ruler object working

src/Rectangle/Confidence.cpp

@@ -2,9 +2,9 @@
 
 Confidence::Confidence(int *lastKey, UI *ui, unsigned validityLength, float similarity) {
 	queueLength = validityLength;
-	Confidence::lastKey = lastKey;
+	this->lastKey = lastKey;
-	Confidence::ui = ui;
+	this->ui = ui;
-	Confidence::similarity = similarity;
+	this->similarity = similarity;
 }
 
 bool Confidence::check(std::vector<cv::Rect> bounds) {

src/Rectangle/ContourAnalyzer.cpp

@@ -4,7 +4,7 @@
 #include <algorithm>
 
 ContourAnalyzer::ContourAnalyzer(UI *ui, int *lastKey) {
-	ContourAnalyzer::ui = ui;
+	this->ui = ui;
 	ui->UIListeners.push_back(this);
 	this->lastKey = lastKey;
 }
@@ -22,7 +22,7 @@ void ContourAnalyzer::analyze() {
 
 	if (drawContours) {
 		drawContoursOntoMat(*(ui->drawnFrame()));
-		cv::putText(*(ui->drawnFrame()), "Showing possible triangles rectangles.",
+		cv::putText(*(ui->drawnFrame()), "Showing possible rectangles.",
 				cv::Point{5, 30}, cv::FONT_HERSHEY_PLAIN, 0.8, selectColor);
 	}
 }
@@ -104,6 +104,13 @@ void ContourAnalyzer::convertContoursToBounds() {
 	}
 }
 
+void ContourAnalyzer::convertContoursToRotatedBounds() {
+	rotatedBounds.clear();
+	for (unsigned i = 0; i < prunedContours.size(); i++) {
+		rotatedBounds.push_back(cv::minAreaRect(prunedContours[i]));
+	}
+}
+
 std::string ContourAnalyzer::contourToString(std::vector<cv::Point> contour) {
 	switch (contour.size()) {
 	case 4:
@@ -120,6 +127,10 @@ std::vector<cv::Rect> ContourAnalyzer::getBounds() const {
 	return bounds;
 }
 
+std::vector<cv::RotatedRect> ContourAnalyzer::getRotatedBounds() const {
+	return rotatedBounds;
+}
+
 void ContourAnalyzer::componentSetup() {
 	cv::createTrackbar("Bin. Lower", UI::DEBUG_WINDOW, &binLower , 255);
 	cv::createTrackbar("Can. Lower", UI::DEBUG_WINDOW, &cannyLower , 255);

src/Rectangle/ContourAnalyzer.h

@@ -21,18 +21,19 @@ class ContourAnalyzer: public UIListener {
 	std::vector<std::vector<cv::Point>> consistentContours;
 	std::vector<std::vector<cv::Point>> prunedContours;
 	std::vector<cv::Rect> bounds;
+	std::vector<cv::RotatedRect> rotatedBounds;
 
 	void removeRedundancy();
 	void preAnalyze();
 public:
-	int binLower = 58;
+	int binLower = 54;
 
 	int minSize = 0;
 	int minSizeScale = 18;
-	int cannyLower = 57;
+	int cannyLower = 45;
 	int cannyUpper = 3*cannyLower;
 
-	int epsilon = 57;
+	int epsilon = 56;
 
 	ContourAnalyzer(UI* ui, int *lastKey);
 	virtual ~ContourAnalyzer();
@@ -43,8 +44,9 @@ public:
 	void drawContoursOntoMat(cv::Mat &frame);
 	std::string contourToString(std::vector<cv::Point>);
 	void convertContoursToBounds();
+	void convertContoursToRotatedBounds();
 	std::vector<cv::Rect> getBounds() const;
-
+	std::vector<cv::RotatedRect> getRotatedBounds() const;
 	void componentSetup();
 };
 

src/Rectangle/Ruler.cpp

@@ -1,49 +1,49 @@
-/*
- * Ruler.cpp
- *
- *  Created on: May 8, 2018
- *      Author: yunya
- */
-
 #include "Ruler.h"
 #include <sstream>
 
 Ruler::Ruler(UI *ui, int *lastKey) {
-	Ruler::ui = ui;
+	this->ui = ui;
-	Ruler::lastKey = lastKey;
+	this->lastKey = lastKey;
-	focalLength = estimateFocalLength(HFOV);
 }
 
-void Ruler::update(cv::Rect rect) {
+void Ruler::update() {
 	focalLength = estimateFocalLength(HFOV);
 	distance = estimateDistance(rect);
 	inputUpdate();
 	updateUI();
 }
 
