diff --git a/Src/BioTrackerPlugin.cpp b/Src/BioTrackerPlugin.cpp
index d683f9467c2435c5e9db23ac87db51cb4a6db636..12a7cc20f1815eef701739e3c4a78fd8d693682c 100644
--- a/Src/BioTrackerPlugin.cpp
+++ b/Src/BioTrackerPlugin.cpp
@@ -163,9 +163,8 @@ void BioTrackerPlugin::receiveAreaDescriptor(IModelAreaDescriptor* areaDescr)
Q_EMIT emitAreaDescriptorUpdate(areaDescr);
}
-void BioTrackerPlugin::receiveCurrentFrameFromMainApp(
- std::shared_ptr<cv::Mat> mat,
- uint frameNumber)
+void BioTrackerPlugin::receiveCurrentFrameFromMainApp(cv::Mat mat,
+ uint frameNumber)
{
qobject_cast<ControllerTrackingAlgorithm*>(m_TrackerController)
->doTracking(mat, frameNumber);
diff --git a/Src/BioTrackerPlugin.h b/Src/BioTrackerPlugin.h
index e194e8d679d86d20c84172c490542cd6d868d499..847b0470e17e39c332dfdfaf2c4c03474e5496ff 100644
--- a/Src/BioTrackerPlugin.h
+++ b/Src/BioTrackerPlugin.h
@@ -34,7 +34,7 @@ public:
private:
void connectInterfaces();
signals:
- void emitCvMat(std::shared_ptr<cv::Mat> mat, QString name);
+ void emitCvMat(cv::Mat mat, QString name);
void emitTrackingDone(uint framenumber);
void emitChangeDisplayImage(QString str);
void emitAreaDescriptorUpdate(IModelAreaDescriptor* areaDescr);
@@ -69,8 +69,7 @@ public slots:
void receiveCurrentFrameNumberFromMainApp(uint frameNumber);
public slots:
- void receiveCurrentFrameFromMainApp(std::shared_ptr<cv::Mat> mat,
- uint frameNumber);
+ void receiveCurrentFrameFromMainApp(cv::Mat mat, uint frameNumber);
void receiveAreaDescriptor(IModelAreaDescriptor* areaDescr);
private:
diff --git a/Src/Controller/ControllerTrackingAlgorithm.cpp b/Src/Controller/ControllerTrackingAlgorithm.cpp
index 555a7f64b65b82bca023294b034bc2461d8be3e8..a3681018db366bcffd5295742efac93bdc64a7d6 100644
--- a/Src/Controller/ControllerTrackingAlgorithm.cpp
+++ b/Src/Controller/ControllerTrackingAlgorithm.cpp
@@ -24,8 +24,7 @@ void ControllerTrackingAlgorithm::connectControllerToController()
m_TrackedTrajectoryMajor = ctrComponent->getModel();
}
-void ControllerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> mat,
- uint number)
+void ControllerTrackingAlgorithm::doTracking(cv::Mat mat, uint number)
{
qobject_cast<BioTrackerTrackingAlgorithm*>(m_Model)->doTracking(mat,
number);
diff --git a/Src/Controller/ControllerTrackingAlgorithm.h b/Src/Controller/ControllerTrackingAlgorithm.h
index 9f8af37d6595ed20035629b59183e3ff207fd49d..eeb75a4e543ec827561fbe3a4aa176144a126428 100644
--- a/Src/Controller/ControllerTrackingAlgorithm.h
+++ b/Src/Controller/ControllerTrackingAlgorithm.h
@@ -28,7 +28,7 @@ public:
public:
void connectControllerToController() override;
- void doTracking(std::shared_ptr<cv::Mat> mat, uint number);
+ void doTracking(cv::Mat mat, uint number);
IView* getTrackingParameterWidget();
@@ -41,7 +41,7 @@ protected:
void connectModelToController() override;
Q_SIGNALS:
- void emitCvMat(std::shared_ptr<cv::Mat> mat, QString name);
+ void emitCvMat(cv::Mat mat, QString name);
void emitTrackingDone(uint framenumber);
void emitChangeDisplayImage(QString str);
void emitAreaDescriptorUpdate(IModelAreaDescriptor* areaDescr);
diff --git a/Src/Model/BioTrackerTrackingAlgorithm.cpp b/Src/Model/BioTrackerTrackingAlgorithm.cpp
index 094b2c20ab1b508c9caa3b23092ec7507ca21615..8b771a87aa290f9a2b04d6d0009d6b0cd4f75e85 100644
--- a/Src/Model/BioTrackerTrackingAlgorithm.cpp
