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I have problem with the houghcircles function, regarding its processing speed. when i try to run the code with this video file, i uploaded onto Youtube. https://youtu.be/5RGRTPEdHVY

The problem is, when the copter is taking off, the code is stucked, and stop moving. At this stage, when the copter is taking off, the param must be set manually at 300 to avoid being stucked. then after taking off, the param must be reduced to about 150 or 130 to detect the circles on the field.

Now i do not want to do it manually, is there a way to do it intelligently?

Or is there any way to ensure the video is smooth?

Thank you

Code is attached.

#include <sstream>
#include <string>
#include <iostream>
#include <vector>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <opencv\cv.h>
#include <opencv\highgui.h>
#include <stdlib.h>
#include <stdio.h>
#include <opencv2\opencv.hpp>
#include <time.h>
#include <fstream>

#include <stdio.h>
#include <conio.h>
#include "tserial.h"
#include "bot_control.h"


using namespace std;
using namespace cv;


int main(int argc, char** argv) {


    //Create a window for trackbars
    namedWindow("Trackbar Window", CV_WINDOW_AUTOSIZE);

    //Create trackbar to change brightness
    int iSliderValue1 = 50;
    createTrackbar("Brightness", "Trackbar Window", &iSliderValue1, 100);

    //Create trackbar to change contrast
    int iSliderValue2 = 50;
    createTrackbar("Contrast", "Trackbar Window", &iSliderValue2, 100);

    //Create trackbar to change param1 in HoughCircle
    int param1 = 300;
    createTrackbar("param1", "Trackbar Window", &param1, 300);

    //Create trackbar to change param2 in HoughCircle
    int param2 = 300;
    createTrackbar("param2", "Trackbar Window", &param2, 300);

    //Create trackbar to change min Radius in HoughCircle
    int minR = 0;
    createTrackbar("minRadius", "Trackbar Window", &minR, 300);

    //Create trackbar to change max Radius in HoughCircle
    int maxR = 0;
    createTrackbar("maxRadius", "Trackbar Window", &maxR, 300);

    //Debugging purpose
    cout << "All trackbars created" << endl;

    int iBrightness;
    double dContrast;

    double dparam1;
    double dparam2;

    time_t start, end;
    int counter = 0;

    ofstream myfile;

    serial comm;
    char data = 1;

    comm.startDevice("COM3", 9600);

    time(&start);   
    //Create a variable to store image
    Mat src;
    //Create video capture
    VideoCapture capture;
    //open video from either a file or webcam

    capture.open("C:\\Users\\Student-ID\\Downloads\\GOPR0506.MP4");
    //capture.open(0);



    //set frame height
    //capture.set(CV_CAP_PROP_FRAME_HEIGHT, 120);
    //capture.set(CV_CAP_PROP_FRAME_WIDTH, 120);

    //Set the capture FPS
    //capture.set(CV_CAP_PROP_FPS,25);

    //store whatever is captured to src
    capture.read(src);

    //Debugging purpose
    cout << "Vidoe opened" << endl;

    if (!src.data) {
        std::cout << "ERROR:\topening image" << std::endl;
        return -1;
    }

    //Create window to display videos
    cv::namedWindow("image1", CV_WINDOW_AUTOSIZE);

    vector<Vec3f> circles;
    while (true){

        capture.read(src);
        //Code for changing Brightness and contrast
        iBrightness = iSliderValue1 - 50;
        dContrast = iSliderValue2 / 50.0;
        src.convertTo(src, -1, dContrast, iBrightness);

        //Debugging purpose
        //cout << "1" << endl;


        //Create variable to store the processed image
        Mat src_gray2;
        //Convert the colour to grayscale
        cvtColor(src, src_gray2, CV_BGR2GRAY);
        //Smooth and blur the image to reduce noise
        GaussianBlur(src_gray2, src_gray2, cv::Size(9, 9), 2, 2);





        //Change the param1 and 2 to double from integer
        dparam1 = param1 / 1.0;
        dparam2 = param2 / 1.0;

        //Debugging purpose
        cout << "2" << endl;

        //Apply ...

I am using the TS351 and RC305 Vtx set with EasyCap capture card to transmit the video i captured back to the computer for processing. However the video in the video window always stop after some time.

So halfway doing the livefeed, the screen just stuck there and it is not moving anymore. It may work after i re-launch my program. I wonder what is actually the problem, the easycap does not seem to be lagging as seen from the Honestech TVR software. The Vtx set was working fine before.

Is my code too long and heavy, that the while loop is unable to process that fast? or is there other problems?

my code is attached. It is damn long... ya.. it is to detect a specified colour and is working fine with video files

I am using OPENCV 3.0.0 C++ on Windows 8 64 bit system, on Microsoft Visual Studio 2013

//objectTrackingTutorial.cpp

//Written by  Kyle Hounslow 2013

//Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software")
//, to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 
//and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

//The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

//THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
//LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
//IN THE SOFTWARE.

