lane.cpp

#include <iostream>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"

using namespace cv;
using namespace std;

int main( int argc, char** argv )
{
    Mat img=imread("image2.jpg");
    if(img.empty())
    {
        cout<<"Image not Loaded"<<endl;
        return -1;
    }

    namedWindow("Control",CV_WINDOW_AUTOSIZE); 
    int iLowH = 0;
    int iHighH = 179;

    int iLowS = 0; 
    int iHighS = 255;

    int iLowV = 0;
    int iHighV = 255;

 //Create trackbars in "Control" window
    createTrackbar("LowH", "Control", &iLowH, 179); //Hue (0 - 179)
    createTrackbar("HighH", "Control", &iHighH, 179);

    createTrackbar("LowS", "Control", &iLowS, 255); //Saturation (0 - 255)
    createTrackbar("HighS", "Control", &iHighS, 255);

    createTrackbar("LowV", "Control", &iLowV, 255); //Value (0 - 255)
    createTrackbar("HighV", "Control", &iHighV, 255);

    while (true)
    {
        Mat imgHSV;

        cvtColor(img, imgHSV, COLOR_BGR2HSV); //Convert the captured frame from BGR to HSV
 
        Mat imgThresholded;

        inRange(imgHSV, Scalar(iLowH, iLowS, iLowV), Scalar(iHighH, iHighS, iHighV), imgThresholded); //Threshold the image
      
  //morphological opening (remove small objects from the foreground)
        erode(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)) );
        dilate( imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)) ); 

  //morphological closing (fill small holes in the foreground)
        dilate( imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)) ); 
        erode(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)) );

        imshow("Thresholded Image", imgThresholded); //show the thresholded image
        imshow("Original", img); //show the original image

        if (waitKey(30) == 27) //wait for 'esc' key press for 30ms. If 'esc' key is pressed, break loop
       {
            cout << "esc key is pressed by user" << endl;
            break; 
       }
    }
    return 0;
}