OPENCVCHASE

//CHASE
/*
 ______ ____  _____    _   _          _____ _____ _____
 |  ____/ __ \|  __ \  | \ | |   /\   |  __ \_   _|  __ \
 | |__ | |  | | |__) | |  \| |  /  \  | |  | || | | |__) |
 |  __|| |  | |  _  /  | . ` | / /\ \ | |  | || | |  _  /
 | |   | |__| | | \ \  | |\  |/ ____ \| |__| || |_| | \ \
 |_|    \____/|_|  \_\ |_| \_/_/    \_\_____/_____|_|  \_\

 With love.
 Thibaut
 */


#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/video/tracking.hpp>
#include <opencv2/objdetect/objdetect.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/legacy/legacy.hpp>
#include <opencv2/legacy/compat.hpp>
#include <time.h>
#include <stdio.h>
/*
 Librairies à linker:
 opencv_core2410.lib
 opencv_highgui2410.lib
 opencv_imgproc2410.lib
 opencv_video2410.lib
 opencv_objdetect2410.lib
 opencv_legacy2410.lib
 */

#define SELECTION_NO        0
#define SELECTION_START     1
#define SELECTION_CALCUL    2
#define SELECTION_READY     3
#define HISTORIQUE_SIZE     10


CvRect selectionRect = cvRect(0, 0, 0, 0);

int selectionFSM = 0;

//Click de souris sur la fenêtre
void onMouseClick(int event, int x, int y, int, void *) {
    switch(event) {
        case CV_EVENT_LBUTTONDOWN:
            if((selectionFSM == SELECTION_NO) || (selectionFSM == SELECTION_READY)) {
                selectionRect.x = x;
                selectionRect.y = y;
                selectionRect.width = 0;
                selectionRect.height = 0;
                selectionFSM = SELECTION_START;
            }
            else {
                selectionFSM = SELECTION_CALCUL;
            }
            break;
        case CV_EVENT_MOUSEMOVE:
            if(selectionFSM) {
                selectionRect.width  = x - selectionRect.x;
                selectionRect.height = y - selectionRect.y;
                if(selectionRect.width < 0) {
                    selectionRect.x     += selectionRect.width;
                    selectionRect.width  = -selectionRect.width;
                }
                if(selectionRect.height < 0) {
                    selectionRect.y     += selectionRect.height;
                    selectionRect.height = -selectionRect.height;
                }
            }
            break;
    }
}


//Point d'entrée du programme
int main(int, char*[]) {
    //Instance de caméra
    //CvCapture *cameraCapture = cvCreateCameraCapture(CV_CAP_ANY);
    //OU capture depuis un .AVI
    CvCapture *cameraCapture = cvCaptureFromAVI("/Users/thibaut/workspace/OpenCV/openCVproject/chase.avi");
    int paused = -1;

    int s_min = 81;
    int s_max = 177;

    int v_min = 55;
    int v_max = 109;

    CvBox2D trackBox;
    CvConnectedComp trackComp;

    //Images
    IplImage *camera_frame         = cvQueryFrame(cameraCapture);
    IplImage *hsv_frame            = cvCreateImage(cvGetSize(camera_frame), IPL_DEPTH_8U, 3);

    //Fenêtres
    cvNamedWindow("Camera", CV_WINDOW_AUTOSIZE);
    cvNamedWindow("Hue", CV_WINDOW_AUTOSIZE);
    cvNamedWindow("CamZoom", CV_WINDOW_AUTOSIZE);

    //cvCreateTrackbar("ThresholdMin", "Threshold", &h_min, 255, NULL);
    //cvCreateTrackbar("ThresholdMAx", "Threshold", &h_max, 255, NULL);


    //Clic pour FSM
    cvSetMouseCallback("Camera", onMouseClick, 0);

    //Nombre de bandes dans l'histogramme
    int histDims = 16;
    //Bornes de l'histogramme
    float histRanges_array[] = {0, 180};
    float *histRanges = histRanges_array;
    //Création de l'histogramme
    CvHistogram *hist = cvCreateHist(1, &histDims, CV_HIST_ARRAY, &histRanges, 1);

    //Affichage du FPS à l'écran
    char text[255];
    CvFont font;
    cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX|CV_FONT_ITALIC, 1, 1, 0, 1);
    time_t timeStart = 0, timeNow = 0;
    int frameCounter = 0;
    time(&timeStart);

    //Boucle de traitements
    while (true) {
        time(&timeNow);

        //Récupère l'image de la caméra
        if((paused < 0) || (paused > 0)) {
            camera_frame = cvQueryFrame(cameraCapture);
            paused--;
        }



