IntelliBin (The Smart Trash Bin)

//#include <opencv2/highgui/highgui.hpp> //Including in SmartTrashBinObjects.h for the sake of organization
//#include <opencv/cv.hpp> //included in SmartTrashBinObjects.h to avoid redundancy and improve compile time

#include <string>
#include <sstream>
#include <iostream>
#include <stdio.h>

#include <wiringPi.h>

#include "SmartTrashBinObjects.h"

#include <vector>

//using namespace cv;
//using namespace std;

//build using: g++ -ggdb `pkg-config --cflags opencv` -o `basename main.cpp .cpp` main.cpp `pkg-config --libs opencv`

//UPDATE: build using this to incorporate the SmartTrashBinObjects.cpp file: 
//g++ -ggdb `pkg-config --cflags opencv` -o `basename main.cpp .cpp` main.cpp SmartTrashBinObjects.cpp `pkg-config --libs opencv`

//STEP 1 convert from BGR(blue, green, red) to HSV color space (hue, saturation, value )

#define FRAME_WIDTH		400//640
#define FRAME_HEIGHT 		300//480

#define MAX_NUM_OBJECTS 	7

#define MIN_OBJECT_AREA	45*45
#define MAX_OBJECT_AREA	FRAME_HEIGHT*FRAME_WIDTH/1.5

//going to use these values in a trackbar (max and min HSV colorspace values)
int H_MIN = 0, H_MAX = 256;
int S_MIN = 0, S_MAX = 256;
int V_MIN = 0, V_MAX = 256;

//Window names
const string  
windowName 	= "Original Image",
windowName1 	= "HSV Image",
windowName2 	= "Threshold Image",
windowName3	= "After Morphological Operations",
trackbarWindowName = "Trackbars";

string IntToString(int number)
{
	std::stringstream ss;
	ss << number;
	return ss.str();
}

void on_trackbar(int, void*)
{
	//Nothing
}

void CreateTrackbars()
{
	//create a window
	namedWindow(trackbarWindowName, 0);
	
	//create memory to store tackbar name on window
	char TrackbarName[50];
	
	sprintf(TrackbarName, "H_MIN", H_MIN);
	sprintf(TrackbarName, "H_MAX", H_MAX);
	
	sprintf(TrackbarName, "S_MIN", S_MIN);
	sprintf(TrackbarName, "S_MAX", S_MAX);
	
	sprintf(TrackbarName, "V_MIN", V_MIN);
	sprintf(TrackbarName, "V_MAX", V_MAX);
	
	//create and insert trackbars into window
	//createTrackbar(Name to appear beside trackbar, name of window to appear in, address of modifyable value, max value, function to call whenever something is changed.)
	
		
	
	createTrackbar( "H_MIN", trackbarWindowName, &H_MIN, H_MAX, on_trackbar);
	createTrackbar( "H_MAX", trackbarWindowName, &H_MAX, H_MAX, on_trackbar);

	createTrackbar( "S_MIN", trackbarWindowName, &S_MIN, S_MAX, on_trackbar);
	createTrackbar( "S_MAX", trackbarWindowName, &S_MAX, S_MAX, on_trackbar);
	
	createTrackbar( "V_MIN", trackbarWindowName, &V_MIN, V_MAX, on_trackbar);
	createTrackbar( "V_MAX", trackbarWindowName, &V_MAX, V_MAX, on_trackbar);

