mirror of
https://github.com/Laex/Delphi-OpenCV.git
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303 lines
10 KiB
ObjectPascal
303 lines
10 KiB
ObjectPascal
(*
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*****************************************************************
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Delphi-OpenCV Class Demo
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Copyright (C) 2013 Project Delphi-OpenCV
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****************************************************************
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Contributor:
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Laentir Valetov
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email:laex@bk.ru
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****************************************************************
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You may retrieve the latest version of this file at the GitHub,
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located at git://github.com/Laex/Delphi-OpenCV.git
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****************************************************************
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The contents of this file are used with permission, subject to
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the Mozilla Public License Version 1.1 (the 'License'); you may
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not use this file except in compliance with the License. You may
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obtain a copy of the License at
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http://www.mozilla.org/MPL/MPL-1_1Final.html
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Software distributed under the License is distributed on an
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'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, either express or
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implied. See the License for the specific language governing
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rights and limitations under the License.
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*******************************************************************
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*)
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program ObjectTrack;
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{$APPTYPE CONSOLE}
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{$POINTERMATH ON}
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{$R *.res}
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uses
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System.Math,
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System.SysUtils,
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System.Classes,
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ocv.core_c,
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ocv.highgui_c,
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ocv.imgproc_c,
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ocv.imgproc.types_c,
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ocv.core.types_c,
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ocv.utils;
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// default capture width and height
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const
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FRAME_WIDTH = 640;
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FRAME_HEIGHT = 480;
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// max number of objects to be detected in frame
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MAX_NUM_OBJECTS = 50;
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// minimum and maximum object area
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MIN_OBJECT_AREA = 20 * 20;
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MAX_OBJECT_AREA = FRAME_HEIGHT * FRAME_WIDTH / 1.5;
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// names that will appear at the top of each window
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windowName = 'Original Image';
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windowName1 = 'HSV Image';
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windowName2 = 'Thresholded Image';
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windowName3 = 'After Morphological Operations';
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trackbarWindowName = 'Trackbars';
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{$DEFINE MULTI} // undef this for single object tracking
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Var
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// initial min and max HSV filter values.
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// these will be changed using trackbars
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H_MIN: integer = 170; // 0;
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H_MAX: integer = 180;
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CH_MAX: integer = 256;
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S_MIN: integer = 160; // 0;
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S_MAX: integer = 256;
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CS_MAX: integer = 256;
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V_MIN: integer = 60; // 0;
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V_MAX: integer = 256;
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CV_MAX: integer = 256;
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procedure on_trackbar(i: integer); cdecl;
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begin
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// This function gets called whenever a
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// trackbar position is changed
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end;
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procedure createTrackbars;
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begin
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// create window for trackbars
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cvNamedWindow(trackbarWindowName, 0);
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// create trackbars and insert them into window
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// 3 parameters are: the address of the variable that is changing when the trackbar is moved(eg.H_LOW),
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// the max value the trackbar can move (eg. H_HIGH),
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// and the function that is called whenever the trackbar is moved(eg. on_trackbar)
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cvCreateTrackbar('H_MIN', trackbarWindowName, @H_MIN, CH_MAX, on_trackbar);
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cvCreateTrackbar('H_MAX', trackbarWindowName, @H_MAX, CH_MAX, on_trackbar);
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cvCreateTrackbar('S_MIN', trackbarWindowName, @S_MIN, CS_MAX, on_trackbar);
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cvCreateTrackbar('S_MAX', trackbarWindowName, @S_MAX, CS_MAX, on_trackbar);
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cvCreateTrackbar('V_MIN', trackbarWindowName, @V_MIN, CV_MAX, on_trackbar);
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cvCreateTrackbar('V_MAX', trackbarWindowName, @V_MAX, CV_MAX, on_trackbar);
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end;
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procedure drawObject(x: integer; y: integer; frame: pIplImage);
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Var
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font: TCvFont;
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begin
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// use some of the openCV drawing functions to draw crosshairs
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// on your tracked image!
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// added 'if' and 'else' statements to prevent
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// memory errors from writing off the screen (ie. (-25,-25) is not within the window!)
