Упражнение 11. Компютърно зрение
From Ilianko
Инсталация openCV
1. Инсталирайте cmake
sudo apt-get install cmake
2. Инсталирайте библиотеката libgtk2.0-dev
sudo apt-get install libgtk2.0-dev
3. да се свали openCV 2.2 и разархивирайте в директория Downloads/OpenCV-2.2.0
4. Влезте в директорията
cd Downloads/OpenCV-2.2.0 cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ./ make make install
export LD_LIBRARY_PATH=/home/lab/Downloads/OpenCV-2.2.0/lib:$LD_LIBRARY_PATH sudo ldconfig
-lopencv_core -lopencv_imgproc -lopencv_calib3d -lopencv_video -lopencv_features2d -lopencv_ml -lopencv_highgui -lopencv_objdetect -lopencv_contrib -lopencv_legacy
#include <opencv/highgui.h> //OpenCV GUI functions ̄include <stdio.h>
#include <opencv/cv.h> //main OpenCV functions
int main(int argc, char** argv)
{
CvCapture* c1 = cvCaptureFromCAM(0);
IplImage* img = 0;
while(cvWaitKey(2) < 0)
{
cvGrabFrame( c1 );
img=cvRetrieveFrame(c1,0);
cvShowImage( "c1", img);
}
//destroy the window
cvReleaseCapture(&c1);
return 0;
}
sinaptic manager
apache2
http://localhost/
sudo chmod 777 /var/www/index.html sudo chmod 777 /var/www/
<img src="test.jpg" /> cvSaveImage("/var/www/test.jpg" ,img, 0);
int main(int argc, char** argv)
{
CvCapture* c1 = cvCaptureFromCAM(0);
IplImage* img;
IplImage* img1;
IplImage* img2;
IplImage* img3;
cvGrabFrame( c1 );
img=cvRetrieveFrame(c1,0);
img1=cvRetrieveFrame(c1,0);
img2=cvRetrieveFrame(c1,0);
img3=cvRetrieveFrame(c1,0);
/* get image properties */
int width = img->width;
int height = img->height;
cvAdd(img, img ,img , NULL);
/* create new image for the grayscale version */
IplImage* bw = cvCreateImage( cvSize( width, height ), IPL_DEPTH_8U, 1 );
while(cvWaitKey(5) < 0)
{
img2 = img1;
img1 = img;
cvGrabFrame( c1 );
img=cvRetrieveFrame(c1,0);
cvAddWeighted( img1, 0.33, img2, 0.33, 0, img3);
cvAddWeighted( img, 1, img, 0.33, 0, img3);
cvCvtColor( img3, bw, CV_RGB2GRAY );
cvCanny( bw, bw, 50, 100, 3 );
cvShowImage( "c1", bw);
}
//destroy the window
cvReleaseCapture(&c1);
return 0;
}
#include <stdio.h>
#include <math.h>
#include <opencv/highgui.h> //OpenCV GUI functions ̄include <stdio.h>
#include <opencv/cv.h> //main OpenCV functions
int main(int argc, char* argv[] )
{
char use[]="<image> <red threshold> <blue and green threshold> <blue green max diff>\n\n";
char *image_file;
int threshold;
int BG_threshold;
int BG_diff;
IplImage* img;
IplImage* img_result_threshold, *img_morph, *img_temp;
int x,y,red,green,blue;
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* contour = 0;
CvSeq* contours = 0;
//Get inputs parameters
if( argc !=5 )
{
fprintf(stderr, "\nUse: %s %s", argv[0], use);
exit(-1);
}
//Get parameters
image_file=argv[1];
sscanf(argv[2],"%d",&threshold);
sscanf(argv[3],"%d",&BG_threshold);