}

//void DrawObject(int x, int y, Mat &frame) //instead of passing in ints x and y, we'll pass in an c++ object we created
//void DrawObject(Waste ourWaste, Mat &frame) //instead of passing in a single object,  we're gonna pass in a vector containing Waste objects (corrected line is below)
void DrawObject(vector<Waste> ourWaste, Mat &frame)
{
	//unpacking the 'ourWaste' vector, containing all the similar objects we see on screen 
	for(int i = 0; i < ourWaste.size(); i++)
	{
		//immediately below is code for a single object detection algorithm
		//circle(frame, Point(x,y), 20, Scalar(0,255,0), 2);
		//int x = ourWaste.getXPos();
		//int y = ourWaste.getYPos();
		
		
		int x = ourWaste.at(i).getXPos();
		int y = ourWaste.at(i).getYPos();
	
		circle(frame, Point(x,y), 20, Scalar(0,255,0), 2);
		//putText(frame to put text on, TEXT, font face, size i think, color)
		putText(frame, IntToString(x) + " , " + IntToString(y), Point(x, y+20), 1, 1, Scalar(0, 255, 0)); //an offset of +20 for our y value means we're going downward on the screen
		
		//new! This is the text we will put next to the object to identify the type of trash we will be putting into it
		putText(frame,  ourWaste.at(i).getType(), Point(x, y-30), 1, 2, ourWaste.at(i).getTextColor() );
	}
}

void MorphOps(Mat &thresh)
{
	//we want to erode and dilate the image
	
	//these are the structuring elements that will be used to do this
	//the erode element will be a 3x3 rectangle
	Mat erodeElement = getStructuringElement(MORPH_RECT, Size(3, 3));
	//we will dilate with a larger element to make sue object is nicely visible
	Mat dilateElement = getStructuringElement(MORPH_RECT, Size(8, 8));
	
	erode(thresh,thresh,erodeElement);
	erode(thresh,thresh,erodeElement);
	erode(thresh,thresh,erodeElement);
	
	dilate(thresh, thresh, dilateElement);
	dilate(thresh, thresh, dilateElement);
}

//We can actually overload this function and implement a different version of it so that it can take in a different combination of parameters
//I've implemented the 2nd version of this method below this immediate one
void TrackFilteredObject(int &x, int&y, Mat threshold, Mat &cameraFeed)
{
		
	//int x, y; //instead of using just pure x and y positions, we're gonna use classes
	
	//Waste paper; //object named paper of class Waste,  from SmartTrashBinObjects.h
	
	//creating a vector to contain the multiple paper objects we're gonna be seeing on the camera
	//this is essentially an array that allocates more space than we need so that we can push stuff onto it easily
	vector<Waste> paperObjects; //this should just be a generic waste object, Idk why i named it paper objects
	
	Mat temp;
	threshold.copyTo(temp);
	
	vector <vector <Point> > contours;
	vector <Vec4i> hierarchy;
	
	findContours(temp, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
	
	double refArea = 0;
	bool objectFound = false;
	
	if(hierarchy.size() > 0)
	{
		int numObjects = hierarchy.size();
		if(numObjects < MAX_NUM_OBJECTS)
		{
			for (int index = 0; index >= 0; index = hierarchy[index][0])
			{
				Moments moment = moments((cv::Mat)contours[index]);
				double area = moment.m00;
				
				if(area > MIN_OBJECT_AREA) //&& area <MAX_OBJECT_AREA && area > refArea - ADDITIONAL UNECESSARY CONDITIONS
				{
					//Waste.xPos = moment.m10/area; //won't work, xPos is private. Need to create a function to write values to it. 
					
					//private variables are used in large programs to localize variables that many objects have (like xPos or yPos in our case) to those SPECIFIC objects
					
					
					//x = moment.m10/area;
					//y = moment.m01/area;
					
					//need to create a temporary paper object of class Waste 
					Waste paper;
					
					//Set x and y position of  paper object
					//paper.setXPos(moment.m10/area);
					//paper.setYPos(moment.m01/area); 
					
					paper.setXPos(moment.m10/area);
					paper.setYPos(moment.m01/area); 
					
					//push this new object into our paperObjects vector. This allows us to have multiple instances of it
					paperObjects.push_back(paper);
					
					objectFound = true;
					refArea = area;
				}
				else
				{
					objectFound = false;
				}
			}
			
			if(objectFound)
			{
				putText(cameraFeed, "Tracking Object", Point(0,50),2,1, Scalar(0,255,0), 2);
				//DrawObject(x,y,cameraFeed); //trying to eliminate usage of x and y 
				
