Image-Processing/line_following.cpp at master · nitishpt/Image-Processing · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
/* HURO - Robotics Club IITK */

#include <sstream>
#include <string>
#include <iostream>
#include <opencv/highgui.h>
#include <opencv/cv.h>
#include <opencv2/opencv.hpp>
#include <iostream>
#include <cmath>
#include "opencv2/core.hpp"
#include <fstream>

using namespace std;
using namespace cv;

int counter=0;

ofstream fout;

int t;

int bias = 0;

int h_min =10;
int s_min = 15;
int v_min = 20;
int h_max = 130;
int s_max = 130;
int v_max = 85;


void createTrackbars()
{
    namedWindow("Trackbars",0);
    createTrackbar("H_MIN", "Trackbars", &h_min, 255);
    createTrackbar("H_MAX", "Trackbars", &h_max, 255);
    createTrackbar("S_MIN", "Trackbars", &s_min, 255);
    createTrackbar("S_MAX", "Trackbars", &s_max, 255);
    createTrackbar("V_MIN", "Trackbars", &v_min, 255);
    createTrackbar("V_MAX", "Trackbars", &v_max, 255);

}


int main()
{

    Mat cameraFeed, hsv, mask, temp;

    vector< vector<Point> > contours;
    vector<Vec4i> hierarchy;

    Moments moment;
    int x=0,y=0;
    bool track = false;
    VideoCapture cam;
    cam.open(1);
    createTrackbars();
    double minMaxCx = (bias > 0 ?  1000000 : -1000000);

    while (true)
    {
        cam >> cameraFeed;
        cameraFeed.copyTo(hsv);
        Mat roi(hsv, Rect(10, 2*hsv.rows/3, hsv.cols-20, hsv.rows/12));     //roi -> region of interest

        inRange(roi, Scalar(h_min, s_min, v_min), Scalar(h_max, s_max, v_max), mask);
        medianBlur(mask, mask, 11);
        dilate(mask, mask, getStructuringElement(MORPH_RECT, Size(5,5)));
        mask.copyTo(temp);
        findContours(temp,contours,hierarchy,CV_RETR_CCOMP,CV_CHAIN_APPROX_SIMPLE );

        imshow("a",roi);
        if(track && contours.size() > 0)
        {
            int j, maxindex, maxarea=0, area;
            for(j=0; j< contours.size(); j++)
            {
                moment = moments((Mat)contours.at(j));
                area= moment.m00;
                if(area>maxarea)
                {
                    maxarea = area;
                    maxindex = j;
                }
            }

            moment = moments((Mat)contours.at(maxindex));

            if (moment.m00 > 0.0)
            {
                Rect r = boundingRect(contours.at(maxindex));
                double cx;
                cx = r.x ;
                if (cx > minMaxCx)
                {
                    minMaxCx = cx;
                }

                if (minMaxCx > cx)
                {
                        minMaxCx = cx;
                }
            }

            if (minMaxCx==1000000||minMaxCx==-1000000)
            minMaxCx = roi.cols/2;
            t = (1.0f - 2.0f*(float)(minMaxCx/roi.cols))*5;


            char ch;
            if(t>-0.20&&t<0.20)
                ch='f';
            else if(t<-0.20)
                ch='r';
            else if(t>0.20)
                ch='l';


            t= abs(t);

            char chr[3];
            chr[0]=ch;
            char t1 = (char)(t+'0');
            chr[1]=t1;
            chr[2]='-';

            cerr<<chr<<'\n';

            if(counter>(2*t))
                {
                    fout.open("/dev/ttyACM1");
                    fout<<chr;
                    fout.flush();
                    fout.close();
                    counter=0;
                }
                counter++;
        }

        rectangle(cameraFeed, Rect(10, 2*hsv.rows/3, hsv.cols-20, hsv.rows/12), Scalar(172,255,135), 1, 8, 0 );

        imshow("Camera", mask);
        imshow("CameraFeed", cameraFeed);

        char chr;
        char ch = waitKey(50);
        if (ch == 'q')
        {
            chr='s';
            f.open("/dev/ttyACM1");
            f<<chr;
            f.close();
            exit(0);

        }
        if (ch == 't')
            track = !track;

    }

    return 0;
}