From 88ec862f857a7790a07f7eaa5320f073be287a46 Mon Sep 17 00:00:00 2001
From: Max Breitenfeldt <git@mxbr.me>
Date: Wed, 16 Jun 2021 15:47:20 +0200
Subject: [PATCH] Remove backgroundsubtraction code
---
Src/BioTrackerPlugin.h | 1 +
Src/CMakeLists.txt | 17 -
Src/Controller/ControllerTrackingAlgorithm.h | 1 +
Src/Model/BioTrackerTrackingAlgorithm.cpp | 12 -
Src/Model/BioTrackerTrackingAlgorithm.h | 13 -
Src/Model/Network/TcpListener.cpp | 69 --
Src/Model/Network/TcpListener.h | 31 -
Src/Model/TrackedComponents/pose/FishPose.cpp | 10 +-
Src/Model/TrackedComponents/pose/FishPose.h | 7 -
Src/Model/TrackerParameter.h | 1 -
Src/Model/TrackingAlgorithm/NN2dMapper.cpp | 326 -------
Src/Model/TrackingAlgorithm/NN2dMapper.h | 35 -
Src/Model/TrackingAlgorithm/ParamNames.h | 86 --
.../imageProcessor/cvblobs/BlobContour.cpp | 260 ------
.../imageProcessor/cvblobs/BlobContour.h | 97 --
.../cvblobs/BlobLibraryConfiguration.h | 12 -
.../imageProcessor/cvblobs/BlobOperators.cpp | 429 ---------
.../imageProcessor/cvblobs/BlobOperators.h | 734 ---------------
.../imageProcessor/cvblobs/BlobProperties.cpp | 81 --
.../imageProcessor/cvblobs/BlobProperties.h | 67 --
.../imageProcessor/cvblobs/BlobResult.cpp | 867 ------------------
.../imageProcessor/cvblobs/BlobResult.h | 161 ----
.../cvblobs/ComponentLabeling.cpp | 422 ---------
.../cvblobs/ComponentLabeling.h | 30 -
.../imageProcessor/cvblobs/blob.cpp | 709 --------------
.../imageProcessor/cvblobs/blob.h | 169 ----
.../imageProcessor/detector/IDetector.cpp | 26 -
.../imageProcessor/detector/IDetector.h | 66 --
.../imageProcessor/detector/blob/BlobPose.cpp | 18 -
.../imageProcessor/detector/blob/BlobPose.h | 86 --
.../detector/blob/cvBlob/BlobsDetector.cpp | 80 --
.../detector/blob/cvBlob/BlobsDetector.h | 54 --
.../blob/simpleBlob/SimpleBlobsDetector.cpp | 80 --
.../blob/simpleBlob/SimpleBlobsDetector.h | 49 -
.../detector/contour/ContourPose.cpp | 18 -
.../detector/contour/ContourPose.h | 72 --
.../detector/contour/ContoursDetector.cpp | 68 --
.../detector/contour/ContoursDetector.h | 36 -
.../preprocessor/ImagePreProcessor.cpp | 216 -----
.../preprocessor/ImagePreProcessor.h | 111 ---
Src/View/TrackedElementView.cpp | 1 -
Src/helper/CvHelper.cpp | 405 --------
Src/helper/CvHelper.h | 197 ----
43 files changed, 3 insertions(+), 6227 deletions(-)
delete mode 100644 Src/Model/Network/TcpListener.cpp
delete mode 100644 Src/Model/Network/TcpListener.h
delete mode 100644 Src/Model/TrackingAlgorithm/NN2dMapper.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/NN2dMapper.h
delete mode 100644 Src/Model/TrackingAlgorithm/ParamNames.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobContour.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobContour.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobLibraryConfiguration.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobOperators.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobOperators.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobProperties.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobProperties.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobResult.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobResult.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/ComponentLabeling.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/ComponentLabeling.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/blob.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/blob.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/IDetector.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/IDetector.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/BlobPose.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/BlobPose.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/simpleBlob/SimpleBlobsDetector.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/simpleBlob/SimpleBlobsDetector.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContourPose.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContourPose.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContoursDetector.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContoursDetector.h
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp
delete mode 100644 Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.h
delete mode 100644 Src/helper/CvHelper.cpp
delete mode 100644 Src/helper/CvHelper.h
diff --git a/Src/BioTrackerPlugin.h b/Src/BioTrackerPlugin.h
index 7544588..1faa2b6 100644
--- a/Src/BioTrackerPlugin.h
+++ b/Src/BioTrackerPlugin.h
@@ -6,6 +6,7 @@
#include "Interfaces/IBioTrackerPlugin.h"
+#include <QDebug>
#include "QPointer"
#include "memory"
#include "QPoint"
diff --git a/Src/CMakeLists.txt b/Src/CMakeLists.txt
index e498afe..541b25b 100644
--- a/Src/CMakeLists.txt
+++ b/Src/CMakeLists.txt
@@ -15,27 +15,10 @@ add_behavior_plugin(${target}
"Model/null_Model.cpp"
"Model/BioTrackerTrackingAlgorithm.cpp"
"Model/TrackerParameter.cpp"
- "Model/Network/TcpListener.cpp"
"Model/TrackedComponents/TrackedComponentFactory.cpp"
"Model/TrackedComponents/TrackedElement.cpp"
"Model/TrackedComponents/TrackedTrajectory.cpp"
"Model/TrackedComponents/pose/FishPose.cpp"
- "Model/TrackingAlgorithm/NN2dMapper.cpp"
- "Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp"
- "Model/TrackingAlgorithm/imageProcessor/cvblobs/blob.cpp"
- "Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobContour.cpp"
- "Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobOperators.cpp"
- "Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobProperties.cpp"
- "Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobResult.cpp"
- "Model/TrackingAlgorithm/imageProcessor/cvblobs/ComponentLabeling.cpp"
- "Model/TrackingAlgorithm/imageProcessor/detector/IDetector.cpp"
- "Model/TrackingAlgorithm/imageProcessor/detector/blob/BlobPose.cpp"
- "Model/TrackingAlgorithm/imageProcessor/detector/blob/BlobPose.cpp"
- "Model/TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.cpp"
- "Model/TrackingAlgorithm/imageProcessor/detector/blob/simpleBlob/SimpleBlobsDetector.cpp"
- "Model/TrackingAlgorithm/imageProcessor/detector/contour/ContourPose.cpp"
- "Model/TrackingAlgorithm/imageProcessor/detector/contour/ContoursDetector.cpp"
- "helper/CvHelper.cpp"
"helper/StringHelper.cpp"
"Controller/ControllerTrackedComponent.cpp"
"Controller/ControllerTrackingAlgorithm.cpp"
diff --git a/Src/Controller/ControllerTrackingAlgorithm.h b/Src/Controller/ControllerTrackingAlgorithm.h
index 0435fa1..816ab53 100644
--- a/Src/Controller/ControllerTrackingAlgorithm.h
+++ b/Src/Controller/ControllerTrackingAlgorithm.h
@@ -4,6 +4,7 @@
#include "Interfaces/IController/IController.h"
#include "../Model/BioTrackerTrackingAlgorithm.h"
#include "Interfaces/IBioTrackerContext.h"
+#include "Interfaces/IModel/IModelAreaDescriptor.h"
#include "Interfaces/IModel/IModelDataExporter.h"
#include "../Config.h"
diff --git a/Src/Model/BioTrackerTrackingAlgorithm.cpp b/Src/Model/BioTrackerTrackingAlgorithm.cpp
index 1f03fda..0cf053f 100644
--- a/Src/Model/BioTrackerTrackingAlgorithm.cpp
+++ b/Src/Model/BioTrackerTrackingAlgorithm.cpp
@@ -39,23 +39,13 @@ void* init_shm_mmap(const char *path, int len) {
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;
@@ -78,7 +68,6 @@ void BioTrackerTrackingAlgorithm::request_shared_memory() {
void BioTrackerTrackingAlgorithm::receiveAreaDescriptorUpdate(IModelAreaDescriptor *areaDescr) {
_AreaInfo = areaDescr;
- _bd.setAreaInfo(_AreaInfo);
}
BioTrackerTrackingAlgorithm::~BioTrackerTrackingAlgorithm()
@@ -93,7 +82,6 @@ void BioTrackerTrackingAlgorithm::receiveParametersChanged() {
void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image, uint framenumber)
{
- _ipp.m_TrackingParameter = _TrackingParameter;
_lastImage = p_image;
_lastFramenumber = framenumber;
diff --git a/Src/Model/BioTrackerTrackingAlgorithm.h b/Src/Model/BioTrackerTrackingAlgorithm.h
index a5d6736..583ebed 100644
--- a/Src/Model/BioTrackerTrackingAlgorithm.h
+++ b/Src/Model/BioTrackerTrackingAlgorithm.h
@@ -11,15 +11,11 @@
#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 <zmq.hpp>
-#include "Network/TcpListener.h"
#include "../Config.h"
class BioTrackerTrackingAlgorithm : public IModelTrackingAlgorithm
@@ -47,15 +43,6 @@ private:
TrackerParameter* _TrackingParameter;
IModelAreaDescriptor* _AreaInfo;
- TcpListener* _listener;
-
- ImagePreProcessor _ipp;
- BlobsDetector _bd;
- std::shared_ptr<NN2dMapper> _nn2d;
-
- // background subtraction
- cv::Ptr<cv::BackgroundSubtractorMOG2> _pMOG;
-
int _noFish;
//std::ofstream _ofs;
diff --git a/Src/Model/Network/TcpListener.cpp b/Src/Model/Network/TcpListener.cpp
deleted file mode 100644
index 4f76136..0000000
--- a/Src/Model/Network/TcpListener.cpp
+++ /dev/null
@@ -1,69 +0,0 @@
-#include "TcpListener.h"
-
-#include <sstream>
-
-TcpListener::TcpListener(QObject *parent) : QTcpServer(parent)
-{
-}
-
-void TcpListener::acceptConnection()
-{
- while (this->hasPendingConnections())
- {
- QTcpSocket *socket = this->nextPendingConnection();
- _sockets.insert(socket);
- QObject::connect(socket, &QTcpSocket::disconnected, [this, socket](){
- _sockets.erase(socket);
- });
- }
-}
-
-void TcpListener::sendPositionsToSocket(std::string packet)
-{
- for (auto const& socket : _sockets) {
- socket->write(packet.c_str());
- }
-}
-
-std::string TcpListener::sendPositions(
- int frameNo,
- const std::vector<FishPose>& poses,
- const std::vector<cv::Point2f>& polygon,
- std::chrono::system_clock::time_point ts)
-{
- std::stringstream str;
- str << "frame:" << frameNo << ";";
-
- str << "polygon:" << polygon.size() << ";";
- for (auto vertex = polygon.cbegin(); vertex != polygon.cend(); ++vertex)
- {
- str << vertex->x << "x" << vertex->y << ";";
- }
-
- int fishCount = poses.size();
- int fi = 0;
- str << "fishcount:" << fishCount << ";";
-
- for (int i=0; i < poses.size(); i++)
- {
-
- str << i+1 << "," // the id of the fish
- << poses[i].position_cm().x << "," // real position in cm - x-coordinate
- << poses[i].position_cm().y << "," // real position in cm - y-coordinate
- << poses[i].orientation_rad() << "," // orientation in radian
- << poses[i].orientation_deg() << "," // orientation in degree
- << poses[i].width() << "," // size of the fish blob: width
- << poses[i].height() << "," // size of the fish blob: height
- << long(std::chrono::duration_cast<std::chrono::milliseconds>(ts.time_since_epoch()).count()) << "," // the time stamp
- << "F" << (((i + 1) == poses.size()) ? ";" : "&"); // F: obsolete "isRobofish" flag (F: not a robofish)
- }
- str << "end\n";
-
- std::cout << str.str() << std::endl;
-
-#ifdef SAVETRACKINGPACKAGES
- _trackingInfoOutputFile4Simulation << str.str();
-#endif
- sendPositionsToSocket(str.str());
- return str.str();
-}
diff --git a/Src/Model/Network/TcpListener.h b/Src/Model/Network/TcpListener.h
deleted file mode 100644
index d53d30f..0000000
--- a/Src/Model/Network/TcpListener.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#pragma once
-
-#include <unordered_set>
-#include <chrono>
-
-#include <QThread>
-#include <QDebug>
-#include <QTcpServer>
-#include <QTcpSocket>
-#include <QNetworkInterface>
-
-#include "../TrackedComponents/pose/FishPose.h"
-
-class TcpListener : public QTcpServer
-{
- Q_OBJECT
-
-public:
- TcpListener(QObject *parent = 0);
-
-public slots:
- void acceptConnection();
- void sendPositionsToSocket(std::string packet);
- std::string sendPositions(int frameNo,
- const std::vector<FishPose>& poses,
- const std::vector<cv::Point2f>& polygon,
- std::chrono::system_clock::time_point ts);
-
-private:
- std::unordered_set<QTcpSocket *> _sockets;
-};
diff --git a/Src/Model/TrackedComponents/pose/FishPose.cpp b/Src/Model/TrackedComponents/pose/FishPose.cpp
index af0bfcc..6fd36b1 100644
--- a/Src/Model/TrackedComponents/pose/FishPose.cpp
+++ b/Src/Model/TrackedComponents/pose/FishPose.cpp
@@ -1,7 +1,6 @@
#include "FishPose.h"
-#include "../../../helper/CvHelper.h"
-FishPose::FishPose(cv::Point2f pos_cm , cv::Point pos_px, float rad, float deg, float width, float height, float score) :
+FishPose::FishPose(cv::Point2f pos_cm , cv::Point pos_px, float rad, float deg, float width, float height, float score) :
_position_cm(pos_cm),
_position_px(pos_px),
_radAngle(rad),
@@ -24,10 +23,3 @@ std::string FishPose::toString(bool rectified)
out << _position_cm.x << ";" << _position_cm.y << ";" << _degAngle << ";" << _radAngle;
return out.str();
}
-
-float FishPose::calculateProbabilityOfIdentity(const FishPose &first, const FishPose &second, float angleImportance)
-{
- //Preliminary method for calculating identity of entities. See Issue biotracker_core/issues/130 for a discussion of this topic.
- float distance = CvHelper::getDistance(first.position_cm(), second.position_cm());
- return distance <= 0 ? std::numeric_limits<float>::max() : 1.0/distance;
-}
diff --git a/Src/Model/TrackedComponents/pose/FishPose.h b/Src/Model/TrackedComponents/pose/FishPose.h
index 39778f8..b556be7 100644
--- a/Src/Model/TrackedComponents/pose/FishPose.h
+++ b/Src/Model/TrackedComponents/pose/FishPose.h
@@ -114,13 +114,6 @@ public:
*/
std::string toString(bool rectified = false);
- /**
- * Calculates the probability that two poses are the same.
- * The influence of the angle can be set by the parameter angleImportance.
- * @return probability between 0 and 1
- */
- static float calculateProbabilityOfIdentity(const FishPose &first, const FishPose &second, float angleImportance = 0.2f);
-
private:
cv::Point2f _position_cm;
cv::Point _position_px;
diff --git a/Src/Model/TrackerParameter.h b/Src/Model/TrackerParameter.h
index 5bc9736..17f874f 100644
--- a/Src/Model/TrackerParameter.h
+++ b/Src/Model/TrackerParameter.h
@@ -4,7 +4,6 @@
#include "Interfaces/IModel/IModel.h"
#include "../Config.h"
-#include "TrackingAlgorithm/ParamNames.h"
class TrackerParameter : public IModel
{
diff --git a/Src/Model/TrackingAlgorithm/NN2dMapper.cpp b/Src/Model/TrackingAlgorithm/NN2dMapper.cpp
deleted file mode 100644
index 447db50..0000000
--- a/Src/Model/TrackingAlgorithm/NN2dMapper.cpp
+++ /dev/null
@@ -1,326 +0,0 @@
-#include "NN2dMapper.h"
-
-#include "../../helper/CvHelper.h"
-#include <limits>
-#include <tuple>
-#include <utility>
-
-float dif(float a, float b) {
- return fmod((std::abs(b - a)), CV_PI);
-}
-
-NN2dMapper::NN2dMapper(BST::TrackedTrajectory *tree) {
- _tree = tree;
-
- //Looks kinda complicated but is a rather simple thing:
- //For every true trajectory below the tree's root (which are in fact, fish trajectories in out case)
- //we want to arr a last confident angle to the map.
- int cid = 0;
- for (int i = 0; i < _tree->size(); i++)
- {
- TrackedTrajectory *t = dynamic_cast<TrackedTrajectory *>(_tree->getChild(i));
- if (t && t->getValid()){
- _mapLastConfidentAngle.insert(std::pair<int, float>(cid, std::numeric_limits<float>::quiet_NaN()));
- cid++;
- }
- }
-}
-
-// Functor to compare by the Mth element, as per https://stackoverflow.com/questions/23030267/custom-sorting-a-vector-of-tuples
-struct TupleCompare
-{
- bool operator()(std::tuple<float, FishPose> a, std::tuple<float, FishPose> b) const {
- return std::get<0>(a) > std::get<0>(b);
- }
-
-};
-
-FishPose getFishpose(BST::TrackedTrajectory* traj, uint frameid, uint id) {
- IModelTrackedComponent* comp = traj->getValidChild(id);
- BST::TrackedTrajectory* ct = dynamic_cast<BST::TrackedTrajectory*>(comp);
- if (ct) {
- BST::TrackedElement *el = dynamic_cast<BST::TrackedElement*>(ct->getChild(frameid-1));
- if (el)
- return el->getFishPose();
- }
- return FishPose();
-}
-
-std::tuple<std::vector<FishPose>, std::vector<float>> NN2dMapper::getNewPoses(BST::TrackedTrajectory* traj, uint frameid, std::vector<BlobPose> blobPoses) {
- /* The algorithm seems kinda inefficient, as there is many fish*blobs and fish*fish loops.
- * But as N is expected to be pretty small (<10 for fish, <20 for blobs) this seems feasible.
- */
- std::vector<FishPose> blobs = convertBlobPosesToFishPoses(blobPoses);
-
- int sizeF = traj->validCount();
- int sizeB = blobs.size();
- std::vector<std::vector<std::tuple<float, FishPose>>> propMap;
-
- //Create propability matrix and sort it
- for (int i = 0; i < sizeF ; i++) {
- std::vector<std::tuple<float, FishPose>> currentFish;
- FishPose cpose = getFishpose(traj, frameid, i);
- for (int j = 0; j < sizeB ; j++) {
- currentFish.push_back(std::tuple<float, FishPose>(FishPose::calculateProbabilityOfIdentity(cpose, blobs[j]), blobs[j]));
- }
- std::sort(begin(currentFish), end(currentFish), TupleCompare());
- propMap.push_back(currentFish);
- }
-
- //I'm sorry for the goto/inefficient loop. But usually we will not have more than a
- //hand full (<6) of blobs to walk through, so it's not worth the optimizing.
- retry:
- for (int i = 0; i < propMap.size(); i++) {
- for (int j = 0; j < propMap.size(); j++) {
- //Is this
- if (!propMap[i].empty() && !propMap[j].empty() && i!=j) {
- //Reads: If same blob, but i has higher props than j
- bool samePose = std::get<1>(propMap[i][0]) == std::get<1>(propMap[j][0]);
- bool propLess = std::get<0>(propMap[i][0]) <= std::get<0>(propMap[j][0]);
- if (samePose && propLess) {
- //...then remove the 0'th element from j and try again.
- propMap[i].erase(propMap[i].begin());
- goto retry;
- }
- }
- }
- }
-
-
- std::vector<float> bestMatchesProps;
- std::vector<FishPose> bestMatchesPoses;
- for (int i = 0; i < propMap.size(); i++) {
- if (propMap[i].size() > 0) {
- bestMatchesProps.push_back(std::get<0>(propMap[i][0]));
- bestMatchesPoses.push_back(std::get<1>(propMap[i][0]));
- }
- else {
- bestMatchesPoses.push_back(getFishpose(traj, frameid, i));
- bestMatchesProps.push_back(100);
- }
- }
-
- for (int i = 0; i < bestMatchesPoses.size(); i++) {
-
- //Look at what the fish did in the last 10 frames
- double historyDir;
- {
- double lookBack = 10;
- cv::Point2f p = getFishpose(traj, frameid - lookBack, i).position_cm();
- cv::Point2f pnow = bestMatchesPoses[i].position_cm();
- while (CvHelper::getDistance(p, pnow) < 0.1 && lookBack < 100) {
- lookBack += 10;
- cv::Point2f p = getFishpose(traj, frameid - lookBack, i).position_cm();
- cv::Point2f pnow = bestMatchesPoses[i].position_cm();
- }
- double dir = CvHelper::getAngleToTarget(p, pnow);
- //correct some weird angle definition
- historyDir = dir + CV_PI / 2;
- }
-
- //The blob detection will come up with an ellipse orientation, where front and back are ambigious.
- //So check the history for movement direction. Use the history as an indicator where front and back are.
- //This might be unstable iff the fish didn't move at all.
