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finaledit12.cpp

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+
+
+/*In this code intially background is taken in and made into 4 slices and 
+on each slice otsu thresholding is applied for grayscale and 
+hue channel and after that each frame of video is taken in and above method of slices is followed again.
+Then we apply background subtraction and remove noise in image.
+Finally we obtain only the mid points on laser line which are on foreground.Also here camera parameters are varied 
+using trackbars creaeted to get optimum result*/ 
+
+
+#include <fstream>
+#include <iostream>
+#include <opencv2/opencv.hpp>
+#include <cmath>
+
+using namespace cv;
+using namespace std;
+
+float Brightness;
+float Contrast ;
+float Saturation;
+float Gain;
+int B;
+int C;
+int S;
+int G;
+
+VideoCapture cap(0); 
+void cameratest(int,void*)            //function that when called resets camera parameters with given values
+{
+    Brightness =float(B)/100;
+    Contrast   =float(C)/100;
+    Saturation =float(S)/100;
+    Gain       =float(G)/100;
+
+    cap.set(CV_CAP_PROP_BRIGHTNESS,Brightness);
+    cap.set(CV_CAP_PROP_CONTRAST, Contrast);
+    cap.set(CV_CAP_PROP_SATURATION, Saturation);
+    cap.set(CV_CAP_PROP_GAIN, Gain);
+
+
+}
+
+
+int main(int argc,const char** argv)
+{
+    int count=0;
+
+    if(!cap.isOpened())  // check if we succeeded
+        return -1;
+
+    Brightness = cap.get(CV_CAP_PROP_BRIGHTNESS);        //recording camera parameters
+    Contrast   = cap.get(CV_CAP_PROP_CONTRAST );
+    Saturation = cap.get(CV_CAP_PROP_SATURATION);
+    Gain       = cap.get(CV_CAP_PROP_GAIN);
+
+    B=int(Brightness*100);
+    C=int(Contrast*100);
+    S=int(Saturation*100);
+    G=int(Gain*100);
+
+
+    Mat back,back2,backhsv;             
+    cap >> back;                                        //getting background
+    Mat backfinal1(back.rows,back.cols,CV_8UC1),backfinal2(back.rows,back.cols,CV_8UC1);
+    cvtColor(back,back2,COLOR_BGR2GRAY);                
+    cvtColor(back,backhsv,COLOR_BGR2HSV);          
+
+    while(count!=back.rows)                             //slicing background and applying otsu for both hue channel and gray image
+    {
+        Mat backslice=back2(Range(count,count+back.rows/4),Range(0,back.cols));
+        vector<Mat> channels(3);
+        split(backhsv(Range(count,count+back.rows/4),Range(0,back.cols)),channels);
+        Mat backhue=channels[0];
+        GaussianBlur(backslice,backslice,Size(5,5),0,0);
+        GaussianBlur(backhue,backhue,Size(5,5),0,0);
+        threshold(backhue,backhue, 0, 255, CV_THRESH_BINARY | CV_THRESH_OTSU);
+        threshold(backslice,backslice, 0, 255, CV_THRESH_BINARY | CV_THRESH_OTSU);
+        backfinal1(Range(count,count+back.rows/4),Range(0,back.cols)) = backslice;
+        backfinal2(Range(count,count+back.rows/4),Range(0,back.cols)) = backhue;
+
+        count=count+back.rows/4;
+    }
+
+    namedWindow("foreground1", CV_WINDOW_AUTOSIZE); 
+    namedWindow("midgray", CV_WINDOW_AUTOSIZE); 
+    namedWindow("midhsv", CV_WINDOW_AUTOSIZE);
+    namedWindow("foreground2", CV_WINDOW_AUTOSIZE);
+
+    ofstream afile;
+    string filename="pen1.txt";
+    afile.open(filename, ios::app);
+
+    while(1)
+    {
+        Mat hsv,gray,frame,foreground1,foreground2;
+        Mat img1(frame.rows,frame.cols,CV_8UC1),img2(frame.rows,frame.cols,CV_8UC1);
+        cap >> frame;               // get a new frame from camera
+
+        cvtColor(frame,gray,COLOR_BGR2GRAY);
+        img1=gray;
+        img2=gray;
+        cvtColor(frame,hsv,COLOR_BGR2HSV);
+
+
+
+        int i=0,j;
+        while(i!=frame.rows)
+        {
+
+            //afile<<"reached";
+            Mat img3=gray(Range(i,i+frame.rows/4),Range(0,frame.cols));
+            Mat img4;
+            vector<Mat> channels(3);
+            split(hsv(Range(i,i+frame.rows/4),Range(0,frame.cols)),channels);
+            img4=channels[0];
+            GaussianBlur(img3,img3,Size(5,5),0,0);
+            GaussianBlur(img4,img4,Size(5,5),0,0);
