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ColorsDetection.cpp
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#include "ColorDetection.h"
int checkCube(VideoCapture* cap)
{
cap->set(CAP_PROP_FRAME_HEIGHT, 240);
cap->set(CAP_PROP_FRAME_WIDTH, 320);
Mat frame, hsv, orange_mask, yellow_mask, green_mask, blue_mask, red_mask, red_lower_mask, red_upper_mask, result;
*cap >> frame;
Mat CubeROI = frame(Rect(250, 120, 50, 50));
Color orange(10, 100, 100, 20, 255, 255);
Color red_lower(0, 120, 70, 7, 255, 255);
Color red_upper(170, 120, 70, 180, 255, 255);
Color blue(90, 50, 100, 150, 255, 255);
Color green(31, 20, 20, 85, 255, 255);
Color yellow(20, 100, 100, 30, 255, 255);
cvtColor(CubeROI, hsv, CV_BGR2HSV);
inRange(hsv, Scalar(orange.lower_h, orange.lower_s, orange.lower_v), Scalar(orange.upper_h, orange.upper_s, orange.upper_v), orange_mask);
inRange(hsv, Scalar(blue.lower_h, blue.lower_s, blue.lower_v), Scalar(blue.upper_h, blue.upper_s, blue.upper_v), blue_mask);
inRange(hsv, Scalar(green.lower_h, green.lower_s, green.lower_v), Scalar(green.upper_h, green.upper_s, green.upper_v), green_mask);
inRange(hsv, Scalar(red_lower.lower_h, red_lower.lower_s, red_lower.lower_v), Scalar(red_lower.upper_h, red_lower.upper_s, red_lower.upper_v), red_lower_mask);
inRange(hsv, Scalar(red_upper.lower_h, red_upper.lower_s, red_upper.lower_v), Scalar(red_upper.upper_h, red_upper.upper_s, red_upper.upper_v), red_upper_mask);
red_mask = red_lower_mask + red_upper_mask;
inRange(hsv, Scalar(yellow.lower_h, yellow.lower_s, yellow.lower_v), Scalar(yellow.upper_h, yellow.upper_s, yellow.upper_v), yellow_mask);
vector<vector<Point>> orange_contours, blue_contours, green_contours, red_contours, yellow_contours; // Vector for storing contour
vector<Vec4i> hierarchy;
int largest_area = 0;
int largest_contour_index = 0;
Rect bounding_rect;
int largest_color = 0; // 1 - orange, 2 - blue, 3 - green, 4 - red, 5 - yellow, 0 - none
findContours(orange_mask, orange_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(blue_mask, blue_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(green_mask, green_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(red_mask, red_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(yellow_mask, yellow_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
for (size_t i = 0; i < orange_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(orange_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 1;
}
}
for (size_t i = 0; i < blue_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(blue_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 2;
}
}
for (size_t i = 0; i < green_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(green_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 3;
}
}
for (size_t i = 0; i < red_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(red_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 4;
}
}
for (size_t i = 0; i < yellow_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(yellow_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 5;
}
}
return largest_color;
}
int checkObject(VideoCapture* cap)
{
cap->set(CAP_PROP_FRAME_HEIGHT, 240);
cap->set(CAP_PROP_FRAME_WIDTH, 320);
Mat frame, hsv, orange_mask, yellow_mask, green_mask, blue_mask, red_mask, red_lower_mask, red_upper_mask, result;
*cap >> frame;
Mat CubeROI = frame(Rect(130, 80, 50, 50));
Color orange(10, 100, 100, 20, 255, 255);
Color red_lower(0, 120, 70, 7, 255, 255);
Color red_upper(170, 120, 70, 180, 255, 255);
Color blue(90, 20, 100, 150, 255, 255);
Color green(25, 31, 25, 85, 255, 255);
Color yellow(20, 70, 70, 30, 255, 255);
cvtColor(CubeROI, hsv, CV_BGR2HSV);
inRange(hsv, Scalar(orange.lower_h, orange.lower_s, orange.lower_v), Scalar(orange.upper_h, orange.upper_s, orange.upper_v), orange_mask);
inRange(hsv, Scalar(blue.lower_h, blue.lower_s, blue.lower_v), Scalar(blue.upper_h, blue.upper_s, blue.upper_v), blue_mask);
inRange(hsv, Scalar(green.lower_h, green.lower_s, green.lower_v), Scalar(green.upper_h, green.upper_s, green.upper_v), green_mask);
inRange(hsv, Scalar(red_lower.lower_h, red_lower.lower_s, red_lower.lower_v), Scalar(red_lower.upper_h, red_lower.upper_s, red_lower.upper_v), red_lower_mask);
inRange(hsv, Scalar(red_upper.lower_h, red_upper.lower_s, red_upper.lower_v), Scalar(red_upper.upper_h, red_upper.upper_s, red_upper.upper_v), red_upper_mask);
red_mask = red_lower_mask + red_upper_mask;
inRange(hsv, Scalar(yellow.lower_h, yellow.lower_s, yellow.lower_v), Scalar(yellow.upper_h, yellow.upper_s, yellow.upper_v), yellow_mask);