- double dif = CvHelper::angleDifference(bestMatchesPoses[i].orientation_rad(), historyDir);
- if (std::abs(dif) > CV_PI / 2) {
- double dir = bestMatchesPoses[i].orientation_rad() + CV_PI;
- while (dir > 2 * CV_PI) dir -= 2 * CV_PI;
- while (dir < -2 * CV_PI) dir += 2 * CV_PI;
- bestMatchesPoses[i].set_orientation_rad(dir);
- bestMatchesPoses[i].set_orientation_deg(dir * 180.0f / CV_PI);
- }
-
-
- //TODO move this to algorithm because this does not really take user manipulation into consideration
- //TODO include difference between estimated and current
- //simple smoothing out big angle jumps
- float lastConfidentAngle = _mapLastConfidentAngle.at(i); //this is mot really working if we jump some frmae back/fwd
- double dir = bestMatchesPoses[i].orientation_rad();
- if(!std::isnan(lastConfidentAngle)){
- const float deviationFromLast = CvHelper::angleDifference(lastConfidentAngle, dir);
- if (std::abs(deviationFromLast) > CV_PI * 0.2 ){ // 36°
- dir += deviationFromLast * 0.5; //reduce big jumps
- }
- else{
- dir += deviationFromLast * 0.1;//smooth out small changes
- }
- while (dir > 2 * CV_PI) dir -= 2 * CV_PI;
- while (dir < -2 * CV_PI) dir += 2 * CV_PI;
- bestMatchesPoses[i].set_orientation_rad(dir);
- bestMatchesPoses[i].set_orientation_deg(dir * 180.0f / CV_PI);
- }
- _mapLastConfidentAngle[i] = dir;
- }
- return std::tuple<std::vector<FishPose>, std::vector<float>>(bestMatchesPoses,bestMatchesProps);
-}
-
-bool NN2dMapper::correctAngle(int trackid, FishPose &pose)
-{
- // the current angle is a decent estimation of the direction; however, it might point into the wrong hemisphere
- const float poseOrientation = pose.orientation_rad();
-
- // start with the pose orientation for our estimate
- float proposedAngle = poseOrientation;
-
- // we have more historical data to correct the new angle to at least be more plausible
- float confidence = 0.0f;
- const float historyAngle = estimateOrientationRad(trackid, &confidence);
- //const float lastConfidentAngle = fish.getLastConfidentOrientationRad();
- float lastConfidentAngle = _mapLastConfidentAngle.at(trackid); //TODO Hauke check if this is an ok thing to do...
-
- // the current history orientation has a stronger meaning and is preferred
- const float comparisonOrientation = std::isnan(historyAngle) ? lastConfidentAngle : historyAngle;
- // can't correct the angle?
- if (std::isnan(comparisonOrientation)) return false;
-
- // panic mode - what if nothing was measured?
- if (std::isnan(poseOrientation))
- {
- pose.set_orientation_rad(comparisonOrientation);
- pose.set_orientation_deg(comparisonOrientation * 180.0f / CV_PI);
- return false;
- }
-
- const float angleDifference = CvHelper::angleDifference(proposedAngle, comparisonOrientation);
-
- // if the angles do not lie on the same hemisphere, mirror the proposed angle
- if (!std::isnan(angleDifference) && std::abs(angleDifference) > 0.5f * CV_PI)
- {
- proposedAngle += CV_PI;
- }
-
- // the angle is corrected into the correct hemisphere now;
- // now smooth the angle to reduce the impact of outliers or directly remove a zero-measurement.
-
- if (std::isnan(lastConfidentAngle)) // nothing to smooth? Then simply assume the movement-angle to be a good first estimate
- proposedAngle = historyAngle;
- else
- {
- // smooth the change in the angle iff the new angle deviates too much from the last one
- const float deviationFromLast = CvHelper::angleDifference(lastConfidentAngle, proposedAngle);
- assert(!std::isnan(deviationFromLast));
-
- if (std::abs(deviationFromLast) > 0.2f * CV_PI)
- {
- if (poseOrientation == 0.0f) // deviation AND zero-angle? Most likely not a decent estimation.
- proposedAngle = lastConfidentAngle;
- else // smooth outliers by a fixed margin
- proposedAngle = lastConfidentAngle - 0.1f * deviationFromLast;
- }
- }
- // angle should be between 0� and 360�
- if (proposedAngle > 2.0f * CV_PI) proposedAngle -= 2.0f * CV_PI;
- else if (proposedAngle < 0.0f) proposedAngle += 2.0f * CV_PI;
- assert(!std::isnan(proposedAngle));
-
- pose.set_orientation_rad(proposedAngle);
- pose.set_orientation_deg(proposedAngle * 180.0f / CV_PI);
-
- // did we have ANY confident correction?
- if (!std::isnan(lastConfidentAngle)) // if we simply adjusted the last position, assume to be confident
- return true;
- // otherwise, we need to intialize the confident angle.
- // do that when we really are "confident" for the first time..
- const float differenceToHistoryAngle = std::abs(CvHelper::angleDifference(proposedAngle, historyAngle));
- assert(!std::isnan(differenceToHistoryAngle));
- if (differenceToHistoryAngle < 0.25f * CV_PI)
- return true;
- // neither updating nor a good initialization?
- return false;
-}
-
-BST::TrackedTrajectory* getChildOfType(BST::TrackedTrajectory* tree, int tid) {
- int cid = 0;
- for (int i = 0; i < tree->size(); i++) {
- BST::TrackedTrajectory* t = dynamic_cast<BST::TrackedTrajectory*>(tree->getChild(i));
- if (t && cid==tid && t->getValid()) {
- return t;
- }else if (t && t->getValid())
- cid++;
- }
- return 0;
-}
-
-float NN2dMapper::estimateOrientationRad(int trackid, float *confidence)
-{
- //Get corresponding trajectory
- BST::TrackedTrajectory* t = getChildOfType((BST::TrackedTrajectory*)_tree, trackid);
- //return 0;
-
- // can't give estimate if not enough poses available
- if (t->size() < 3) return std::numeric_limits<float>::quiet_NaN();
-
- //std::deque<FishPose>::const_reverse_iterator iter = _histComponents.rbegin();
- int start = std::max(t->size()-20, 0);
- BST::TrackedElement* e = (BST::TrackedElement*)t->getChild(start);
- if (!e)
- return std::numeric_limits<float>::quiet_NaN();
- cv::Point2f nextPoint = e->getFishPose().position_cm();
- cv::Point2f positionDerivative(0.0f, 0.0f);
-
- // weights the last poses with falloff^k * pose[end - k] until falloff^k < falloffMargin
- int posesUsed = 0;
- float currentWeight = 1.0f;
- float weightSum = 0.0f;
- const float falloff = 0.9f;
- const float falloffMargin = 0.4f;
-
- for (int i=start+1; i<t->size(); i++)
- {
- BST::TrackedElement* ecur = (BST::TrackedElement*)t->getChild(i);
- if (!ecur)
- return std::numeric_limits<float>::quiet_NaN();
- cv::Point2f currentPoint = ecur->getFishPose().position_cm();
- const cv::Point2f oneStepDerivative = nextPoint - currentPoint;
-
- positionDerivative += currentWeight * oneStepDerivative;
- weightSum += currentWeight;
-
- currentWeight *= falloff;
- if (currentWeight < falloffMargin) break;
-
- nextPoint = currentPoint;
- ++posesUsed;
- }
- // calculate average (weighted) movement of the fish
- if (weightSum != 0.0f)
- {
- positionDerivative.x /= weightSum;
- positionDerivative.y /= weightSum;
- }
- // use the euclidian distance in cm
- const float distance = std::sqrt(std::pow(positionDerivative.x, 2.0f) + std::pow(positionDerivative.y, 2.0f));
- // Calculate cm/s.
- const float distanceNormalized = 1000.0f * distance / 33.3; // TODO Hauke static_cast<float>(FishTrackerThread::instance()->getRealTimePerFrameMs())
- const float confidenceDistanceMinCm = 2.0f;
- const float confidenceDistanceMaxCm = 6.0f;
- // if we have either nearly no data or are very unsure (left movement offsets right movement f.e.), just return nothing
- if (distanceNormalized < confidenceDistanceMinCm)
- return std::numeric_limits<float>::quiet_NaN();
- *confidence = std::min(distanceNormalized / confidenceDistanceMaxCm, 1.0f);
-
- // negative y coordinate to offset open cv coordinate system
- return std::atan2(-positionDerivative.y, positionDerivative.x);
-}
-
-std::vector<FishPose> NN2dMapper::convertBlobPosesToFishPoses(std::vector<BlobPose> blobPoses)
-{
- std::vector<FishPose> fishPoses;
- fishPoses.reserve(blobPoses.size());
-
- for (BlobPose & blobPose : blobPoses)
- {
- fishPoses.push_back(
- FishPose(
- blobPose.posCm(),
- blobPose.posPx(),
- CvHelper::degToRad(blobPose.angleDegree()),
- blobPose.angleDegree(),
- blobPose.width(),
- blobPose.height()
- )
- );
- }
-
- return fishPoses;
-}
diff --git a/Src/Model/TrackingAlgorithm/NN2dMapper.h b/Src/Model/TrackingAlgorithm/NN2dMapper.h
deleted file mode 100644
index 9851c63..0000000
--- a/Src/Model/TrackingAlgorithm/NN2dMapper.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#pragma once
-
-#include <chrono>
-
-#include <opencv2/opencv.hpp>
-#include <opencv2/highgui.hpp>
-
-#include "../TrackedComponents/pose/FishPose.h"
-#include "../TrackedComponents/TrackedElement.h"
-#include "../TrackedComponents/TrackedTrajectory.h"
-#include "imageProcessor/detector/blob/cvBlob/BlobsDetector.h"
-
-class NN2dMapper
-{
-public:
-
- /**
- * The contructor with parameters.
- */
- NN2dMapper(BST::TrackedTrajectory *tree);
-
- ~NN2dMapper(void) {};
-
- std::tuple<std::vector<FishPose>, std::vector<float>> getNewPoses(BST::TrackedTrajectory* traj, uint frameid, std::vector<BlobPose> blobPoses);
- std::vector<FishPose> convertBlobPosesToFishPoses(std::vector<BlobPose> blobPoses);
- float estimateOrientationRad(int trackid, float *confidence);
- bool correctAngle(int trackid, FishPose &pose);
-
- std::map<int, float> _mapLastConfidentAngle;
- BST::TrackedTrajectory *_tree;
-
-protected:
-
-};
-
diff --git a/Src/Model/TrackingAlgorithm/ParamNames.h b/Src/Model/TrackingAlgorithm/ParamNames.h
deleted file mode 100644
index 7e7a587..0000000
--- a/Src/Model/TrackingAlgorithm/ParamNames.h
+++ /dev/null
@@ -1,86 +0,0 @@
-#pragma once
-
-#include <iostream>
-#include <vector>
-
-
-namespace CONFIGPARAM
-{
- // System config
- const std::string CONFIG_INI_FILE = "./BSTrackerConfig.ini";
-}
-
-namespace APPLICATIONPARAM
-{
- // System config
- const std::string APP_VERSION = "APPLICATIONPARAM/APP_VERSION";
-}
-
-namespace TRACKERPARAM
-{
-
- // Parameter for the opencv BackgroundSubtractorMOG2 class
- const std::string BG_MOG2_HISTORY = "TRACKERPARAM/BG_MOG2_HISTORY";
- const std::string BG_MOG2_VAR_THRESHOLD = "TRACKERPARAM/BG_MOG2_VAR_THRESHOLD";
- const std::string BG_MOG2_BACKGROUND_RATIO = "TRACKERPARAM/BG_MOG2_BACKGROUND_RATIO";
-
- // Blob dectection issue
- const std::string MAX_BLOB_SIZE = "TRACKERPARAM/MAX_BLOB_SIZE";
- const std::string MIN_BLOB_SIZE = "TRACKERPARAM/MIN_BLOB_SIZE";
-
- // Parameters for image pre-processing step
- const std::string SIZE_ERODE = "TRACKERPARAM/SIZE_ERODE";
- const std::string SIZE_DILATE = "TRACKERPARAM/SIZE_DILATE";
- const std::string THRESHOLD_BINARIZING = "TRACKERPARAM/THRESHOLD_BINARIZING";
- //const std::string GAUSSIAN_BLUR_SIZE = "TRACKERPARAM/GAUSSIAN_BLUR_SIZE";
-}
-
-namespace GUIPARAM
-{
- // FPS label
- const std::string ENABLE_LABEL_FPS = "GUIPARAM/ENABLE_LABEL_FPS";
- // Fish id label
- const std::string ENABLE_LABEL_FISH_ID = "GUIPARAM/ENABLE_LABEL_FISH_ID";
- // Replica marker
- const std::string ENABLE_LABEL_REPLICA = "GUIPARAM/ENABLE_LABEL_REPLICA";
- // Fish position
- const std::string ENABLE_LABEL_FISH_POS = "GUIPARAM/ENABLE_LABEL_FISH_POS";
- // Fish orientation
- const std::string ENABLE_LABEL_FISH_ORI = "GUIPARAM/ENABLE_LABEL_FISH_ORI";
- // Fish history
- const std::string ENABLE_LABEL_FISH_HISTORY = "GUIPARAM/ENABLE_LABEL_FISH_HISTORY";
- // Blobs
- const std::string ENABLE_SHOW_BLOBS = "GUIPARAM/ENABLE_SHOW_BLOBS";
- // Swap fish id
- const std::string ENABLE_SWAP_FISH_ID = "GUIPARAM/ENABLE_SWAP_FISH_ID";
-
-
-
- // Core view of tracked components
- const std::string ENABLE_CORE_COMPONENT_VIEW = "GUIPARAM/ENABLE_CORE_COMPONENT_VIEW";
- // Move components in core view
- const std::string ENABLE_CORE_COMPONENT_MOVE = "GUIPARAM/ENABLE_CORE_COMPONENT_MOVE";
- // Remove components in core view
- const std::string ENABLE_CORE_COMPONENT_REMOVE = "GUIPARAM/ENABLE_CORE_COMPONENT_REMOVE";
- // Swap component id in core view
- const std::string ENABLE_CORE_COMPONENT_ID_SWAP = "GUIPARAM/ENABLE_CORE_COMPONENT_ID_SWAP";
- // Add component in core view
- const std::string ENABLE_CORE_COMPONENT_ADD = "GUIPARAM/ENABLE_CORE_COMPONENT_ADD";
- // Rotate component in core view
- const std::string ENABLE_CORE_COMPONENT_ROTATE = "GUIPARAM/ENABLE_CORE_COMPONENT_ROTATE";
-}
-
-namespace FISHTANKPARAM
-{
- // Tank area
- const std::string FISHTANK_AREA_WIDTH = "FISHTANKPARAM/FISHTANK_AREA_WIDTH";
- const std::string FISHTANK_AREA_HEIGHT = "FISHTANKPARAM/FISHTANK_AREA_HEIGHT";
- const std::string FISHTANK_FISH_AMOUNT = "FISHTANKPARAM/FISHTANK_FISH_AMOUNT";
- const std::string FISHTANK_AREA_CORNER1 = "FISHTANKPARAM/FISHTANK_AREA_CORNER1";
- const std::string FISHTANK_AREA_CORNER2 = "FISHTANKPARAM/FISHTANK_AREA_CORNER2";
- const std::string FISHTANK_AREA_CORNER3 = "FISHTANKPARAM/FISHTANK_AREA_CORNER3";
- const std::string FISHTANK_AREA_CORNER4 = "FISHTANKPARAM/FISHTANK_AREA_CORNER4";
- const std::string FISHTANK_ENABLE_NETWORKING = "FISHTANKPARAM/FISHTANK_ENABLE_NETWORKING";
- const std::string FISHTANK_NETWORKING_PORT = "FISHTANKPARAM/FISHTANK_NETWORKING_PORT";
-}
-
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobContour.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobContour.cpp
deleted file mode 100644
index c2a0cbc..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobContour.cpp
+++ /dev/null
@@ -1,260 +0,0 @@
-#include "BlobContour.h"
-
-#include <opencv2/imgproc/imgproc_c.h>
-
-CBlobContour::CBlobContour()
-{
- m_startPoint.x = 0;
- m_startPoint.y = 0;
- m_area = -1;
- m_perimeter = -1;
- m_contourPoints = NULL;
- m_moments.m00 = -1;
- m_contour = NULL;
- m_parentStorage = NULL;
-}
-
-CBlobContour::CBlobContour(cv::Point startPoint, CvMemStorage *storage )
-{
- m_startPoint.x = startPoint.x;
- m_startPoint.y = startPoint.y;
- m_area = -1;
- m_perimeter = -1;
- m_moments.m00 = -1;
-
- m_parentStorage = storage;
-
- m_contourPoints = NULL;
-
- // contour sequence: must be compatible with opencv functions
- m_contour = cvCreateSeq( CV_SEQ_ELTYPE_CODE | CV_SEQ_KIND_CURVE | CV_SEQ_FLAG_CLOSED,
- sizeof(CvContour),
- sizeof(t_chainCode),m_parentStorage);
-
-}
-
-
-//! Copy constructor
-CBlobContour::CBlobContour( CBlobContour *source )
-{
- if (source != NULL )
- {
- *this = *source;
- }
-}
-
-CBlobContour::~CBlobContour()
-{
- // let parent blob deallocate all contour and contour point memory
- m_contour = NULL;
- m_contourPoints = NULL;
-}
-
-
-//! Copy operator
-CBlobContour& CBlobContour::operator=( const CBlobContour &source )
-{
- if( this != &source )
- {
- m_startPoint = source.m_startPoint;
-
- m_parentStorage = source.m_parentStorage;
-
- if (m_contour)
- {
- cvClearSeq( m_contour );
- }
-
- if (source.m_contour)
- {
- m_contour = cvCloneSeq( source.m_contour, m_parentStorage);
- }
-
- if( source.m_contourPoints )
- {
- if( m_contourPoints )
- cvClearSeq( m_contourPoints );
- m_contourPoints = cvCloneSeq( source.m_contourPoints, m_parentStorage);
- }
-
- m_area = source.m_area;
- m_perimeter = source.m_area;
- m_moments = source.m_moments;
- }
- return *this;
-}
-
-
-/**
-- FUNCI�: AddChainCode
-- FUNCIONALITAT: Add chain code to contour
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/05/06
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-void CBlobContour::AddChainCode(t_chainCode chaincode)
-{
- cvSeqPush(m_contour, &chaincode);
-}
-
-//! Clears chain code contour and points
-void CBlobContour::ResetChainCode()
-{
- if( m_contour )
- {
- cvClearSeq( m_contour );
- m_contour = NULL;
- }
- if( m_contourPoints )
- {
- cvClearSeq( m_contourPoints );
- m_contourPoints = NULL;
- }
-}
-
-/**
-- FUNCI�: GetPerimeter
-- FUNCIONALITAT: Get perimeter from chain code. Diagonals sum sqrt(2) and horizontal and vertical codes 1
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/04/30
-- MODIFICACI�: Data. Autor. Descripci�.
-- NOTA: Algorithm derived from "Methods to estimate area and perimeters of blob-like objects: A comparison", L.Yang
-*/
-double CBlobContour::GetPerimeter()
-{
- // is calculated?
- if (m_perimeter != -1)
- {
- return m_perimeter;
- }
-
- if( IsEmpty() )
- return 0;
-
- m_perimeter = cvContourPerimeter( GetContourPoints() );
-
- return m_perimeter;
-}
-
-/**
-- FUNCI�: GetArea
-- FUNCIONALITAT: Computes area from chain code
-- PAR�METRES:
- -
-- RESULTAT:
- - May give negative areas for clock wise contours
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/04/30
-- MODIFICACI�: Data. Autor. Descripci�.
-- NOTA: Algorithm derived from "Properties of contour codes", G.R. Wilson
-*/
-double CBlobContour::GetArea()
-{
- // is calculated?
- if (m_area != -1)
- {
- return m_area;
- }
-
- if( IsEmpty() )
- return 0;
-
- m_area = fabs( cvContourArea( GetContourPoints() ));
-
- return m_area;
-}
-
-//! Get contour moment (p,q up to MAX_CALCULATED_MOMENTS)
-double CBlobContour::GetMoment(int p, int q)
-{
- // is a valid moment?
- if ( p < 0 || q < 0 || p > MAX_MOMENTS_ORDER || q > MAX_MOMENTS_ORDER )
- {
- return -1;
- }
-
- if( IsEmpty() )
- return 0;
-
- // it is calculated?
- if( m_moments.m00 == -1)
- {
- cvMoments( GetContourPoints(), &m_moments );
- }
-
- return cvGetSpatialMoment( &m_moments, p, q );
-
-
-}
-
-//! Calculate contour points from crack codes
-t_PointList CBlobContour::GetContourPoints()
-{
- // it is calculated?