+++ b/Src/Model/BioTrackerTrackingAlgorithm.cpp
@@ -1,274 +1,269 @@
-#include "BioTrackerTrackingAlgorithm.h"
-#include <future>
-#include "TrackedComponents/TrackedComponentFactory.h"
-#include <chrono>
-
-BioTrackerTrackingAlgorithm::BioTrackerTrackingAlgorithm(IController* parent,
- IModel* parameter,
- IModel* trajectory)
-: IModelTrackingAlgorithm(parent)
-, _ipp((TrackerParameter*) parameter)
-{
- _cfg = static_cast<ControllerTrackingAlgorithm*>(parent)->getConfig();
- _TrackingParameter = (TrackerParameter*) parameter;
- _TrackedTrajectoryMajor = (BST::TrackedTrajectory*) trajectory;
- _nn2d = std::make_shared<NN2dMapper>(_TrackedTrajectoryMajor);
-
- _bd = BlobsDetector();
-
- _noFish = -1;
-
- if (_cfg->DoNetwork) {
- _listener = new TcpListener(this);
- _listener->listen(QHostAddress::Any, _cfg->NetworkPort);
- QObject::connect(_listener,
- SIGNAL(newConnection()),
- _listener,
- SLOT(acceptConnection()));
- }
-
- _lastImage = nullptr;
- _lastFramenumber = -1;
-}
-
-void BioTrackerTrackingAlgorithm::receiveAreaDescriptorUpdate(
- IModelAreaDescriptor* areaDescr)
-{
- _AreaInfo = areaDescr;
- _bd.setAreaInfo(_AreaInfo);
-}
-
-BioTrackerTrackingAlgorithm::~BioTrackerTrackingAlgorithm()
-{
-}
-
-std::vector<FishPose> BioTrackerTrackingAlgorithm::getLastPositionsAsPose()
-{
- // TODO: This seems kinda fragile: I just assume that the tree has this
- // very certain structure:
- // Trajectory -> M Trajectories -> N TrackedElements
- // For every of M Trajectories grab the last (highest index) of
- // TrackedElements.
- // TODO: If we are tracking somewhere in the middle, this is bad. Do it by
- // id!
- std::vector<FishPose> last;
- for (int i = 0; i < _TrackedTrajectoryMajor->size(); i++) {
- BST::TrackedTrajectory* t = dynamic_cast<BST::TrackedTrajectory*>(
- _TrackedTrajectoryMajor->getChild(i));
- if (t && t->getValid() && !t->getFixed()) {
- BST::TrackedElement* e = (BST::TrackedElement*) t->getLastChild();
- last.push_back(e->getFishPose());
- }
- }
- return last;
-}
-
-void BioTrackerTrackingAlgorithm::refreshPolygon()
-{
-}
-
-void BioTrackerTrackingAlgorithm::receiveParametersChanged()
-{
- if (_lastFramenumber >= 0 && _lastImage && !_lastImage->empty()) {
- doTracking(_lastImage, _lastFramenumber);
- }
-}
-
-void BioTrackerTrackingAlgorithm::sendSelectedImage(
- std::map<std::string, std::shared_ptr<cv::Mat>>* images)
-{
-
- std::shared_ptr<cv::Mat> sendImage;
- // Send forth whatever the user selected
- switch (_TrackingParameter->getSendImage()) {
- case 0: // Send none
- Q_EMIT emitChangeDisplayImage("Original");
- break;
- case 1:
- sendImage = images->find(std::string("Background"))->second;
- Q_EMIT emitCvMatA(sendImage, QString("Background"));
- Q_EMIT emitChangeDisplayImage(QString("Background"));
- break;
- case 2:
- sendImage = images->find(std::string("Foreground Mask"))->second;
- Q_EMIT emitCvMatA(sendImage, QString("Foreground Mask"));
- Q_EMIT emitChangeDisplayImage(QString("Foreground Mask"));
- break;
- case 3:
- sendImage = images->find(std::string("Opened Mask"))->second;
- Q_EMIT emitCvMatA(sendImage, QString("Opened Mask"));
- Q_EMIT emitChangeDisplayImage(QString("Opened Mask"));
- break;
- case 4:
- sendImage = images->find(std::string("Closed Mask"))->second;
- Q_EMIT emitCvMatA(sendImage, QString("Closed Mask"));