sscanf(argv[4],"%d",&BG_diff);
//Load image
CvCapture* c1 = cvCaptureFromCAM(0);
cvGrabFrame( c1 );
img=cvRetrieveFrame(c1,0);
cvWaitKey(200);
cvGrabFrame( c1 );
img=cvRetrieveFrame(c1,0);
IplImage* frame = 0;
IplImage* imgThreshed =cvCreateImage(cvGetSize(img), 8, 1);
IplImage* imgScribble = cvCreateImage(cvGetSize(img), 8, 3);
//img= cvLoadImage(image_file,1);
while(cvWaitKey(50) < 0)
{
cvGrabFrame( c1 );
img=cvRetrieveFrame(c1,0);
//Create image result for threshold
img_result_threshold= cvCreateImage(cvSize(img->width, img->height), IPL_DEPTH_8U, 1);
img_morph= cvCreateImage(cvSize(img->width, img->height), IPL_DEPTH_8U, 1);
img_temp= cvCreateImage(cvSize(img->width, img->height), IPL_DEPTH_8U, 1);
for(x=0; x < img->width; x++)
{
for(y=0;y < img->height; y++)
{
red= ((uchar*) (img->imageData + img->widthStep*y))[x*3+2];
green= ((uchar*) (img->imageData + img->widthStep*y))[x*3+1];
blue= ((uchar*) (img->imageData + img->widthStep*y))[x*3];
uchar* temp_ptr = &((uchar*)(img_result_threshold->imageData +
img_result_threshold->widthStep*y))[x];
temp_ptr[0] = ( (red>threshold)&&
(green < BG_threshold) &&
(blue < BG_threshold) &&
(abs(green-blue)< BG_diff)) ? 255:0; //White to greater of threshold
}
}
cvMorphologyEx(img_result_threshold, img_morph, img_temp, NULL, CV_MOP_CLOSE, 6);
//cvNamedWindow( "Threshold", 1 );
// cvShowImage( "Threshold", img_morph );
cvFindContours( img_morph, storage, &contour, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE, cvPoint(0,0) );
int area = 0, temp = 0, k=0, s = 0;
contours = contour;
for( ; contour != 0; contour = contour->h_next )
{
area = cvContourArea( contour , CV_WHOLE_SEQ ,0);
if (area > temp)
{
s = k;
temp = area;
// printf("%i \n", s);
}
k++;
}
// printf("%i - %i \n", temp, s);
k = 0;
//cvFindContours( img_morph, storage, &contour, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE, cvPoint(0,0) );
imgThreshed =cvCreateImage(cvGetSize(img), 8, 1);
for( ; contours != 0; contours = contours->h_next )
{
if( k == s)
{
CvScalar color = CV_RGB(55, 255, 255 );
cvDrawContours( imgThreshed, contours, color, color, -1, -1, 8, cvPoint(0,0) );
}
k++;
}
cvNamedWindow("thresh");
cvShowImage("thresh", imgThreshed);
CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments));
cvMoments(imgThreshed, moments, 1);
// The actual moment values
double moment10 = cvGetSpatialMoment(moments, 1, 0);
double moment01 = cvGetSpatialMoment(moments, 0, 1);
double area1 = cvGetCentralMoment(moments, 0, 0);
// Holding the last and current ball positions
static int posX = 0;
static int posY = 0;
int lastX = posX;
int lastY = posY;
posX = moment10/area1;
posY = moment01/area1;
/*The current position of the ball is stored in posX and posY, and the previous location is stored in lastX and lastY.