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cvCircle(frame, cvPoint(x, y), 20, cvScalar(0, 255, 0), 2);
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if (y - 25) > 0 then
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cvLine(frame, cvPoint(x, y), cvPoint(x, y - 25), cvScalar(0, 255, 0), 2)
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else
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cvLine(frame, cvPoint(x, y), cvPoint(x, 0), cvScalar(0, 255, 0), 2);
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if (y + 25) < FRAME_HEIGHT then
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cvLine(frame, cvPoint(x, y), cvPoint(x, y + 25), cvScalar(0, 255, 0), 2)
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else
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cvLine(frame, cvPoint(x, y), cvPoint(x, FRAME_HEIGHT), cvScalar(0, 255, 0), 2);
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if (x - 25) > 0 then
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cvLine(frame, cvPoint(x, y), cvPoint(x - 25, y), cvScalar(0, 255, 0), 2)
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else
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cvLine(frame, cvPoint(x, y), cvPoint(0, y), cvScalar(0, 255, 0), 2);
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if (x + 25) < FRAME_WIDTH then
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cvLine(frame, cvPoint(x, y), cvPoint(x + 25, y), cvScalar(0, 255, 0), 2)
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else
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cvLine(frame, cvPoint(x, y), cvPoint(FRAME_WIDTH, y), cvScalar(0, 255, 0), 2);
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cvInitFont(@font, CV_FONT_HERSHEY_COMPLEX, 1.0, 1.0, 0, 1, CV_AA);
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cvPutText(frame, c_str(intToStr(x) + ',' + intToStr(y)), cvPoint(x, y + 30), @font, cvScalar(0, 255, 0));
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end;
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procedure morphOps(thresh: pIplImage);
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Var
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erodeElement, dilateElement: pIplConvKernel;
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begin
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// create structuring element that will be used to "dilate" and "erode" image.
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// the element chosen here is a 3px by 3px rectangle
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erodeElement := cvCreateStructuringElementEx(3, 3, 1, 1, CV_SHAPE_RECT);
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// dilate with larger element so make sure object is nicely visible
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dilateElement := cvCreateStructuringElementEx(8, 8, 3, 3, CV_SHAPE_RECT);
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cvErode(thresh, thresh, erodeElement, 2);
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cvDilate(thresh, thresh, dilateElement, 2);
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cvReleaseStructuringElement(erodeElement);
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cvReleaseStructuringElement(dilateElement);
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end;
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Var
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// Matrix to store each frame of the webcam feed
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cameraFeed: pIplImage;
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procedure trackFilteredObject(Var x, y: integer; threshold: pIplImage; var cameraFeed: pIplImage);
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Var
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refArea: double;
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objectFound: Boolean;
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area: double;
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_hierarchy: pCvMemStorage;
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_contours: pCvSeq;
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dst_th: pIplImage;
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contoursCont: integer;
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moments: TCvMoments;
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moment10: double;
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moment01: double;
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font: TCvFont;
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begin
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// find contours of filtered image using openCV findContours function
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_hierarchy := cvCreateMemStorage(0);
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dst_th := cvCreateImage(cvGetSize(threshold), IPL_DEPTH_8U, 1);
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cvThreshold(threshold, dst_th, 128, 255, CV_THRESH_BINARY);
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cvSmooth(dst_th, // function input
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dst_th, // function output
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CV_GAUSSIAN, // use Gaussian filter (average nearby pixels, with closest pixels weighted more)
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9, // smoothing filter window width
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9); // smoothing filter window height
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_contours := nil;
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cvClearMemStorage(_hierarchy);
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contoursCont := cvFindContours(dst_th, _hierarchy, @_contours, sizeof(TCvContour), CV_RETR_EXTERNAL,
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CV_CHAIN_APPROX_SIMPLE, cvPoint(0, 0));
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cvInitFont(@font, CV_FONT_HERSHEY_COMPLEX, 1.0, 1.0, 0, 1, CV_AA);
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if (contoursCont > 0) and (contoursCont < MAX_NUM_OBJECTS) then
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begin
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refArea := 0;
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objectFound := false;
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While Assigned(_contours) do
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if CV_IS_SEQ_CLOSED(_contours) then
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begin
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cvDrawContours(cameraFeed, _contours, CV_RGB(52, 201, 36), CV_RGB(36, 201, 197), -1, 2, // CV_FILLED,
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CV_AA, cvPoint(0, 0)); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// if number of objects greater than MAX_NUM_OBJECTS we have a noisy filter
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cvZero(dst_th);
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cvDrawContours(dst_th, _contours, CV_RGB(52, 201, 36), CV_RGB(36, 201, 197), -1, 2, // CV_FILLED,
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CV_AA, cvPoint(0, 0)); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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cvMoments(dst_th, @moments, 1);
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// The actual moment values
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moment10 := cvGetSpatialMoment(@moments, 1, 0);
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moment01 := cvGetSpatialMoment(@moments, 0, 1);
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area := cvGetCentralMoment(@moments, 0, 0);
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if (area > MIN_OBJECT_AREA)