- Q_EMIT emitChangeDisplayImage(QString("Closed Mask"));
- break;
- case 5:
- sendImage = images->find(std::string("Masked Greyscale"))->second;
- Q_EMIT emitCvMatA(sendImage, QString("Masked Greyscale"));
- Q_EMIT emitChangeDisplayImage(QString("Masked Greyscale"));
- break;
- }
-}
-
-std::vector<BlobPose> BioTrackerTrackingAlgorithm::getContourCentroids(
- cv::Mat image)
-{
-
- std::vector<std::vector<cv::Point>> contours;
- std::vector<cv::Vec4i> hierarchy;
- std::vector<BlobPose> centroids;
-
- cv::findContours(image,
- contours,
- hierarchy,
- cv::RETR_TREE,
- cv::CHAIN_APPROX_SIMPLE,
- cv::Point(0, 0));
-
- for (auto x : contours) {
- cv::Point2f c(0, 0);
- float i = 0;
- for (auto y : x) {
- c += cv::Point2f(y);
- i++;
- }
- c.x = c.x / i;
- c.y = c.y / i;
-
- // cv::RotatedRect minEllipse;
- cv::RotatedRect bb = minAreaRect(x);
-
- // check if blob is in tracking area --> this can be optimized by
- // checking earlier (only search blobs in tracking area)
- if (!_AreaInfo->inTrackingArea(c)) {
- continue;
- }
-
- BlobPose bc(_AreaInfo->pxToCm(c),
- c,
- bb.angle,
- bb.size.width,
- bb.size.height);
-
- centroids.push_back(bc);
- }
-
- return centroids;
-}
-
-void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image,
- uint framenumber)
-{
- _ipp.m_TrackingParameter = _TrackingParameter;
- _lastImage = p_image;
- _lastFramenumber = framenumber;
-
- // dont do nothing if we ain't got an image
- if (p_image->empty()) {
- return;
- }
-
- if (_imageX != p_image->size().width ||
- _imageY != p_image->size().height) {
- _imageX = p_image->size().width;
- _imageY = p_image->size().height;
- Q_EMIT emitDimensionUpdate(_imageX, _imageY);
- }
-
- std::chrono::system_clock::time_point start =
- std::chrono::system_clock::now();
-
- // Refuse to run tracking if we have no area info...
- if (_AreaInfo == nullptr) {
- Q_EMIT emitTrackingDone(framenumber);
- return;
- }
-
- // The user changed the # of fish. Reset the history and start over!
- if (_noFish != _TrackedTrajectoryMajor->validCount()) {
- _noFish = _TrackedTrajectoryMajor->validCount();
- _nn2d = std::make_shared<NN2dMapper>(_TrackedTrajectoryMajor);
- }
-
- if (_TrackingParameter->getResetBackground()) {
- _TrackingParameter->setResetBackground(false);
- _ipp.resetBackgroundImage();
- }
-
- // Do the preprocessing
- std::map<std::string, std::shared_ptr<cv::Mat>> images = _ipp.preProcess(
- p_image);
- std::shared_ptr<cv::Mat> mask =
- images.find(std::string("Closed Mask"))->second;
- std::shared_ptr<cv::Mat> greyMat =
- images.find(std::string("Greyscale"))->second;
-
- // Find blobs via ellipsefitting
- _bd.setMaxBlobSize(_TrackingParameter->getMaxBlobSize());
- _bd.setMinBlobSize(_TrackingParameter->getMinBlobSize());
-
- auto foo = *images.find(std::string("Masked Greyscale"))->second;
-
- std::vector<std::vector<cv::Point>> contours;
- std::vector<cv::Vec4i> hierarchy;
- cv::findContours(foo,
- contours,
- hierarchy,
- cv::RETR_TREE,
- cv::CHAIN_APPROX_SIMPLE,
- cv::Point(0, 0));
-
- for (size_t i = 0; i < contours.size(); i++) {
- drawContours(foo, contours, (int) i, cv::Scalar(255));
- }
-
- std::vector<BlobPose> blobs = getContourCentroids(*mask);
-
- // Never switch the position of the trajectories. The NN2d mapper relies on
- // this! If you mess up the order, add or remove some t, then create a new
- // mapper.
