, O_RDWR | O_NOCTTY | O_NDELAY );
if( port == -1 ) {
printf( "Unable to open port %s\n", path );
return -1;
}
fcntl( port, F_SETFL, 0 );
tcgetattr( port, &options );
cfsetispeed( &options, B115200 );
cfsetospeed( &options, B115200 );
tcsetattr( port, TCSANOW, &options );
return port;
}
int main( int argc, char **argv ) {
CvCapture *capture;
Mat origImage, threshedImage;
int serial;
if( argc < 2 ) {
cerr << "Usage: " << argv[0] << " <serial_port>" << endl;
return -1;
}
serial = openSerial( argv[1] );
if( serial == -1 ) {
return -1;
}
cvNamedWindow( "orig" );
cvNamedWindow( "thresh" );
capture = cvCaptureFromCAM( -1 );
if( capture ) {
while( true ) {
origImage = cvQueryFrame( capture );
if( origImage.empty() ) {
cerr << "Failed to load image" << endl;
return -1;
}
threshedImage = Mat::zeros( origImage.size(), CV_8U );
threshImage( origImage, threshedImage, serial );
imshow( "orig", origImage );
imshow( "thresh", threshedImage );
if( ( char )waitKey( 10 ) == 'c' ) {
break;
}
}
}
close( serial );
destroyAllWindows();
return 0;
}
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