- if( m_contourPoints != NULL )
- return m_contourPoints;
-
- if ( m_contour == NULL || m_contour->total <= 0 )
- {
- return NULL;
- }
-
- CvSeq *tmpPoints;
- CvSeqReader reader;
- CvSeqWriter writer;
- cv::Point actualPoint;
- CvRect boundingBox;
-
- // if aproximation is different than simple extern perimeter will not work
- tmpPoints = cvApproxChains( m_contour, m_parentStorage, CV_CHAIN_APPROX_NONE);
-
-
- // apply an offset to contour points to recover real coordinates
-
- cvStartReadSeq( tmpPoints, &reader);
-
- m_contourPoints = cvCreateSeq( tmpPoints->flags, tmpPoints->header_size, tmpPoints->elem_size, m_parentStorage );
- cvStartAppendToSeq(m_contourPoints, &writer );
-
- // also calculate bounding box of the contour to allow cvPointPolygonTest
- // work correctly on the generated polygon
- boundingBox.x = boundingBox.y = 10000;
- boundingBox.width = boundingBox.height = 0;
-
- for( int i=0; i< tmpPoints->total; i++)
- {
- CV_READ_SEQ_ELEM( actualPoint, reader);
-
- actualPoint.x += m_startPoint.x;
- actualPoint.y += m_startPoint.y;
-
- boundingBox.x = MIN( boundingBox.x, actualPoint.x );
- boundingBox.y = MIN( boundingBox.y, actualPoint.y );
- boundingBox.width = MAX( boundingBox.width, actualPoint.x );
- boundingBox.height = MAX( boundingBox.height, actualPoint.y );
-
- CV_WRITE_SEQ_ELEM( actualPoint, writer );
- }
- cvEndWriteSeq( &writer );
- cvClearSeq( tmpPoints );
-
- // assign calculated bounding box
- ((CvContour*)m_contourPoints)->rect = boundingBox;
-
-
- return m_contourPoints;
-}
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobContour.h b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobContour.h
deleted file mode 100644
index 83d2eb9..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobContour.h
+++ /dev/null
@@ -1,97 +0,0 @@
-#ifndef BLOBCONTOUR_H_INCLUDED
-#define BLOBCONTOUR_H_INCLUDED
-
-#include <opencv2/opencv.hpp>
-#include <opencv2/core/types_c.h>
-#include <opencv2/imgproc/types_c.h>
-
-//! Type of chain codes
-typedef unsigned char t_chainCode;
-//! Type of list of chain codes
-typedef CvSeq* t_chainCodeList;
-//! Type of list of points
-typedef CvSeq* t_PointList;
-
-
-//! Max order of calculated moments
-#define MAX_MOMENTS_ORDER 3
-
-
-//! Blob contour class (in crack code)
-class CBlobContour
-{
- friend class CBlob;
- friend class CBlobProperties; //AO
-
-public:
- //! Constructors
- CBlobContour();
- CBlobContour(cv::Point startPoint, CvMemStorage *storage );
- //! Copy constructor
- CBlobContour( CBlobContour *source );
-
- ~CBlobContour();
- //! Assigment operator
- CBlobContour& operator=( const CBlobContour &source );
-
- //! Add chain code to contour
- void AddChainCode(t_chainCode code);
-
- //! Return freeman chain coded contour
- t_chainCodeList GetChainCode()
- {
- return m_contour;
- }
-
- bool IsEmpty()
- {
- return m_contour == NULL || m_contour->total == 0;
- }
-
- //! Return all contour points
- t_chainCodeList GetContourPoints();
-
-protected:
-
- cv::Point GetStartPoint() const
- {
- return m_startPoint;
- }
-
- //! Clears chain code contour
- void ResetChainCode();
-
-
-
- //! Computes area from contour
- double GetArea();
- //! Computes perimeter from contour
- double GetPerimeter();
- //! Get contour moment (p,q up to MAX_CALCULATED_MOMENTS)
- double GetMoment(int p, int q);
-
- //! Crack code list
- t_chainCodeList m_contour;
-
-private:
- //! Starting point of the contour
- cv::Point m_startPoint;
- //! All points from the contour
- t_PointList m_contourPoints;
-
-
-
- //! Computed area from contour
- double m_area;
- //! Computed perimeter from contour
- double m_perimeter;
- //! Computed moments from contour
- CvMoments m_moments;
-
- //! Pointer to storage
- CvMemStorage *m_parentStorage;
-};
-
-#endif //!BLOBCONTOUR_H_INCLUDED
-
-
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobLibraryConfiguration.h b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobLibraryConfiguration.h
deleted file mode 100644
index f1a02a7..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobLibraryConfiguration.h
+++ /dev/null
@@ -1,12 +0,0 @@
-/************************************************************************
- BlobLibraryConfiguration.h
-
-FUNCIONALITAT: Configuraci� del comportament global de la llibreria
-AUTOR: Inspecta S.L.
-MODIFICACIONS (Modificaci�, Autor, Data):
-
-FUNCTIONALITY: Global configuration of the library
-AUTHOR: Inspecta S.L.
-MODIFICATIONS (Modification, Author, Date):
-
-**************************************************************************/
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobOperators.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobOperators.cpp
deleted file mode 100644
index cfdae2d..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobOperators.cpp
+++ /dev/null
@@ -1,429 +0,0 @@
-#include <limits.h>
-
-#include "BlobOperators.h"
-
-#include <opencv2/imgproc/imgproc_c.h>
-
-/***************************************************************************
- Implementaci� de les classes per al c�lcul de caracter�stiques sobre el blob
-
- Implementation of the helper classes to perform operations on blobs
-/**************************************************************************/
-
-/**
-- FUNCTION: Moment
-- FUNCTIONALITY: Calculates the pq moment of the blob
-- PARAMETERS:
-- RESULT:
- - returns the pq moment or 0 if the moment it is not implemented
-- RESTRICTIONS:
- - Currently, implemented moments up to 3
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 20-07-2004.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetMoment::operator()(CBlob &blob)
-{
- return blob.Moment(m_p, m_q);
-}
-
-/**
-- FUNCI�: HullPerimeter
-- FUNCIONALITAT: Calcula la longitud del perimetre convex del blob.
- Fa servir la funci� d'OpenCV cvConvexHull2 per a
- calcular el perimetre convex.
-
-- PAR�METRES:
-- RESULTAT:
- - retorna la longitud del per�metre convex del blob. Si el blob no t� coordenades
- associades retorna el per�metre normal del blob.
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 20-07-2004.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/**
-- FUNCTION: CBlobGetHullPerimeter
-- FUNCTIONALITY: Calculates the convex hull perimeter of the blob
-- PARAMETERS:
-- RESULT:
- - returns the convex hull perimeter of the blob or the perimeter if the
- blob edges could not be retrieved
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetHullPerimeter::operator()(CBlob &blob)
-{
- CvSeq *convexHull;
- double perimeter;
-
- convexHull = blob.GetConvexHull();
-
- if( convexHull )
- perimeter = fabs(cvArcLength(convexHull,CV_WHOLE_SEQ,1));
- else
- return 0;
-
- cvClearSeq(convexHull);
-
- return perimeter;
-}
-
-double CBlobGetHullArea::operator()(CBlob &blob)
-{
- CvSeq *convexHull;
- double area;
-
- convexHull = blob.GetConvexHull();
-
- if( convexHull )
- area = fabs(cvContourArea(convexHull));
- else
- return 0;
-
- cvClearSeq(convexHull);
-
- return area;
-}
-
-/**
-- FUNCTION: CBlobGetMinXatMinY
-- FUNCTIONALITY: Calculates the minimum X on the minimum Y
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetMinXatMinY::operator()(CBlob &blob)
-{
- double result = LONG_MAX;
-
- CvSeqReader reader;
- cv::Point actualPoint;
- t_PointList externContour;
-
- externContour = blob.GetExternalContour()->GetContourPoints();
- if( !externContour ) return result;
- cvStartReadSeq( externContour, &reader);
-
- for( int i=0; i< externContour->total; i++)
- {
- CV_READ_SEQ_ELEM( actualPoint, reader);
-
- if( (actualPoint.y == blob.MinY()) && (actualPoint.x < result) )
- {
- result = actualPoint.x;
- }
- }
-
- return result;
-}
-
-/**
-- FUNCTION: CBlobGetMinXatMinY
-- FUNCTIONALITY: Calculates the minimum Y on the maximum X
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetMinYatMaxX::operator()(CBlob &blob)
-{
- double result = LONG_MAX;
-
- CvSeqReader reader;
- cv::Point actualPoint;
- t_PointList externContour;
-
- externContour = blob.GetExternalContour()->GetContourPoints();
- if( !externContour ) return result;
- cvStartReadSeq( externContour, &reader);
-
- for( int i=0; i< externContour->total; i++)
- {
- CV_READ_SEQ_ELEM( actualPoint, reader);
-
- if( (actualPoint.x == blob.MaxX()) && (actualPoint.y < result) )
- {
- result = actualPoint.y;
- }
- }
-
- return result;
-}
-
-/**
-- FUNCTION: CBlobGetMaxXatMaxY
-- FUNCTIONALITY: Calculates the maximum X on the maximum Y
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetMaxXatMaxY::operator()(CBlob &blob)
-{
- double result = LONG_MIN;
-
- CvSeqReader reader;
- cv::Point actualPoint;
- t_PointList externContour;
-
- externContour = blob.GetExternalContour()->GetContourPoints();
- if( !externContour ) return result;
-
- cvStartReadSeq( externContour, &reader);
-
- for( int i=0; i< externContour->total; i++)
- {
- CV_READ_SEQ_ELEM( actualPoint, reader);
-
- if( (actualPoint.y == blob.MaxY()) && (actualPoint.x > result) )
- {
- result = actualPoint.x;
- }
- }
-
- return result;
-}
-
-/**
-- FUNCTION: CBlobGetMaxYatMinX
-- FUNCTIONALITY: Calculates the maximum Y on the minimum X
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetMaxYatMinX::operator()(CBlob &blob)
-{
- double result = LONG_MIN;
-
- CvSeqReader reader;
- cv::Point actualPoint;
- t_PointList externContour;
-
- externContour = blob.GetExternalContour()->GetContourPoints();
- if( !externContour ) return result;
-
- cvStartReadSeq( externContour, &reader);
-
-
- for( int i=0; i< externContour->total; i++)
- {
- CV_READ_SEQ_ELEM( actualPoint, reader);
-
- if( (actualPoint.x == blob.MinX()) && (actualPoint.y > result) )
- {
- result = actualPoint.y;
- }
- }
-
- return result;
-}
-
-
-/**
-- FUNCTION: CBlobGetElongation
-- FUNCTIONALITY: Calculates the elongation of the blob ( length/breadth )
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
- - See below to see how the lenght and the breadth are aproximated
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetElongation::operator()(CBlob &blob)
-{
- double ampladaC,longitudC,amplada,longitud;
-
- double tmp;
-
- tmp = blob.Perimeter()*blob.Perimeter() - 16*blob.Area();
-
- if( tmp > 0.0 )
- ampladaC = (double) (blob.Perimeter()+sqrt(tmp))/4;
- // error intr�nsec en els c�lculs de l'�rea i el per�metre
- else
- ampladaC = (double) (blob.Perimeter())/4;
-
- if(ampladaC<=0.0) return 0;
- longitudC=(double) blob.Area()/ampladaC;
-
- longitud=MAX( longitudC , ampladaC );
- amplada=MIN( longitudC , ampladaC );
-
- return (double) longitud/amplada;
-}
-
-/**
- Retorna la compacitat del blob
-*/
-/**
-- FUNCTION: CBlobGetCompactness
-- FUNCTIONALITY: Calculates the compactness of the blob
- ( maximum for circle shaped blobs, minimum for the rest)
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetCompactness::operator()(CBlob &blob)
-{
- if( blob.Area() != 0.0 )
- return (double) pow(blob.Perimeter(),2)/(4*CV_PI*blob.Area());
- else
- return 0.0;
-}
-
-/**
- Retorna la rugositat del blob
-*/
-/**
-- FUNCTION: CBlobGetRoughness
-- FUNCTIONALITY: Calculates the roughness of the blob
- ( ratio between perimeter and convex hull perimeter)
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetRoughness::operator()(CBlob &blob)
-{
- CBlobGetHullPerimeter getHullPerimeter = CBlobGetHullPerimeter();
-
- double hullPerimeter = getHullPerimeter(blob);
-
- if( hullPerimeter != 0.0 )
- return blob.Perimeter() / hullPerimeter;//HullPerimeter();
-
- return 0.0;
-}
-
-/**
- Retorna la longitud del blob
-*/
-/**
-- FUNCTION: CBlobGetLength
-- FUNCTIONALITY: Calculates the lenght of the blob (the biggest axis of the blob)
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
- - The lenght is an aproximation to the real lenght
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetLength::operator()(CBlob &blob)
-{
- double ampladaC,longitudC;
- double tmp;
-
- tmp = blob.Perimeter()*blob.Perimeter() - 16*blob.Area();
-
- if( tmp > 0.0 )
- ampladaC = (double) (blob.Perimeter()+sqrt(tmp))/4;
- // error intr�nsec en els c�lculs de l'�rea i el per�metre
- else
- ampladaC = (double) (blob.Perimeter())/4;
-
- if(ampladaC<=0.0) return 0;
- longitudC=(double) blob.Area()/ampladaC;
-
- return MAX( longitudC , ampladaC );
-}
-
-/**
- Retorna l'amplada del blob
-*/
-/**
-- FUNCTION: CBlobGetBreadth
-- FUNCTIONALITY: Calculates the breadth of the blob (the smallest axis of the blob)
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
- - The breadth is an aproximation to the real breadth
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetBreadth::operator()(CBlob &blob)
-{
- double ampladaC,longitudC;
- double tmp;
-
- tmp = blob.Perimeter()*blob.Perimeter() - 16*blob.Area();
-
- if( tmp > 0.0 )
- ampladaC = (double) (blob.Perimeter()+sqrt(tmp))/4;
- // error intr�nsec en els c�lculs de l'�rea i el per�metre
- else
- ampladaC = (double) (blob.Perimeter())/4;
-
- if(ampladaC<=0.0) return 0;
- longitudC = (double) blob.Area()/ampladaC;
-
- return MIN( longitudC , ampladaC );
-}
-
-/**
- Calcula la dist�ncia entre un punt i el centre del blob
-*/
-/**
-- FUNCTION: CBlobGetDistanceFromPoint
-- FUNCTIONALITY: Calculates the euclidean distance between the blob center and
- the point specified in the constructor
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetDistanceFromPoint::operator()(CBlob &blob)
-{
- double xmitjana, ymitjana;
- CBlobGetXCenter getXCenter;
- CBlobGetYCenter getYCenter;
-
- xmitjana = m_x - getXCenter( blob );
- ymitjana = m_y - getYCenter( blob );
-
- return sqrt((xmitjana*xmitjana)+(ymitjana*ymitjana));
-}
-
-/**
-- FUNCTION: BlobGetXYInside
-- FUNCTIONALITY: Calculates whether a point is inside the
- rectangular bounding box of a blob
-- PARAMETERS:
-- RESULT:
- - returns 1 if it is inside; o if not
-- RESTRICTIONS:
-- AUTHOR: Francesc Pinyol Margalef
-- CREATION DATE: 16-01-2006.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobGetXYInside::operator()(CBlob &blob)
-{
- if( blob.GetExternalContour()->GetContourPoints() )
- {
- return cvPointPolygonTest( blob.GetExternalContour()->GetContourPoints(), m_p,0) >= 0;
- }
-
- return 0;
-}
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobOperators.h b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobOperators.h
deleted file mode 100644
index fbe233f..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobOperators.h
+++ /dev/null
@@ -1,734 +0,0 @@
-#ifndef BLOB_OPERATORS_H_INCLUDED
-#define BLOB_OPERATORS_H_INCLUDED
-
-#include "blob.h"
-
-/**************************************************************************
- Definici� de les classes per a fer operacions sobre els blobs
-
- Helper classes to perform operations on blobs
-**************************************************************************/
-
-//! Factor de conversi� de graus a radians
-#define DEGREE2RAD (CV_PI / 180.0)
-
-
-//! Classe d'on derivarem totes les operacions sobre els blobs
-//! Interface to derive all blob operations
-class COperadorBlob
-{
-public:
- virtual ~COperadorBlob(){};
-
- //! Aply operator to blob
- virtual double operator()(CBlob &blob) = 0;
- //! Get operator name
- virtual const char *GetNom() = 0;
-
- operator COperadorBlob*()
- {
- return (COperadorBlob*)this;
- }
-};
-
-typedef COperadorBlob funcio_calculBlob;
-
-
-//! Classe per calcular l'etiqueta d'un blob
-//! Class to get ID of a blob
-class CBlobGetID : public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- return blob.GetID();
- }
- const char *GetNom()
- {
- return "CBlobGetID";
- }
-};
-
-
-//! Classe per calcular l'�rea d'un blob
-//! Class to get the area of a blob
-class CBlobGetArea : public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- return blob.Area();
- }
- const char *GetNom()
- {
- return "CBlobGetArea";
- }
-};
-
-//! Classe per calcular el perimetre d'un blob
-//! Class to get the perimeter of a blob
-class CBlobGetPerimeter: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- return blob.Perimeter();
- }
- const char *GetNom()
- {
- return "CBlobGetPerimeter";
- }
-};
-
-//! Classe que diu si un blob �s extern o no
-//! Class to get the extern flag of a blob
-class CBlobGetExterior: public COperadorBlob
-{
-public:
- CBlobGetExterior()
- {
- m_mask = NULL;
- m_xBorder = false;
- m_yBorder = false;
- }
- CBlobGetExterior(IplImage *mask, bool xBorder = true, bool yBorder = true)
- {
- m_mask = mask;
- m_xBorder = xBorder;
- m_yBorder = yBorder;
- }
- double operator()(CBlob &blob)
- {
- return blob.Exterior(m_mask, m_xBorder, m_yBorder);
- }
- const char *GetNom()
- {
- return "CBlobGetExterior";
- }
-private:
- IplImage *m_mask;
- bool m_xBorder, m_yBorder;
-};
-
-//! Classe per calcular la mitjana de nivells de gris d'un blob
-//! Class to get the mean grey level of a blob
-class CBlobGetMean: public COperadorBlob
-{
-public:
- CBlobGetMean()
- {
- m_image = NULL;
- }
- CBlobGetMean( IplImage *image )
- {
- m_image = image;
- };
-
- double operator()(CBlob &blob)
- {
- return blob.Mean(m_image);
- }
- const char *GetNom()
- {
- return "CBlobGetMean";
- }
-private:
-
- IplImage *m_image;
-};
-
-//! Classe per calcular la desviaci� est�ndard dels nivells de gris d'un blob
-//! Class to get the standard deviation of the grey level values of a blob
-class CBlobGetStdDev: public COperadorBlob
-{
-public:
- CBlobGetStdDev()
- {
- m_image = NULL;
- }
- CBlobGetStdDev( IplImage *image )
- {
- m_image = image;
- };
- double operator()(CBlob &blob)
- {
- return blob.StdDev(m_image);
- }
- const char *GetNom()
- {
- return "CBlobGetStdDev";
- }
-private:
-
- IplImage *m_image;
-
-};
-
-//! Classe per calcular la compacitat d'un blob
-//! Class to calculate the compactness of a blob
-class CBlobGetCompactness: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetCompactness";
- }
-};
-
-//! Classe per calcular la longitud d'un blob
-//! Class to calculate the length of a blob
-class CBlobGetLength: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetLength";
- }
-};
-
-//! Classe per calcular l'amplada d'un blob
-//! Class to calculate the breadth of a blob
-class CBlobGetBreadth: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetBreadth";
- }
-};
-
-//! Classe per calcular la difer�ncia en X del blob
-class CBlobGetDiffX: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- return blob.GetBoundingBox().width;
- }
- const char *GetNom()
- {
- return "CBlobGetDiffX";
- }
-};
-
-//! Classe per calcular la difer�ncia en X del blob
-class CBlobGetDiffY: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- return blob.GetBoundingBox().height;
- }
- const char *GetNom()
- {
- return "CBlobGetDiffY";
- }
-};
-
-//! Classe per calcular el moment PQ del blob
-//! Class to calculate the P,Q moment of a blob