- std::vector<FishPose> fish = getLastPositionsAsPose();
-
- // Find new positions using 2D nearest neighbor
- std::tuple<std::vector<FishPose>, std::vector<float>> poses =
- _nn2d->getNewPoses(_TrackedTrajectoryMajor, framenumber, blobs);
-
- // Insert new poses into data structure
- int trajNumber = 0;
- for (int i = 0; i < _TrackedTrajectoryMajor->size(); i++) {
- BST::TrackedTrajectory* t = dynamic_cast<BST::TrackedTrajectory*>(
- _TrackedTrajectoryMajor->getChild(i));
- if (t && t->getValid() && !t->getFixed()) {
- BST::TrackedElement* e = new BST::TrackedElement(t,
- "n.a.",
- t->getId());
-
- e->setFishPose(std::get<0>(poses)[trajNumber]);
- e->setTime(start);
- t->add(e, framenumber);
- trajNumber++;
- }
- }
-
- // Send forth new positions to the robotracker, if networking is enabled
- if (_TrackingParameter->getDoNetwork()) {
- std::vector<FishPose> ps = std::get<0>(poses);
- _listener->sendPositions(framenumber,
- ps,
- std::vector<cv::Point2f>(),
- start);
- }
-
- sendSelectedImage(&images);
-
- // First the user still wants to see the original image, right?
- if (framenumber == 1) {
- Q_EMIT emitChangeDisplayImage("Original");
- }
-
- std::string newSel = _TrackingParameter->getNewSelection();
-
- Q_EMIT emitTrackingDone(framenumber);
-}
+#include "BioTrackerTrackingAlgorithm.h"
+#include <future>
+#include "TrackedComponents/TrackedComponentFactory.h"
+#include <chrono>
+
+#include <tuple>
+#include <optional>
+
+BioTrackerTrackingAlgorithm::BioTrackerTrackingAlgorithm(IController* parent,
+ IModel* parameter,
+ IModel* trajectory)
+: IModelTrackingAlgorithm(parent)
+, _ipp((TrackerParameter*) parameter)
+, _lastImage(std::nullopt)
+{
+ _cfg = static_cast<ControllerTrackingAlgorithm*>(parent)->getConfig();
+ _TrackingParameter = (TrackerParameter*) parameter;
+ _TrackedTrajectoryMajor = (BST::TrackedTrajectory*) trajectory;
+ _nn2d = std::make_shared<NN2dMapper>(_TrackedTrajectoryMajor);
+
+ _bd = BlobsDetector();
+
+ _noFish = -1;
+
+ if (_cfg->DoNetwork) {
+ _listener = new TcpListener(this);
+ _listener->listen(QHostAddress::Any, _cfg->NetworkPort);
+ QObject::connect(_listener,
+ SIGNAL(newConnection()),
+ _listener,
+ SLOT(acceptConnection()));
+ }
+
+ _lastFramenumber = -1;
+}
+
+void BioTrackerTrackingAlgorithm::receiveAreaDescriptorUpdate(
+ IModelAreaDescriptor* areaDescr)
+{
+ _AreaInfo = areaDescr;
+ _bd.setAreaInfo(_AreaInfo);
+}
+
+BioTrackerTrackingAlgorithm::~BioTrackerTrackingAlgorithm()
+{
+}
+
+std::vector<FishPose> BioTrackerTrackingAlgorithm::getLastPositionsAsPose()
+{
+ // TODO: This seems kinda fragile: I just assume that the tree has this
+ // very certain structure:
+ // Trajectory -> M Trajectories -> N TrackedElements
+ // For every of M Trajectories grab the last (highest index) of
+ // TrackedElements.
+ // TODO: If we are tracking somewhere in the middle, this is bad. Do it by
+ // id!
