Delphi-OpenCV/samples/MultiDemo/ObjectTracking/ObjectTrack.dpr

// *****************************************************************
// Delphi-OpenCV Class Demo
// Copyright (C) 2013 Project Delphi-OpenCV
// ****************************************************************
// Contributor:
// Laentir Valetov
// email:laex@bk.ru
// ****************************************************************
// You may retrieve the latest version of this file at the GitHub,
// located at git://github.com/Laex/Delphi-OpenCV.git
// ****************************************************************
// The contents of this file are used with permission, subject to
// the Mozilla Public License Version 1.1 (the 'License'); you may
// not use this file except in compliance with the License. You may
// obtain a copy of the License at
// http://www.mozilla.org/MPL/MPL-1_1Final.html
//
// Software distributed under the License is distributed on an
// 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, either express or
// implied. See the License for the specific language governing
// rights and limitations under the License.
// *******************************************************************

program ObjectTrack;

{$APPTYPE CONSOLE}
{$POINTERMATH ON}
{$R *.res}

uses
  System.Math,
  System.SysUtils,
  System.Classes,
  core_c,
  highgui_c,
  imgproc_c,
  imgproc.types_c,
  core.types_c,
  cvUtils;

// default capture width and height
const
  FRAME_WIDTH  = 640;
  FRAME_HEIGHT = 480;
  // max number of objects to be detected in frame
  MAX_NUM_OBJECTS = 50;
  // minimum and maximum object area
  MIN_OBJECT_AREA = 20 * 20;
  MAX_OBJECT_AREA = FRAME_HEIGHT * FRAME_WIDTH / 1.5;
  // names that will appear at the top of each window
  windowName         = 'Original Image';
  windowName1        = 'HSV Image';
  windowName2        = 'Thresholded Image';
  windowName3        = 'After Morphological Operations';
  trackbarWindowName = 'Trackbars';

{$DEFINE MULTI} //undef this for single object tracking

Var
  // initial min and max HSV filter values.
  // these will be changed using trackbars
  H_MIN : integer = 170; // 0;
  H_MAX : integer = 180;
  CH_MAX: integer = 256;
  S_MIN : integer = 160; // 0;
  S_MAX : integer = 256;
  CS_MAX: integer = 256;
  V_MIN : integer = 60; // 0;
  V_MAX : integer = 256;
  CV_MAX: integer = 256;

procedure on_trackbar(i: integer); cdecl;
begin
  // This function gets called whenever a
  // trackbar position is changed
end;

procedure createTrackbars;
begin
  // create window for trackbars
  cvNamedWindow(
    trackbarWindowName,
    0);
  // create trackbars and insert them into window
  // 3 parameters are: the address of the variable that is changing when the trackbar is moved(eg.H_LOW),
  // the max value the trackbar can move (eg. H_HIGH),
  // and the function that is called whenever the trackbar is moved(eg. on_trackbar)
  cvCreateTrackbar(
    'H_MIN',
    trackbarWindowName,
    @H_MIN,
    CH_MAX,
    on_trackbar);
  cvCreateTrackbar(
    'H_MAX',
    trackbarWindowName,
    @H_MAX,
    CH_MAX,
    on_trackbar);
  cvCreateTrackbar(
    'S_MIN',
    trackbarWindowName,
    @S_MIN,
    CS_MAX,
    on_trackbar);
  cvCreateTrackbar(
    'S_MAX',
    trackbarWindowName,
    @S_MAX,
    CS_MAX,
    on_trackbar);
  cvCreateTrackbar(
    'V_MIN',
    trackbarWindowName,
    @V_MIN,
    CV_MAX,
    on_trackbar);
  cvCreateTrackbar(
    'V_MAX',
    trackbarWindowName,
    @V_MAX,
    CV_MAX,
    on_trackbar);
end;