-class CBlobGetMoment: public COperadorBlob
-{
-public:
- //! Constructor est�ndard
- //! Standard constructor (gets the 00 moment)
- CBlobGetMoment()
- {
- m_p = m_q = 0;
- }
- //! Constructor: indiquem el moment p,q a calcular
- //! Constructor: gets the PQ moment
- CBlobGetMoment( int p, int q )
- {
- m_p = p;
- m_q = q;
- };
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetMoment";
- }
-
-private:
- //! moment que volem calcular
- int m_p, m_q;
-};
-
-//! Classe per calcular el perimetre del poligon convex d'un blob
-//! Class to calculate the convex hull perimeter of a blob
-class CBlobGetHullPerimeter: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetHullPerimeter";
- }
-};
-
-//! Classe per calcular l'�rea del poligon convex d'un blob
-//! Class to calculate the convex hull area of a blob
-class CBlobGetHullArea: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetHullArea";
- }
-};
-
-//! Classe per calcular la x minima en la y minima
-//! Class to calculate the minimum x on the minimum y
-class CBlobGetMinXatMinY: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetMinXatMinY";
- }
-};
-
-//! Classe per calcular la y minima en la x maxima
-//! Class to calculate the minimum y on the maximum x
-class CBlobGetMinYatMaxX: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetMinYatMaxX";
- }
-};
-
-//! Classe per calcular la x maxima en la y maxima
-//! Class to calculate the maximum x on the maximum y
-class CBlobGetMaxXatMaxY: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetMaxXatMaxY";
- }
-};
-
-//! Classe per calcular la y maxima en la x minima
-//! Class to calculate the maximum y on the minimum y
-class CBlobGetMaxYatMinX: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetMaxYatMinX";
- }
-};
-
-//! Classe per a calcular la x m�nima
-//! Class to get the minimum x
-class CBlobGetMinX: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- return blob.MinX();
- }
- const char *GetNom()
- {
- return "CBlobGetMinX";
- }
-};
-
-//! Classe per a calcular la x m�xima
-//! Class to get the maximum x
-class CBlobGetMaxX: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- return blob.MaxX();
- }
- const char *GetNom()
- {
- return "CBlobGetMaxX";
- }
-};
-
-//! Classe per a calcular la y m�nima
-//! Class to get the minimum y
-class CBlobGetMinY: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- return blob.MinY();
- }
- const char *GetNom()
- {
- return "CBlobGetMinY";
- }
-};
-
-//! Classe per a calcular la y m�xima
-//! Class to get the maximum y
-class CBlobGetMaxY: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- return blob.MaxY();
- }
- const char *GetNom()
- {
- return "CBlobGetMaxY";
- }
-};
-
-
-//! Classe per calcular l'elongacio d'un blob
-//! Class to calculate the elongation of the blob
-class CBlobGetElongation: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetElongation";
- }
-};
-
-//! Classe per calcular la rugositat d'un blob
-//! Class to calculate the roughness of the blob
-class CBlobGetRoughness: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetRoughness";
- }
-};
-
-//! Classe per calcular la dist�ncia entre el centre del blob i un punt donat
-//! Class to calculate the euclidean distance between the center of a blob and a given point
-class CBlobGetDistanceFromPoint: public COperadorBlob
-{
-public:
- //! Standard constructor (distance to point 0,0)
- CBlobGetDistanceFromPoint()
- {
- m_x = m_y = 0.0;
- }
- //! Constructor (distance to point x,y)
- CBlobGetDistanceFromPoint( const double x, const double y )
- {
- m_x = x;
- m_y = y;
- }
-
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetDistanceFromPoint";
- }
-
-private:
- // coordenades del punt on volem calcular la dist�ncia
- double m_x, m_y;
-};
-
-//! Classe per calcular el nombre de pixels externs d'un blob
-//! Class to get the number of extern pixels of a blob
-class CBlobGetExternPerimeter: public COperadorBlob
-{
-public:
- CBlobGetExternPerimeter()
- {
- m_mask = NULL;
- m_xBorder = false;
- m_yBorder = false;
- }
- CBlobGetExternPerimeter( IplImage *mask, bool xBorder = true, bool yBorder = true )
- {
- m_mask = mask;
- m_xBorder = xBorder;
- m_yBorder = yBorder;
- }
- double operator()(CBlob &blob)
- {
- return blob.ExternPerimeter(m_mask, m_xBorder, m_yBorder);
- }
- const char *GetNom()
- {
- return "CBlobGetExternPerimeter";
- }
-private:
- IplImage *m_mask;
- bool m_xBorder, m_yBorder;
-};
-
-//! Classe per calcular el ratio entre el perimetre i nombre pixels externs
-//! valors propers a 0 indiquen que la majoria del blob �s intern
-//! valors propers a 1 indiquen que la majoria del blob �s extern
-//! Class to calculate the ratio between the perimeter and the number of extern pixels
-class CBlobGetExternPerimeterRatio: public COperadorBlob
-{
-public:
- CBlobGetExternPerimeterRatio()
- {
- m_mask = NULL;
- m_xBorder = false;
- m_yBorder = false;
- }
- CBlobGetExternPerimeterRatio( IplImage *mask, bool xBorder = true, bool yBorder = true )
- {
- m_mask = mask;
- m_xBorder = xBorder;
- m_yBorder = yBorder;
- }
- double operator()(CBlob &blob)
- {
- if( blob.Perimeter() != 0 )
- return blob.ExternPerimeter(m_mask, m_xBorder, m_yBorder) / blob.Perimeter();
- else
- return blob.ExternPerimeter(m_mask, m_xBorder, m_yBorder);
- }
- const char *GetNom()
- {
- return "CBlobGetExternPerimeterRatio";
- }
-private:
- IplImage *m_mask;
- bool m_xBorder, m_yBorder;
-};
-
-//! Classe per calcular el ratio entre el perimetre convex i nombre pixels externs
-//! valors propers a 0 indiquen que la majoria del blob �s intern
-//! valors propers a 1 indiquen que la majoria del blob �s extern
-//! Class to calculate the ratio between the perimeter and the number of extern pixels
-class CBlobGetExternHullPerimeterRatio: public COperadorBlob
-{
-public:
- CBlobGetExternHullPerimeterRatio()
- {
- m_mask = NULL;
- m_xBorder = false;
- m_yBorder = false;
- }
- CBlobGetExternHullPerimeterRatio( IplImage *mask, bool xBorder = true, bool yBorder = true )
- {
- m_mask = mask;
- m_xBorder = xBorder;
- m_yBorder = yBorder;
- }
- double operator()(CBlob &blob)
- {
- CBlobGetHullPerimeter getHullPerimeter;
- double hullPerimeter;
-
- if( (hullPerimeter = getHullPerimeter( blob ) ) != 0 )
- return blob.ExternPerimeter(m_mask, m_xBorder, m_yBorder) / hullPerimeter;
- else
- return blob.ExternPerimeter(m_mask, m_xBorder, m_yBorder);
- }
- const char *GetNom()
- {
- return "CBlobGetExternHullPerimeterRatio";
- }
-private:
- IplImage *m_mask;
- bool m_xBorder, m_yBorder;
-
-};
-
-//! Classe per calcular el centre en el eix X d'un blob
-//! Class to calculate the center in the X direction
-class CBlobGetXCenter: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- return blob.MinX() + (( blob.MaxX() - blob.MinX() ) / 2.0);
- }
- const char *GetNom()
- {
- return "CBlobGetXCenter";
- }
-};
-
-//! Classe per calcular el centre en el eix Y d'un blob
-//! Class to calculate the center in the Y direction
-class CBlobGetYCenter: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- return blob.MinY() + (( blob.MaxY() - blob.MinY() ) / 2.0);
- }
- const char *GetNom()
- {
- return "CBlobGetYCenter";
- }
-};
-
-//! Classe per calcular la longitud de l'eix major d'un blob
-//! Class to calculate the length of the major axis of the ellipse that fits the blob edges
-class CBlobGetMajorAxisLength: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- CvBox2D elipse = blob.GetEllipse();
-
- return elipse.size.width;
- }
- const char *GetNom()
- {
- return "CBlobGetMajorAxisLength";
- }
-};
-
-//! Classe per calcular el ratio entre l'area de la elipse i la de la taca
-//! Class
-class CBlobGetAreaElipseRatio: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- if( blob.Area()==0.0 ) return 0.0;
-
- CvBox2D elipse = blob.GetEllipse();
- double ratioAreaElipseAreaTaca = ( (elipse.size.width/2.0)
- *
- (elipse.size.height/2.0)
- *CV_PI
- )
- /
- blob.Area();
-
- return ratioAreaElipseAreaTaca;
- }
- const char *GetNom()
- {
- return "CBlobGetAreaElipseRatio";
- }
-};
-
-//! Classe per calcular la longitud de l'eix menor d'un blob
-//! Class to calculate the length of the minor axis of the ellipse that fits the blob edges
-class CBlobGetMinorAxisLength: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- CvBox2D elipse = blob.GetEllipse();
-
- return elipse.size.height;
- }
- const char *GetNom()
- {
- return "CBlobGetMinorAxisLength";
- }
-};
-
-//! Classe per calcular l'orientaci� de l'ellipse del blob en radians
-//! Class to calculate the orientation of the ellipse that fits the blob edges in radians
-class CBlobGetOrientation: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- CvBox2D elipse = blob.GetEllipse();
-/*
- if( elipse.angle > 180.0 )
- return (( elipse.angle - 180.0 )* DEGREE2RAD);
- else
- return ( elipse.angle * DEGREE2RAD);
-*/
- return elipse.angle;
- }
- const char *GetNom()
- {
- return "CBlobGetOrientation";
- }
-};
-
-//! Classe per calcular el cosinus de l'orientaci� de l'ellipse del blob
-//! Class to calculate the cosinus of the orientation of the ellipse that fits the blob edges
-class CBlobGetOrientationCos: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- CBlobGetOrientation getOrientation;
- return fabs( cos( getOrientation(blob)*DEGREE2RAD ));
- }
- const char *GetNom()
- {
- return "CBlobGetOrientationCos";
- }
-};
-
-
-//! Classe per calcular el ratio entre l'eix major i menor de la el�lipse
-//! Class to calculate the ratio between both axes of the ellipse
-class CBlobGetAxisRatio: public COperadorBlob
-{
-public:
- double operator()(CBlob &blob)
- {
- double major,minor;
- CBlobGetMajorAxisLength getMajor;
- CBlobGetMinorAxisLength getMinor;
-
- major = getMajor(blob);
- minor = getMinor(blob);
-
- if( major != 0 )
- return minor / major;
- else
- return 0;
- }
- const char *GetNom()
- {
- return "CBlobGetAxisRatio";
- }
-};
-
-
-//! Classe per calcular si un punt cau dins del blob
-//! Class to calculate whether a point is inside a blob
-class CBlobGetXYInside: public COperadorBlob
-{
-public:
- //! Constructor est�ndard
- //! Standard constructor
- CBlobGetXYInside()
- {
- m_p.x = 0;
- m_p.y = 0;
- }
- //! Constructor: indiquem el punt
- //! Constructor: sets the point
- CBlobGetXYInside( CvPoint2D32f p )
- {
- m_p = p;
- };
- double operator()(CBlob &blob);
- const char *GetNom()
- {
- return "CBlobGetXYInside";
- }
-
-private:
- //! punt que considerem
- //! point to be considered
- CvPoint2D32f m_p;
-};
-
-#endif //!BLOB_OPERATORS_H_INCLUDED
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobProperties.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobProperties.cpp
deleted file mode 100644
index 64b7265..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobProperties.cpp
+++ /dev/null
@@ -1,81 +0,0 @@
-#include "BlobProperties.h"
-
-
-/**
-- FUNCI�: GetPerimeter
-- FUNCIONALITAT: Get perimeter from chain code. Diagonals sum sqrt(2) and horizontal and vertical codes 1
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/04/30
-- MODIFICACI�: Data. Autor. Descripci�.
-- NOTA: Algorithm derived from "Methods to estimate area and perimeters of blob-like objects: A comparison", L.Yang
-*/
-#define SQRT2 1.414213562
-
-/**
-- FUNCI�: GetPerimeter
-- FUNCIONALITAT: Get blob area, ie. external contour area minus internal contours area
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/04/30
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-
-double CBlobProperties::GetArea()
-{
- double area;
- t_contourList::iterator itContour;
-
- area = m_externalContour.GetArea();
-
- itContour = m_internalContours.begin();
-
- while (itContour != m_internalContours.end() )
- {
- area += (*itContour).GetArea();
- itContour++;
- }
- return area;
-}
-
-/**
-- FUNCI�: GetPerimeter
-- FUNCIONALITAT: Get blob perimeter, ie. sum of the lenght of all the contours
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/04/30
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-double CBlobProperties::GetPerimeter()
-{
- double perimeter;
- t_contourList::iterator itContour;
-
- perimeter = m_externalContour.GetPerimeter();
-
- itContour = m_internalContours.begin();
-
- while (itContour != m_internalContours.end() )
- {
- perimeter += (*itContour).GetPerimeter();
- itContour++;
- }
- return perimeter;
-}
-
-
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobProperties.h b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobProperties.h
deleted file mode 100644
index 97d028a..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobProperties.h
+++ /dev/null
@@ -1,67 +0,0 @@
-
-//! Disable warnings referred to 255 character truncation for the std:map
-#pragma warning( disable : 4786 )
-
-#ifndef BLOB_PROPERTIES_H_INCLUDED
-#define BLOB_PROPERTIES_H_INCLUDED
-
-#include <list>
-
-#include <opencv2/opencv.hpp>
-
-#include "BlobLibraryConfiguration.h"
-#include "BlobContour.h"
-
-
-//! Type of labelled images
-typedef unsigned int t_labelType;
-
-//! Max order of calculated moments
-#define MAX_MOMENTS_ORDER 3
-
-
-//! Blob class
-class CBlobProperties
-{
- typedef std::list<CBlobContour> t_contourList;
-
-public:
-
- CBlobProperties();
- virtual ~CBlobProperties();
-
- //! Get blob area
- double GetArea();
-
- //! Get blob perimeter
- double GetPerimeter();
-
- //! Get contour moment (p,q up to MAX_CALCULATED_MOMENTS)
- double GetMoment(int p, int q);
-
-
- //////////////////////////////////////////////////////////////////////////
- // Blob contours
- //////////////////////////////////////////////////////////////////////////
-
-
- //! Contour storage memory
- CvMemStorage *m_storage;
- //! External contour of the blob (crack codes)
- CBlobContour m_externalContour;
- //! Internal contours (crack codes)
- t_contourList m_internalContours;
-
-private:
-
- //! Computed area from blob
- double m_area;
- //! Computed perimeter from blob
- double m_perimeter;
- // Computed moment from the blob
- double m_moment[MAX_MOMENTS_ORDER*MAX_MOMENTS_ORDER];
-
-};
-
-#endif //!BLOB_PROPERTIES_H_INCLUDED
-
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobResult.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobResult.cpp
deleted file mode 100644
index 7e84c53..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobResult.cpp
+++ /dev/null
@@ -1,867 +0,0 @@
-/************************************************************************
- BlobResult.cpp
-
-FUNCIONALITAT: Implementaci� de la classe CBlobResult
-AUTOR: Inspecta S.L.
-MODIFICACIONS (Modificaci�, Autor, Data):
-
-**************************************************************************/
-
-#include <limits.h>
-#include <stdio.h>
-#include <functional>
-#include <algorithm>
-#include "BlobResult.h"
-
-/**************************************************************************
- Constructors / Destructors
-**************************************************************************/
-
-
-/**
-- FUNCI�: CBlobResult
-- FUNCIONALITAT: Constructor estandard.
-- PAR�METRES:
-- RESULTAT:
-- Crea un CBlobResult sense cap blob
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 20-07-2004.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/**
-- FUNCTION: CBlobResult
-- FUNCTIONALITY: Standard constructor
-- PARAMETERS:
-- RESULT:
- - creates an empty set of blobs
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-CBlobResult::CBlobResult()
-{
- m_blobs = Blob_vector();
-}
-
-/**
-- FUNCI�: CBlobResult
-- FUNCIONALITAT: Constructor a partir d'una imatge. Inicialitza la seq��ncia de blobs
- amb els blobs resultants de l'an�lisi de blobs de la imatge.
-- PAR�METRES:
- - source: imatge d'on s'extreuran els blobs
- - mask: m�scara a aplicar. Nom�s es calcularan els blobs on la m�scara sigui
- diferent de 0. Els blobs que toquin a un pixel 0 de la m�scara seran
- considerats exteriors.
- - threshold: llindar que s'aplicar� a la imatge source abans de calcular els blobs
- - findmoments: indica si s'han de calcular els moments de cada blob
- - blackBlobs: true per buscar blobs negres a la binaritzazi� (it will join all extern white blobs).
- false per buscar blobs negres a la binaritzazi� (it will join all extern black blobs).
-
-- RESULTAT:
- - objecte CBlobResult amb els blobs de la imatge source
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/**
-- FUNCTION: CBlob
-- FUNCTIONALITY: Constructor from an image. Fills an object with all the blobs in
- the image
-- PARAMETERS:
- - source: image to extract the blobs from
- - mask: optional mask to apply. The blobs will be extracted where the mask is
- not 0. All the neighboring blobs where the mask is 0 will be extern blobs
- - threshold: threshold level to apply to the image before computing blobs
- - findmoments: true to calculate the blob moments (slower) (needed to calculate elipses!)
- - blackBlobs: true to search for black blobs in the binarization (it will join all extern white blobs).
- false to search for white blobs in the binarization (it will join all extern black blobs).
-- RESULT:
- - object with all the blobs in the image. It throws an EXCEPCIO_CALCUL_BLOBS
- if some error appears in the BlobAnalysis function
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-CBlobResult::CBlobResult(cv::Mat source, cv::Mat* mask, uchar backgroundColor )
-{
- bool success;
-
- try
- {
- success = ComponentLabeling( source, mask, backgroundColor, m_blobs );
- }
- catch(...)
- {
- success = false;
- }
-
- if( !success ) throw EXCEPCIO_CALCUL_BLOBS;
-}
-
-/**
-- FUNCI�: CBlobResult
-- FUNCIONALITAT: Constructor de c�pia. Inicialitza la seq��ncia de blobs
- amb els blobs del par�metre.
-- PAR�METRES:
- - source: objecte que es copiar�
-- RESULTAT:
- - objecte CBlobResult amb els blobs de l'objecte source
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/**
-- FUNCTION: CBlobResult
-- FUNCTIONALITY: Copy constructor
-- PARAMETERS:
- - source: object to copy
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-CBlobResult::CBlobResult( const CBlobResult &source )
-{
- m_blobs = Blob_vector( source.GetNumBlobs() );
-
- // creem el nou a partir del passat com a par�metre
- m_blobs = Blob_vector( source.GetNumBlobs() );
- // copiem els blobs de l'origen a l'actual
- Blob_vector::const_iterator pBlobsSrc = source.m_blobs.begin();
- Blob_vector::iterator pBlobsDst = m_blobs.begin();
-
- while( pBlobsSrc != source.m_blobs.end() )
- {
- // no podem cridar a l'operador = ja que Blob_vector �s un
- // vector de CBlob*. Per tant, creem un blob nou a partir del
- // blob original
- *pBlobsDst = new CBlob(**pBlobsSrc);
- pBlobsSrc++;
- pBlobsDst++;
- }
-}
-
-
-
-/**
-- FUNCI�: ~CBlobResult
-- FUNCIONALITAT: Destructor estandard.