We’ll just print out the current position for debugging purposes:*/
// Print it out for debugging purposes
printf("position (%d,%d)\n", posX, posY);
if(lastX>0 && lastY>0 && posX>0 && posY>0)
{
// Draw a yellow line from the previous point to the current point
cvLine(imgScribble, cvPoint(posX, posY), cvPoint(lastX, lastY), cvScalar(0,0,255), 5);
}
cvAdd(img, imgScribble, img);
cvNamedWindow("s");
cvShowImage("s", img);
cvReleaseImage(&imgThreshed);
delete moments;
}
return 0;
}
d
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <linux/input.h>
#include <linux/uinput.h>
#include <math.h>
#include <opencv/highgui.h> //OpenCV GUI functions ̄include <stdio.h>
#include <opencv/cv.h> //main OpenCV functions
#define die(str, args...) do { \
perror(str); \
exit(EXIT_FAILURE); \
} while(0)
int main(int argc, char* argv[] )
{
int fd,lastX = 0, lastY=0;
struct uinput_user_dev uidev;
struct input_event ev;
int dx, dy;
int i;
fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK);
if(fd < 0)
die("error: open");
if(ioctl(fd, UI_SET_EVBIT, EV_KEY) < 0)
die("error: ioctl");
if(ioctl(fd, UI_SET_KEYBIT, BTN_LEFT) < 0)
die("error: ioctl");
if(ioctl(fd, UI_SET_EVBIT, EV_REL) < 0)
die("error: ioctl");
if(ioctl(fd, UI_SET_RELBIT, REL_X) < 0)
die("error: ioctl");
if(ioctl(fd, UI_SET_RELBIT, REL_Y) < 0)
die("error: ioctl");
memset(&uidev, 0, sizeof(uidev));
snprintf(uidev.name, UINPUT_MAX_NAME_SIZE, "uinput-sample");
uidev.id.bustype = BUS_USB;
uidev.id.vendor = 0x1;
uidev.id.product = 0x1;
uidev.id.version = 1;
if(write(fd, &uidev, sizeof(uidev)) < 0)
die("error: write");
if(ioctl(fd, UI_DEV_CREATE) < 0)
die("error: ioctl");
sleep(2);
dx = -100;
dy = -10;
memset(&ev, 0, sizeof(struct input_event));
ev.type = EV_REL;
ev.code = REL_X;
ev.value = dx;
if(write(fd, &ev, sizeof(struct input_event)) < 0)
die("error: write");
memset(&ev, 0, sizeof(struct input_event));
ev.type = EV_REL;
ev.code = REL_Y;
ev.value = dy;
if(write(fd, &ev, sizeof(struct input_event)) < 0)
die("error: write");
memset(&ev, 0, sizeof(struct input_event));
ev.type = EV_SYN;
ev.code = 0;
ev.value = 0;
if(write(fd, &ev, sizeof(struct input_event)) < 0)
die("error: write");
usleep(15000);
if(ioctl(fd, UI_DEV_DESTROY) < 0)
die("error: ioctl");
close(fd);
char use[]="<image> <red threshold> <blue and green threshold> <blue green max diff>\n\n";
char *image_file;
int threshold;
int BG_threshold;
int BG_diff;
IplImage* img;
IplImage* img_result_threshold, *img_morph, *img_temp;
int x,y,red,green,blue;
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* contour = 0;
CvSeq* contours = 0;
//Get inputs parameters
if( argc !=5 )
{
fprintf(stderr, "\nUse: %s %s", argv[0], use);
exit(-1);
}
//Get parameters
image_file=argv[1];
sscanf(argv[2],"%d",&threshold);
sscanf(argv[3],"%d",&BG_threshold);
sscanf(argv[4],"%d",&BG_diff);
//Load image
CvCapture* c1 = cvCaptureFromCAM(0);
cvGrabFrame( c1 );
img=cvRetrieveFrame(c1,0);
cvWaitKey(200);
cvGrabFrame( c1 );
img=cvRetrieveFrame(c1,0);
IplImage* frame = 0;
IplImage* imgThreshed =cvCreateImage(cvGetSize(img), 8, 1);
IplImage* imgScribble = cvCreateImage(cvGetSize(img), 8, 3);
//img= cvLoadImage(image_file,1);
while(cvWaitKey(50) < 0)
{
cvGrabFrame( c1 );
img=cvRetrieveFrame(c1,0);
//Create image result for threshold
