new tracking system

src/Rectangle/BoundTracker.cpp

@@ -0,0 +1,40 @@
+#include "BoundTracker.h"
+
+BoundTracker::BoundTracker(int *lastKey, UI *ui) {
+	BoundTracker::lastKey = lastKey;
+	BoundTracker::ui = ui;
+}
+
+void BoundTracker::init(cv::Rect2d roi) {
+	BoundTracker::roi = roi;
+	tracker->init(ui->getOriginalFrame(), BoundTracker::roi);
+}
+
+bool BoundTracker::track() {
+	tracker->update(ui->getOriginalFrame(), roi);
+
+	if ((roi.x < 0) || (roi.x + roi.width > ui->getWidth()) || (roi.y < 0) || (roi.y + roi.height > ui->getHeight())) {
+		return false;
+	} else {
+		for (unsigned i = 0; i < deadConsistency.size(); i++) {
+			if ((roi & deadConsistency.back()).area() != roi.area() || deadConsistency.size() < queueSize) {
+				break;
+			}
+			return false;
+		}
+
+		deadConsistency.push_back(roi);
+		if (deadConsistency.size() > queueSize) {
+			deadConsistency.pop_front();
+		}
+		return true;
+	}
+}
+
+cv::Rect2d BoundTracker::getROI() const {
+	return roi;
+}
+
+BoundTracker::~BoundTracker() {
+}
+

src/Rectangle/BoundTracker.h

@@ -0,0 +1,24 @@
+#ifndef RECTANGLE_BOUNDTRACKER_H_
+#define RECTANGLE_BOUNDTRACKER_H_
+#include <opencv2/opencv.hpp>
+#include <opencv2/tracking.hpp>
+#include "../UI.h"
+
+class BoundTracker {
+	int *lastKey;
+	UI *ui;
+	cv::Rect2d roi;
+	unsigned queueSize = 20;
+	std::deque<cv::Rect2d> deadConsistency;
+
+	cv::Ptr<cv::Tracker> tracker = cv::TrackerKCF::create();;
+
+public:
+	BoundTracker(int *lastKey, UI *ui);
+	void init(cv::Rect2d roi);
+	bool track();
+	cv::Rect2d getROI() const;
+	virtual ~BoundTracker();
+};
+
+#endif /* RECTANGLE_BOUNDTRACKER_H_ */

src/Rectangle/Confidence.cpp

@@ -6,7 +6,7 @@ Confidence::Confidence(int *lastKey, UI *ui, unsigned validityLength) {
 	Confidence::ui = ui;
 }
 
-bool Confidence::check(std::vector<cv::Rect> contours) {
+bool Confidence::check(std::vector<cv::Rect> bounds) {
 	bool consistent;
 	confident.clear();
 
@@ -14,9 +14,13 @@ bool Confidence::check(std::vector<cv::Rect> contours) {
 		drawBounds = !drawBounds;
 	}
 
-	for (unsigned rectangleID = 0; rectangleID < contours.size(); rectangleID++) {
+	for (unsigned rectangleID = 0; rectangleID < bounds.size(); rectangleID++) {
 		consistent = true;
-		cv::Rect current = contours[rectangleID];
+
+		if (confidenceQueue.size() < queueLength) {
+			consistent = false;
+		}
+		cv::Rect current = bounds[rectangleID];
 
 		for (unsigned frameID = 0; frameID < confidenceQueue.size(); frameID++) {
 			if (confidenceQueue[frameID].size() == 0) {
@@ -25,27 +29,28 @@ bool Confidence::check(std::vector<cv::Rect> contours) {
 			}
 			for (unsigned frameRectID = 0; frameRectID < confidenceQueue[frameID].size(); frameRectID++) {
 				cv::Rect previous = confidenceQueue[frameID][frameRectID];
-				if ((current & previous).area() < 0.78*(current.area())) {
+				if ((current & previous).area() < minimumDifference*(current.area())) {
 					consistent = false;
 					break;
 				}
 			}
 		}
 		if (consistent) {
-			confident.push_back(contours[rectangleID]);
+			confident.push_back(bounds[rectangleID]);
 		}
 	}
 
