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tuning; better tracking; began on distance calc;

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This commit is contained in:
Harrison Deng 2018-05-08 13:39:15 -05:00
parent 4f98c2187a
commit 8c413c5adb
11 changed files with 225 additions and 42 deletions
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4
src/Rectangle/BoundTracker.cpp
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@ -31,6 +31,10 @@ bool BoundTracker::track() {
}
}
void BoundTracker::setROI(cv::Rect2d roi) {
BoundTracker::roi = roi;
}
cv::Rect2d BoundTracker::getROI() const {
return roi;
}

1
src/Rectangle/BoundTracker.h
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@ -17,6 +17,7 @@ public:
BoundTracker(int *lastKey, UI *ui);
void init(cv::Rect2d roi);
bool track();
void setROI(cv::Rect2d roi);
cv::Rect2d getROI() const;
virtual ~BoundTracker();
};

7
src/Rectangle/Confidence.cpp
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@ -1,9 +1,10 @@
#include "Confidence.h"
Confidence::Confidence(int *lastKey, UI *ui, unsigned validityLength) {
Confidence::Confidence(int *lastKey, UI *ui, unsigned validityLength, float similarity) {
queueLength = validityLength;
Confidence::lastKey = lastKey;
Confidence::ui = ui;
Confidence::similarity = similarity;
}
bool Confidence::check(std::vector<cv::Rect> bounds) {
@ -29,7 +30,7 @@ bool Confidence::check(std::vector<cv::Rect> bounds) {
}
for (unsigned frameRectID = 0; frameRectID < confidenceQueue[frameID].size(); frameRectID++) {
cv::Rect previous = confidenceQueue[frameID][frameRectID];
if ((current & previous).area() < minimumDifference*(current.area())) {
if ((current & previous).area() < similarity*(current.area())) {
consistent = false;
break;
}
@ -47,6 +48,8 @@ bool Confidence::check(std::vector<cv::Rect> bounds) {
if (drawBounds) {
drawBoundsOnMat(*(ui->drawnFrame()));
cv::putText(*(ui->drawnFrame()), "Showing confident rectangles.",
cv::Point{5, 45}, cv::FONT_HERSHEY_PLAIN, 0.8, boundColor);
}
// std::cout << confident.size() << std::endl;

4
src/Rectangle/Confidence.h
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@ -6,7 +6,7 @@
#include "../UI.h"
class Confidence {
float minimumDifference = 0.76;
float similarity;
unsigned queueLength = 0;
int *lastKey;
UI *ui;
@ -17,7 +17,7 @@ public:
std::deque<std::vector<cv::Rect>> confidenceQueue;
std::vector<cv::Rect> confident;
Confidence(int *lastKey, UI *ui, unsigned history = 5);
Confidence(int *lastKey, UI *ui, unsigned history = 5, float similarity = 0.75);
bool check(std::vector<cv::Rect> contours);
std::vector<cv::Rect> rectangleBounds() const;
void drawBoundsOnMat(cv::Mat &mat);

51
src/Rectangle/ContourAnalyzer.cpp
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@ -10,18 +10,7 @@ ContourAnalyzer::ContourAnalyzer(UI *ui, int *lastKey) {
}
void ContourAnalyzer::analyze() {
prunedContours.clear();
if (*lastKey == 99) {
cannyRec = !cannyRec;
} else if (*lastKey == 118) {
drawContours = !drawContours;
}
minSize = ui->getWidth()*ui->getHeight()*(minSizeScale/(float)10000);
if (cannyRec) {
cannyUpper = std::min(3*cannyLower, 255);
cv::setTrackbarPos("Can. Upper", UI::DEBUG_WINDOW, cannyUpper);
}
preAnalyze();
cv::cvtColor(*(ui->currentFrame(-1)), *(ui->nextFrame()), cv::COLOR_BGR2GRAY);
cv::GaussianBlur(*(ui->currentFrame(-1)), *(ui->nextFrame()), cv::Size(5, 5), 0);
@ -29,7 +18,30 @@ void ContourAnalyzer::analyze() {
cv::Canny(*(ui->currentFrame(-1)), *(ui->nextFrame()), cannyLower, cannyUpper);
cv::findContours(*(ui->currentFrame()), contours, cv::RETR_LIST, cv::CHAIN_APPROX_SIMPLE);
removeRedundancy();
if (drawContours) {
drawContoursOntoMat(*(ui->drawnFrame()));
cv::putText(*(ui->drawnFrame()), "Showing possible triangles rectangles.",
cv::Point{5, 30}, cv::FONT_HERSHEY_PLAIN, 0.8, selectColor);
}
}
void ContourAnalyzer::analyze(cv::Rect rect) {
preAnalyze();
cv::Mat frame;
ui->getOriginalFrame().copyTo(frame);
cv::Mat cropped = frame(rect);
cv::cvtColor(cropped, cropped, cv::COLOR_BGR2GRAY);
cv::GaussianBlur(cropped, cropped, cv::Size(5, 5), 0);
cv::threshold(cropped, cropped, binLower, 255, cv::THRESH_BINARY);
cv::Canny(cropped, cropped, cannyLower, cannyUpper);
cv::findContours(cropped, contours, cv::RETR_LIST, cv::CHAIN_APPROX_SIMPLE);
removeRedundancy();
}
void ContourAnalyzer::removeRedundancy() {
for (unsigned i = 0; i < contours.size(); i++) {
if ((cv::contourArea(contours[i]) > minSize) && (cv::contourArea(contours[i]) < (ui->currentFrame(0)->cols * ui->currentFrame(0)->rows) -25)) {
double perimeter = cv::arcLength(contours[i], true);
@ -62,9 +74,20 @@ void ContourAnalyzer::analyze() {
}
}
}
if (drawContours) {
drawContoursOntoMat(*(ui->drawnFrame()));
void ContourAnalyzer::preAnalyze() {
prunedContours.clear();
if (*lastKey == 99) {
cannyRec = !cannyRec;
} else if (*lastKey == 118) {
drawContours = !drawContours;
}
minSize = ui->getWidth()*ui->getHeight()*(minSizeScale/(float)10000);
if (cannyRec) {
cannyUpper = std::min(3*cannyLower, 255);
cv::setTrackbarPos("Can. Upper", UI::DEBUG_WINDOW, cannyUpper);
}
}

