M
Ich habe es nun halbwegs hinbekommen . Vielen Dank für eure Hinweise!
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/opencv.hpp"
#include "opencv/highgui.h"
#include <iostream>
#include <bits/stdc++.h>
#include <cmath>
using namespace cv;
using namespace std;
//helper function
//finds camera settings
void getCameraInfo(VideoCapture m_cam){
std::cout<<"CV_CAP_PROP_FRAME_WIDTH " << m_cam.get(CV_CAP_PROP_FRAME_WIDTH) << std::endl;
std::cout<<"CV_CAP_PROP_FRAME_HEIGHT " << m_cam.get(CV_CAP_PROP_FRAME_HEIGHT) << std::endl;
std::cout<<"CV_CAP_PROP_FPS " << m_cam.get(CV_CAP_PROP_FPS) << std::endl;
std::cout<<"CV_CAP_PROP_EXPOSURE " << m_cam.get(CV_CAP_PROP_EXPOSURE) << std::endl;
std::cout<<"CV_CAP_PROP_FORMAT " << m_cam.get(CV_CAP_PROP_FORMAT) << std::endl; //deafult CV_8UC3?!
std::cout<<"CV_CAP_PROP_CONTRAST " << m_cam.get(CV_CAP_PROP_CONTRAST) << std::endl;
std::cout<<"CV_CAP_PROP_BRIGHTNESS "<< m_cam.get(CV_CAP_PROP_BRIGHTNESS) << std::endl;
std::cout<<"CV_CAP_PROP_SATURATION "<< m_cam.get(CV_CAP_PROP_SATURATION) << std::endl;
std::cout<<"CV_CAP_PROP_HUE "<< m_cam.get(CV_CAP_PROP_HUE) << std::endl;
std::cout<<"CV_CAP_PROP_POS_FRAMES "<< m_cam.get(CV_CAP_PROP_POS_FRAMES) << std::endl;
std::cout<<"CV_CAP_PROP_FOURCC "<< m_cam.get(CV_CAP_PROP_FOURCC) << std::endl;
int ex = static_cast<int>(m_cam.get(CV_CAP_PROP_FOURCC)); // Get Codec Type- Int form
char EXT[] = {(char)(ex & 255) , (char)((ex & 0XFF00) >> 8),(char)((ex & 0XFF0000) >> 16),(char)((ex & 0XFF000000) >> 24), 0};
cout << "Input codec type: " << EXT << endl;
}
int findcolourhsv(float h,float s,float v)
{
float e=0.0000001;
if((fabs(h-0)<e)||((-s+80)>=e)) return 1;//white
if(((h-23)<=0)&&((h-5)>=0)) return 2;//orange
if(((h-38)<=0)&&((h-27)>=0)) return 3;//yellow
if(((h-75)<=0)&&((h-60)>=0)) return 4;//green
if(((h-130)<=0)&&((h-80)>=0)) return 5;//blue
//if((((h-179)<=0)&&((h-160)>=0))||(fabs(h-0)<5)) return 6;//red
if((((h-60)<=0)&&((h-19)>=0))||((((h-179)<=0)&&((h-160)>=0))||(fabs(h-0)<5))) return 6;//red
return -1;
}
struct c
{
unsigned char r, g, b;
};
c colors[] = {
{199, 225, 255}, // white
{179, 100, 1}, // orange
{195, 220, 2}, // yellow
{ 17, 140, 92}, // green
{ 2, 50, 210}, // blue
{138, 30, 45} // red
};
int main()
{
VideoCapture cap;
cap.open(0); //adjust cam-number
//getCameraInfo(cap);
cap.set(CV_CAP_PROP_FRAME_WIDTH,320);
cap.set(CV_CAP_PROP_FRAME_HEIGHT,240);
cap.set(CV_CAP_PROP_GAIN,0.55); //adjust gain
cap.set(CV_CAP_PROP_BRIGHTNESS,0.50);
//capture.set(CV_CAP_PROP_SETTINGS,true);
//cap.set(CV_CAP_PROP_EXPOSURE,0.17); //adjust exposure
//cap.set(CV_CAP_PROP_CONTRAST,10);
// capture.set(CV_CAP_PROP_HUE,2);
//cap.set(CV_CAP_PROP_AUTOFOCUS,0);
cap.set(CV_CAP_PROP_FOCUS,0.7);
if (!cap.isOpened())
{
return -1;
}
Mat frame;
for (;;)
{
cap >> frame;
if (frame.empty())
{
return -1;
}
imshow("Original", frame);
Mat cropedImage1= frame(Rect(65,30,200,200));
Mat cropedImage2;
cvtColor(cropedImage1,cropedImage2,CV_BGR2HSV);
int image_x = cropedImage2.cols;
int image_y = cropedImage2.rows;
float xr1 = 0.01; //0.3
float xr2 = 0.63;
float yr1 = 0.01; //0.25
float yr2 = 0.63;
for (int j = 0; j < 3; j++)
for (int i = 0; i < 3; i++)
{
float cell_x = (xr2 - xr1) / 1.9;// 3.0
float cell_y = (yr2 - yr1) / 1.9;// 3.0
float buffer_x = cell_x * 0.19; //0.2
float buffer_y = cell_y * 0.19;//0.2
int x1 = (i * cell_x + xr1 + buffer_x) * image_x;
int y1 = (j * cell_y + yr1 + buffer_y) * image_y;
int x2 = ((i+1) * cell_x + xr1 - buffer_x) * image_x;
int y2 = ((j+1) * cell_y + yr1- buffer_y) * image_y;
Mat cropedPattern = cropedImage2(Rect(x1,y1,(x2-x1),(y2-y1)));
Scalar mymean=mean(cropedPattern);
int c=findcolourhsv(mymean.val[0],mymean.val[1],mymean.val[2]);
switch(c){
case 1: cout<<"White"<<"\t"; break;
case 2: cout<<"Orange"<<"\t"; break;
case 3: cout<<"Yellow"<<"\t"; break;
case 4: cout<<"Green"<<"\t"; break;
case 5: cout<<"Blue"<<"\t"; break;
case 6: cout<<"Red"<<"\t"; break;
}
rectangle( cropedImage1, Point( x1, y1 ),
Point( x2, y2 ),
Scalar( colors[c-1].b, colors[c-1].g, colors[c-1].r), -1, 8 );
imshow("Cube", cropedImage2);
imshow("Cube 1", cropedImage1);
}
cout<<"\n";
waitKey(1);
}
return 0;
}