-	confidenceQueue.push_front(contours);
+	confidenceQueue.push_front(bounds);
 	if (confidenceQueue.size() > queueLength) {
 		confidenceQueue.pop_back();
 	}
 
 	if (drawBounds) {
-		drawBoundsOnMat(*(ui->originalFrame()));
+		drawBoundsOnMat(*(ui->drawnFrame()));
 	}
 
-	return confident.size() != 0;
+//	std::cout << confident.size() << std::endl;
+	return (confident.size() > 0);
 }
 
 std::vector<cv::Rect> Confidence::rectangleBounds() const {

src/Rectangle/Confidence.h

@@ -6,6 +6,7 @@
 #include "../UI.h"
 
 class Confidence {
+	float minimumDifference = 0.76;
 	unsigned queueLength = 0;
 	int *lastKey;
 	UI *ui;

src/Rectangle/ContourAnalyzer.cpp

@@ -16,7 +16,7 @@ void ContourAnalyzer::analyze() {
 	} else if (*lastKey == 118) {
 		drawContours = !drawContours;
 	}
-	minSize = ((ui->originalFrame()->cols)*(ui->originalFrame()->rows))*(minSizeScale/(float)10000);
+	minSize = ui->getWidth()*ui->getHeight()*(minSizeScale/(float)10000);
 
 	if (cannyRec) {
 		cannyUpper = std::min(3*cannyLower, 255);
@@ -64,7 +64,7 @@ void ContourAnalyzer::analyze() {
 	}
 
 	if (drawContours) {
-		drawContoursOntoMat(*(ui->originalFrame()));
+		drawContoursOntoMat(*(ui->drawnFrame()));
 	}
 }
 

src/Rectangle/ContourAnalyzer.h

@@ -26,11 +26,11 @@ public:
 	int binLower = 52;
 
 	int minSize = 0;
-	int minSizeScale = 15;
+	int minSizeScale = 18;
 	int cannyLower = 57;
 	int cannyUpper = 3*cannyLower;
 
-	int epsilon = 53;
+	int epsilon = 57;
 
 	ContourAnalyzer(UI* ui, int *lastKey);
 	virtual ~ContourAnalyzer();

src/UI.cpp

@@ -12,7 +12,7 @@ void UI::render() {
 		frames.resize(state + 1);
 	}
 	state = 0;
-	cv::imshow(UI::NORMAL_WINDOW, frames[0]);
+	cv::imshow(UI::NORMAL_WINDOW, frame);
 	if (debug) {
 		cv::imshow(UI::DEBUG_WINDOW, frames[debugFrame]);
 	}
@@ -56,11 +56,26 @@ void UI::nextDebugFrame() {
 }
 
 void UI::setOriginalFrame(cv::Mat frame) {
+	width = frame.cols;
+	height = frame.rows;
 	frames[0] = frame;
+	frames[0].copyTo(UI::frame);
 }
 
-cv::Mat* UI::originalFrame() {
+cv::Mat* UI::drawnFrame() {
-	return &frames[0];
+	return &frame;
+}
+
+cv::Mat UI::getOriginalFrame() const {
+	return frames[0];
+}
+
+unsigned UI::getWidth() const {
+	return width;
+}
+
+unsigned UI::getHeight() const {
+	return height;
 }
 