5
src/Rectangle/ContourAnalyzer.h
View File

@ -22,8 +22,10 @@ class ContourAnalyzer: public UIListener {
std::vector<std::vector<cv::Point>> prunedContours;
std::vector<cv::Rect> bounds;
void removeRedundancy();
void preAnalyze();
public:
int binLower = 52;
int binLower = 58;
int minSize = 0;
int minSizeScale = 18;
@ -37,6 +39,7 @@ public:
cv::Scalar selectColor { 0, 255, 0 };
cv::Scalar fontColor { 0, 0, 255 };
void analyze();
void analyze(cv::Rect rect);
void drawContoursOntoMat(cv::Mat &frame);
std::string contourToString(std::vector<cv::Point>);
void convertContoursToBounds();

70
src/Rectangle/Ruler.cpp Executable file
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@ -0,0 +1,70 @@
/*
* Ruler.cpp
*
* Created on: May 8, 2018
* Author: yunya
*/
#include "Ruler.h"
#include <sstream>
Ruler::Ruler(UI *ui, int *lastKey) {
Ruler::ui = ui;
Ruler::lastKey = lastKey;
focalLength = estimateFocalLength();
}
void Ruler::update(cv::Rect rect) {
focalLength = estimateFocalLength();
distance = estimateDistance(rect);
inputUpdate();
updateUI();
}
float Ruler::estimateFocalLength(int HFOV) {
return (ui->getWidth()/2.0)*(1/(std::tan(HFOV/2.0)));
}
void Ruler::updateUI() {
if (inputtingVal) {
cv::putText(*(ui->drawnFrame()), ("Given width: " << widthInCM), confTextPos, cv::FONT_HERSHEY_DUPLEX, 0.7, textFontColor + 50);
} else {
cv::putText(*(ui->drawnFrame()), ("Given width: " << widthInCM), confTextPos, cv::FONT_HERSHEY_DUPLEX, 0.7, textFontColor);
}
cv::putText(*(ui->drawnFrame()), ("distance: " << distance << "cm"), distanceTextPos, cv::FONT_HERSHEY_DUPLEX, 0.7, textFontColor);
}
void Ruler::toggleInput() {
inputtingVal = !inputtingVal;
if (!inputtingVal) {
numBuild.clear();
}
}
int Ruler::estimateDistance(cv::Rect rect) {
return (widthInCM*focalLength) / rect.width;
}
void Ruler::inputUpdate() {
if (*lastKey == 13) {
toggleInput();
}
if (inputtingVal) {
if (*lastKey >= 48 && *lastKey <= 57) {
char val = '0' + (*lastKey - 48);
numBuild.push_back(val);
}
std::string numString{numBuild.begin(), numBuild.end()};
numString >> widthInCM;
}
}
void Ruler::componentSetup() {
}
Ruler::~Ruler() {
// TODO Auto-generated destructor stub
}

41
src/Rectangle/Ruler.h Executable file
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@ -0,0 +1,41 @@
/*
* Ruler.h
*
* Created on: May 8, 2018
* Author: yunya
*/
#ifndef RECTANGLE_RULER_H_
#define RECTANGLE_RULER_H_
#include "../UI.h"
#include "../UIListener.hpp";
class Ruler: public UIListener {
cv::Point distanceTextPos {5, 60};
cv::Point confTextPos {5, 75};
cv::Scalar textFontColor {20, 20, 20};
UI *ui;
int *lastKey;
float distance = 0;
float widthInCM = 0;
float focalLength;
int HFOV = 65;
bool inputtingVal = false;
std::deque<char> numBuild;
public:
Ruler(UI *ui, int *lastKey);
float estimateFocalLength(int HFOV = Ruler::HFOV);
int estimateDistance(cv::Rect rect);
void update(cv::Rect rect);
void componentSetup();
void updateUI();
void toggleInput();
virtual ~Ruler();
private:
void inputUpdate();
};
#endif /* RECTANGLE_RULER_H_ */