-float Ruler::estimateFocalLength(int HFOV) {
+float Ruler::estimateFocalLength(float HFOV) {
-	return (ui->getWidth()/2.0)*(1/(std::tan(HFOV/2.0)));
+	float fl = (ui->getWidth()/2.0) * (cos((HFOV * M_PI)/(180*2.0))/sin(HFOV*M_PI/(180*2.0)));
+	return fl;
 }
 
 void Ruler::updateUI() {
 	if (inputtingVal) {
-		cv::putText(*(ui->drawnFrame()), ("Given width: " + std::to_string(widthInCM)), confTextPos, cv::FONT_HERSHEY_DUPLEX, 0.7, textFontColor, 2);
+		cv::putText(*(ui->drawnFrame()), ("Given width: " + std::to_string(givenWidth)), confTextPos, cv::FONT_HERSHEY_PLAIN, 0.7, textFontColor, 2);
 	} else {
-		cv::putText(*(ui->drawnFrame()), ("Given width: " + std::to_string(widthInCM)), confTextPos, cv::FONT_HERSHEY_DUPLEX, 0.7, textFontColor);
+		cv::putText(*(ui->drawnFrame()), ("Given width: " + std::to_string(givenWidth)), confTextPos, cv::FONT_HERSHEY_PLAIN, 0.7, textFontColor);
 	}
-	cv::putText(*(ui->drawnFrame()), ("distance: " + std::to_string(distance) + "cm"), distanceTextPos, cv::FONT_HERSHEY_DUPLEX, 0.7, textFontColor);
+	cv::putText(*(ui->drawnFrame()), ("distance: " + std::to_string(distance) + "cm"), distanceTextPos, cv::FONT_HERSHEY_PLAIN, 0.7, textFontColor);
 
+	std::cout << "focal length: " + std::to_string(focalLength) << std::endl;
 }
 
 void Ruler::toggleInput() {
 	inputtingVal = !inputtingVal;
 	if (!inputtingVal) {
 		numBuild.clear();
+	} else {
+		givenWidth = 0;
 	}
 }
 
-int Ruler::estimateDistance(cv::Rect rect) {
+int Ruler::estimateDistance(cv::RotatedRect rect) {
-	return (widthInCM*focalLength) / rect.width;
+	if (rect.size.area() > 0) {
+		return (givenWidth*focalLength) / rect.size.width;
+	} else {
+		return 0;
+	}
 }
 
 void Ruler::inputUpdate() {
@@ -55,9 +55,15 @@ void Ruler::inputUpdate() {
 			char val = '0' + (*lastKey - 48);
 			numBuild.push_back(val);
 		}
+		if (numBuild.size() > 0) {
 			std::string numString{numBuild.begin(), numBuild.end()};
-		widthInCM = std::stod(numString);
+			givenWidth = std::stof(numString);
 		}
+	}
+}
+
+void Ruler::updateRectangle(cv::RotatedRect rect) {
+	this->rect = rect;
 }
 
 void Ruler::componentSetup() {

src/Rectangle/Ruler.h

@@ -1,10 +1,3 @@
-/*
- * Ruler.h
- *
- *  Created on: May 8, 2018
- *      Author: yunya
- */
-
 #ifndef RECTANGLE_RULER_H_
 #define RECTANGLE_RULER_H_
 #include "../UI.h"
@@ -15,20 +8,22 @@ class Ruler: public UIListener {
 	cv::Point confTextPos {5, 75};
 	cv::Scalar textFontColor {20, 20, 20};
 
+	cv::RotatedRect rect;
 	UI *ui;
 	int *lastKey;
 	float distance = 0;
-	float widthInCM = 0;
+	float givenWidth = 0;
-	float focalLength;
+	float focalLength = 0;
-	int HFOV = 65;
+	float HFOV = 65;
 	bool inputtingVal = false;
 	std::deque<char> numBuild;
 
 public:
 	Ruler(UI *ui, int *lastKey);
-	float estimateFocalLength(int HFOV);
+	float estimateFocalLength(float HFOV);
-	int estimateDistance(cv::Rect rect);
+	int estimateDistance(cv::RotatedRect rect);
-	void update(cv::Rect rect);
+	void update();
+	void updateRectangle(cv::RotatedRect rect);
 	void componentSetup();
 	void updateUI();
 	void toggleInput();

src/UI.cpp

@@ -1,17 +1,23 @@
 #include "UI.h"
 
+const std::string UI::NORMAL_WINDOW = "Normal";
+const std::string UI::DEBUG_WINDOW = "Debug";
+
 UI::UI(int *lastKey) {
 	this->lastKey = lastKey;
 }
 
-const std::string UI::NORMAL_WINDOW = "Normal";
-const std::string UI::DEBUG_WINDOW = "Debug";
-
 void UI::render() {
 	if (state < frames.size() -1) {
 		frames.resize(state + 1);
+		lastDebugFrame = debugFrame;
 		debugFrame = std::min(state, debugFrame);
 	}
+
+	if (lastDebugFrame != 0 && lastDebugFrame <= frames.size()-1) {
+		debugFrame = lastDebugFrame;
+		lastDebugFrame = 0;
+	}
 	state = 0;
 	cv::imshow(UI::NORMAL_WINDOW, frame);
 	if (debug) {
@@ -40,7 +46,8 @@ void UI::render() {
 cv::Mat* UI::nextFrame() {
 	state++;
 	if (state + 1 > frames.size()) {
-		frames.push_back(cv::Mat { });
+		frames.push_back(cv::Mat {});
+
 	}
 	return &(frames[state]);
 }