-- PAR�METRES:
-- RESULTAT:
- - Allibera la mem�ria reservada de cadascun dels blobs de la classe
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/**
-- FUNCTION: ~CBlobResult
-- FUNCTIONALITY: Destructor
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-CBlobResult::~CBlobResult()
-{
- ClearBlobs();
-}
-
-/**************************************************************************
- Operadors / Operators
-**************************************************************************/
-
-
-/**
-- FUNCI�: operador =
-- FUNCIONALITAT: Assigna un objecte source a l'actual
-- PAR�METRES:
- - source: objecte a assignar
-- RESULTAT:
- - Substitueix els blobs actuals per els de l'objecte source
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/**
-- FUNCTION: Assigment operator
-- FUNCTIONALITY:
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-CBlobResult& CBlobResult::operator=(const CBlobResult& source)
-{
- // si ja s�n el mateix, no cal fer res
- if (this != &source)
- {
- // alliberem el conjunt de blobs antic
- for( int i = 0; i < GetNumBlobs(); i++ )
- {
- delete m_blobs[i];
- }
- m_blobs.clear();
- // creem el nou a partir del passat com a par�metre
- m_blobs = Blob_vector( source.GetNumBlobs() );
- // copiem els blobs de l'origen a l'actual
- Blob_vector::const_iterator pBlobsSrc = source.m_blobs.begin();
- Blob_vector::iterator pBlobsDst = m_blobs.begin();
-
- while( pBlobsSrc != source.m_blobs.end() )
- {
- // no podem cridar a l'operador = ja que Blob_vector �s un
- // vector de CBlob*. Per tant, creem un blob nou a partir del
- // blob original
- *pBlobsDst = new CBlob(**pBlobsSrc);
- pBlobsSrc++;
- pBlobsDst++;
- }
- }
- return *this;
-}
-
-
-/**
-- FUNCI�: operador +
-- FUNCIONALITAT: Concatena els blobs de dos CBlobResult
-- PAR�METRES:
- - source: d'on s'agafaran els blobs afegits a l'actual
-- RESULTAT:
- - retorna un nou CBlobResult amb els dos CBlobResult concatenats
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- NOTA: per la implementaci�, els blobs del par�metre es posen en ordre invers
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/**
-- FUNCTION: + operator
-- FUNCTIONALITY: Joins the blobs in source with the current ones
-- PARAMETERS:
- - source: object to copy the blobs
-- RESULT:
- - object with the actual blobs and the source blobs
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-CBlobResult CBlobResult::operator+( const CBlobResult& source ) const
-{
- //creem el resultat a partir dels blobs actuals
- CBlobResult resultat( *this );
-
- // reservem mem�ria per als nous blobs
- resultat.m_blobs.resize( resultat.GetNumBlobs() + source.GetNumBlobs() );
-
- // declarem els iterador per rec�rrer els blobs d'origen i desti
- Blob_vector::const_iterator pBlobsSrc = source.m_blobs.begin();
- Blob_vector::iterator pBlobsDst = resultat.m_blobs.end();
-
- // insertem els blobs de l'origen a l'actual
- while( pBlobsSrc != source.m_blobs.end() )
- {
- pBlobsDst--;
- *pBlobsDst = new CBlob(**pBlobsSrc);
- pBlobsSrc++;
- }
-
- return resultat;
-}
-
-/**************************************************************************
- Operacions / Operations
-**************************************************************************/
-
-/**
-- FUNCI�: AddBlob
-- FUNCIONALITAT: Afegeix un blob al conjunt
-- PAR�METRES:
- - blob: blob a afegir
-- RESULTAT:
- - modifica el conjunt de blobs actual
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 2006/03/01
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-void CBlobResult::AddBlob( CBlob *blob )
-{
- if( blob != NULL )
- m_blobs.push_back( new CBlob( blob ) );
-}
-
-
-/**
-- FUNCI�: GetSTLResult
-- FUNCIONALITAT: Calcula el resultat especificat sobre tots els blobs de la classe
-- PAR�METRES:
- - evaluador: Qualsevol objecte derivat de COperadorBlob
-- RESULTAT:
- - Retorna un array de double's STL amb el resultat per cada blob
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/**
-- FUNCTION: GetResult
-- FUNCTIONALITY: Computes the function evaluador on all the blobs of the class
- and returns a vector with the result
-- PARAMETERS:
- - evaluador: function to apply to each blob (any object derived from the
- COperadorBlob class )
-- RESULT:
- - vector with all the results in the same order as the blobs
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double_stl_vector CBlobResult::GetSTLResult( funcio_calculBlob *evaluador ) const
-{
- if( GetNumBlobs() <= 0 )
- {
- return double_stl_vector();
- }
-
- // definim el resultat
- double_stl_vector result = double_stl_vector( GetNumBlobs() );
- // i iteradors sobre els blobs i el resultat
- double_stl_vector::iterator itResult = result.begin();
- Blob_vector::const_iterator itBlobs = m_blobs.begin();
-
- // avaluem la funci� en tots els blobs
- while( itBlobs != m_blobs.end() )
- {
- *itResult = (*evaluador)(**itBlobs);
- itBlobs++;
- itResult++;
- }
- return result;
-}
-
-/**
-- FUNCI�: GetNumber
-- FUNCIONALITAT: Calcula el resultat especificat sobre un �nic blob de la classe
-- PAR�METRES:
- - evaluador: Qualsevol objecte derivat de COperadorBlob
- - indexblob: n�mero de blob del que volem calcular el resultat.
-- RESULTAT:
- - Retorna un double amb el resultat
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/**
-- FUNCTION: GetNumber
-- FUNCTIONALITY: Computes the function evaluador on a blob of the class
-- PARAMETERS:
- - indexBlob: index of the blob to compute the function
- - evaluador: function to apply to each blob (any object derived from the
- COperadorBlob class )
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-double CBlobResult::GetNumber( int indexBlob, funcio_calculBlob *evaluador ) const
-{
- if( indexBlob < 0 || indexBlob >= GetNumBlobs() )
- RaiseError( EXCEPTION_BLOB_OUT_OF_BOUNDS );
- return (*evaluador)( *m_blobs[indexBlob] );
-}
-
-/////////////////////////// FILTRAT DE BLOBS ////////////////////////////////////
-
-/**
-- FUNCI�: Filter
-- FUNCIONALITAT: Filtra els blobs de la classe i deixa el resultat amb nom�s
- els blobs que han passat el filtre.
- El filtrat es basa en especificar condicions sobre un resultat dels blobs
- i seleccionar (o excloure) aquells blobs que no compleixen una determinada
- condicio
-- PAR�METRES:
- - dst: variable per deixar els blobs filtrats
- - filterAction: acci� de filtrat. Incloure els blobs trobats (B_INCLUDE),
- o excloure els blobs trobats (B_EXCLUDE)
- - evaluador: Funci� per evaluar els blobs (qualsevol objecte derivat de COperadorBlob
- - Condition: tipus de condici� que ha de superar la mesura (FilterType)
- sobre cada blob per a ser considerat.
- B_EQUAL,B_NOT_EQUAL,B_GREATER,B_LESS,B_GREATER_OR_EQUAL,
- B_LESS_OR_EQUAL,B_INSIDE,B_OUTSIDE
- - LowLimit: valor num�ric per a la comparaci� (Condition) de la mesura (FilterType)
- - HighLimit: valor num�ric per a la comparaci� (Condition) de la mesura (FilterType)
- (nom�s t� sentit per a aquelles condicions que tenen dos valors
- (B_INSIDE, per exemple).
-- RESULTAT:
- - Deixa els blobs resultants del filtrat a destination
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/**
-- FUNCTION: Filter
-- FUNCTIONALITY: Get some blobs from the class based on conditions on measures
- of the blobs.
-- PARAMETERS:
- - dst: where to store the selected blobs
- - filterAction: B_INCLUDE: include the blobs which pass the filter in the result
- B_EXCLUDE: exclude the blobs which pass the filter in the result
- - evaluador: Object to evaluate the blob
- - Condition: How to decide if the result returned by evaluador on each blob
- is included or not. It can be:
- B_EQUAL,B_NOT_EQUAL,B_GREATER,B_LESS,B_GREATER_OR_EQUAL,
- B_LESS_OR_EQUAL,B_INSIDE,B_OUTSIDE
- - LowLimit: numerical value to evaluate the Condition on evaluador(blob)
- - HighLimit: numerical value to evaluate the Condition on evaluador(blob).
- Only useful for B_INSIDE and B_OUTSIDE
-- RESULT:
- - It returns on dst the blobs that accomplish (B_INCLUDE) or discards (B_EXCLUDE)
- the Condition on the result returned by evaluador on each blob
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-void CBlobResult::Filter(CBlobResult &dst,
- int filterAction,
- funcio_calculBlob *evaluador,
- int condition,
- double lowLimit, double highLimit /*=0*/) const
-
-{
- // do the job
- DoFilter(dst, filterAction, evaluador, condition, lowLimit, highLimit );
-}
-
-/**
-- FUNCI�: Filter (const version)
-- FUNCIONALITAT: Filtra els blobs de la classe i deixa el resultat amb nom�s
- els blobs que han passat el filtre.
- El filtrat es basa en especificar condicions sobre un resultat dels blobs
- i seleccionar (o excloure) aquells blobs que no compleixen una determinada
- condicio
-- PAR�METRES:
- - dst: variable per deixar els blobs filtrats
- - filterAction: acci� de filtrat. Incloure els blobs trobats (B_INCLUDE),
- o excloure els blobs trobats (B_EXCLUDE)
- - evaluador: Funci� per evaluar els blobs (qualsevol objecte derivat de COperadorBlob
- - Condition: tipus de condici� que ha de superar la mesura (FilterType)
- sobre cada blob per a ser considerat.
- B_EQUAL,B_NOT_EQUAL,B_GREATER,B_LESS,B_GREATER_OR_EQUAL,
- B_LESS_OR_EQUAL,B_INSIDE,B_OUTSIDE
- - LowLimit: valor num�ric per a la comparaci� (Condition) de la mesura (FilterType)
- - HighLimit: valor num�ric per a la comparaci� (Condition) de la mesura (FilterType)
- (nom�s t� sentit per a aquelles condicions que tenen dos valors
- (B_INSIDE, per exemple).
-- RESULTAT:
- - Deixa els blobs resultants del filtrat a destination
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/**
-- FUNCTION: Filter (const version)
-- FUNCTIONALITY: Get some blobs from the class based on conditions on measures
- of the blobs.
-- PARAMETERS:
- - dst: where to store the selected blobs
- - filterAction: B_INCLUDE: include the blobs which pass the filter in the result
- B_EXCLUDE: exclude the blobs which pass the filter in the result
- - evaluador: Object to evaluate the blob
- - Condition: How to decide if the result returned by evaluador on each blob
- is included or not. It can be:
- B_EQUAL,B_NOT_EQUAL,B_GREATER,B_LESS,B_GREATER_OR_EQUAL,
- B_LESS_OR_EQUAL,B_INSIDE,B_OUTSIDE
- - LowLimit: numerical value to evaluate the Condition on evaluador(blob)
- - HighLimit: numerical value to evaluate the Condition on evaluador(blob).
- Only useful for B_INSIDE and B_OUTSIDE
-- RESULT:
- - It returns on dst the blobs that accomplish (B_INCLUDE) or discards (B_EXCLUDE)
- the Condition on the result returned by evaluador on each blob
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-void CBlobResult::Filter(CBlobResult &dst,
- int filterAction,
- funcio_calculBlob *evaluador,
- int condition,
- double lowLimit, double highLimit /*=0*/)
-
-{
- int numBlobs = GetNumBlobs();
-
- // do the job
- DoFilter(dst, filterAction, evaluador, condition, lowLimit, highLimit );
-
- // inline operation: remove previous blobs
- if( &dst == this )
- {
- // esborrem els primers blobs ( que s�n els originals )
- // ja que els tindrem replicats al final si passen el filtre
- Blob_vector::iterator itBlobs = m_blobs.begin();
- for( int i = 0; i < numBlobs; i++ )
- {
- delete *itBlobs;
- itBlobs++;
- }
- m_blobs.erase( m_blobs.begin(), itBlobs );
- }
-}
-
-
-//! Does the Filter method job
-void CBlobResult::DoFilter(CBlobResult &dst, int filterAction, funcio_calculBlob *evaluador,
- int condition, double lowLimit, double highLimit/* = 0*/) const
-{
- int i, numBlobs;
- bool resultavaluacio;
- double_stl_vector avaluacioBlobs;
- double_stl_vector::iterator itavaluacioBlobs;
-
- if( GetNumBlobs() <= 0 ) return;
- if( !evaluador ) return;
- //avaluem els blobs amb la funci� pertinent
- avaluacioBlobs = GetSTLResult(evaluador);
- itavaluacioBlobs = avaluacioBlobs.begin();
- numBlobs = GetNumBlobs();
- switch(condition)
- {
- case B_EQUAL:
- for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
- {
- resultavaluacio= *itavaluacioBlobs == lowLimit;
- if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
- ( !resultavaluacio && filterAction == B_EXCLUDE ))
- {
- dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
- }
- }
- break;
- case B_NOT_EQUAL:
- for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
- {
- resultavaluacio = *itavaluacioBlobs != lowLimit;
- if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
- ( !resultavaluacio && filterAction == B_EXCLUDE ))
- {
- dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
- }
- }
- break;
- case B_GREATER:
- for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
- {
- resultavaluacio= *itavaluacioBlobs > lowLimit;
- if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
- ( !resultavaluacio && filterAction == B_EXCLUDE ))
- {
- dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
- }
- }
- break;
- case B_LESS:
- for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
- {
- resultavaluacio= *itavaluacioBlobs < lowLimit;
- if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
- ( !resultavaluacio && filterAction == B_EXCLUDE ))
- {
- dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
- }
- }
- break;
- case B_GREATER_OR_EQUAL:
- for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
- {
- resultavaluacio= *itavaluacioBlobs>= lowLimit;
- if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
- ( !resultavaluacio && filterAction == B_EXCLUDE ))
- {
- dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
- }
- }
- break;
- case B_LESS_OR_EQUAL:
- for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
- {
- resultavaluacio= *itavaluacioBlobs <= lowLimit;
- if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
- ( !resultavaluacio && filterAction == B_EXCLUDE ))
- {
- dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
- }
- }
- break;
- case B_INSIDE:
- for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
- {
- resultavaluacio=( *itavaluacioBlobs >= lowLimit) && ( *itavaluacioBlobs <= highLimit);
- if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
- ( !resultavaluacio && filterAction == B_EXCLUDE ))
- {
- dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
- }
- }
- break;
- case B_OUTSIDE:
- for(i=0;i<numBlobs;i++, itavaluacioBlobs++)
- {
- resultavaluacio=( *itavaluacioBlobs < lowLimit) || ( *itavaluacioBlobs > highLimit);
- if( ( resultavaluacio && filterAction == B_INCLUDE ) ||
- ( !resultavaluacio && filterAction == B_EXCLUDE ))
- {
- dst.m_blobs.push_back( new CBlob( GetBlob( i ) ));
- }
- }
- break;
- }
-}
-/**
-- FUNCI�: GetBlob
-- FUNCIONALITAT: Retorna un blob si aquest existeix (index != -1)
-- PAR�METRES:
- - indexblob: index del blob a retornar
-- RESULTAT:
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/*
-- FUNCTION: GetBlob
-- FUNCTIONALITY: Gets the n-th blob (without ordering the blobs)
-- PARAMETERS:
- - indexblob: index in the blob array
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-CBlob CBlobResult::GetBlob(int indexblob) const
-{
- if( indexblob < 0 || indexblob >= GetNumBlobs() )
- RaiseError( EXCEPTION_BLOB_OUT_OF_BOUNDS );
-
- return *m_blobs[indexblob];
-}
-CBlob *CBlobResult::GetBlob(int indexblob)
-{
- if( indexblob < 0 || indexblob >= GetNumBlobs() )
- RaiseError( EXCEPTION_BLOB_OUT_OF_BOUNDS );
-
- return m_blobs[indexblob];
-}
-
-/**
-- FUNCI�: GetNthBlob
-- FUNCIONALITAT: Retorna l'en�ssim blob segons un determinat criteri
-- PAR�METRES:
- - criteri: criteri per ordenar els blobs (objectes derivats de COperadorBlob)
- - nBlob: index del blob a retornar
- - dst: on es retorna el resultat
-- RESULTAT:
- - retorna el blob nBlob a dst ordenant els blobs de la classe segons el criteri
- en ordre DESCENDENT. Per exemple, per obtenir el blob major:
- GetNthBlob( CBlobGetArea(), 0, blobMajor );
- GetNthBlob( CBlobGetArea(), 1, blobMajor ); (segon blob m�s gran)
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/*
-- FUNCTION: GetNthBlob
-- FUNCTIONALITY: Gets the n-th blob ordering first the blobs with some criteria
-- PARAMETERS:
- - criteri: criteria to order the blob array
- - nBlob: index of the returned blob in the ordered blob array
- - dst: where to store the result
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-void CBlobResult::GetNthBlob( funcio_calculBlob *criteri, int nBlob, CBlob &dst ) const
-{
- // verifiquem que no estem accedint fora el vector de blobs
- if( nBlob < 0 || nBlob >= GetNumBlobs() )
- {
- //RaiseError( EXCEPTION_BLOB_OUT_OF_BOUNDS );
- dst = CBlob();
- return;
- }
-
- double_stl_vector avaluacioBlobs, avaluacioBlobsOrdenat;
- double valorEnessim;
-
- //avaluem els blobs amb la funci� pertinent
- avaluacioBlobs = GetSTLResult(criteri);
-
- avaluacioBlobsOrdenat = double_stl_vector( GetNumBlobs() );
-
- // obtenim els nBlob primers resultats (en ordre descendent)
- std::partial_sort_copy( avaluacioBlobs.begin(),
- avaluacioBlobs.end(),
- avaluacioBlobsOrdenat.begin(),
- avaluacioBlobsOrdenat.end(),
- std::greater<double>() );
-
- valorEnessim = avaluacioBlobsOrdenat[nBlob];
-
- // busquem el primer blob que t� el valor n-ssim
- double_stl_vector::const_iterator itAvaluacio = avaluacioBlobs.begin();
-
- bool trobatBlob = false;
- int indexBlob = 0;
- while( itAvaluacio != avaluacioBlobs.end() && !trobatBlob )
- {
- if( *itAvaluacio == valorEnessim )
- {
- trobatBlob = true;
- dst = CBlob( GetBlob(indexBlob));
- }
- itAvaluacio++;
- indexBlob++;
- }
-}
-
-/**
-- FUNCI�: ClearBlobs
-- FUNCIONALITAT: Elimina tots els blobs de l'objecte
-- PAR�METRES:
-- RESULTAT:
- - Allibera tota la mem�ria dels blobs
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s Navarra
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/*
-- FUNCTION: ClearBlobs
-- FUNCTIONALITY: Clears all the blobs from the object and releases all its memory
-- PARAMETERS:
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-void CBlobResult::ClearBlobs()
-{
- Blob_vector::iterator itBlobs = m_blobs.begin();
- while( itBlobs != m_blobs.end() )
- {
- delete *itBlobs;
- itBlobs++;
- }
-
- m_blobs.clear();
-}
-
-/**
-- FUNCI�: RaiseError
-- FUNCIONALITAT: Funci� per a notificar errors al l'usuari (en debug) i llen�a
- les excepcions
-- PAR�METRES:
- - errorCode: codi d'error
-- RESULTAT:
- - Ensenya un missatge a l'usuari (en debug) i llen�a una excepci�
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s Navarra
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/*
-- FUNCTION: RaiseError
-- FUNCTIONALITY: Error handling function
-- PARAMETERS:
- - errorCode: reason of the error
-- RESULT:
- - Throws an exception with the error.
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-void CBlobResult::RaiseError(const int errorCode) const
-{
- throw errorCode;
-}
-
-
-
-/**************************************************************************
- Auxiliars / Auxiliary functions
-**************************************************************************/
-
-
-/**
-- FUNCI�: PrintBlobs
-- FUNCIONALITAT: Escriu els par�metres (�rea, per�metre, exterior, mitjana)
- de tots els blobs a un fitxer.
-- PAR�METRES:
- - nom_fitxer: path complet del fitxer amb el resultat
-- RESULTAT:
-- RESTRICCIONS:
-- AUTOR: Ricard Borr�s
-- DATA DE CREACI�: 25-05-2005.
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-/*
-- FUNCTION: PrintBlobs
-- FUNCTIONALITY: Prints some blob features in an ASCII file
-- PARAMETERS:
- - nom_fitxer: full path + filename to generate
-- RESULT:
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-void CBlobResult::PrintBlobs( char *nom_fitxer ) const
-{
- double_stl_vector area, /*perimetre,*/ exterior, compacitat, longitud,
- externPerimeter, perimetreConvex, perimetre;
- int i;
- FILE *fitxer_sortida;
-
- area = GetSTLResult( CBlobGetArea());
- perimetre = GetSTLResult( CBlobGetPerimeter());
- exterior = GetSTLResult( CBlobGetExterior());
- compacitat = GetSTLResult(CBlobGetCompactness());
- longitud = GetSTLResult( CBlobGetLength());
- externPerimeter = GetSTLResult( CBlobGetExternPerimeter());
- perimetreConvex = GetSTLResult( CBlobGetHullPerimeter());
-
- fitxer_sortida = fopen( nom_fitxer, "w" );
-
- for(i=0; i<GetNumBlobs(); i++)
- {
-// fprintf( fitxer_sortida, "blob %d ->\t a=%7.0f\t p=%8.2f (%8.2f extern)\t pconvex=%8.2f\t ext=%.0f\t m=%7.2f\t c=%3.2f\t l=%8.2f\n",
-// i, area[i], perimetre[i], externPerimeter[i], perimetreConvex[i], exterior[i], compacitat[i], longitud[i] );
- }
- fclose( fitxer_sortida );
-
-}
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobResult.h b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobResult.h
deleted file mode 100644
index cf5c182..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/BlobResult.h
+++ /dev/null
@@ -1,161 +0,0 @@
-/************************************************************************
- BlobResult.h
-
-FUNCIONALITAT: Definici� de la classe CBlobResult
-AUTOR: Inspecta S.L.
-MODIFICACIONS (Modificaci�, Autor, Data):
-
-FUNCTIONALITY: Definition of the CBlobResult class
-AUTHOR: Inspecta S.L.
-MODIFICATIONS (Modification, Author, Date):
-
-**************************************************************************/
-
-
-#if !defined(_CLASSE_BLOBRESULT_INCLUDED)
-#define _CLASSE_BLOBRESULT_INCLUDED
-
-#if _MSC_VER > 1000
-#pragma once
-#endif // _MSC_VER > 1000
-
-#include "BlobLibraryConfiguration.h"
-#include <math.h>
-#include <opencv2/opencv.hpp>
-
-#include <vector> // vectors de la STL
-#include <functional>
-#include "blob.h"
-#include "BlobOperators.h"
-#include "ComponentLabeling.h"
-
-//! Vector de doubles
-typedef std::vector<double> double_stl_vector;
-
-/**************************************************************************
- Filtres / Filters
-**************************************************************************/
-
-//! accions que es poden fer amb els filtres
-//! Actions performed by a filter (include or exclude blobs)
-#define B_INCLUDE 1L
-#define B_EXCLUDE 2L
-
-//! condicions sobre els filtres
-//! Conditions to apply the filters
-#define B_EQUAL 3L
-#define B_NOT_EQUAL 4L
-#define B_GREATER 5L
-#define B_LESS 6L
-#define B_GREATER_OR_EQUAL 7L
-#define B_LESS_OR_EQUAL 8L
-#define B_INSIDE 9L
-#define B_OUTSIDE 10L
-
-
-/**************************************************************************
- Excepcions / Exceptions
-**************************************************************************/
-
-//! Excepcions llen�ades per les funcions:
-#define EXCEPTION_BLOB_OUT_OF_BOUNDS 1000
-#define EXCEPCIO_CALCUL_BLOBS 1001
-
-/**
- Classe que cont� un conjunt de blobs i permet extreure'n propietats
- o filtrar-los segons determinats criteris.