				//DrawObject(paper,cameraFeed); //instead of drawing just one object like in this line, we want to draw the entire vector. 
				DrawObject(paperObjects,cameraFeed); //this will draw all of the objects we pushed onto the paperObjects vector
				
				
			}
			else
			{
				putText(cameraFeed, "No objects found. Adjust Filter.", Point(0,50), 1,2,Scalar(0,0,255, 2));
			}
		}
	} 
}

//2nd version of TrackFilteredObject. Now designed to receive an object
void TrackFilteredObject(Waste ourWaste, Mat threshold, Mat HSV, Mat &cameraFeed)
{
		
	//int x, y; //instead of using just pure x and y positions, we're gonna use classes
	
	//Waste paper; //object named paper of class Waste,  from SmartTrashBinObjects.h
	
	//creating a vector to contain the multiple paper objects we're gonna be seeing on the camera
	//this is essentially an array that allocates more space than we need so that we can push stuff onto it easily
	vector<Waste> paperObjects;
	
	Mat temp;
	threshold.copyTo(temp);
	
	vector <vector <Point> > contours;
	vector <Vec4i> hierarchy;
	
	findContours(temp, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
	
	double refArea = 0;
	bool objectFound = false;
	
	if(hierarchy.size() > 0)
	{
		int numObjects = hierarchy.size();
		if(numObjects < MAX_NUM_OBJECTS)
		{
			for (int index = 0; index >= 0; index = hierarchy[index][0])
			{
				Moments moment = moments((cv::Mat)contours[index]);
				double area = moment.m00;
				
				if(area > MIN_OBJECT_AREA)
				{
					//Waste.xPos = moment.m10/area; //won't work, xPos is private. Need to create a function to write values to it. 
					
					//private variables are used in large programs to localize variables that many objects have (like xPos or yPos in our case) to those SPECIFIC objects
					
					
					//x = moment.m10/area;
					//y = moment.m01/area;
					
					//need to create a temporary paper object of class Waste 
					Waste paper;
					
					//Set x and y position of  paper object
					//paper.setXPos(moment.m10/area);
					//paper.setYPos(moment.m01/area); 
					
					paper.setXPos(moment.m10/area);
					paper.setYPos(moment.m01/area);
					 
					//new things implemented to set our Text and color of our text
					paper.setType(ourWaste.getType());
					paper.setTextColor(ourWaste.getTextColor());
					
					
					//push this new object into our paperObjects vector. This allows us to have multiple instances of it
					paperObjects.push_back(paper);
					
					objectFound = true;
				}
				else
				{
					objectFound = false;
				}
			}
			
			if(objectFound)
			{
				putText(cameraFeed, "Tracking Object", Point(0,50),2,1, Scalar(0,255,0), 2);
				//DrawObject(x,y,cameraFeed); //trying to eliminate usage of x and y 
				
				//DrawObject(paper,cameraFeed); //instead of drawing just one object like in this line, we want to draw the entire vector. 
				DrawObject(paperObjects,cameraFeed); //this will draw all of the objects we pushed onto the paperObjects vector
				
				
			}
			else
			{
				putText(cameraFeed, "No objects found. Adjust Filter.", Point(0,50), 1,2,Scalar(0,0,255, 2));
			}
		}
	} 
}


int main(int argc, char* argv[])
{
	bool calibrationMode 		= false;
	bool trackObjects 		= true;
	bool useMorphOperations 	= true;

	//Create matrix to store each frame of the webcam feed
	Mat cameraFeed;
	
	//Create matrix to store HSV image
	Mat HSV;
	
	//Create matrix to store binary threshold image (black/white)
	Mat threshold;

	//Used for image tracking
	int xObject = 0, yObject = 0;
	