img_result_threshold= cvCreateImage(cvSize(img->width, img->height), IPL_DEPTH_8U, 1);
img_morph= cvCreateImage(cvSize(img->width, img->height), IPL_DEPTH_8U, 1);
img_temp= cvCreateImage(cvSize(img->width, img->height), IPL_DEPTH_8U, 1);
for(x=0; x < img->width; x++)
{
for(y=0;y < img->height; y++)
{
red= ((uchar*) (img->imageData + img->widthStep*y))[x*3+2];
green= ((uchar*) (img->imageData + img->widthStep*y))[x*3+1];
blue= ((uchar*) (img->imageData + img->widthStep*y))[x*3];
uchar* temp_ptr = &((uchar*)(img_result_threshold->imageData +
img_result_threshold->widthStep*y))[x];
temp_ptr[0] = ( (red>threshold)&&
(green < BG_threshold) &&
(blue < BG_threshold) &&
(abs(green-blue)< BG_diff)) ? 255:0; //White to greater of threshold
}
}
cvMorphologyEx(img_result_threshold, img_morph, img_temp, NULL, CV_MOP_CLOSE, 6);
//cvNamedWindow( "Threshold", 1 );
// cvShowImage( "Threshold", img_morph );
cvFindContours( img_morph, storage, &contour, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE, cvPoint(0,0) );
int area = 0, temp = 0, k=0, s = 0;
contours = contour;
for( ; contour != 0; contour = contour->h_next )
{
area = cvContourArea( contour , CV_WHOLE_SEQ ,0);
if (area > temp)
{
s = k;
temp = area;
// printf("%i \n", s);
}
k++;
}
// printf("%i - %i \n", temp, s);
k = 0;
//cvFindContours( img_morph, storage, &contour, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE, cvPoint(0,0) );
imgThreshed =cvCreateImage(cvGetSize(img), 8, 1);
for( ; contours != 0; contours = contours->h_next )
{
if( k == s)
{
CvScalar color = CV_RGB(55, 255, 255 );
cvDrawContours( imgThreshed, contours, color, color, -1, -1, 8, cvPoint(0,0) );
}
k++;
}
cvNamedWindow("thresh");
cvShowImage("thresh", imgThreshed);
CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments));
cvMoments(imgThreshed, moments, 1);
// The actual moment values
double moment10 = cvGetSpatialMoment(moments, 1, 0);
double moment01 = cvGetSpatialMoment(moments, 0, 1);
double area1 = cvGetCentralMoment(moments, 0, 0);
// Holding the last and current ball positions
static int posX = 0;
static int posY = 0;
dx = lastX - posX;
dy = lastY - posY;
lastY = posY;
lastX = posX;
memset(&ev, 0, sizeof(struct input_event));
ev.type = EV_REL;
ev.code = REL_X;
ev.value = dx;
if(write(fd, &ev, sizeof(struct input_event)) < 0)
die("error: write");
memset(&ev, 0, sizeof(struct input_event));
ev.type = EV_REL;
ev.code = REL_Y;
ev.value = dy;
if(write(fd, &ev, sizeof(struct input_event)) < 0)
die("error: write");
memset(&ev, 0, sizeof(struct input_event));
ev.type = EV_SYN;
ev.code = 0;
ev.value = 0;
if(write(fd, &ev, sizeof(struct input_event)) < 0)
die("error: write");
posX = moment10/area1;
posY = moment01/area1;
/*The current position of the ball is stored in posX and posY, and the previous location is stored in lastX and lastY.
We’ll just print out the current position for debugging purposes:*/
// Print it out for debugging purposes
printf("position (%d,%d)\n", posX, posY);
if(lastX>0 && lastY>0 && posX>0 && posY>0)
{
// Draw a yellow line from the previous point to the current point
cvLine(imgScribble, cvPoint(posX, posY), cvPoint(lastX, lastY), cvScalar(0,0,255), 5);
}
cvAdd(img, imgScribble, img);
cvNamedWindow("s");
cvShowImage("s", img);
cvReleaseImage(&imgThreshed);
delete moments;
}
return 0;
}