- Class to calculate the blobs of an image and calculate some properties
- on them. Also, the class provides functions to filter the blobs using
- some criteria.
-*/
-class CBlobResult
-{
-public:
-
- //! constructor estandard, crea un conjunt buit de blobs
- //! Standard constructor, it creates an empty set of blobs
- CBlobResult();
- //! constructor a partir d'una imatge
- //! Image constructor, it creates an object with the blobs of the image
- CBlobResult(cv::Mat source, cv::Mat* mask, uchar backgroundColor);
- //! constructor de c�pia
- //! Copy constructor
- CBlobResult( const CBlobResult &source );
- //! Destructor
- virtual ~CBlobResult();
-
- //! operador = per a fer assignacions entre CBlobResult
- //! Assigment operator
- CBlobResult& operator=(const CBlobResult& source);
- //! operador + per concatenar dos CBlobResult
- //! Addition operator to concatenate two sets of blobs
- CBlobResult operator+( const CBlobResult& source ) const;
-
- //! Afegeix un blob al conjunt
- //! Adds a blob to the set of blobs
- void AddBlob( CBlob *blob );
-
- //! Calcula un valor sobre tots els blobs de la classe retornant un std::vector<double>
- //! Computes some property on all the blobs of the class
- double_stl_vector GetSTLResult( funcio_calculBlob *evaluador ) const;
-
- //! Calcula un valor sobre un blob de la classe
- //! Computes some property on one blob of the class
- double GetNumber( int indexblob, funcio_calculBlob *evaluador ) const;
-
- //! Retorna aquells blobs que compleixen les condicions del filtre en el destination
- //! Filters the blobs of the class using some property
- void Filter(CBlobResult &dst,
- int filterAction, funcio_calculBlob *evaluador,
- int condition, double lowLimit, double highLimit = 0 );
- void Filter(CBlobResult &dst,
- int filterAction, funcio_calculBlob *evaluador,
- int condition, double lowLimit, double highLimit = 0 ) const;
-
- //! Retorna l'en�ssim blob segons un determinat criteri
- //! Sorts the blobs of the class acording to some criteria and returns the n-th blob
- void GetNthBlob( funcio_calculBlob *criteri, int nBlob, CBlob &dst ) const;
-
- //! Retorna el blob en�ssim
- //! Gets the n-th blob of the class ( without sorting )
- CBlob GetBlob(int indexblob) const;
- CBlob *GetBlob(int indexblob);
-
- //! Elimina tots els blobs de l'objecte
- //! Clears all the blobs of the class
- void ClearBlobs();
-
- //! Escriu els blobs a un fitxer
- //! Prints some features of all the blobs in a file
- void PrintBlobs( char *nom_fitxer ) const;
-
-
-//Metodes GET/SET
-
- //! Retorna el total de blobs
- //! Gets the total number of blobs
- int GetNumBlobs() const
- {
- return(m_blobs.size());
- }
-
-
-private:
-
- //! Funci� per gestionar els errors
- //! Function to manage the errors
- void RaiseError(const int errorCode) const;
-
- //! Does the Filter method job
- void DoFilter(CBlobResult &dst,
- int filterAction, funcio_calculBlob *evaluador,
- int condition, double lowLimit, double highLimit = 0) const;
-
-protected:
-
- //! Vector amb els blobs
- //! Vector with all the blobs
- Blob_vector m_blobs;
-};
-
-#endif // !defined(_CLASSE_BLOBRESULT_INCLUDED)
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/ComponentLabeling.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/ComponentLabeling.cpp
deleted file mode 100644
index 6bfaa09..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/ComponentLabeling.cpp
+++ /dev/null
@@ -1,422 +0,0 @@
-
-#include "ComponentLabeling.h"
-
-#include <thread>
-#include <mutex>
-#include <future>
-
-//! Conversion from freeman code to coordinate increments (counterclockwise)
-static const cv::Point freemanCodeIncrement[8] =
- { {1, 0}, {1, -1}, {0, -1}, {-1, -1}, {-1, 0}, {-1, 1}, {0, 1}, {1, 1} };
-
-
-inline unsigned char GET_IMAGE_PIXEL( cv::Mat image, cv::Point p )
-{
- return image.at<unsigned char>(p);
-}
-
-inline bool GET_IMAGEMASK_PIXEL( cv::Mat* mask, cv::Point p )
-{
- if(mask)
- return mask->at<unsigned char>(p) > 0;
- else
- return true;
-}
-
-inline bool GET_BELOW_VISITEDPIXEL( bool *currentPixel, int imageWidth )
-{
- return *( currentPixel + imageWidth );
-}
-
-/**
-- FUNCI�: ASSIGN_LABEL
-- FUNCIONALITAT: Assigns label value to label image
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/04/29
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-inline void ASSIGN_LABEL( cv::Point p, t_labelType *labels, int imageWidth, int newLabel )
-{
- *(labels + p.y * imageWidth + p.x) = newLabel;
-}
-
-
-inline void ASSIGN_VISITED( cv::Point p, bool *visitedPoints, int imageWidth )
-{
- *(visitedPoints + p.y * imageWidth + p.x) = true;
-}
-
-/**
-- FUNCI�: ComponentLabeling
-- FUNCIONALITAT: Calcula els components binaris (blobs) d'una imatge amb connectivitat a 8
-- PAR�METRES:
- - inputImage: image to segment (pixel values different than blobColor are treated as background)
- - maskImage: if not NULL, all the pixels equal to 0 in mask are skipped in input image
- - backgroundColor: color of background (ignored pixels)
- - blobs: blob vector destination
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/04/21
-- MODIFICACI�: Data. Autor. Descripci�.
-- NOTA: Algorithm based on "A linear-time component labeling algorithm using contour tracing technique",
- F.Chang et al
-*/
-bool ComponentLabeling(cv::Mat inputImage,
- cv::Mat* maskImage,
- unsigned char backgroundColor,
- Blob_vector &blobs )
-{
- // row major vector with visited points
- bool internalContour, externalContour;
- int imageWidth, imageHeight, currentLabel, contourLabel;
- //! current blob pointer
- CBlob *currentBlob;
- cv::Size imageSizes;
- cv::Point currentPoint;
-
- // verify input image
- if (!inputImage.empty())
- return false;
-
- // verify that input image and mask image has same size
- if (maskImage)
- {
- if (inputImage.size() != maskImage->size())
- return false;
- }
-
- imageSizes = inputImage.size();
-
- imageWidth = imageSizes.width;
- imageHeight = imageSizes.height;
-
- // create auxiliary buffers that are initialized to 0
- t_labelType *labelledImage = (t_labelType*) calloc(imageWidth * imageHeight, sizeof(t_labelType));
- bool *visitedPoints = (bool*) calloc(imageWidth * imageHeight, sizeof(bool));
-
- // Execute the POI detection parallel.
- // This basically just filters out the background (which is the majority of points).
- // The result will be an ordered list of non-background points for the blob-detector to work on.
- std::vector<cv::Point2d> foregroundPoints;
-
- const int totalRegionsX = 4;
- const int totalRegionsY = 4;
- const int totalRegions = totalRegionsX * totalRegionsY;
- const int regionWidth = imageWidth / totalRegionsX;
- const int regionHeight = imageHeight / totalRegionsY;
-
- // get the pixel data from an image at a certain position
- auto getImageData = [](cv::Mat image, const int row, const int column)
- {
- return image.data + row * image.step + column;
- };
-
- // to allow each thread to acces the main list directly (saves us some merging later)
- std::mutex foregroundPointAccessMutex;
-
- auto workOnRegion = [&](int x, int y) {
- const int startingX = x * regionWidth;
- const int startingY = y * regionHeight;
-
- for (int j = 0; j < regionHeight; ++j)
- for (int i = 0; i < regionWidth; ++i)
- {
- const int pointX = startingX + i;
- const int pointY = startingY + j;
- // ignore background pixels or 0 pixels in mask
- const unsigned char * pInputImage = getImageData(inputImage, pointY, pointX);
- if ((*pInputImage == backgroundColor) || (maskImage && *getImageData(*maskImage, pointY, pointX) == 0))
- {
- continue;
- }
- else // remember all non-background pixels
- {
- std::lock_guard<std::mutex> lock(foregroundPointAccessMutex);
- foregroundPoints.emplace_back(pointX, pointY);
- }
- }
- };
-
- // start one parallel thread for each region
- std::vector<std::future<void>> merger;
- merger.reserve(totalRegions);
-
- for (int y = 0; y < totalRegionsY; ++y)
- {
- for (int x = 0; x < totalRegionsX; ++x)
- {
- merger.push_back(std::async([&, x, y] { workOnRegion(x, y); }));
- }
- }
-
- // and wait until all have completed; the results are alrady in the main list
- for (const auto & asyncResult : merger)
- {
- asyncResult.wait();
- }
-
- // need to sort for coordinate as the loop below is written in a way that depends on the order
- std::sort(foregroundPoints.begin(), foregroundPoints.end(),
- [](const cv::Point2d & a, const cv::Point2d & b) -> bool
- {
- return (a.y < b.y) || (a.y == b.y && a.x < b.x);
- }
- );
-
- // initialize pointers and label counter
- currentLabel = 1;
-
- auto getImageDataVisited = [&](const int &row, const int &column)
- {
- return visitedPoints + row * inputImage.step + column;
- };
-
- auto getImageDataLabelled = [&](const int &row, const int &column)
- {
- return labelledImage + row * inputImage.step + column;
- };
-
- for (const cv::Point2d & point : foregroundPoints)
- {
- const int i = point.x;
- const int j = point.y;
-
- t_labelType * pLabels = getImageDataLabelled(j, i);
- bool * pVisitedPoints = getImageDataVisited(j, i);
-
- // new external contour: current label == 0 and above pixel is background
- if( j > 0 )
- {
- const unsigned char * pAboveInputImage = getImageData(inputImage, j - 1, i);
-
- externalContour = ((*pAboveInputImage == backgroundColor) ||
- (maskImage && *getImageData(*maskImage, j - 1, i) == 0)) &&
- (*pLabels == 0);
- }
- else
- externalContour = (*pLabels == 0);
-
- // new internal contour: below pixel is background and not visited
- if( !externalContour && j < imageHeight - 1 )
- {
- const unsigned char * pBelowInputImage = getImageData(inputImage, j + 1, i);
- internalContour = *pBelowInputImage == backgroundColor &&
- !GET_BELOW_VISITEDPIXEL( pVisitedPoints, imageWidth);
- }
- else
- {
- internalContour = false;
- }
-
-
- if( externalContour )
- {
- currentPoint = cv::Point(i,j);
- // assign label to labelled image
- *pLabels = currentLabel;
-
- // create new blob
- currentBlob = new CBlob(currentLabel, currentPoint, imageSizes );
-
- // contour tracing with currentLabel
- contourTracing( inputImage, maskImage, currentPoint,
- labelledImage, visitedPoints,
- currentLabel, false, backgroundColor, currentBlob->GetExternalContour() );
-
- // add new created blob
- blobs.push_back(currentBlob);
-
- currentLabel++;
- }
- else
- {
- if( internalContour )
- {
- currentPoint = cv::Point(i,j);
-
- if( *pLabels == 0 )
- {
- // take left neightbour value as current
- if( i > 0 )
- contourLabel = *(pLabels - 1);
- }
- else
- {
- contourLabel = *pLabels;
- }
-
- if(contourLabel>0)
- {
- currentBlob = blobs[contourLabel-1];
- CBlobContour newContour(currentPoint, currentBlob->GetStorage());
-
-
- // contour tracing with contourLabel
- contourTracing( inputImage, maskImage, currentPoint, labelledImage, visitedPoints,
- contourLabel, true, backgroundColor, &newContour );
-
- currentBlob->AddInternalContour( newContour );
- }
- }
- // neither internal nor external contour
- else
- {
- // take left neightbour value as current if it is not labelled
- if( i > 0 && *pLabels == 0 )
- *pLabels = *(pLabels - 1);
- }
-
- }
- }
-
-
- // free auxiliary buffers
- free( labelledImage );
- free( visitedPoints );
-
- return true;
-}
-
-/**
-- FUNCI�:
-- FUNCIONALITAT:
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/04/29
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-void contourTracing( cv::Mat image,
- cv::Mat* maskImage,
- cv::Point contourStart, t_labelType *labels, bool *visitedPoints, t_labelType label,
- bool internalContour, unsigned char backgroundColor, CBlobContour *currentBlobcontour )
-{
- cv::Point t, tnext, tsecond;
- short initialMovement, movement;
-
- if( internalContour )
- {
- initialMovement = 7;//3;
- }
- else
- {
- initialMovement = 3;//7;
- }
-
- tsecond = tracer( image, maskImage, contourStart, visitedPoints, initialMovement,
- backgroundColor, movement );
-
- // assign current label to tnext
- ASSIGN_LABEL( contourStart, labels, image.size().width, label );
-
-
- // contour corresponds to isolated pixel?
- if( tsecond.x == contourStart.x && tsecond.y == contourStart.y )
- {
- // we are finished with the contour
- return;
- }
-
- // add chain code to current contour
- currentBlobcontour->AddChainCode(movement);
-
- // assign label to next point
- ASSIGN_LABEL( tsecond, labels, image.size().width, label );
-
- tnext.x = tsecond.x;
- tnext.y = tsecond.y;
- t.x = tnext.x;
- t.y = tnext.y;
-
- // while T is different than contourStart and Tnext is different than T
- // follow contour until start point is reached again
- while (!(t.x == contourStart.x && t.y == contourStart.y)
- || !(tsecond.x == tnext.x && tsecond.y == tnext.y))
- {
-
- t.x = tnext.x;
- t.y = tnext.y;
- initialMovement = (movement + 5) % 8;
-
- // search for next contour point
- tnext = tracer( image, maskImage, t, visitedPoints, initialMovement,
- backgroundColor, movement );
-
- // assign label to contour point
- ASSIGN_LABEL( tnext, labels, image.size().width, label );
-
- // add chain code to current contour
- currentBlobcontour->AddChainCode(movement);
- }
-
-}
-
-/**
-- FUNCI�: tracer
-- FUNCIONALITAT: Searches for next point of a contour
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/04/30
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-cv::Point tracer( cv::Mat image, cv::Mat* maskImage, cv::Point P, bool *visitedPoints,
- short initialMovement,
- unsigned char backgroundColor, short &movement )
-{
- int d;
- cv::Point pNext;
-
- for (d = 0; d <= 7; d++ )
- {
- movement = (initialMovement + d) % 8;
-
- pNext.x = P.x + freemanCodeIncrement[movement].x;
- pNext.y = P.y + freemanCodeIncrement[movement].y;
-
- // the point is inside image ?
- if( pNext.x < 0 || pNext.x >= image.size().width ||
- pNext.y < 0 || pNext.y >= image.size().height )
- {
- // try other movement
- continue;
- }
-
- // image has blobColor value in the new point?
- if( (GET_IMAGE_PIXEL( image, pNext ) != backgroundColor ) && GET_IMAGEMASK_PIXEL(maskImage, pNext ) )
- {
- return pNext;
- }
- else
- {
- // mark point as visited
- ASSIGN_VISITED( pNext, visitedPoints, image.size().width );
- }
- }
-
- // no possible movement was found
- movement = -1;
- pNext.x = P.x;
- pNext.y = P.y;
-
- return pNext;
-}
-
-
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/ComponentLabeling.h b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/ComponentLabeling.h
deleted file mode 100644
index 5aa8ee5..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/ComponentLabeling.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#if !defined(_COMPONENT_LABELING_H_INCLUDED)
-#define _CLASSE_BLOBRESULT_INCLUDED
-
-#include "vector"
-#include "BlobContour.h"
-#include "blob.h"
-
-
-//! definici� de que es un vector de blobs
-typedef std::vector<CBlob*> Blob_vector;
-
-
-
-bool ComponentLabeling(cv::Mat inputImage,
- cv::Mat* maskImage,
- unsigned char backgroundColor,
- Blob_vector &blobs );
-
-
-void contourTracing( cv::Mat image, cv::Mat* mask, cv::Point contourStart, t_labelType *labels,
- bool *visitedPoints, t_labelType label,
- bool internalContour, unsigned char backgroundColor,
- CBlobContour *currentBlobContour );
-
-cv::Point tracer( cv::Mat image, cv::Mat* mask, cv::Point P, bool *visitedPoints,
- short initialMovement,
- unsigned char backgroundColor, short &movement );
-
-
-#endif //!_CLASSE_BLOBRESULT_INCLUDED
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/blob.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/blob.cpp
deleted file mode 100644
index 8842c5f..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/blob.cpp
+++ /dev/null
@@ -1,709 +0,0 @@
-/************************************************************************
- Blob.cpp
-
-- FUNCIONALITAT: Implementaci� de la classe CBlob
-- AUTOR: Inspecta S.L.
-MODIFICACIONS (Modificaci�, Autor, Data):
-
-
-FUNCTIONALITY: Implementation of the CBlob class and some helper classes to perform
- some calculations on it
-AUTHOR: Inspecta S.L.
-MODIFICATIONS (Modification, Author, Date):
-
-**************************************************************************/
-
-
-#include "blob.h"
-
-#include <opencv2/opencv.hpp>
-#include <opencv2/imgproc/imgproc_c.h>
-
-
-CBlob::CBlob()
-{
- m_area = m_perimeter = -1;
- m_externPerimeter = m_meanGray = m_stdDevGray = -1;
- m_boundingBox.width = -1;
- m_ellipse.size.width = -1;
- m_storage = NULL;
- m_id = -1;
-}
-CBlob::CBlob( t_labelType id, cv::Point startPoint, cv::Size originalImageSize )
-{
- m_id = id;
- m_area = m_perimeter = -1;
- m_externPerimeter = m_meanGray = m_stdDevGray = -1;
- m_boundingBox.width = -1;
- m_ellipse.size.width = -1;
- m_storage = cvCreateMemStorage();
- m_externalContour = CBlobContour(startPoint, m_storage);
- m_originalImageSize = originalImageSize;
-}
-//! Copy constructor
-CBlob::CBlob( const CBlob &src )
-{
- m_storage = NULL;
- *this = src;
-}
-
-CBlob::CBlob( const CBlob *src )
-{
- if (src != NULL )
- {
- m_storage = NULL;
- *this = *src;
- }
-}
-
-CBlob& CBlob::operator=(const CBlob &src )
-{
- if( this != &src )
- {
- m_id = src.m_id;
- m_area = src.m_area;
- m_perimeter = src.m_perimeter;
- m_externPerimeter = src.m_externPerimeter;
- m_meanGray = src.m_meanGray;
- m_stdDevGray = src.m_stdDevGray;
- m_boundingBox = src.m_boundingBox;
- m_ellipse = src.m_ellipse;
- m_originalImageSize = src.m_originalImageSize;
-
- // clear all current blob contours
- ClearContours();
-
- if( m_storage )
- cvReleaseMemStorage( &m_storage );
-
- m_storage = cvCreateMemStorage();
-
- m_externalContour = CBlobContour(src.m_externalContour.GetStartPoint(), m_storage );
- if( src.m_externalContour.m_contour )
- m_externalContour.m_contour = cvCloneSeq( src.m_externalContour.m_contour, m_storage);
- m_internalContours.clear();
-
- // copy all internal contours
- if( src.m_internalContours.size() )
- {
- m_internalContours = t_contourList( src.m_internalContours.size() );
- t_contourList::const_iterator itSrc;
- t_contourList::iterator it;
-
- itSrc = src.m_internalContours.begin();
- it = m_internalContours.begin();
-
- while (itSrc != src.m_internalContours.end())
- {
- *it = CBlobContour((*itSrc).GetStartPoint(), m_storage);
- if( (*itSrc).m_contour )
- (*it).m_contour = cvCloneSeq( (*itSrc).m_contour, m_storage);
-
- it++;
- itSrc++;
- }
- }
- }
-
- return *this;
-}
-
-CBlob::~CBlob()
-{
- ClearContours();
-
- if( m_storage )
- cvReleaseMemStorage( &m_storage );
-}
-
-void CBlob::ClearContours()
-{
- t_contourList::iterator it;
-
- it = m_internalContours.begin();
-
- while (it != m_internalContours.end())
- {
- (*it).ResetChainCode();
- it++;
- }
- m_internalContours.clear();
-
- m_externalContour.ResetChainCode();
-
-}
-void CBlob::AddInternalContour( const CBlobContour &newContour )
-{
- m_internalContours.push_back(newContour);
-}
-
-//! Indica si el blob est� buit ( no t� cap info associada )
-//! Shows if the blob has associated information
-bool CBlob::IsEmpty()
-{
- return GetExternalContour()->m_contour == NULL;
-}
-
-/**
-- FUNCI�: Area
-- FUNCIONALITAT: Get blob area, ie. external contour area minus internal contours area
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/04/30
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-double CBlob::Area()
-{
- double area;
- t_contourList::iterator itContour;
-
- area = m_externalContour.GetArea();
-
- itContour = m_internalContours.begin();
-
- while (itContour != m_internalContours.end() )
- {
- area -= (*itContour).GetArea();
- itContour++;
- }
- return area;
-}
-
-/**
-- FUNCI�: Perimeter
-- FUNCIONALITAT: Get blob perimeter, ie. sum of the lenght of all the contours
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/04/30
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-double CBlob::Perimeter()
-{
- double perimeter;
- t_contourList::iterator itContour;
-
- perimeter = m_externalContour.GetPerimeter();
-
- itContour = m_internalContours.begin();
-
- while (itContour != m_internalContours.end() )
- {
- perimeter += (*itContour).GetPerimeter();
- itContour++;
- }
- return perimeter;
-
-}
-
-/**
-- FUNCI�: Exterior
-- FUNCIONALITAT: Return true for extern blobs
-- PAR�METRES:
- - xBorder: true to consider blobs touching horizontal borders as extern
- - yBorder: true to consider blobs touching vertical borders as extern
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/05/06
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-int CBlob::Exterior(IplImage *mask, bool xBorder /* = true */, bool yBorder /* = true */)
-{
- if (ExternPerimeter(mask, xBorder, yBorder ) > 0 )
- {
- return 1;
- }
-
- return 0;
-}
-/**
-- FUNCI�: ExternPerimeter
-- FUNCIONALITAT: Get extern perimeter (perimeter touching image borders)
-- PAR�METRES:
- - maskImage: if != NULL, counts maskImage black pixels as external pixels and contour points touching
- them are counted as external contour points.