	//Creates the sliders/trackbars to allow us to select values for HSV filtering
	if(calibrationMode)
	{
		CreateTrackbars();
	}
	/*
	H_MIN = 0;
	H_MAX = 256;
	S_MIN = 174;
	S_MAX = 256;
	V_MIN = 113;
	V_MAX = 256;
	*/
	
	//Create a VideoCapture object. This basically means get a video image from the camera
	VideoCapture capture;
	
	//open capture object at location zero (ie get media from the camera device 0)
	capture.open(0);
	
	//seting height and width of capture frame
	capture.set(CV_CAP_PROP_FRAME_WIDTH, FRAME_WIDTH);
	capture.set(CV_CAP_PROP_FRAME_HEIGHT, FRAME_HEIGHT);
	
	//where all the work is done
	while(1)
	{
		//read data from camera and store into CameraFeed matrix
		capture.read(cameraFeed);
		
		//converts from one color space to another (in our case BGR to HSV colorspace)
		//cvtColor(input image frame, output frame, colorspace conversion code, number of channels in output img)
		cvtColor(cameraFeed, HSV, COLOR_BGR2HSV); // cameraFeed ---BGR to HSV--> HSV

		if(calibrationMode)
		{

			//filter HSV image and display output to the threshold matrix
			//inRange(input array, lowerBound array, upperBound array, output array)
			//sees is the values in the HSV matrix lie within the desired bounds, and outputs a 1 in the respective index in
			//the output array, threshold, which is how we will see the object
			inRange(HSV, Scalar(H_MIN,S_MIN,V_MIN), Scalar(H_MAX,S_MAX,V_MAX), threshold);
	
			//eliminate noise through morphological operations on threshold image
			if(useMorphOperations)
			{
				MorphOps(threshold);
			}
		
			imshow(windowName2, 	threshold);
			
			if(trackObjects)
			{
				TrackFilteredObject(xObject, yObject, threshold, cameraFeed);
			}
		}
		else //if not in calibration mode, hardcode our values in!!!
		{
			Waste orange("orange"), papers("paper"), indomie("plastic");
			
			//hardcoding values for each of our objects here
			//calibrated for orange paper
			orange.setHSVmin(Scalar(0, 111, 159));
			orange.setHSVmax(Scalar(58, 194, 256));
			
			//calibrated for purple  paper
			papers.setHSVmin(Scalar(120, 68, 144));
			papers.setHSVmax(Scalar(153, 120, 187));
			
			//calibrated for red paper
			indomie.setHSVmin(Scalar(160, 79, 192));
			indomie.setHSVmax(Scalar(175, 256, 256));
		
			//filter HSV image and display output to the threshold matrix
			//inRange(input array, lowerBound array, upperBound array, output array)
			//sees is the values in the HSV matrix lie within the desired bounds, and outputs a 1 in the respective index in
			//the output array, threshold, which is how we will see the object
			inRange(HSV, orange.getHSVmin(), orange.getHSVmax(), threshold);
			MorphOps(threshold);
			TrackFilteredObject(orange, threshold, HSV, cameraFeed);
			//TrackFilteredObject(xObject, yObject, threshold, cameraFeed);
			
			
			inRange(HSV, papers.getHSVmin(), papers.getHSVmax(), threshold);
			MorphOps(threshold);
			//TrackFilteredObject(xObject, yObject, threshold, cameraFeed);
			TrackFilteredObject(papers, threshold, HSV, cameraFeed);
			
			inRange(HSV, indomie.getHSVmin(), indomie.getHSVmax(), threshold);
			MorphOps(threshold);
			//TrackFilteredObject(xObject, yObject, threshold, cameraFeed); //sort of deprecated use of the TrackFilteredObject method
			TrackFilteredObject(indomie, threshold, HSV, cameraFeed);
			
		}

		//Show original image, HSV'd image, and the filtered image
		//imshow(windowName2, 	threshold);
		imshow(windowName, 	cameraFeed);		
		//imshow(windowName1,	HSV);
		
		//we need this, images won't appear without this function here.
		waitKey(30);	
	}	
	
	return 0;
	
}