+            threshold(img3,img3, 0, 255, CV_THRESH_BINARY | CV_THRESH_OTSU);
+            threshold(img4,img4, 0, 255, CV_THRESH_BINARY | CV_THRESH_OTSU);
+            img1(Range(i,i+frame.rows/4),Range(0,frame.cols)) = img3; 
+            img2(Range(i,i+frame.rows/4),Range(0,frame.cols))=img4; 
+            i=i+frame.rows/4;
+        }
+        foreground1=img1-backfinal1;                                      //Background subtraction
+        foreground2=img2-backfinal2;
+
+        int c,a,b,f=0;
+        if(waitKey(30) == 97)    
+        {
+            f++;
+
+        } 
+        Mat mid1(frame.rows,frame.cols,CV_8UC1,Scalar(0));
+        for(i=0;i<foreground1.rows;i++)                   // This function is to remove noice from the background subtracted image for gray image
+        {
+
+            a=0;
+            b=0;
+            c=0;
+            for(j=0;j<foreground1.cols;j++)
+            {
+
+                if(foreground1.at<uchar>(i,j)!=foreground1.at<uchar>(i,j+1))
+                {
+                    if(((foreground1.at<uchar>(i,j+1)+foreground1.at<uchar>(i,j+2)+foreground1.at<uchar>(i,j+3))<255*3) && ((foreground1.at<uchar>(i,j-1)+foreground1.at<uchar>(i,j-2)+foreground1.at<uchar>(i,j-3))<255*3))
+                        continue;
+
+                    if(c==0)
+                    {   
+                        a=j+1;
+                        c=c+1;
+                        continue;
+
+                    }
+                    if(c==1)
+                    {   
+                        b=j;
+                        mid1.at<uchar>(i,(a+b)/2)=255;
+                        if(f==1)
+                        {   
+
+
+                            double l,d=50,x,y,z,angle=1.11;
+                            l=(mid1.cols-(a+b))/2;
+                            z=(20586*d-40*l)/(25*l+20586*(1.0/tan(angle)));   // angle not assigned
+                            x=(l*(25*z-40))/(20586);
+                            y=((mid1.rows/2-j)*(25*z-40)/20586);
+                            afile << x << " " << y << " " << z << " " << "\n";
+                        }
+                        break;
+                    }
+                }
+
+            }
+
+        }
+
+
+
+
+        Mat mid2(frame.rows,frame.cols,CV_8UC1,Scalar(0));                           // This function is to remove noice from the background subtracted image for gray image
+        for(i=0;i<foreground2.rows;i++)
+        {
+            a=0;
+            b=0;
+            c=0;
+            for(j=0;j<foreground2.cols;j++)
+            {
+                if(foreground2.at<uchar>(i,j)!=foreground2.at<uchar>(i,j+1))
+                {
+                    if(((foreground2.at<uchar>(i,j+1)+foreground2.at<uchar>(i,j+2)+foreground2.at<uchar>(i,j+3))<255*3) && ((foreground2.at<uchar>(i,j-1)+foreground2.at<uchar>(i,j-2)+foreground2.at<uchar>(i,j-3))<255*3))
+                        continue;
+
+                    if(c==0)
+                    {   
+                        a=j+1;
+                        c=c+1;
+                        continue;
+
+                    }
+                    if(c==1)
+                    {   
+                        b=j;
+                        mid2.at<uchar>(i,(a+b)/2)=255;
+                        break;
+                    }
+                }
+            }
+
+        }
+
+        imshow("foreground1", foreground1);
+        imshow("foreground2", foreground2);
+        imshow("midgray", mid1);
+        imshow("midhsv", mid2);
+
+        createTrackbar( "Brightness","foreground1", &B, 100, cameratest);                //setting trackbar to foreground1 window
+        createTrackbar( "Contrast","foreground1", &C, 100,cameratest);
+        createTrackbar( "Saturation","foreground1", &S, 100,cameratest);
+        createTrackbar( "Gain","foreground1", &G, 100,cameratest);
+
+        if(waitKey(30) == 27) 
+            break;
+    }
+    afile.close();
+
+    destroyWindow("foreground1");
+    destroyWindow("foreground2");
+    destroyWindow("midgray");
+    destroyWindow("midhsv");
+    return 0;
+}
+