- - xBorder: true to consider blobs touching horizontal borders as extern
- - yBorder: true to consider blobs touching vertical borders as extern
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/05/05
-- MODIFICACI�: Data. Autor. Descripci�.
-- NOTA: If CBlobContour::GetContourPoints aproximates contours with a method different that NONE,
- this function will not give correct results
-*/
-double CBlob::ExternPerimeter( IplImage *maskImage, bool xBorder /* = true */, bool yBorder /* = true */)
-{
- t_PointList externContour, externalPoints;
- CvSeqReader reader;
- CvSeqWriter writer;
- cv::Point actualPoint, previousPoint;
- bool find = false;
- int i,j;
- int delta = 0;
-
- // it is calculated?
- if( m_externPerimeter != -1 )
- {
- return m_externPerimeter;
- }
-
- // get contour pixels
- externContour = m_externalContour.GetContourPoints();
-
- m_externPerimeter = 0;
-
- // there are contour pixels?
- if( externContour == NULL )
- {
- return m_externPerimeter;
- }
-
- cvStartReadSeq( externContour, &reader);
-
- // create a sequence with the external points of the blob
- externalPoints = cvCreateSeq( externContour->flags, externContour->header_size, externContour->elem_size,
- m_storage );
- cvStartAppendToSeq( externalPoints, &writer );
- previousPoint.x = -1;
-
- // which contour pixels touch border?
- for( j=0; j< externContour->total; j++)
- {
- CV_READ_SEQ_ELEM( actualPoint, reader);
-
- find = false;
-
- // pixel is touching border?
- if ( xBorder & ((actualPoint.x == 0) || (actualPoint.x == m_originalImageSize.width - 1 )) ||
- yBorder & ((actualPoint.y == 0) || (actualPoint.y == m_originalImageSize.height - 1 )))
- {
- find = true;
- }
- else
- {
- if( maskImage != NULL )
- {
- // verify if some of 8-connected neighbors is black in mask
- char *pMask;
-
- pMask = (maskImage->imageData + actualPoint.x - 1 + (actualPoint.y - 1) * maskImage->widthStep);
-
- for ( i = 0; i < 3; i++, pMask++ )
- {
- if(*pMask == 0 && !find )
- {
- find = true;
- break;
- }
- }
-
- if(!find)
- {
- pMask = (maskImage->imageData + actualPoint.x - 1 + (actualPoint.y ) * maskImage->widthStep);
-
- for ( i = 0; i < 3; i++, pMask++ )
- {
- if(*pMask == 0 && !find )
- {
- find = true;
- break;
- }
- }
- }
-
- if(!find)
- {
- pMask = (maskImage->imageData + actualPoint.x - 1 + (actualPoint.y + 1) * maskImage->widthStep);
-
- for ( i = 0; i < 3; i++, pMask++ )
- {
- if(*pMask == 0 && !find )
- {
- find = true;
- break;
- }
- }
- }
- }
- }
-
- if( find )
- {
- if( previousPoint.x > 0 )
- delta = abs(previousPoint.x - actualPoint.x) + abs(previousPoint.y - actualPoint.y);
-
- // calculate separately each external contour segment
- if( delta > 2 )
- {
- cvEndWriteSeq( &writer );
- m_externPerimeter += cvArcLength( externalPoints, CV_WHOLE_SEQ, 0 );
-
- cvClearSeq( externalPoints );
- cvStartAppendToSeq( externalPoints, &writer );
- delta = 0;
- previousPoint.x = -1;
- }
-
- CV_WRITE_SEQ_ELEM( actualPoint, writer );
- previousPoint = actualPoint;
- }
-
- }
-
- cvEndWriteSeq( &writer );
-
- m_externPerimeter += cvArcLength( externalPoints, CV_WHOLE_SEQ, 0 );
-
- cvClearSeq( externalPoints );
-
- // divide by two because external points have one side inside the blob and the other outside
- // Perimeter of external points counts both sides, so it must be divided
- m_externPerimeter /= 2.0;
-
- return m_externPerimeter;
-}
-
-//! Compute blob's moment (p,q up to MAX_CALCULATED_MOMENTS)
-double CBlob::Moment(int p, int q)
-{
- double moment;
- t_contourList::iterator itContour;
-
- moment = m_externalContour.GetMoment(p,q);
-
- itContour = m_internalContours.begin();
-
- while (itContour != m_internalContours.end() )
- {
- moment -= (*itContour).GetMoment(p,q);
- itContour++;
- }
- return moment;
-}
-
-/**
-- FUNCI�: Mean
-- FUNCIONALITAT: Get blob mean color in input image
-- PAR�METRES:
- - image: image from gray color are extracted
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/05/06
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-double CBlob::Mean( IplImage *image )
-{
- // it is calculated?
-/* if( m_meanGray != -1 )
- {
- return m_meanGray;
- }
-*/
- // Create a mask with same size as blob bounding box
- IplImage *mask;
- CvScalar mean, std;
- cv::Point offset;
-
- GetBoundingBox();
-
- if (m_boundingBox.height == 0 ||m_boundingBox.width == 0 || !CV_IS_IMAGE( image ))
- {
- m_meanGray = 0;
- return m_meanGray;
- }
-
- // apply ROI and mask to input image to compute mean gray and standard deviation
- mask = cvCreateImage( cvSize(m_boundingBox.width, m_boundingBox.height), IPL_DEPTH_8U, 1);
- cvSetZero(mask);
-
- offset.x = -m_boundingBox.x;
- offset.y = -m_boundingBox.y;
-
- // draw contours on mask
- cvDrawContours( mask, m_externalContour.GetContourPoints(), cvScalar(CV_RGB(255,255,255)), cvScalar(CV_RGB(255,255,255)),0, CV_FILLED, 8,
- cvPoint(offset) );
-
- // draw internal contours
- t_contourList::iterator it = m_internalContours.begin();
- while(it != m_internalContours.end() )
- {
- cvDrawContours( mask, (*it).GetContourPoints(), cvScalar(CV_RGB(0,0,0)), cvScalar(CV_RGB(0,0,0)),0, CV_FILLED, 8,
- cvPoint(offset) );
- it++;
- }
-
- cvSetImageROI( image, m_boundingBox );
- cvAvgSdv( image, &mean, &std, mask );
-
- m_meanGray = mean.val[0];
- m_stdDevGray = std.val[0];
-
- cvReleaseImage( &mask );
- cvResetImageROI( image );
-
- return m_meanGray;
-}
-
-double CBlob::StdDev( IplImage *image )
-{
- // it is calculated?
-/* if( m_stdDevGray != -1 )
- {
- return m_stdDevGray;
- }
-*/
- // call mean calculation (where also standard deviation is calculated)
- Mean( image );
-
- return m_stdDevGray;
-}
-/**
-- FUNCI�: GetBoundingBox
-- FUNCIONALITAT: Get bounding box (without rotation) of a blob
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/05/06
-- MODIFICACI�: Data. Autor. Descripci�.
-*/
-CvRect CBlob::GetBoundingBox()
-{
- // it is calculated?
- if( m_boundingBox.width != -1 )
- {
- return m_boundingBox;
- }
-
- t_PointList externContour;
- CvSeqReader reader;
- cv::Point actualPoint;
-
- // get contour pixels
- externContour = m_externalContour.GetContourPoints();
-
- // it is an empty blob?
- if( !externContour )
- {
- m_boundingBox.x = 0;
- m_boundingBox.y = 0;
- m_boundingBox.width = 0;
- m_boundingBox.height = 0;
-
- return m_boundingBox;
- }
-
- cvStartReadSeq( externContour, &reader);
-
- m_boundingBox.x = m_originalImageSize.width;
- m_boundingBox.y = m_originalImageSize.height;
- m_boundingBox.width = 0;
- m_boundingBox.height = 0;
-
- for( int i=0; i< externContour->total; i++)
- {
- CV_READ_SEQ_ELEM( actualPoint, reader);
-
- m_boundingBox.x = MIN( actualPoint.x, m_boundingBox.x );
- m_boundingBox.y = MIN( actualPoint.y, m_boundingBox.y );
-
- m_boundingBox.width = MAX( actualPoint.x, m_boundingBox.width );
- m_boundingBox.height = MAX( actualPoint.y, m_boundingBox.height );
- }
-
- //m_boundingBox.x = max( m_boundingBox.x , 0 );
- //m_boundingBox.y = max( m_boundingBox.y , 0 );
-
- m_boundingBox.width -= m_boundingBox.x;
- m_boundingBox.height -= m_boundingBox.y;
-
- return m_boundingBox;
-}
-
-/**
-- FUNCI�: GetEllipse
-- FUNCIONALITAT: Calculates bounding ellipse of external contour points
-- PAR�METRES:
- -
-- RESULTAT:
- -
-- RESTRICCIONS:
- -
-- AUTOR: rborras
-- DATA DE CREACI�: 2008/05/06
-- MODIFICACI�: Data. Autor. Descripci�.
-- NOTA: Calculation is made using second order moment aproximation
-*/
-CvBox2D CBlob::GetEllipse()
-{
- // it is calculated?
- if( m_ellipse.size.width != -1 )
- return m_ellipse;
-
- double u00,u11,u01,u10,u20,u02, delta, num, den, temp;
-
- // central moments calculation
- u00 = Moment(0,0);
-
- // empty blob?
- if ( u00 <= 0 )
- {
- m_ellipse.size.width = 0;
- m_ellipse.size.height = 0;
- m_ellipse.center.x = 0;
- m_ellipse.center.y = 0;
- m_ellipse.angle = 0;
- return m_ellipse;
- }
- u10 = Moment(1,0) / u00;
- u01 = Moment(0,1) / u00;
-
- u11 = -(Moment(1,1) - Moment(1,0) * Moment(0,1) / u00 ) / u00;
- u20 = (Moment(2,0) - Moment(1,0) * Moment(1,0) / u00 ) / u00;
- u02 = (Moment(0,2) - Moment(0,1) * Moment(0,1) / u00 ) / u00;
-
-
- // elipse calculation
- delta = sqrt( 4*u11*u11 + (u20-u02)*(u20-u02) );
- m_ellipse.center.x = float(u10);
- m_ellipse.center.y = float(u01);
-
- temp = u20 + u02 + delta;
- if( temp > 0 )
- {
- m_ellipse.size.width = sqrt(float( 2*(u20 + u02 + delta )));
- }
- else
- {
- m_ellipse.size.width = 0;
- return m_ellipse;
- }
-
- temp = u20 + u02 - delta;
- if( temp > 0 )
- {
- m_ellipse.size.height = sqrt(float( 2*(u20 + u02 - delta ) ));
- }
- else
- {
- m_ellipse.size.height = 0;
- return m_ellipse;
- }
-
- // elipse orientation
- if (u20 > u02)
- {
- num = u02 - u20 + sqrt((u02 - u20)*(u02 - u20) + 4*u11*u11);
- den = 2*u11;
- }
- else
- {
- num = 2*u11;
- den = u20 - u02 + sqrt((u20 - u02)*(u20 - u02) + 4*u11*u11);
- }
- if( num != 0 && den != 00 )
- {
- m_ellipse.angle = float( 180.0 + (180.0 / CV_PI) * atan( num / den ) );
- }
- else
- {
- m_ellipse.angle = 0;
- }
-
- return m_ellipse;
-
-}
-
-/**
-- FUNCTION: FillBlob
-- FUNCTIONALITY:
- - Fills the blob with a specified colour
-- PARAMETERS:
- - imatge: where to paint
- - color: colour to paint the blob
-- RESULT:
- - modifies input image and returns the seed point used to fill the blob
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-void CBlob::FillBlob( IplImage *imatge, CvScalar color, int offsetX /*=0*/, int offsetY /*=0*/)
-{
- cvDrawContours( imatge, m_externalContour.GetContourPoints(), color, color,0, CV_FILLED, 8 );
-}
-
-
-/**
-- FUNCTION: GetConvexHull
-- FUNCTIONALITY: Calculates the convex hull polygon of the blob
-- PARAMETERS:
- - dst: where to store the result
-- RESULT:
- - true if no error ocurred
-- RESTRICTIONS:
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-t_PointList CBlob::GetConvexHull()
-{
- CvSeq *convexHull = NULL;
-
- if( m_externalContour.GetContourPoints() )
- convexHull = cvConvexHull2( m_externalContour.GetContourPoints(), m_storage,
- CV_COUNTER_CLOCKWISE, 1 );
-
- return convexHull;
-}
-
-/**
-- FUNCTION: JoinBlob
-- FUNCTIONALITY: Add's external contour to current external contour
-- PARAMETERS:
- - blob: blob from which extract the added external contour
-- RESULT:
- - true if no error ocurred
-- RESTRICTIONS: Only external contours are added
-- AUTHOR: Ricard Borr�s
-- CREATION DATE: 25-05-2005.
-- MODIFICATION: Date. Author. Description.
-*/
-void CBlob::JoinBlob( CBlob *blob )
-{
- CvSeqWriter writer;
- CvSeqReader reader;
- t_chainCode chainCode;
-
- cvStartAppendToSeq( m_externalContour.GetChainCode(), &writer );
- cvStartReadSeq( blob->GetExternalContour()->GetChainCode(), &reader );
-
- for (int i = 0; i < blob->GetExternalContour()->GetChainCode()->total; i++ )
- {
- CV_READ_SEQ_ELEM( chainCode, reader );
- CV_WRITE_SEQ_ELEM( chainCode, writer );
- }
- cvEndWriteSeq( &writer );
-
-}
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/blob.h b/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/blob.h
deleted file mode 100644
index 2d30a4d..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/cvblobs/blob.h
+++ /dev/null
@@ -1,169 +0,0 @@
-/************************************************************************
- Blob.h
-
-FUNCIONALITAT: Definici� de la classe CBlob
-AUTOR: Inspecta S.L.
-MODIFICACIONS (Modificaci�, Autor, Data):
-
-FUNCTIONALITY: Definition of the CBlob class and some helper classes to perform
- some calculations on it
-AUTHOR: Inspecta S.L.
-MODIFICATIONS (Modification, Author, Date):
-
-**************************************************************************/
-
-//! Disable warnings referred to 255 character truncation for the std:map
-#pragma warning( disable : 4786 )
-
-#ifndef CBLOB_INSPECTA_INCLUDED
-#define CBLOB_INSPECTA_INCLUDED
-
-#include <list>
-
-#include <opencv2/opencv.hpp>
-
-#include "BlobLibraryConfiguration.h"
-#include "BlobContour.h"
-
-
-//! Type of labelled images
-typedef unsigned int t_labelType;
-
-
-//! Blob class
-class CBlob
-{
- typedef std::list<CBlobContour> t_contourList;
-
-public:
- CBlob();
- CBlob( t_labelType id, cv::Point startPoint, cv::Size originalImageSize );
- ~CBlob();
-
- //! Copy constructor
- CBlob( const CBlob &src );
- CBlob( const CBlob *src );
-
- //! Operador d'assignaci�
- //! Assigment operator
- CBlob& operator=(const CBlob &src );
-
- //! Adds a new internal contour to the blob
- void AddInternalContour( const CBlobContour &newContour );
-
- //! Retrieves contour in Freeman's chain code
- CBlobContour *GetExternalContour()
- {
- return &m_externalContour;
- }
-
- //! Retrieves blob storage
- CvMemStorage *GetStorage()
- {
- return m_storage;
- }
-
- //! Get label ID
- t_labelType GetID()
- {
- return m_id;
- }
- //! > 0 for extern blobs, 0 if not
- int Exterior( IplImage *mask, bool xBorder = true, bool yBorder = true );
- //! Compute blob's area
- double Area();
- //! Compute blob's perimeter
- double Perimeter();
- //! Compute blob's moment (p,q up to MAX_CALCULATED_MOMENTS)
- double Moment(int p, int q);
-
- //! Compute extern perimeter
- double ExternPerimeter( IplImage *mask, bool xBorder = true, bool yBorder = true );
-
- //! Get mean grey color
- double Mean( IplImage *image );
-
- //! Get standard deviation grey color
- double StdDev( IplImage *image );
-
- //! Indica si el blob est� buit ( no t� cap info associada )
- //! Shows if the blob has associated information
- bool IsEmpty();
-
- //! Retorna el poligon convex del blob
- //! Calculates the convex hull of the blob
- t_PointList GetConvexHull();
-
- //! Pinta l'interior d'un blob d'un color determinat
- //! Paints the blob in an image
- void FillBlob( IplImage *imatge, CvScalar color, int offsetX = 0, int offsetY = 0 );
-
- //! Join a blob to current one (add's contour
- void JoinBlob( CBlob *blob );
-
- //! Get bounding box
- CvRect GetBoundingBox();
- //! Get bounding ellipse
- CvBox2D GetEllipse();
-
- //! Minimun X
- double MinX()
- {
- return GetBoundingBox().x;
- }
- //! Minimun Y
- double MinY()
- {
- return GetBoundingBox().y;
- }
- //! Maximun X
- double MaxX()
- {
- return GetBoundingBox().x + GetBoundingBox().width;
- }
- //! Maximun Y
- double MaxY()
- {
- return GetBoundingBox().y + GetBoundingBox().height;
- }
-private:
-
- //! Deallocates all contours
- void ClearContours();
- //////////////////////////////////////////////////////////////////////////
- // Blob contours
- //////////////////////////////////////////////////////////////////////////
-
-
- //! Contour storage memory
- CvMemStorage *m_storage;
- //! External contour of the blob (crack codes)
- CBlobContour m_externalContour;
- //! Internal contours (crack codes)
- t_contourList m_internalContours;
-
- //////////////////////////////////////////////////////////////////////////
- // Blob features
- //////////////////////////////////////////////////////////////////////////
-
- //! Label number
- t_labelType m_id;
- //! Area
- double m_area;
- //! Perimeter
- double m_perimeter;
- //! Extern perimeter from blob
- double m_externPerimeter;
- //! Mean gray color
- double m_meanGray;
- //! Standard deviation from gray color blob distribution
- double m_stdDevGray;
- //! Bounding box
- CvRect m_boundingBox;
- //! Bounding ellipse
- CvBox2D m_ellipse;
- //! Sizes from image where blob is extracted
- cv::Size m_originalImageSize;
-};
-
-#endif //CBLOB_INSPECTA_INCLUDED
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/IDetector.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/detector/IDetector.cpp
deleted file mode 100644
index 15fc6f1..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/IDetector.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#include "IDetector.h"
-
-#include "../../../../helper/CvHelper.h"
-template <typename T>
-
-std::vector<FishPose> IDetector<T>::convertBlobPosesToFishPoses(std::vector<BlobPose> blobPoses)
-{
- std::vector<FishPose> fishPoses;
- fishPoses.reserve(blobPoses.size());
-
- for (BlobPose & blobPose : blobPoses)
- {
- fishPoses.push_back(
- FishPose(
- blobPose.posCm(),
- blobPose.posPx(),
- CvHelper::degToRad(blobPose.angleDegree()),
- blobPose.angleDegree(),
- blobPose.width(),
- blobPose.height()
- )
- );
- }
-
- return fishPoses;
-}
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/IDetector.h b/Src/Model/TrackingAlgorithm/imageProcessor/detector/IDetector.h
deleted file mode 100644
index 8aa5db6..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/IDetector.h
+++ /dev/null
@@ -1,66 +0,0 @@
-#pragma once
-
-#include "../../../TrackedComponents/pose/FishPose.h"
-#include "Interfaces/IModel/IModelAreaDescriptor.h"
-#include "blob/BlobPose.h"
-
-template <typename T>
-class IDetector
-{
-public:
-
- /**
- * The contructor with parameters.