vector<vector<Point>> orange_contours, blue_contours, green_contours, red_contours, yellow_contours; // Vector for storing contour
vector<Vec4i> hierarchy;
int largest_area = 0;
int largest_contour_index = 0;
Rect bounding_rect;
int largest_color = 0; // 1 - orange, 2 - blue, 3 - green, 4 - red, 5 - yellow, 0 - none
findContours(orange_mask, orange_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(blue_mask, blue_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(green_mask, green_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(red_mask, red_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(yellow_mask, yellow_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
bitwise_and(CubeROI, CubeROI, result, green_mask);
for (size_t i = 0; i < orange_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(orange_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 1;
}
}
for (size_t i = 0; i < blue_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(blue_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 2;
}
}
for (size_t i = 0; i < green_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(green_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 3;
}
}
for (size_t i = 0; i < red_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(red_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 4;
}
}
for (size_t i = 0; i < yellow_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(yellow_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 5;
}
}
imwrite("lol4.jpg", result);
return largest_color;
}
bool isWall(VideoCapture* cap)
{
cap->set(CAP_PROP_FRAME_HEIGHT, 240);
cap->set(CAP_PROP_FRAME_WIDTH, 320);
Mat frame, hsv, orange_mask, yellow_mask, green_mask, blue_mask, red_mask, red_lower_mask, red_upper_mask, result;
*cap >> frame;
imwrite("jkfd.jpg", frame);
Mat CubeROI = frame(Rect(215, 130, 60, 30));
Color orange(10, 100, 100, 20, 255, 255);
Color red_lower(0, 120, 70, 7, 255, 255);
Color red_upper(170, 120, 70, 180, 255, 255);
Color blue(90, 20, 100, 150, 255, 255);
Color green(40, 40, 40, 70, 255, 255);
Color yellow(20, 100, 100, 30, 255, 255);
cvtColor(CubeROI, hsv, CV_BGR2HSV);
inRange(hsv, Scalar(orange.lower_h, orange.lower_s, orange.lower_v), Scalar(orange.upper_h, orange.upper_s, orange.upper_v), orange_mask);
inRange(hsv, Scalar(blue.lower_h, blue.lower_s, blue.lower_v), Scalar(blue.upper_h, blue.upper_s, blue.upper_v), blue_mask);
inRange(hsv, Scalar(green.lower_h, green.lower_s, green.lower_v), Scalar(green.upper_h, green.upper_s, green.upper_v), green_mask);
inRange(hsv, Scalar(red_lower.lower_h, red_lower.lower_s, red_lower.lower_v), Scalar(red_lower.upper_h, red_lower.upper_s, red_lower.upper_v), red_lower_mask);
inRange(hsv, Scalar(red_upper.lower_h, red_upper.lower_s, red_upper.lower_v), Scalar(red_upper.upper_h, red_upper.upper_s, red_upper.upper_v), red_upper_mask);
red_mask = red_lower_mask + red_upper_mask;
inRange(hsv, Scalar(yellow.lower_h, yellow.lower_s, yellow.lower_v), Scalar(yellow.upper_h, yellow.upper_s, yellow.upper_v), yellow_mask);
vector<vector<Point>> orange_contours, blue_contours, green_contours, red_contours, yellow_contours; // Vector for storing contour
vector<Vec4i> hierarchy;
int largest_area = 0;
int largest_contour_index = 0;
Rect bounding_rect;
int largest_color = 0; // 1 - orange, 2 - blue, 3 - green, 4 - red, 5 - yellow, 0 - none
findContours(orange_mask, orange_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(blue_mask, blue_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(green_mask, green_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(red_mask, red_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
findContours(yellow_mask, yellow_contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
for (size_t i = 0; i < orange_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(orange_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 1;
}
}
for (size_t i = 0; i < blue_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(blue_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 2;
}
}
for (size_t i = 0; i < green_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(green_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 3;
}
}
for (size_t i = 0; i < red_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(red_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 4;
}
}
for (size_t i = 0; i < yellow_contours.size(); i++) // iterate through each contour.
{
double a = contourArea(yellow_contours[i], false); // Find the area of contour
if(a > largest_area)
{
largest_area = a;
largest_color = 5;
}
}
cout << "color " << largest_color << "\n";
return largest_color == 0;
}