10
src/UI.cpp
View File

@ -8,8 +8,9 @@ const std::string UI::NORMAL_WINDOW = "Normal";
const std::string UI::DEBUG_WINDOW = "Debug";
void UI::render() {
if (state < frames.size()) {
if (state < frames.size() -1) {
frames.resize(state + 1);
debugFrame = std::min(state, debugFrame);
}
state = 0;
cv::imshow(UI::NORMAL_WINDOW, frame);
@ -60,6 +61,7 @@ void UI::setOriginalFrame(cv::Mat frame) {
height = frame.rows;
frames[0] = frame;
frames[0].copyTo(UI::frame);
frames[0].copyTo(originalFrame);
}
cv::Mat* UI::drawnFrame() {
@ -67,14 +69,14 @@ cv::Mat* UI::drawnFrame() {
}
cv::Mat UI::getOriginalFrame() const {
return frames[0];
return originalFrame;
}
unsigned UI::getWidth() const {
int UI::getWidth() const {
return width;
}
unsigned UI::getHeight() const {
int UI::getHeight() const {
return height;
}

7
src/UI.h
View File

@ -15,10 +15,11 @@ class UI {
bool debug = false, showSlider = false;
unsigned debugFrame = 0;
int *lastKey;
unsigned width = 0, height = 0;
int width = 0, height = 0;
unsigned state = 0;
std::vector<cv::Mat> frames = {cv::Mat()};
cv::Mat frame;
cv::Mat originalFrame;
public:
static const std::string NORMAL_WINDOW;
@ -35,8 +36,8 @@ public:
cv::Mat* drawnFrame();
cv::Mat getOriginalFrame() const;
unsigned getWidth() const;
unsigned getHeight() const;
int getWidth() const;
int getHeight() const;
virtual ~UI();
};

67
src/main.cpp
View File

@ -15,17 +15,18 @@ 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};
Confidence conf { lastKey, ui, 6, 0.7};
BoundTracker tracker { lastKey, ui };
cv::Point statusTextPos {5, 15};
cv::Scalar textFontColor { 20, 20, 20};
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);
cv::putText(*(ui->drawnFrame()), "Looking for rectangle...",
statusTextPos, cv::FONT_HERSHEY_PLAIN, 0.8, textFontColor);
ca.analyze();
ca.convertContoursToBounds();
if (conf.check(ca.getBounds())) {
@ -38,21 +39,53 @@ void run() {
}
tracker.init(largest);
state = track;
}
break;
case track:
cv::putText(*(ui->drawnFrame()), "Tracking...", statusTextPos, cv::FONT_HERSHEY_PLAIN, 0.7, 35);
{
int growBy = 20;
cv::Rect scaledSearchArea;
cv::putText(*(ui->drawnFrame()), "Tracking...", statusTextPos, cv::FONT_HERSHEY_PLAIN, 0.8, textFontColor);
if (!tracker.track()) {
state = cross_check;
}
cv::rectangle(*(ui->drawnFrame()), tracker.getROI(), cv::Scalar{255, 0, 0}, 2);
break;
scaledSearchArea = tracker.getROI();
scaledSearchArea += cv::Size{growBy*2, growBy*2};
scaledSearchArea.x -= growBy;
scaledSearchArea.y -= growBy;
scaledSearchArea.x = std::max(scaledSearchArea.x, 0);
scaledSearchArea.y = std::max(scaledSearchArea.y, 0);
scaledSearchArea.x = std::min(scaledSearchArea.x, ui->getWidth()-scaledSearchArea.width -1);
scaledSearchArea.y = std::min(scaledSearchArea.y, ui->getHeight()-scaledSearchArea.height -1);
ca.analyze(scaledSearchArea);
ca.convertContoursToBounds();
if (ca.getBounds().size() > 0) {
cv::Rect largest;
for (unsigned i = 0; i < ca.getBounds().size(); i++) {
if (ca.getBounds()[i].area() > largest.area()) {
largest = ca.getBounds()[i];
}
}
largest.x += scaledSearchArea.x;
largest.y += scaledSearchArea.y;
tracker.setROI(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;
case cross_check:
cv::putText(*(ui->drawnFrame()), "Cross checking...", statusTextPos, cv::FONT_HERSHEY_PLAIN, 0.7, 35);
cv::putText(*(ui->drawnFrame()), "Cross track...", statusTextPos,
cv::FONT_HERSHEY_PLAIN, 0.8, textFontColor);
ca.analyze();
ca.convertContoursToBounds();
cv::Rect2d largest;
@ -66,20 +99,22 @@ void run() {
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)) {
if (largest.area() != 0 && (tracker.getROI() | largest).area() <= largestArea * (1.2)) {
tracker.setROI(largest);
state = track;
} else {
frameCount++;
if (frameCount > 15) {
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);
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();
}