+ std::vector<FishPose> last;
+ for (int i = 0; i < _TrackedTrajectoryMajor->size(); i++) {
+ BST::TrackedTrajectory* t = dynamic_cast<BST::TrackedTrajectory*>(
+ _TrackedTrajectoryMajor->getChild(i));
+ if (t && t->getValid() && !t->getFixed()) {
+ BST::TrackedElement* e = (BST::TrackedElement*) t->getLastChild();
+ last.push_back(e->getFishPose());
+ }
+ }
+ return last;
+}
+
+void BioTrackerTrackingAlgorithm::refreshPolygon()
+{
+}
+
+void BioTrackerTrackingAlgorithm::receiveParametersChanged()
+{
+ if (_lastFramenumber >= 0 && _lastImage && !_lastImage->empty()) {
+ doTracking(*_lastImage, _lastFramenumber);
+ }
+}
+
+void BioTrackerTrackingAlgorithm::sendSelectedImage(
+ QMap<QString, cv::Mat> images)
+{
+ auto index = _TrackingParameter->getSendImage();
+ auto name = [&]() -> QString {
+ switch (index) {
+ case 0:
+ return "Original";
+ case 1:
+ return "Background";
+ case 2:
+ return "Foreground Mask";
+ case 3:
+ return "Opened Mask";
+ case 4:
+ return "Closed Mask";
+ case 5:
+ return "Masked Greyscale";
+ default:
+ return "";
+ }
+ }();
+
+ if (name.isEmpty()) {
+ qCritical() << "Invalid tracking image";
+ return;
+ }
+
+ if (index != 0) {
+ emit emitCvMatA(*images.find(name), name);
+ }
+
+ emit emitChangeDisplayImage(name);
+}
+
+std::vector<BlobPose> BioTrackerTrackingAlgorithm::getContourCentroids(
+ cv::Mat image)
+{
+
+ std::vector<std::vector<cv::Point>> contours;
+ std::vector<cv::Vec4i> hierarchy;
+ std::vector<BlobPose> centroids;
+
+ cv::findContours(image,
+ contours,
+ hierarchy,
+ cv::RETR_TREE,
+ cv::CHAIN_APPROX_SIMPLE,
+ cv::Point(0, 0));
+
+ for (auto x : contours) {
+ cv::Point2f c(0, 0);
+ float i = 0;
+ for (auto y : x) {
+ c += cv::Point2f(y);
+ i++;
+ }
+ c.x = c.x / i;
+ c.y = c.y / i;
+
+ // cv::RotatedRect minEllipse;
+ cv::RotatedRect bb = minAreaRect(x);
+
+ // check if blob is in tracking area --> this can be optimized by
+ // checking earlier (only search blobs in tracking area)
+ if (!_AreaInfo->inTrackingArea(c)) {
+ continue;
+ }
+
+ BlobPose bc(_AreaInfo->pxToCm(c),
+ c,
+ bb.angle,
+ bb.size.width,
+ bb.size.height);
+
+ centroids.push_back(bc);
+ }
+
+ return centroids;
+}
+
+void BioTrackerTrackingAlgorithm::doTracking(cv::Mat image, uint framenumber)
+{
+ _ipp.m_TrackingParameter = _TrackingParameter;
+ _lastImage = image;
+ _lastFramenumber = framenumber;
+
+ // dont do nothing if we ain't got an image
+ if (image.empty()) {
+ return;
+ }
+
+ if (_imageX != image.size().width || _imageY != image.size().height) {
+ _imageX = image.size().width;
+ _imageY = image.size().height;
+ Q_EMIT emitDimensionUpdate(_imageX, _imageY);
+ }
+
+ std::chrono::system_clock::time_point start =
+ std::chrono::system_clock::now();
+
+ // Refuse to run tracking if we have no area info...
+ if (_AreaInfo == nullptr) {
+ Q_EMIT emitTrackingDone(framenumber);
+ return;
+ }
+
+ // The user changed the # of fish. Reset the history and start over!
+ if (_noFish != _TrackedTrajectoryMajor->validCount()) {
+ _noFish = _TrackedTrajectoryMajor->validCount();
+ _nn2d = std::make_shared<NN2dMapper>(_TrackedTrajectoryMajor);
+ }
+
+ if (_TrackingParameter->getResetBackground()) {
+ _TrackingParameter->setResetBackground(false);
+ _ipp.resetBackgroundImage();
+ }
+
+ // Do the preprocessing
+ auto images = _ipp.preProcess(image);
+ cv::Mat mask = *images.find("Closed Mask");
+ cv::Mat greyMat = *images.find("Greyscale");
+
+ // Find blobs via ellipsefitting
+ _bd.setMaxBlobSize(_TrackingParameter->getMaxBlobSize());
+ _bd.setMinBlobSize(_TrackingParameter->getMinBlobSize());
+
+ auto foo = *images.find("Masked Greyscale");
+
+ std::vector<std::vector<cv::Point>> contours;
+ std::vector<cv::Vec4i> hierarchy;
+ cv::findContours(foo,
+ contours,
+ hierarchy,
+ cv::RETR_TREE,
+ cv::CHAIN_APPROX_SIMPLE,
+ cv::Point(0, 0));
+
+ for (size_t i = 0; i < contours.size(); i++) {
+ drawContours(foo, contours, (int) i, cv::Scalar(255));
+ }
+
+ std::vector<BlobPose> blobs = getContourCentroids(mask);
+
+ // Never switch the position of the trajectories. The NN2d mapper relies on
+ // this! If you mess up the order, add or remove some t, then create a new
+ // mapper.
