Page 1012 - 완) I MDP 프로젝트 작품 보고서(전체과 1학년)1.6

//Header위치 출력

/*헤더 검출함수에서 얻은 헤더의 위치를 화면에 표현해준다.*/
if(abs(HeaderXP-HeaderX)<HEADERSCALE&&abs(HeaderYP-HeaderY)<HEADERSCALE){
HeaderXP = HeaderX;

HeaderYP = HeaderY;

circle(MainMat,Point(HeaderX,HeaderY),HEADERSCALE,Scalar(0,255,0),2);
}
else{

circle(MainMat,Point(HeaderXP,HeaderYP),HEADERSCALE,Scalar(0,255,0),2);
}
}

void TrashDetect(){//쓰레기 감지

Mat first, second, firstGrayImage, secondGrayImage, differenceImage,
thresholdImage;
image = cvRetrieveFrame(capture);
first = cvarrToMat(image);
cvtColor(first,firstGrayImage,COLOR_BGR2GRAY);

image = cvRetrieveFrame(capture);
second = cvarrToMat(image);
cvtColor(second,secondGrayImage,COLOR_BGR2GRAY);
absdiff(firstGrayImage,secondGrayImage,differenceImage);

threshold(differenceImage,thresholdImage,SENSITIVITY_VALUE,255,THRESH_BINARY);

blur(thresholdImage,thresholdImage,cv::Size(BLUR_SIZE,BLUR_SIZE));

threshold(thresholdImage,thresholdImage,SENSITIVITY_VALUE,255,THRESH_BINARY);

if(onDebug==true){
imshow("Difference Image",differenceImage);
imshow("Threshold Image", thresholdImage);

imshow("Final Threshold Image",thresholdImage);
}

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