firstgreen.cpp

Detect Row in greenhouse , image processing , developed in linux , compiled with gcc

// Tuned for First GreenHouse
// compile argument -->  g++ -Wall -c "%f" `pkg-config --cflags --libs opencv`
// Build Argument --> g++ -Wall "%f" `pkg-config --cflags --libs opencv`
// Youhanna Parvizinejad 
#include <stdio.h>
#include <stdlib.h>

#include <cv.h>
#include <cvaux.h>
#include <highgui.h>

int miny1=150; // Limit in vert pix for checking 
typedef unsigned char byte;

typedef struct{byte B, G, R;} Sline;

inline void* ScanLine(IplImage* img, int y)
{
	return (img->imageData + img->widthStep * y);
}	

void HSVhisto(IplImage* des, IplImage* inH, IplImage* inS, IplImage* inV, float Hmin, float Hmax, float Smin, float Smax, float Vmin, float Vmax)
{
    byte *pD, *pH, *pS, *pV;

    for (int y = miny1; y < des->height; y++)
    {
    	pD = (byte*)ScanLine(des, y);
    	pH = (byte*)ScanLine(inH, y);
    	pS = (byte*)ScanLine(inS, y);
    	pV = (byte*)ScanLine(inV, y);
    	
    	for (int x = 0; x < des->width; x++)
    	{
    		float cH = (float)(pH[x]/255.0*360.0);
    		float cS = (float)(pS[x]/255.0*100);
    		float cV = (float)(pV[x]/255.0*100);
    		
    	    if ( !((cH >= Hmin) && (cH <= Hmax) && (cS >= Smin) && (cS <= Smax) && (cV >= Vmin) && (cV <= Vmax)))
    	    {
    	    	pD[x] = 0;
    	    }
    	    else
    	        pD[x] = 255;    	    
    	}
    	
    }
	
}	

int main(int argc, char** argv)
{
        
    IplImage* img = cvLoadImage("5.jpg", 1);

	IplImage* hsv = cvCreateImage( cvGetSize(img), 8, 3 );
    IplImage* h   = cvCreateImage( cvGetSize(img), 8, 1 );
    IplImage* s   = cvCreateImage( cvGetSize(img), 8, 1 ); 
    IplImage* v   = cvCreateImage( cvGetSize(img), 8, 1 ); 
    IplImage* des = cvCreateImage( cvGetSize(img), 8, 1 );
    IplImage* cor = cvCreateImage( cvGetSize(img), IPL_DEPTH_32F, 1);
    
    CvMemStorage* storage = cvCreateMemStorage(0);
    CvSeq* lines = 0;    

    //cvSmooth(img, img, CV_GAUSSIAN, 3);
    
    cvCvtColor(img, hsv, CV_BGR2HSV);
    cvSplit(hsv, h, s, v, 0);

	cvEqualizeHist(h, h);
	cvEqualizeHist(s, s);
	cvEqualizeHist(v, v);
    HSVhisto(des, h, s, v, 140, 345, (float)0, (float)30, (float)55, (float)100);// Equalized histogram
    
    //cvErode(des, des, 0, 1);
    cvDilate(des, des, 0, 1);
    
    lines = cvHoughLines2( des, storage, CV_HOUGH_PROBABILISTIC, 1, CV_PI/180, 200, 100, 5);
															       
    for(int i = 0; i < lines->total; i++ )
    {
        CvPoint* line = (CvPoint*)cvGetSeqElem(lines,i);
        cvLine( img, line[0], line[1], CV_RGB(255,0,0), 10, 8 );
    }    
    
    cvNamedWindow ("WinName", 1);  
	cvShowImage("WinName", img);

    cvWaitKey(0);
    
    cvDestroyAllWindows();
    
    cvReleaseImage(&img);   
    cvReleaseImage(&hsv);   
    cvReleaseImage(&h);   
    cvReleaseImage(&s);   
    cvReleaseImage(&v);   
    cvReleaseImage(&des);   
    cvReleaseImage(&cor);   
   
    return 0;
}