+ std::vector<FishPose> fish = getLastPositionsAsPose();
+
+ // Find new positions using 2D nearest neighbor
+ std::tuple<std::vector<FishPose>, std::vector<float>> poses =
+ _nn2d->getNewPoses(_TrackedTrajectoryMajor, framenumber, blobs);
+
+ // Insert new poses into data structure
+ int trajNumber = 0;
+ for (int i = 0; i < _TrackedTrajectoryMajor->size(); i++) {
+ BST::TrackedTrajectory* t = dynamic_cast<BST::TrackedTrajectory*>(
+ _TrackedTrajectoryMajor->getChild(i));
+ if (t && t->getValid() && !t->getFixed()) {
+ BST::TrackedElement* e = new BST::TrackedElement(t,
+ "n.a.",
+ t->getId());
+
+ e->setFishPose(std::get<0>(poses)[trajNumber]);
+ e->setTime(start);
+ t->add(e, framenumber);
+ trajNumber++;
+ }
+ }
+
+ // Send forth new positions to the robotracker, if networking is enabled
+ if (_TrackingParameter->getDoNetwork()) {
+ std::vector<FishPose> ps = std::get<0>(poses);
+ _listener->sendPositions(framenumber,
+ ps,
+ std::vector<cv::Point2f>(),
+ start);
+ }
+
+ sendSelectedImage(images);
+
+ // First the user still wants to see the original image, right?
+ if (framenumber == 1) {
+ Q_EMIT emitChangeDisplayImage("Original");
+ }
+
+ std::string newSel = _TrackingParameter->getNewSelection();
+
+ Q_EMIT emitTrackingDone(framenumber);
+}
diff --git a/Src/Model/BioTrackerTrackingAlgorithm.h b/Src/Model/BioTrackerTrackingAlgorithm.h
index 4fb104220d7215ceb718af6a592b6cc4e9a19286..4b916ca077674f1fd62cd89f23f6b6c066adbd18 100644
--- a/Src/Model/BioTrackerTrackingAlgorithm.h
+++ b/Src/Model/BioTrackerTrackingAlgorithm.h
@@ -1,73 +1,76 @@
-#ifndef BIOTRACKERTRACKINGALGORITHM_H
-#define BIOTRACKERTRACKINGALGORITHM_H
-
-#include "Interfaces/IModel/IModel.h"
-
-#include "TrackerParameter.h"
-
-#include <opencv2/opencv.hpp>
-#include "Interfaces/IModel/IModelTrackingAlgorithm.h"
-#include "Interfaces/IModel/IModelDataExporter.h"
-#include "TrackedComponents/TrackedElement.h"
-#include "TrackedComponents/TrackedTrajectory.h"
-#include "TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.h"
-#include "TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.h"
-#include "../Controller/ControllerTrackingAlgorithm.h"
-#include "TrackingAlgorithm/NN2dMapper.h"
-#include "Interfaces/IModel/IModelAreaDescriptor.h"
-#include <iostream>
-
-#include "Network/TcpListener.h"
-#include "../Config.h"
-
-class BioTrackerTrackingAlgorithm : public IModelTrackingAlgorithm
-{
- Q_OBJECT
-public:
- BioTrackerTrackingAlgorithm(IController* parent,
- IModel* parameter,
- IModel* trajectory);
- ~BioTrackerTrackingAlgorithm();
-
-Q_SIGNALS:
- void emitCvMatA(std::shared_ptr<cv::Mat> image, QString name);
- void emitDimensionUpdate(int x, int y);
- void emitTrackingDone(uint framenumber);
-
- // ITrackingAlgorithm interface
-public Q_SLOTS:
- void doTracking(std::shared_ptr<cv::Mat> image, uint framenumber) override;
- void receiveAreaDescriptorUpdate(IModelAreaDescriptor* areaDescr);
- void receiveParametersChanged();
-
-private:
- std::vector<BlobPose> getContourCentroids(cv::Mat image);
- void refreshPolygon();
- void sendSelectedImage(
- std::map<std::string, std::shared_ptr<cv::Mat>>* images);
-
- std::vector<FishPose> getLastPositionsAsPose();
-
- BST::TrackedTrajectory* _TrackedTrajectoryMajor;
- TrackerParameter* _TrackingParameter;
- IModelAreaDescriptor* _AreaInfo;
-
- TcpListener* _listener;
-