procedure drawObject(x: integer; y: integer; frame: pIplImage);
Var
  font: TCvFont;
begin
  // use some of the openCV drawing functions to draw crosshairs
  // on your tracked image!
  // added 'if' and 'else' statements to prevent
  // memory errors from writing off the screen (ie. (-25,-25) is not within the window!)
  cvCircle(
    frame,
    cvPoint(x, y),
    20,
    cvScalar(0, 255, 0),
    2);
  if (y - 25) > 0 then
    cvLine(
      frame,
      cvPoint(x, y),
      cvPoint(x, y - 25),
      cvScalar(0, 255, 0),
      2)
  else
    cvLine(
      frame,
      cvPoint(x, y),
      cvPoint(x, 0),
      cvScalar(0, 255, 0),
      2);
  if (y + 25) < FRAME_HEIGHT then
    cvLine(
      frame,
      cvPoint(x, y),
      cvPoint(x, y + 25),
      cvScalar(0, 255, 0),
      2)
  else
    cvLine(
      frame,
      cvPoint(x, y),
      cvPoint(x, FRAME_HEIGHT),
      cvScalar(0, 255, 0),
      2);
  if (x - 25) > 0 then
    cvLine(
      frame,
      cvPoint(x, y),
      cvPoint(x - 25, y),
      cvScalar(0, 255, 0),
      2)
  else
    cvLine(
      frame,
      cvPoint(x, y),
      cvPoint(0, y),
      cvScalar(0, 255, 0),
      2);
  if (x + 25) < FRAME_WIDTH then
    cvLine(
      frame,
      cvPoint(x, y),
      cvPoint(x + 25, y),
      cvScalar(0, 255, 0),
      2)
  else
    cvLine(
      frame,
      cvPoint(x, y),
      cvPoint(FRAME_WIDTH, y),
      cvScalar(0, 255, 0),
      2);

  cvInitFont(
    @font,
    CV_FONT_HERSHEY_COMPLEX,
    1.0,
    1.0,
    0,
    1,
    CV_AA);

  cvPutText(
    frame,
    c_str(intToStr(x) + ',' + intToStr(y)),
    cvPoint(x, y + 30),
    @font,
    cvScalar(0, 255, 0));
end;

procedure morphOps(thresh: pIplImage);
Var
  erodeElement, dilateElement: pIplConvKernel;
begin
  // create structuring element that will be used to "dilate" and "erode" image.
  // the element chosen here is a 3px by 3px rectangle
  erodeElement := cvCreateStructuringElementEx(
    3,
    3,
    1,
    1,
    CV_SHAPE_RECT);
  // dilate with larger element so make sure object is nicely visible
  dilateElement := cvCreateStructuringElementEx(
    8,
    8,
    3,
    3,
    CV_SHAPE_RECT);
  cvErode(
    thresh,
    thresh,
    erodeElement,
    2);
  cvDilate(
    thresh,
    thresh,
    dilateElement,
    2);
  cvReleaseStructuringElement(erodeElement);
  cvReleaseStructuringElement(dilateElement);
end;

Var
  // Matrix to store each frame of the webcam feed
  cameraFeed: pIplImage;

procedure trackFilteredObject(Var x, y: integer; threshold: pIplImage; var cameraFeed: pIplImage);
Var
  refArea     : double;
  objectFound : Boolean;
  area        : double;
  _hierarchy  : pCvMemStorage;
  _contours   : pCvSeq;
  dst_th      : pIplImage;
  contoursCont: integer;
  moments     : TCvMoments;
  moment10    : double;
  moment01    : double;
  font        : TCvFont;
begin
  // find contours of filtered image using openCV findContours function
  _hierarchy := cvCreateMemStorage(0);
  dst_th     := cvCreateImage(
    cvGetSize(threshold),
    IPL_DEPTH_8U,
    1);

  cvThreshold(
    threshold,
    dst_th,
    128,
    255,
    CV_THRESH_BINARY);

  cvSmooth(
    dst_th,      // function input
    dst_th,      // function output
    CV_GAUSSIAN, // use Gaussian filter (average nearby pixels, with closest pixels weighted more)
    9,           // smoothing filter window width
    9);          // smoothing filter window height

  _contours := nil;

  contoursCont := cvFindContours(
    dst_th,
    _hierarchy,
    @_contours,
    sizeof(TCvContour),
    CV_RETR_EXTERNAL,
    CV_CHAIN_APPROX_SIMPLE,
    cvPoint(0, 0));

  cvInitFont(
    @font,
    CV_FONT_HERSHEY_COMPLEX,
    1.0,
    1.0,
    0,
    1,
    CV_AA);

  if (contoursCont > 0) and (contoursCont < MAX_NUM_OBJECTS) then
  begin
    refArea     := 0;
    objectFound := false;
    While Assigned(_contours) do
      if CV_IS_SEQ_CLOSED(_contours) then
      begin
        cvDrawContours(
          cameraFeed,
          _contours,
          CV_RGB(52, 201, 36),
          CV_RGB(36, 201, 197),
          -1,
          2, // CV_FILLED,
          CV_AA,
          cvPoint(0, 0)); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

