Main Function

This group is the main entry point for the openCV processing console application. More...

Collaboration diagram for Main Function:

Files
file	Main.cpp
	OpenCV proccesing for object tracking with a webcam and arduino uno.

Functions
int	scale (float input, float rMax, float tMax)
	Scale funtion. More...
int	main ()
	Main function. More...

Variables
cv::Mat	src
	Object holding an OpenCV matrix for the capture source.
vector< PipeLineAction * >	actions
	All OpenCV pipeline actions.
SerialCom *	sc
	Object preforming the serial communication.
GUI *	g
	Object holding the grafic user interface.
Capture	webCam
	Object holding the capture device.
char	arduinoCommand [100]
	Command to be send to the arduino *&;/.

Detailed Description

This group is the main entry point for the openCV processing console application.

Function Documentation

scale()

int scale	(	float	input,
		float	rMax,
		float	tMax
	)

Scale funtion.

Scales the input to a range. Range is defined by rMax and tMax. Where rMax is the maximum of the input range and tMax is the maximum of the target(output) range

Note

function assums that for both ranges the minimum is the negative maximum

Parameters

input	input to scale
rMax	maximun of the input range
tMax	maximum of the target(output) range

Returns

int: scaled value from input to target range

{
    float rMin = -rMax;
    float tMin = -tMax;
    return static_cast<int>(((input - rMin) / (rMax - rMin))*(tMax-tMin)+tMin);
}

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main()

main

(

)

Main function.

sets up a source Matrix, creates the OpenCV pipeline, starts serial Communication with an Arduino Unoand initiates a graphic user interface.Continues until the escape - key is pressed or the console window is closed. In each loop it captures an image of the webcam.Excecutes the pipeline actions.Sends the output of the pipeline to the arduino and shows the appropriat windows on screen.

Note

setup for the serial communication

• COM port : COM4
• Bauderate : 9600
• data size : 8 bits
• parity : none
• stop bits : 1

Returns

int exit-code

sets up a source Matrix, creates the OpenCV pipeline, starts serial Communication with an Arduino Uno and initiates a graphic user interface. Continues until the escape-key is pressed or the console window is closed. In each loop it captures an image of the webcam. Excecutes the pipeline actions. Sends the output of the pipeline to the arduino and shows the appropriat windows on screen.

Note

setup for the serial communication

• COM port: COM4
• Bauderate: 9600
• data size: 8 bits
• parity: none
• stop bits : 1

{
    //Webcam object
    webCam = Capture(0, cv::CAP_ANY);
 
    //Create pipeline
    actions.push_back(new Blur("Blurred"));
    actions.push_back(new ConvertColorSpace("HSV"));
 
    #ifdef _DEBUG //Visual studio debug mode
        HSV_MASK_VALUES testMask{ 0,87,100,9,211,255 };
        actions.push_back(new Mask("Mask", testMask));
    #else //Release mode
        actions.push_back(new Mask("Mask"));
    #endif // DEBUG
    
    actions.push_back(new Contour("Contours"));
    actions.push_back(new Moment("Moment"));
 
    //Start serial communication
    sc = SerialCom::initialize("COM4",9600, 8, 'N', 1);
    sprintf_s(arduinoCommand, "Home\n");
    sc->write(arduinoCommand);
 
    //Create grafic user interface
    g = new GUI(actions);
 
    //Loop until Esc-key pressed
    while (cv::waitKey(33) != 27)
    {
        //Get input source
         webCam.getFeed(src);
         if (src.empty())
             src = cv::imread("oranje_pingpongbal.jpg", cv::IMREAD_COLOR);
             
        //Run pipeline, every input gets its output from the previous action
        vector<PipeLineAction*>::iterator it;
        actions[0]->setAction(&src);
        for (it = actions.begin()+1 ; it != actions.end(); it++)
        {
            (*it)->setAction((*(it - 1))->getAction());        
        }  
 
        //Get output of the pipeline
        cv::Point c;
        Moment* m = dynamic_cast<Moment*>(actions[actions.size() - 1]);
        m ? c = *m->getCenterOfMass() : c = cv::Point(-10, -10);
        
        if (c.x >= 0 && c.y >= 0) {
            //Translate center of mass to reasonable x and y coordinats
            float yInput = (src.rows / static_cast<float>(2)) - c.y;
            float xInput = c.x - (src.cols / static_cast<float>(2));
 
            //Scale to range of -15° to 15° this because other wise the arduino flips (movement is to slow)
            //X(pan) is inverted because of mirrored image
            int yOut = scale(yInput, src.rows / static_cast<float>(2), 15);
            int xOut = -scale(xInput, src.cols / static_cast<float>(2), 15);
 
            //Write to serial
            if (g->trackingActive()) {
                sprintf_s(arduinoCommand,"PTO%d:%d\n", xOut, yOut);
                sc->write(arduinoCommand);
            }
        }
 
        //Read serial input
        sc->readString();
        if (sc->newMessageAvailable())
            g->addMessage(sc->getLastMessage()->c_str());
 
        //Show images
        g->showOutput(src, &c);
        g->showWindows(actions);
       
    }
    cv::destroyAllWindows();
    return 0;
}

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