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img_process.m
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img_process.m
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clear all;
clc;
warning off;
%Setting during time
time_duration = input('Time Duration : ');
if(length(time_duration)==0) %Default value is 100
time_duration = 100;
end
%Initialisation
%Initialising webcam
vid = videoinput('winvideo',1,'YUY2_160x120');
set(vid,'ReturnedColorSpace','rgb');
set(vid,'FramesPerTrigger',1);
set(vid,'TriggerRepeat',Inf);
triggerconfig(vid,'Manual');
%Initialising Serial Communication
ser = serial('COM5', 'BaudRate', 9600); %COM port value depends on your system
fopen(ser);
pause(10);
start(vid);
x='-1';
y='-1';
%Capture
for i=1:time_duration
%Caturing Image
trigger(vid);
I = getdata(vid,1,'uint8');
k1 = I(:,:,1); %Greyscale equivalent of Red
k2 = I(:,:,2); %Greyscale equivalent of Green
k3 = I(:,:,3); %Greyscale equivalent of Blue
%Thresholding
k = (k1-k2/2-k3/2);
a1 = k>65;
%Correction
a2 = bwareaopen(a1,10);
se = strel('disk',4);
a3 = imclose(a2,se);
a4 = imfill(a3,'holes');
%Centroid and Area Computation
s = regionprops(a4,'Centroid','area');
[m,n] = size(s);
imshow(I);
hold on; %Retains plot in figure window
if m~=0 %If Number of objects detected is not equal to zero
r = ceil(sqrt(s(1).Area/pi)); %ceil means least integer greater than or equal to r
if r > 1 % radius cannot be less than 1 pixel
plot(s(1).Centroid(1),s(1).Centroid(2),'r*'); %plotting Centroid
DrawCircle(s(1).Centroid(1),s(1).Centroid(2),r,1000,'red'); %Drawing Circle
if r <18
x = '0'; %Forward
else if r>20
x='1'; %Backward
end
end
if s(1).Centroid(1)>110
y='2'; %Right
else if s(1).Centroid(1)<70
y='3'; %Left
end
end
if s(1).Centroid(2)>100
x = '1'; %Backward
end
end
end
hold off; %Setting hold state to false
%Sending values of x and y to Arduino
fwrite(ser,y);
pause(0.2);
fwrite(ser,x);
pause(0.4);
%Resetting x and y
x='4';
y='4';
end
stop(vid); %Stop video input object
fclose(ser); %Close Serial Port