Error Message
Use int for the main return type. You cannot use void.
The int main(void) overload function differs only from the int main(void) return type.
These two won't disappear.
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From: http://kivantium.hateblo.jp/entry/20120822/p1
Kinect Practical Program Sugiuraji
#include "stdafx.h"
# include <time.h>
# include <stdlib.h>
# include <iostream>
# include <sstream>
# include "opencv/Labeling.h"
# include <cstdio>
void main()
{
try{
KinectSample kinect;
kinect.initialize();
kinect.run();
using namespace cv;
using namespace std;
int num;
int main(); {
try{
VideoCapture capture(0);
Mat RGBMap, Cloud, valid;
IplImage ipl_RGB;
IplImage*imgR,*imgG=0,*imgB;
IplImage*imgThreshold_R, *imgThreshold_G, *imgThreshold_B, *imgResult, *imgTmp, *RGB_image;
int x, y;
short*dst;
LabelingBS labeling;
RegionInfoBS*ri;
dst = new short [640*480];
imgThreshold_R=cvCreateImage(cvSize(640,480), IPL_DEPTH_8U,1);
imgThreshold_G = cvCreateImage(cvSize(640,480), IPL_DEPTH_8U,1);
imgThreshold_B = cvCreateImage(cvSize(640,480), IPL_DEPTH_8U,1);
imgResult=cvCreateImage(cvSize(640,480), IPL_DEPTH_8U,1);
imgTmp = cvCreateImage(cvSize(640,480), IPL_DEPTH_8U,1);
imgR=cvCreateImage(cvSize(640,480), IPL_DEPTH_8U,1); // Red
imgG = cvCreateImage(cvSize(640,480), IPL_DEPTH_8U,1); // Green
imgB = cvCreateImage(cvSize(640,480), IPL_DEPTH_8U,1); // Blue
while(1){
// wait for data to be updated
capture.grab();
// Obtain and view RGB
capture.retrieve(RGBMap, CV_CAP_OPENNI_BGR_IMAGE);
ipl_RGB = RGBMap;
RGB_image=&ipl_RGB;
cvSplit(RGB_image, imgB, imgG, imgR, NULL);
// Extract pixels with more than 100 red elements and 1.5 times more than green and blue
cvThreshold(imgB, imgThreshold_B, 100, 255, CV_THRESH_BINARY);
cvDiv(imgB, imgG, imgTmp, 10); // 10x
cvThreshold(imgTmp, imgThreshold_G, 18,255, CV_THRESH_BINARY);
cvDiv(imgB, imgR, imgTmp, 10);
cvThreshold(imgTmp, imgThreshold_R, 18,255, CV_THRESH_BINARY);
cvAnd(imgThreshold_G, imgThreshold_R, imgTmp, NULL);
cvAnd(imgTmp, imgThreshold_B, imgResult, NULL);
cvAnd(imgThreshold_G, imgThreshold_R, imgTmp, NULL);
cvAnd(imgTmp, imgThreshold_B, imgResult, NULL);
// Labeling
labeling.Exec(uchar*)imgResult->imageData,dst,imgResult->width,imgResult->height,true,30);
if(labeling.GetNumOfResultRegions()!=0){
r=labeling.GetResultRegionInfo(0);
// Draw a square
int ltop_x, ltop_y, rbottom_x, rbottom_y;
ri->GetMin(ltop_x,ltop_y);
r->GetMax(rbottom_x,rbottom_y);
cvLine(RGB_image, cvPoint(ltop_x, ltop_y), cvPoint(rbottom_x, ltop_y), CV_RGB(255,255,255));
cvLine(RGB_image, cvPoint(rbottom_x, ltop_y), cvPoint(rbottom_x, rbottom_y), CV_RGB(255,255,255));
cvLine(RGB_image, cvPoint(rbottom_x,rbottom_y), cvPoint(ltop_x,rbottom_y), CV_RGB(255,255,255));
cvLine(RGB_image, cvPoint(ltop_x,rbottom_y), cvPoint(ltop_x,ltop_y), CV_RGB(255,255,255));
float f_x, f_y;
ri->GetCenter(f_x,f_y);
x = (int)f_x;
y=(int)f_y;
capture.retrieve(Cloud, CV_CAP_OPENNI_POINT_CLOUD_MAP);
capture.retrieve(valid, CV_CAP_OPENNI_VALID_DEPTH_MASK);
if(valid.at<unsigned char>(y,x)==0xff){
Vec3fs=Cloud.at<Vec3f>(y, x);
printf("%f%f%f\n", s[0], s[1], s[2]); // Display coordinates
}
else{
printf("invalid!\n";
}
}
cvShowImage("Window", RGB_image);
if(waitKey(10)>=0){
break;
}
}
destroyAllWindows();
}
catch(...){
cout<<"exception!!!"<<endl;
}
}
}
catch(std::exception&ex){
std::cout<<ex.what()<<std::endl;
}
}
The main function is written incorrectly.
First, use the main function
void main()
{
try{
KinectSample kinect;
kinect.initialize();
kinect.run();
}
catch(std::exception&ex){
std::cout<<ex.what()<<std::endl;
}
}
Rewrite as shown in .
Write the code that recognizes the blue ball in the run() function.Processing flow is
That's how it feels.We recommend that you use OpenCV's connectedComponentsWithStats() function (document) to extract the concatenated components.This function can only be used with OpenCV 3.0 or later, so install a newer version of OpenCV if necessary.
Here is an example of a run() function that recognizes blue balls:
void run()
{
cv::Match;
// Main loop
while(1){
//Waiting for data
DWORDret=::WaitForSingleObject (streamEvent, INFINITE);
:: ResetEvent (streamEvent);
drawRgbImage(image);
cv::Math_image;
cv::flip(image,h_image,1);
// Convert RGB image to HSV image
cv::Mathsv, extracted;
cv::cvtColor(h_image, hsv, CV_RGB2HSV); // CV_BGR2HSV if camera image is BGR
// Extract the area where the color ranges from 100<=H<=120,80<=S<=255,80<=V<=255
// Adjust the color range to match the color of the object you want to extract.
cv::Scalar hsv_min = cv::Scalar(100,80,80);
cv::Scalar hsv_max = cv::Scalar(120,255,255);
cv::inRange(hsv,hsv_min,hsv_max,extracted);
// labeling execution
cv::MatlabelImg,stats,centroids;
intnLabels=cv::connectedComponentsWithStats(extracted, labelImg, stats, centroids);
// rectangular drawing
for(inti=1;i<nLabels;++i){
int*param=stats.ptr<int>(i);
int x = param [0];
inty=param[1];
int width=param[2];
intheight=param[3];
/* C++11 is easier to understand than this.
intx = param [cv:: ConnectedComponentsTypes::CC_STAT_LEFT];
inty=param [cv::ConnectedComponentsTypes::CC_STAT_TOP];
int width = param [cv:: ConnectedComponentsTypes::CC_STAT_WIDTH];
intheight=param [cv::ConnectedComponentsTypes::CC_STAT_HEIGHT];
*/
cv::rectangle(h_image, cv::Rect(x,y,width,height), cv::Scalar(255,255,255),2);
}
// Display image
cv::imshow("kinect Sample", h_image);
// Key input check for termination and weight for display
int key = cv::waitKey(10);
if(key=='q'){
break;
}
}
}
Try adjusting the blue range yourself.
See also
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