 UI::~UI() {

src/UI.h

@@ -15,8 +15,10 @@ class UI {
 	bool debug = false, showSlider = false;
 	unsigned debugFrame = 0;
 	int *lastKey;
+	unsigned width = 0, height = 0;
 	unsigned state = 0;
 	std::vector<cv::Mat> frames = {cv::Mat()};
+	cv::Mat frame;
 
 public:
 	static const std::string NORMAL_WINDOW;
@@ -30,8 +32,11 @@ public:
 	cv::Mat* currentFrame(int offset = 0);
 
 	void setOriginalFrame(cv::Mat frame);
-	cv::Mat* originalFrame();
+	cv::Mat* drawnFrame();
+	cv::Mat getOriginalFrame() const;
 
+	unsigned getWidth() const;
+	unsigned getHeight() const;
 	virtual ~UI();
 };
 

src/main.cpp

@@ -4,35 +4,100 @@
 #include "webcam/Webcam.h"
 #include "UI.h"
 #include "Rectangle/Confidence.h"
+#include "Rectangle/BoundTracker.h"
+
+enum State {
+	detection, track, cross_check
+};
+
+State state = detection;
+Webcam webcam = 0;
+int *lastKey = new int(0);
+UI *ui = new UI(lastKey);
+ContourAnalyzer ca { ui, lastKey };
+Confidence conf { lastKey, ui, 5};
+BoundTracker tracker {lastKey, ui};
+cv::Point statusTextPos{5, 25};
+cv::Scalar textFontColor{35, 125, 35};
+cv::Scalar rectangleBoundColor{255, 0, 0};
+
+unsigned frameCount = 0;
+void run() {
+	switch (state) {
+	case detection:
+		cv::putText(*(ui->drawnFrame()), "Looking for rectangle...", statusTextPos, cv::FONT_HERSHEY_PLAIN, 0.7, 35);
+		ca.analyze();
+		ca.convertContoursToBounds();
+		if (conf.check(ca.getBounds())) {
+			cv::Rect largest;
+			std::vector<cv::Rect> rects = conf.rectangleBounds();
+			for (unsigned i = 0; i < rects.size(); i++) {
+				if (rects[i].area() > largest.area()) {
+					largest = rects[i];
+				}
+			}
+
+			tracker.init(largest);
+
+			state = track;
+		}
+		break;
+
+	case track:
+		cv::putText(*(ui->drawnFrame()), "Tracking...", statusTextPos, cv::FONT_HERSHEY_PLAIN, 0.7, 35);
+		if (!tracker.track()) {
+			state = cross_check;
+		}
+		cv::rectangle(*(ui->drawnFrame()), tracker.getROI(), cv::Scalar{255, 0, 0}, 2);
+		break;
+
+	case cross_check:
+		cv::putText(*(ui->drawnFrame()), "Cross checking...", statusTextPos, cv::FONT_HERSHEY_PLAIN, 0.7, 35);
+		ca.analyze();
+		ca.convertContoursToBounds();
+		cv::Rect2d largest;
+		std::vector<cv::Rect> rects = ca.getBounds();
+		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*(0.75)) {
+			state = track;
+		} else {
+			frameCount++;
+			if (frameCount > 15) {
+				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;
+	}
+	ui->render();
+}
 
 int main(int argc, char** argv) {
-	Webcam webcam = 0;
-	int *lastKey = new int(0);
-	UI *ui = new UI(lastKey);
-	ContourAnalyzer ca{ui, lastKey};
-	Confidence conf{lastKey, ui, 6};
-
 	while (true) {
 		webcam.update();
 		cv::Mat frame = webcam.getFrame();
 		ui->setOriginalFrame(frame);
 
-
 		*lastKey = cv::waitKey(33);
-		if (*lastKey != 255) {
+		if (*lastKey > 0) {
 			std::cout << "key pressed: " << *lastKey << std::endl;
 			if (*lastKey == 27) {
 				break;
 			}
 		}
-
+		run();
-
+		*lastKey = -1;
-		ca.analyze();
-		ca.convertContoursToBounds();
-		conf.check(ca.getBounds());
-		ui->render();
-
-		*lastKey = 255;
 	}
 
 	delete ui;