src/UI.h

@@ -13,6 +13,7 @@
 
 class UI {
 	bool debug = false, showSlider = false;
+	unsigned lastDebugFrame = 0;
 	unsigned debugFrame = 0;
 	int *lastKey;
 	int  width = 0, height = 0;

src/main.cpp

@@ -5,7 +5,7 @@
 #include "UI.h"
 #include "Rectangle/Confidence.h"
 #include "Rectangle/BoundTracker.h"
-
+#include "Rectangle/Ruler.h"
 enum State {
 	detection, track, cross_check
 };
@@ -15,12 +15,14 @@ Webcam webcam = 0;
 int *lastKey = new int(0);
 UI *ui = new UI(lastKey);
 ContourAnalyzer ca { ui, lastKey };
-Confidence conf { lastKey, ui, 6, 0.7};
+Confidence conf { lastKey, ui, 6, 0.78};
 BoundTracker tracker { lastKey, ui };
 cv::Point statusTextPos {5, 15};
 cv::Scalar textFontColor { 20, 20, 20};
 cv::Scalar rectangleBoundColor { 255, 0, 0 };
-cv::Rect subject;
+Ruler ruler{ui, lastKey};
+
+cv::RotatedRect subject;
 unsigned frameCount = 0;
 void run() {
 	switch (state) {
@@ -45,7 +47,7 @@ void run() {
 
 	case track:
 	{
-		int growBy = 20;
+		int growBy = 30;
 		cv::Rect scaledSearchArea;
 		cv::putText(*(ui->drawnFrame()), "Tracking...", statusTextPos, cv::FONT_HERSHEY_PLAIN, 0.8, textFontColor);
 		if (!tracker.track()) {
@@ -65,22 +67,26 @@ void run() {
 		ca.analyze(scaledSearchArea);
 
 		ca.convertContoursToBounds();
-
+		ca.convertContoursToRotatedBounds();
 
 		if (ca.getBounds().size() > 0) {
 			cv::Rect largest;
+			unsigned index;
 			for (unsigned i = 0; i < ca.getBounds().size(); i++) {
 				if (ca.getBounds()[i].area() > largest.area()) {
 					largest = ca.getBounds()[i];
+					index = i;
 				}
 			}
 
+			ruler.updateRectangle(ca.getRotatedBounds()[index]);
+
 			largest.x += scaledSearchArea.x;
 			largest.y += scaledSearchArea.y;
-			tracker.setROI(largest);
+			tracker.init(largest);
 		}
-		cv::rectangle(*(ui->drawnFrame()), scaledSearchArea, cv::Scalar {150, 0, 0}, 1);
 		cv::rectangle(*(ui->drawnFrame()), tracker.getROI(), cv::Scalar {255, 0, 0}, 2);
+
 	}
 	break;
 
@@ -89,21 +95,23 @@ void run() {
 				cv::FONT_HERSHEY_PLAIN, 0.8, textFontColor);
 		ca.analyze();
 		ca.convertContoursToBounds();
-		cv::Rect2d largest;
+		tracker.track();
+
 		std::vector<cv::Rect> rects = ca.getBounds();
+		cv::Rect2d largest;
+		if (rects.size() > 0) {
 			for (unsigned i = 0; i < rects.size(); i++) {
 				if (rects[i].area() > largest.area()) {
 					largest = rects[i];
 				}
 			}
 
-		tracker.track();
-
 			unsigned largestArea = tracker.getROI().area() > largest.area() ? tracker.getROI().area() : largest.area();
 
-		if (largest.area() != 0 && (tracker.getROI() | largest).area() <= largestArea * (1.2)) {
+			if ((tracker.getROI() | largest).area() <= largestArea * (1.25)) {
-			tracker.setROI(largest);
+				tracker.init(largest);
 				state = track;
+				frameCount = 0;
 			} else {
 				frameCount++;
 				if (frameCount > 30) {
@@ -111,11 +119,21 @@ void run() {
 					frameCount = 0;
 				}
 			}
+			cv::rectangle(*(ui->drawnFrame()), largest, cv::Scalar { 255, 0, 0 }, 1);
+		} else {
+			frameCount++;
+			if (frameCount > 30) {
+				state = detection;
+				frameCount = 0;
+			}
+		}
+
 		cv::rectangle(*(ui->drawnFrame()), tracker.getROI(), cv::Scalar { 255, 0, 0 }, 2);
-		cv::rectangle(*(ui->drawnFrame()), largest, cv::Scalar { 255, 30, 30 }, 1);
+
 		break;
 	}
 
+	ruler.update();
 	ui->render();
 }
 

src/webcam/Webcam.cpp

@@ -9,6 +9,8 @@
 
 Webcam::Webcam(int webcamID) {
 	stream = new cv::VideoCapture(webcamID);
+	stream->set(cv::CAP_PROP_FRAME_WIDTH, 1920);
+	stream->set(cv::CAP_PROP_FRAME_HEIGHT, 1080);
 }
 
 void Webcam::update() {