- ImagePreProcessor _ipp;
- BlobsDetector _bd;
- std::shared_ptr<NN2dMapper> _nn2d;
-
- int _noFish;
-
- // std::ofstream _ofs;
-
- int _imageX;
- int _imageY;
-
- std::shared_ptr<cv::Mat> _lastImage;
- uint _lastFramenumber;
- Config* _cfg;
-};
-
-#endif // BIOTRACKERTRACKINGALGORITHM_H
+#ifndef BIOTRACKERTRACKINGALGORITHM_H
+#define BIOTRACKERTRACKINGALGORITHM_H
+
+#include "Interfaces/IModel/IModel.h"
+
+#include "TrackerParameter.h"
+
+#include <optional>
+
+#include <QMap>
+
+#include <opencv2/opencv.hpp>
+#include "Interfaces/IModel/IModelTrackingAlgorithm.h"
+#include "Interfaces/IModel/IModelDataExporter.h"
+#include "TrackedComponents/TrackedElement.h"
+#include "TrackedComponents/TrackedTrajectory.h"
+#include "TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.h"
+#include "TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.h"
+#include "../Controller/ControllerTrackingAlgorithm.h"
+#include "TrackingAlgorithm/NN2dMapper.h"
+#include "Interfaces/IModel/IModelAreaDescriptor.h"
+#include <iostream>
+
+#include "Network/TcpListener.h"
+#include "../Config.h"
+
+class BioTrackerTrackingAlgorithm : public IModelTrackingAlgorithm
+{
+ Q_OBJECT
+public:
+ BioTrackerTrackingAlgorithm(IController* parent,
+ IModel* parameter,
+ IModel* trajectory);
+ ~BioTrackerTrackingAlgorithm();
+
+Q_SIGNALS:
+ void emitCvMatA(cv::Mat image, QString name);
+ void emitDimensionUpdate(int x, int y);
+ void emitTrackingDone(uint framenumber);
+
+ // ITrackingAlgorithm interface
+public Q_SLOTS:
+ void doTracking(cv::Mat image, uint framenumber) override;
+ void receiveAreaDescriptorUpdate(IModelAreaDescriptor* areaDescr);
+ void receiveParametersChanged();
+
+private:
+ std::vector<BlobPose> getContourCentroids(cv::Mat image);
+ void refreshPolygon();
+ void sendSelectedImage(QMap<QString, cv::Mat> images);
+
+ std::vector<FishPose> getLastPositionsAsPose();
+
+ BST::TrackedTrajectory* _TrackedTrajectoryMajor;
+ TrackerParameter* _TrackingParameter;
+ IModelAreaDescriptor* _AreaInfo;
+
+ TcpListener* _listener;
+
+ ImagePreProcessor _ipp;
+ BlobsDetector _bd;
+ std::shared_ptr<NN2dMapper> _nn2d;
+
+ int _noFish;
+
+ // std::ofstream _ofs;
+
+ int _imageX;
+ int _imageY;
+
+ std::optional<cv::Mat> _lastImage;
+ uint _lastFramenumber;
+ Config* _cfg;
+};
+
+#endif // BIOTRACKERTRACKINGALGORITHM_H
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp
index 2a61ac8266a9e20352cbb906b9a2cdaf113c4f66..598f40420959ffa15c17fcb34e28c3219c404462 100644
--- a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp
+++ b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp
@@ -32,8 +32,8 @@ void ImagePreProcessor::init()
qFatal("Unsupported background subtraction algorithm");
}
- m_backgroundImage = std::make_shared<cv::Mat>();
- m_foregroundMask = std::make_shared<cv::Mat>();
+ m_backgroundImage = cv::Mat();
+ m_foregroundMask = cv::Mat();
_backgroundSubtractionEnabled = true;
_backgroundEnabled = true;
@@ -96,56 +96,43 @@ cv::Mat ImagePreProcessor::backgroundSubtraction(cv::Mat& image)
cv::Mat fgmask;
m_subtractor->apply(image, fgmask, m_TrackingParameter->getLearningRate());
- m_subtractor->getBackgroundImage(*m_backgroundImage);
+ m_subtractor->getBackgroundImage(m_backgroundImage);
return fgmask;
}
-std::map<std::string, std::shared_ptr<cv::Mat>> ImagePreProcessor::preProcess(
- std::shared_ptr<cv::Mat> p_image)