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{$IFNDEF MULTI} and (area < MAX_OBJECT_AREA) and (area > refArea){$ENDIF}
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then
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begin
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x := Trunc(moment10 / area);
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y := Trunc(moment01 / area);
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objectFound := true;
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end
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else
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objectFound := false;
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_contours := _contours^.h_next;
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{$IFNDEF MULTI} end; {$ENDIF}
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// let user know you found an object
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if objectFound then
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begin
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cvPutText(cameraFeed, 'Tracking Object', cvPoint(0, 50), @font, cvScalar(0, 255, 0));
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// draw object location on screen
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drawObject(x, y, cameraFeed);
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end;
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{$IFDEF MULTI} end; {$ENDIF}
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end
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else
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cvPutText(cameraFeed, 'TOO MUCH NOISE! ADJUST FILTER', cvPoint(0, 50), @font, cvScalar(0, 0, 255));
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cvReleaseMemStorage(_hierarchy);
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end;
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Var
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// some boolean variables for different functionality within this program
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trackObjects: Boolean = true;
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useMorphOps: Boolean = true;
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// matrix storage for HSV image
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HSV: pIplImage = nil;
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// matrix storage for binary threshold image
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threshold: pIplImage = nil;
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// x and y values for the location of the object
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x: integer = 0;
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y: integer = 0;
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// video capture object to acquire webcam feed
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capture: pCvCapture;
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begin
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try
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// create slider bars for HSV filtering
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createTrackbars();
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// open capture object at location zero (default location for webcam)
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capture := cvCreateCameraCapture(CV_CAP_ANY);
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Assert(Assigned(capture));
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// set height and width of capture frame
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cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, FRAME_WIDTH);
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cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, FRAME_HEIGHT);
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// start an infinite loop where webcam feed is copied to cameraFeed matrix
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// all of our operations will be performed within this loop
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while true do
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begin
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// store image to matrix
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repeat
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cameraFeed := cvQueryFrame(capture);
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until Assigned(cameraFeed);
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// convert frame from BGR to HSV colorspace
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if not Assigned(HSV) then
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HSV := cvCreateImage(cvGetSize(cameraFeed), 8, 3);
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cvCvtColor(cameraFeed, HSV, CV_BGR2HSV);
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// filter HSV image between values and store filtered image to
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// threshold matrix
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if not Assigned(threshold) then
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threshold := cvCreateImage(cvGetSize(cameraFeed), 8, 1);
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cvInRangeS(HSV, cvScalar(H_MIN, S_MIN, V_MIN), cvScalar(H_MAX, S_MAX, V_MAX), threshold);
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// perform morphological operations on thresholded image to eliminate noise
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// and emphasize the filtered object(s)
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if useMorphOps then
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morphOps(threshold);
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// pass in thresholded frame to our object tracking function
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// this function will return the x and y coordinates of the
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// filtered object
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if trackObjects then
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trackFilteredObject(x, y, threshold, cameraFeed);
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// show frames
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cvShowImage(windowName2, threshold);
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cvShowImage(windowName, cameraFeed);
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cvShowImage(windowName1, HSV);
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// delay 30ms so that screen can refresh.
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// image will not appear without this waitKey() command
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if cvWaitKey(30) = 27 then
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Break;
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end;
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if Assigned(capture) then
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cvReleaseCapture(capture);
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if Assigned(HSV) then
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cvReleaseImage(HSV);
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if Assigned(threshold) then
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cvReleaseImage(threshold);
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except
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on E: Exception do
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WriteLn(E.ClassName, ': ', E.Message);
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end;
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end.
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