        //Créé la carte des teintes, des saturations et des luminances
        IplImage *camZoom = cvCreateImage(cvGetSize(camera_frame), IPL_DEPTH_8U, 3);
        IplImage *H_frame = cvCreateImage(cvGetSize(camera_frame), IPL_DEPTH_8U, 1);
        IplImage *S_frame = cvCreateImage(cvGetSize(camera_frame), IPL_DEPTH_8U, 1);
        IplImage *V_frame = cvCreateImage(cvGetSize(camera_frame), IPL_DEPTH_8U, 1);
        IplImage *SandV_frame = cvCreateImage(cvGetSize(camera_frame), IPL_DEPTH_8U, 1);
        IplImage *H_frame_backProject = cvCreateImage(cvGetSize(camera_frame), IPL_DEPTH_8U, 1);
        //IplImage *binaryHue = cvCreateImage(cvGetSize(camera_frame), IPL_DEPTH_8U, 1);


        cvCopy(camera_frame, camZoom);
        //Sépare les plans

        cvCvtColor(camera_frame, hsv_frame, CV_RGB2HSV);    // Couleur RGB => HSV
        cvSplit( hsv_frame, H_frame, S_frame, V_frame, 0);


        //Création du masque de backprojection (zones d'intérêt

        cvInRangeS(S_frame, cvScalar(s_min), cvScalar(s_max), S_frame);
        cvInRangeS(V_frame, cvScalar(v_min), cvScalar(v_max), V_frame);

        cvAnd(S_frame, V_frame, SandV_frame);

        // SandV_frame = S_frame & V_frame;

        //cvThreshold(H_frame, binaryHue, 50, 255, CV_THRESH_BINARY_INV);



        //Calcul le masque de backprojection
        if(selectionFSM == SELECTION_CALCUL) {
            //Focus sur la zone sélectionnée

            cvSetImageROI(H_frame, selectionRect);

            cvSetImageROI(SandV_frame, selectionRect);


            //Calcul de l'histogramme

            cvCalcHist(&H_frame, hist, 0, SandV_frame );

            //Normalisation des valeurs
            float max_val = 0;
            cvGetMinMaxHistValue(hist, 0, &max_val, 0, 0 );
            cvConvertScale(hist->bins, hist->bins, (max_val)?(255. / max_val):(0.), 0);

            //Désélection de la zone
            cvResetImageROI(H_frame);
            cvResetImageROI(SandV_frame);

            //Algo prêt
            selectionFSM = SELECTION_READY;
        }


        //Algorithme du Camshift
        if(selectionFSM == SELECTION_READY) {
            //Calcul de backprojection

            cvCalcBackProject(&H_frame, H_frame_backProject, hist);

            //Application du masque sur le résultat de la backprojection
            cvAnd(H_frame_backProject, SandV_frame, H_frame_backProject);

            //Seuillage du résultat masqué de la backprojection

            cvThreshold(H_frame_backProject, H_frame_backProject, 40, 255, CV_THRESH_BINARY);

            //Algorithme du cam shift pour trouver l'objet à suivre
            //int criteria = (CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1);


            cvCamShift(H_frame_backProject, selectionRect, cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ), &trackComp, &trackBox);

            cvEllipseBox( camera_frame, trackBox, CV_RGB(255,0,0), 3, CV_AA, 0 );

            cvSetImageROI(camZoom, cvRect(trackBox.center.x, trackBox.center.y, 600, 600));



            //Correction d'angle (bug ?)
            //…

            //Lissage par IIR récursif
            //…

            //Découpage de l'image recadrée
            //…

            //Dessins des zones de traitements (brut et lissé)
            //…
        }

        //Dessin de la sélection
        if(selectionFSM == SELECTION_START)
            cvRectangle(camera_frame, cvPoint(selectionRect.x, selectionRect.y), cvPoint(selectionRect.x + selectionRect.width, selectionRect.y + selectionRect.height), CV_RGB(0, 130, 229), 3);

        //Affichage de l'image originale et des FPS
        //sprintf(text, "%.2f FPS", (double)(++frameCounter) / (double)(difftime(timeNow, timeStart)));
        //cvPutText(camera_frame, text, cvPoint(20, 30), &font, cvScalar(255, 255, 0));

        cvShowImage("Camera", camera_frame);

        cvShowImage("Hue", H_frame);
        //sprintf(text, "hmin %3d hmax %3d ", h_min, h_max  );
        //cvPutText(V_frame, text, cvPoint(20, 30), &font, cvScalar(255, 255, 0));

        cvShowImage("CamZoom", camZoom);


        //Affichage des autres images

        //Image suivante ou arrêt
        int key = cvWaitKey(1);
        if(key == 'q' || key == 'Q')
            break;
        else if((key == 'f') || (key == 'F') || (cvGetCaptureProperty(cameraCapture, CV_CAP_PROP_POS_AVI_RATIO) > 0.99))
            cvSetCaptureProperty(cameraCapture, CV_CAP_PROP_POS_FRAMES, 0);
        else if(key == ' ') {
            if(paused < 0)  paused = 0;
            else            paused = -1;
        }
        else if(key == 13)
            paused = 1;
    }
    return 0;
}