+QMap<QString, cv::Mat> ImagePreProcessor::preProcess(cv::Mat image)
{
- std::shared_ptr<cv::Mat> greyMat = std::make_shared<cv::Mat>();
- std::shared_ptr<cv::Mat> openedMask = std::make_shared<cv::Mat>();
- std::shared_ptr<cv::Mat> closedMask = std::make_shared<cv::Mat>();
+ cv::Mat greyMat;
+ cv::Mat openedMask;
+ cv::Mat closedMask;
- std::shared_ptr<cv::Mat> maskedGrey = std::make_shared<cv::Mat>();
+ cv::Mat maskedGrey;
- cv::cvtColor(*p_image, *greyMat, cv::COLOR_BGR2GRAY);
+ cv::cvtColor(image, greyMat, cv::COLOR_BGR2GRAY);
// 1. step: do the background subtraction
- *m_foregroundMask = backgroundSubtraction(*greyMat);
+ m_foregroundMask = backgroundSubtraction(greyMat);
// 2. step: open the mask
- *openedMask = dilate(
- erode(*m_foregroundMask, m_TrackingParameter->getOpeningErosionSize()),
+ openedMask = dilate(
+ erode(m_foregroundMask, m_TrackingParameter->getOpeningErosionSize()),
m_TrackingParameter->getOpeningDilationSize());
// 3. step: close the image
- *closedMask = erode(
- dilate(*openedMask, m_TrackingParameter->getClosingDilationSize()),
+ closedMask = erode(
+ dilate(openedMask, m_TrackingParameter->getClosingDilationSize()),
m_TrackingParameter->getClosingErosionSize());
// 4. step: masked greyscale image
- greyMat->copyTo(*maskedGrey, *closedMask);
-
- std::map<std::string, std::shared_ptr<cv::Mat>> all;
- all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(
- std::string("Greyscale"),
- greyMat));
- all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(
- std::string("Background"),
- m_backgroundImage));
- all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(
- std::string("Foreground Mask"),
- m_foregroundMask));
- all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(
- std::string("Opened Mask"),
- openedMask));
- all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(
- std::string("Closed Mask"),
- closedMask));
- all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(
- std::string("Masked Greyscale"),
- maskedGrey));
+ greyMat.copyTo(maskedGrey, closedMask);
+
+ QMap<QString, cv::Mat> all;
+ all.insert("Greyscale", greyMat);
+ all.insert("Background", m_backgroundImage);
+ all.insert("Foreground Mask", m_foregroundMask);
+ all.insert("Opened Mask", openedMask);
+ all.insert("Closed Mask", closedMask);
+ all.insert("Masked Greyscale", maskedGrey);
return all;
}
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.h b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.h
index 0acbcc4c4733142741cd514e826084541814ecbc..7773edd4622424576c10d39af5886c2e58f0e9d7 100644
--- a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.h
+++ b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.h
@@ -1,6 +1,7 @@
#pragma once
#include <QSettings>
+#include <QMap>
#include <opencv2/opencv.hpp>
@@ -59,8 +60,7 @@ public:
* @param: image, image to process,
* @return: a pre-process image.
*/
- std::map<std::string, std::shared_ptr<cv::Mat>> preProcess(
- std::shared_ptr<cv::Mat> p_image);
+ QMap<QString, cv::Mat> preProcess(cv::Mat p_image);
/**
* The method updates the image background.
@@ -72,8 +72,8 @@ public:
private:
cv::Mat _outputImage;
- std::shared_ptr<cv::Mat> m_backgroundImage;
- std::shared_ptr<cv::Mat> m_foregroundMask;
+ cv::Mat m_backgroundImage;
+ cv::Mat m_foregroundMask;
// parameters for image pre-processing
bool _backgroundSubtractionEnabled;