#include <sstream>
#include <string>
#include <iostream>
#include <vector>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <opencv\cv.h>
#include <opencv\highgui.h>
#include <stdlib.h>
#include <stdio.h>

using namespace cv;
using namespace std;
//initial min and max HSV filter values.
//these will be changed using trackbars

int H_MIN = 0;
int H_MAX = 256;
int S_MIN = 0;
int S_MAX = 256;
int V_MIN = 0;
int V_MAX = 256; //original*/



//default capture width and height
const int FRAME_WIDTH = 640;
const int FRAME_HEIGHT = 480;
//max number of objects to be detected in frame
const int MAX_NUM_OBJECTS=50;
//minimum and maximum object area
const int MIN_OBJECT_AREA = 20*20;
const int MAX_OBJECT_AREA = FRAME_HEIGHT*FRAME_WIDTH/1.5;
//names that will appear at the top of each window
const string windowName = "Original Image";
const string windowName1 = "HSV Image";
const string windowName2 = "Thresholded Image";
const string windowName3 = "After Morphological Operations";
const string trackbarWindowName = "Trackbars";

//Declare variable for Brightness and Contrast control
int iSliderValue1 = 50;
int iSliderValue2 = 50;

void B_C(){
    //Create a window
    namedWindow("Brightness & Contrast", CV_WINDOW_AUTOSIZE);

    //Create trackbar for Brightness
    createTrackbar("Brightness ...

There are a few parameters in the HoughCirclefunction. Is there a way to use the trackbars to change these parameters? so that I would not need to run the program every time i want to change them.

Thank you.

using opencv 3.0.0 C++ on Ms VS 2013 on Win 8 laptop

#include <sstream>
#include <string>
#include <iostream>
#include <vector>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <opencv\cv.h>
#include <opencv\highgui.h>
#include <stdlib.h>
#include <stdio.h>

using namespace std;
using namespace cv;


int main(int argc, char** argv) {

    //Create a window for trackbars
    namedWindow("Trackbar Window", CV_WINDOW_AUTOSIZE);

    //Create trackbar to change brightness
    int iSliderValue1 = 50;
    createTrackbar("Brightness", "Trackbar Window", &iSliderValue1, 100);

    //Create trackbar to change contrast
    int iSliderValue2 = 50;
    createTrackbar("Contrast", "Trackbar Window", &iSliderValue2, 100);

    int param1 = 100;
    createTrackbar("param1", "Trackbar Window", &param1, 300);

    int param2 = 200;
    createTrackbar("param2", "Trackbar Window", &param2, 300);

    int minR = 0;
    createTrackbar("minRadius", "Trackbar Window", &minR, 300);

    int maxR = 0;
    createTrackbar("maxRadius", "Trackbar Window", &maxR, 300);


    cout << "All trackbars created" << endl;


    Mat src;

    VideoCapture capture;

    //capture.open("GOPR0496.MP4");
    capture.open(0);
    capture.read(src);
    capture.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
    capture.set(CV_CAP_PROP_FRAME_WIDTH, 640);

    cout << "Vidoe opened" << endl;

    if (!src.data) {
        std::cout << "ERROR:\topening image" << std::endl;
        return -1;
    }
    cv::namedWindow("image1", CV_WINDOW_AUTOSIZE);

    cv::namedWindow("image2", CV_WINDOW_AUTOSIZE);

    while (true){

        capture.read(src);

        int iBrightness = iSliderValue1 - 50;
        double dContrast = iSliderValue2 / 50.0;
        src.convertTo(src, -1, dContrast, iBrightness);
        cout << "1" << endl;

        cv::imshow("image1", src);

    Mat src_gray2;
    cvtColor(src, src_gray2, CV_BGR2GRAY);

    GaussianBlur(src_gray2, src_gray2, cv::Size(9, 9), 2, 2);

    vector<Vec3f> circles;
    cout << "2" << endl;

    double dparam1 = param1 / 1.0;
    double dparam2 = param2 / 1.0;
    HoughCircles(src_gray2, circles, CV_HOUGH_GRADIENT,
        2,   // accumulator resolution (size of the image / 2)
        5,  // minimum distance between two circles
        dparam1, // Canny high threshold
        dparam2, // minimum number of votes
        minR, maxR); // min and max radius
    cout << "3" << endl;

    std::cout << circles.size() << std::endl;
    std::cout << "end of test" << std::endl;


    for (size_t i = 0; i < circles.size(); i++)
    {
        Point center(cvRound(circles[i][0]), cvRound(circles[i][1]));
        int radius = cvRound(circles[i][2]);
        circle(src, center, 3, Scalar(0, 255, 0), -1, 8, 0);
        // circle outline
        circle(src, center, radius, Scalar(0, 0, 255), 3, 8, 0);
        putText(src, "Circle Found", Point(0, 50), 1,2,Scalar(0, 255, 0),2);
    }

    /*std::vector<cv::Vec3f>::
        const_iterator itc = circles.begin();

    while (itc != circles.end()) {

        cv::circle(src_gray2,
            cv::Point((*itc)[0], (*itc)[1]), // circle centre
            (*itc)[2],       // circle radius
            cv::Scalar(0,0,0), // color
            2);              // thickness

        ++itc;
    }*/

    cv::imshow("image2", src_gray2);
    imshow("image1", src);
    cout << "5" << endl;
    cvWaitKey(33);
    }
    return 0;
}

I have the cout expression to help me with locating the bug. In the window, it is showing like this enter image description here

And there is a problem with the HoughCircle function.

The code stops at number 2, and after like 10 seconds, it jump to 3 and loop over. I can't see what is the problem. The ... (more)