        // if number of objects greater than MAX_NUM_OBJECTS we have a noisy filter
        cvZero(dst_th);
        cvDrawContours(
          dst_th,
          _contours,
          CV_RGB(52, 201, 36),
          CV_RGB(36, 201, 197),
          -1,
          2, // CV_FILLED,
          CV_AA,
          cvPoint(0, 0)); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
        cvMoments(
          dst_th,
          @moments,
          1);
        // The actual moment values
        moment10 := cvGetSpatialMoment(
          @moments,
          1,
          0);
        moment01 := cvGetSpatialMoment(
          @moments,
          0,
          1);
        area := cvGetCentralMoment(
          @moments,
          0,
          0);

        if (area > MIN_OBJECT_AREA)
{$IFNDEF MULTI} and (area < MAX_OBJECT_AREA) and (area > refArea){$ENDIF}
        then
        begin
          x           := Trunc(moment10 / area);
          y           := Trunc(moment01 / area);
          objectFound := true;
        end
        else
          objectFound := false;

        _contours := _contours^.h_next;
{$IFNDEF MULTI} end; {$ENDIF}
    // let user know you found an object
    if objectFound then
    begin
      cvPutText(
        cameraFeed,
        'Tracking Object',
        cvPoint(0, 50),
        @font,
        cvScalar(0, 255, 0));
      // draw object location on screen
      drawObject(
        x,
        y,
        cameraFeed);
    end;
{$IFDEF MULTI} end; {$ENDIF}
end
else
  cvPutText(
    cameraFeed,
    'TOO MUCH NOISE! ADJUST FILTER',
    cvPoint(0, 50),
    @font,
    cvScalar(0, 0, 255));
cvReleaseMemStorage(_hierarchy);
end;

Var
  // some boolean variables for different functionality within this program
  trackObjects: Boolean = true;
  useMorphOps : Boolean = true;
  // matrix storage for HSV image
  HSV: pIplImage = nil;
  // matrix storage for binary threshold image
  threshold: pIplImage = nil;
  // x and y values for the location of the object
  x: integer = 0;
  y: integer = 0;
  // video capture object to acquire webcam feed
  capture: pCvCapture;

begin
  try
    // create slider bars for HSV filtering
    createTrackbars();
    // open capture object at location zero (default location for webcam)
    capture := cvCreateCameraCapture(CV_CAP_ANY);
    Assert(Assigned(capture));
    // set height and width of capture frame
    cvSetCaptureProperty(
      capture,
      CV_CAP_PROP_FRAME_WIDTH,
      FRAME_WIDTH);
    cvSetCaptureProperty(
      capture,
      CV_CAP_PROP_FRAME_HEIGHT,
      FRAME_HEIGHT);
    // start an infinite loop where webcam feed is copied to cameraFeed matrix
    // all of our operations will be performed within this loop
    while true do
    begin
      // store image to matrix
      repeat
        cameraFeed := cvQueryFrame(capture);
      until Assigned(cameraFeed);
      // convert frame from BGR to HSV colorspace
      if not Assigned(HSV) then
        HSV := cvCreateImage(
          cvGetSize(cameraFeed),
          8,
          3);
      cvCvtColor(
        cameraFeed,
        HSV,
        CV_BGR2HSV);
      // filter HSV image between values and store filtered image to
      // threshold matrix
      if not Assigned(threshold) then
        threshold := cvCreateImage(
          cvGetSize(cameraFeed),
          8,
          1);
      cvInRangeS(
        HSV,
        cvScalar(H_MIN, S_MIN, V_MIN),
        cvScalar(H_MAX, S_MAX, V_MAX),
        threshold);
      // perform morphological operations on thresholded image to eliminate noise
      // and emphasize the filtered object(s)
      if useMorphOps then
        morphOps(threshold);
      // pass in thresholded frame to our object tracking function
      // this function will return the x and y coordinates of the
      // filtered object
      if trackObjects then
        trackFilteredObject(
          x,
          y,
          threshold,
          cameraFeed);

      // show frames
      cvShowImage(
        windowName2,
        threshold);
      cvShowImage(
        windowName,
        cameraFeed);
      cvShowImage(
        windowName1,
        HSV);

      // delay 30ms so that screen can refresh.
      // image will not appear without this waitKey() command
      if cvWaitKey(30) = 27 then
        Break;
    end;

    if Assigned(capture) then
      cvReleaseCapture(capture);

    if Assigned(HSV) then
      cvReleaseImage(HSV);
    if Assigned(threshold) then
      cvReleaseImage(threshold);

  except
    on E: Exception do
      WriteLn(
        E.ClassName,
        ': ',
        E.Message);
  end;

end.