- * @param: rectification, the rectification object for calculation the real world coordinate.
- * @param: systemProperty, the set of parameters for tracking property.
- */
- IDetector(void) {}
-
- /**
- * The standard abtract destructor.
- */
- ~IDetector(void) {}
-
- /**
- * Interface function to get the fish poses from a binarzied image.
- * @param: binarized_image_mat, binarized image.
- * @return: a list of fish poses.
- */
- virtual std::vector<T> getPoses(cv::Mat& binImage, cv::Mat& oriImage) = 0;
-
-
- /**
- * Convert vector of blob poses to fishes poses.
- * @param: blobPoses, vector of blob poses,
- * @return: vector of fish poses.
- */
- static std::vector<FishPose> convertBlobPosesToFishPoses(std::vector<BlobPose> blobPoses);
-
- /**
- * Sets specified parameter with a double value.
- * @param: spec_param, the specified parameter to set,
- * @param: value, the value double to set,
- * @return: void.
- */
- virtual void setDouble(std::string spec_param, double value) = 0;
-
- /**
- * Gets the specified parameter.
- * @param: spec_param, the specified parameter to set,
- * @return: the double value of the specifed paramter.
- */
- //virtual void getDouble(std::string spec_param) = 0;
-
- /**
- *
- */
- void setAreaInfo(IModelAreaDescriptor* ai) {
- _areaInfo = ai;
- }
-
-private:
- virtual std::vector<T> findBlobs(const cv::Mat& binImage, const cv::Mat& oriImage) = 0;
-
-protected:
- IModelAreaDescriptor* _areaInfo;
-};
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/BlobPose.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/BlobPose.cpp
deleted file mode 100644
index aa7d449..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/BlobPose.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#include "BlobPose.h"
-
-BlobPose::BlobPose(void)
-{
-}
-
-BlobPose::BlobPose(cv::Point2f center_cm, cv::Point center_px, float angle_degree, float width, float height, bool use) :
- _center_cm(center_cm),
- _center_px(center_px),
- _angle_degree(angle_degree),
- _width(width),
- _height(height),
- _used(use)
-{}
-
-BlobPose::~BlobPose(void)
-{
-}
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/BlobPose.h b/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/BlobPose.h
deleted file mode 100644
index 4ebaf7b..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/BlobPose.h
+++ /dev/null
@@ -1,86 +0,0 @@
-#pragma once
-
-#include <opencv2/opencv.hpp>
-
-class BlobPose
-{
-public:
- /**
- * The standard contructor.
- */
- BlobPose(void);
-
- /**
- * The contructor with parameters.
- * @param: pos_cm, position in real world coordinate.
- * @param: pos_px, position in pixel coordinate.
- * @param: angle_degree, orientation angle in degree.
- * @param: width, width in px.
- * @param: height, height in px.
- * @param: used, check if this blob pose is currently in use.
- */
- BlobPose(cv::Point2f pos_cm, cv::Point pos_px, float angle_degree, float width, float height, bool use = false);
-
- /**
- * The standard destructor.
- */
- ~BlobPose(void);
-
- /**
- * Gets the pixel position of the pose.
- * @return pixel position.
- */
- cv::Point posPx() { return _center_px; }
-
- /**
- * Gets the real world position of the pose.
- * @return real world position.
- */
- cv::Point2f posCm() { return _center_cm; }
-
- /**
- * Gets the orientation angle as degree of the pose.
- * @return degree angle.
- */
- float angleDegree() { return _angle_degree; }
-
- /**
- * Gets the width of the blob pose.
- * @return width in px.
- */
- float width() { return _width; }
-
- /**
- * Gets the height of the blob pose.
- * @return height in px.
- */
- float height() { return _height; }
-
- /**
- * Gets the flag whether this pose blob is already in use.
- * @return true if is used, false otherwise.
- */
- bool isUsed() { return _used; }
-
- /**
- * Sets the pixel position of the pose.
- * @param int x, int y
- * @return void.
- */
- void setposPx(int x, int y) { cv::Point point(x,y); _center_px = point; }
-
- /**
- * Sets the angle in degree.
- * @param float angleDegree
- * @return void.
- */
- void setAngle(float angleDegree) { _angle_degree = angleDegree; }
-
-private:
- bool _used;
- cv::Point2f _center_cm;
- cv::Point _center_px;
- float _angle_degree;
- float _width;
- float _height;
-};
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.cpp
deleted file mode 100644
index cfd62a6..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-#include "BlobsDetector.h"
-#include "../../../../../../helper/CvHelper.h"
-
-#include <assert.h>
-BlobsDetector::BlobsDetector(void) :
- _mask(nullptr),
- _minBlobSize(1), //TODO Min blob size
- _maxBlobSize(99999) //TODO Max blob size
-{}
-
-
-void BlobsDetector::filterBlobsBySize(CBlobResult& blobs)
-{
- // blobs smaller than the provided blob size
- blobs.Filter( blobs, B_INCLUDE, CBlobGetArea(), B_GREATER_OR_EQUAL, minBlobSize());
-
- // blobs bigger than the provided blob size
- blobs.Filter( blobs, B_INCLUDE, CBlobGetArea(), B_LESS_OR_EQUAL, maxBlobSize());
-}
-
-bool isLeft(cv::Point a, cv::Point b, cv::Point c) {
- return ((b.x - a.x)*(c.y - a.y) - (b.y - a.y)*(c.x - a.x)) > 0;
-}
-
-std::vector<BlobPose> BlobsDetector::findBlobs(const cv::Mat& processedImage, const cv::Mat& oriImage)
-{
- std::vector<BlobPose> blobPoses;
-
- CBlob *currentBlob;
- CBlobResult blobs(processedImage, _mask, 0);
-
- // filter the blobs by size criteria
- filterBlobsBySize(blobs);
-
- for (int i = 0; i < blobs.GetNumBlobs(); i++)
- {
- currentBlob = blobs.GetBlob(i);
-
- // gets blob center
- int x = currentBlob->GetEllipse().center.x;
- int y = currentBlob->GetEllipse().center.y;
- cv::Point blobPose_px = cv::Point(x, y);
-
- // apply homography
- cv::Point2f blobPose_cm =_areaInfo->pxToCm(blobPose_px);
-
- // ignore blobs outside the tracking area
- if (!_areaInfo->inTrackingArea(blobPose_px))
- continue;
-
- float blobPose_angle_deg = currentBlob->GetEllipse().angle;
- float blobPose_angle_rad = currentBlob->GetEllipse().angle * CV_PI / float(180.0);
- assert(blobPose_angle_deg >= 0.0f && blobPose_angle_deg <= 360.0f);
-
- float blobPose_width = currentBlob->GetEllipse().size.width;
- float blobPose_height = currentBlob->GetEllipse().size.height;
-
- blobPoses.push_back(BlobPose(blobPose_cm, blobPose_px, blobPose_angle_deg, blobPose_angle_rad, blobPose_width, blobPose_height));
- }
-
- return blobPoses;
-}
-
-std::vector<BlobPose> BlobsDetector::getPoses(cv::Mat& processedImage, cv::Mat& oriImage)
-{
- return findBlobs(processedImage, oriImage);
-}
-
-void BlobsDetector::setDouble(std::string spec_param, double value)
-{
- if(spec_param.compare("1") == 0) {
- this->setMinBlobSize(value);
- }
- else if (spec_param.compare("999999") == 0) {
- this->setMaxBlobSize(value);
- }
- else {
- std::cout << "BlobsDetector::Warning - Parameter: " << spec_param << " not found!" << std::endl;
- }
-}
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.h b/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.h
deleted file mode 100644
index e6e339f..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.h
+++ /dev/null
@@ -1,54 +0,0 @@
-#pragma once
-
-#include "../../IDetector.h"
-#include "../BlobPose.h"
-#include "../../../cvblobs/BlobResult.h"
-
-class BlobsDetector : public IDetector<BlobPose>
-{
-public:
-
- /**
- * The contructor with parameters.
- * @param: rectification, the rectification object for calculation the real world coordinate.
- * @param: systemProperty, the set of parameters for tracking property.
- */
- BlobsDetector(void);
-
- virtual ~BlobsDetector(void) {}
-
- void setMask(cv::Mat *mask) { _mask = mask; }
-
- std::vector<BlobPose> getPoses(cv::Mat& binImage, cv::Mat& oriImage);
-
-
- void setDouble(std::string spec_param, double value);
-
- double minBlobSize() { return _minBlobSize; };
- double maxBlobSize() { return _maxBlobSize; };
- void setMinBlobSize(double x) { _minBlobSize = x; };
- void setMaxBlobSize(double x) { _maxBlobSize = x; };
-
-private:
-
- /**
- * Removes blobs, which are too big for the further hanlding.
- * @param: blobs, all possible blobs with all possible size.
- * @return: void.
- */
- void filterBlobsBySize(CBlobResult& blobs);
-
- /**
- * Find all blobs within an image.
- * @param: binarized_image_mat, image contains blobs and is already binarized,
- * @return: all found blobs within the image.
- */
-
- // TODO: can we make binImage a reference??
- std::vector<BlobPose> findBlobs(const cv::Mat& binImage, const cv::Mat& oriImage);
-
- double _minBlobSize;
- double _maxBlobSize;
-
- cv::Mat *_mask;
-};
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/simpleBlob/SimpleBlobsDetector.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/simpleBlob/SimpleBlobsDetector.cpp
deleted file mode 100644
index 4c5ae92..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/simpleBlob/SimpleBlobsDetector.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-#include "SimpleBlobsDetector.h"
-#include "../../../../../../helper/CvHelper.h"
-#include <limits>
-
-SimpleBlobsDetector::SimpleBlobsDetector(void) : _mask(nullptr)
-{
- initParams();
-}
-
-void SimpleBlobsDetector::initParams()
-{
- _params.minThreshold = 15;
- _params.maxThreshold = 50;
- _params.thresholdStep = 5;
- _params.filterByArea = true;
- _params.minArea = 1;
- _params.maxArea = 999999;
- _params.filterByInertia = false;
- _params.filterByColor = true;
- _params.blobColor = 255;
- _params.filterByCircularity = false;
- _params.minDistBetweenBlobs = 0;
-}
-
-
-std::vector<BlobPose> SimpleBlobsDetector::findBlobs(const cv::Mat& binImage, const cv::Mat& oriImage)
-{
- std::vector<BlobPose> blobPoses;
-
- std::vector<cv::KeyPoint> keyPoints;
-
- cv::Ptr<cv::SimpleBlobDetector> blobDetector = cv::SimpleBlobDetector::create(_params);
-
- blobDetector->detect( binImage, keyPoints);
-
- for (int i = 0; i < keyPoints.size(); i++)
- {
- // gets blob center
- int x = keyPoints.at(i).pt.x;
- int y = keyPoints.at(i).pt.y;
- cv::Point blobPose_px = cv::Point(x, y);
-
- // apply homography
- cv::Point2f blobPose_cm = _areaInfo->pxToCm(blobPose_px);
-
- if (!_areaInfo->inTrackingArea(blobPose_px))
- continue;
-
- float blobPose_angleDegree = keyPoints.at(i).angle; // as degree (0..360)
- float blobPose_angleRadian = keyPoints.at(i).angle * float(CV_PI) / float(180.0);
- float blobPose_width = keyPoints.at(i).size;
- float blobPose_height = keyPoints.at(i).size;
-
- blobPoses.push_back(BlobPose(blobPose_cm, blobPose_px, blobPose_angleDegree, blobPose_angleRadian, blobPose_width, blobPose_height));
- }
-
-
- return blobPoses;
-}
-
-
-std::vector<BlobPose> SimpleBlobsDetector::getPoses(cv::Mat& binarized_image_mat, cv::Mat& original_image_mat)
-{
- return findBlobs(binarized_image_mat,original_image_mat);
-}
-
-void SimpleBlobsDetector::setDouble(std::string spec_param, double value)
-{
- if(spec_param.compare("1") == 0) { //TRACKERPARAM::MIN_BLOB_SIZE
- _params.minArea = value;
- } else {
- std::cout << "SimpleBlobsDetector::Warning - Parameter: " << spec_param << " not found!" << std::endl;
- }
-
- if(spec_param.compare("999999") == 0) { //TRACKERPARAM::MAX_BLOB_SIZE
- _params.maxArea = value;
- } else {
- std::cout << "SimpleBlobsDetector::Warning - Parameter: " << spec_param << " not found!" << std::endl;
- }
-}
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/simpleBlob/SimpleBlobsDetector.h b/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/simpleBlob/SimpleBlobsDetector.h
deleted file mode 100644
index e5b3be4..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/blob/simpleBlob/SimpleBlobsDetector.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include "../../IDetector.h"
-
-#include "../BlobPose.h"
-#include "../../../cvblobs/BlobResult.h"
-
-#include "opencv2/features2d/features2d.hpp"
-#include "opencv2/objdetect/objdetect.hpp"
-
-class SimpleBlobsDetector : public IDetector<BlobPose>
-{
-public:
-
- /**
- * The contructor with parameters.
- */
- SimpleBlobsDetector(void);
-
- virtual ~SimpleBlobsDetector(void) {}
-
- void setMask(cv::Mat *mask) { _mask = mask; }
-
- std::vector<BlobPose> getPoses(cv::Mat& binImage, cv::Mat& oriImage);
-
- void setDouble(std::string spec_param, double value);
-
-private:
-
- cv::Mat *_mask;
- cv::SimpleBlobDetector::Params _params;
-
- /**
- * Initialized the parameter for setting up the blob detector.
- * @return: void.
- */
- void initParams();
-
- /**
- * Find all blobs within an image.
- * @param: binarized_image_mat, image contains blobs and is already binarized,
- * @return: all found blobs within the image.
- */
-
- // TODO: can we make binImage a reference??
- std::vector<BlobPose> findBlobs(const cv::Mat& binImage, const cv::Mat& oriImage);
-
-
-};
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContourPose.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContourPose.cpp
deleted file mode 100644
index cd65b94..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContourPose.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#include "ContourPose.h"
-
-ContourPose::ContourPose(void)
-{
-}
-
-ContourPose::ContourPose(cv::Point2f center_cm, cv::Point center_px, float angle_degree, float width, float height, bool use) :
- _center_cm(center_cm),
- _center_px(center_px),
- _angle_degree(angle_degree),
- _width(width),
- _height(height),
- _used(use)
-{}
-
-ContourPose::~ContourPose(void)
-{
-}
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContourPose.h b/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContourPose.h
deleted file mode 100644
index 4e7e3da..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContourPose.h
+++ /dev/null
@@ -1,72 +0,0 @@
-#pragma once
-#include <opencv2/opencv.hpp>
-
-class ContourPose
-{
-public:
- /**
- * The standard contructor.
- */
- ContourPose(void);
-
- /**
- * The contructor with parameters.
- * @param: pos_cm, position in real world coordinate.
- * @param: pos_px, position in pixel coordinate.
- * @param: angle_degree, orientation angle in degree.
- * @param: width, width in px.
- * @param: height, height in px.
- * @param: used, check if this blob pose is currently in use.
- */
- ContourPose(cv::Point2f pos_cm, cv::Point pos_px, float angle_degree, float width, float height, bool use = false);
-
- /**
- * The standard destructor.
- */
- ~ContourPose(void);
-
- /**
- * Gets the pixel position of the pose.
- * @return pixel position.
- */
- cv::Point posPx() { return _center_px; }
-
- /**
- * Gets the real world position of the pose.
- * @return real world position.
- */
- cv::Point2f posCm() { return _center_cm; }
-
- /**
- * Gets the orientation angle as degree of the pose.
- * @return degree angle.
- */
- float angleDegree() { return _angle_degree; }
-
- /**
- * Gets the width of the blob pose.
- * @return width in px.
- */
- float width() { return _width; }
-
- /**
- * Gets the height of the blob pose.
- * @return height in px.
- */
- float height() { return _height; }
-
- /**
- * Gets the flag whether this pose blob is already in use.
- * @return true if is used, false otherwise.
- */
- bool isUsed() { return _used; }
-
-
-private:
- bool _used;
- cv::Point2f _center_cm;
- cv::Point _center_px;
- float _angle_degree;
- float _width;
- float _height;
-};
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContoursDetector.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContoursDetector.cpp
deleted file mode 100644
index 59e7a93..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContoursDetector.cpp
+++ /dev/null
@@ -1,68 +0,0 @@
-#include "ContoursDetector.h"
-#include "../../../../../helper/CvHelper.h"
-
-std::vector<ContourPose> ContoursDetector::findBlobs(const cv::Mat& binImage, const cv::Mat& oriImage)
-{
- std::vector<ContourPose> contourPoses;
-
- return contourPoses;
-}
-
-std::vector<ContourPose> ContoursDetector::findContours(const cv::Mat& binImage, const cv::Mat& oriImage)
-{
- return findBlobs(binImage,oriImage);
-}
-
-void ContoursDetector::createMask(std::vector<cv::Point> points)
-{}
-// if (_xRes == 0 || _yRes == 0)
-// return;
-//
-// mask = cvCreateImage(cvSize(_xRes, _yRes), IPL_DEPTH_8U,1);//erstellt schwarzwei� bild
-//
-// //folgender Block setzt die Pixel schwarz
-// for( int y=0; y<mask->height; y++ ) {
-// uchar* ptr = (uchar*) ( mask->imageData + y * mask->widthStep );
-// for( int x=0; x<mask->width; x++ ) {
-// ptr[x+2] = 0;
-// }
-// }
-//
-// cv::Point maskPoints[4];
-//
-// for(int z=0;z<4;z++)
-// {
-// maskPoints[z] = points[z];
-// }
-//
-// //Array im Array von Polygonen. Hier Gr��e eins, da nur eins erzeugt wird
-// cv::Point* contours[1]={
-// maskPoints,
-// };
-//
-// //Anzahl der Punkte der Polygone. Anzahl wie oben
-// int contours_n[1]={
-// 4,
-// };
-//
-// //opencv Funktion zum erstellen und ausf�llen eines polygons in weiss
-// cvFillPoly(mask, contours, contours_n, 1, cvScalar(255));
-//
-// //Visualisierung zum Debuggen
-// //cvNamedWindow("MyWindow",CV_WINDOW_AUTOSIZE);
-// //cvShowImage("MyWindow", mask);
-// //cvWaitKey(0);
-// //cvReleaseImage(&mask);
-// //cvDestroyWindow("MyWindow");
-//}
-
-
-std::vector<ContourPose> ContoursDetector::getPoses(cv::Mat& image_mat, cv::Mat& image_ori)
-{
- return findContours(image_mat,image_ori);
-}
-
-void ContoursDetector::setDouble(std::string spec_param, double value)
-{
- std::cout << "ContoursDetector::Warning - Parameter: " << spec_param << " not found!" << std::endl;
-}
\ No newline at end of file
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContoursDetector.h b/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContoursDetector.h
deleted file mode 100644
index 71fd301..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/detector/contour/ContoursDetector.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include "../IDetector.h"
-
-#include "ContourPose.h"
-
-class ContoursDetector : public IDetector<ContourPose>
-{
-public:
-
- /**
- * The contructor with parameters.
- */
- ContoursDetector(void) {}
-
- ~ContoursDetector(void) {}
-
- std::vector<ContourPose> getPoses(cv::Mat& binImage, cv::Mat& oriImage);
-
- void setDouble(std::string spec_param, double value);
-
-private:
-
- /**
- * Find all cntours within an image.
- * @param: binarized_image_mat, image contains blobs and is already binarized,
- * @return: all found blobs within the image.
- */
- std::vector<ContourPose> findBlobs(const cv::Mat& binImage, const cv::Mat& oriImage);
-
- std::vector<ContourPose> findContours(const cv::Mat& binImage, const cv::Mat& oriImage);
-
- void createMask(std::vector<cv::Point> points);
-
- cv::Mat _mask;
-};
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp
deleted file mode 100644
index e0ae07b..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "ImagePreProcessor.h"
-
-#include <opencv2/highgui.hpp>
-
-#include <future>
-#include <QMutex>
-
-QMutex bgsMutex;
-QMutex oriImageMutex;
-QMutex initBgkFrameNumMutex;
-QMutex mog2Mutex;
-
-ImagePreProcessor::ImagePreProcessor(TrackerParameter* p_TrackingParameter) :
- _maxBackgroundImageInitTime(0), //BG_MOG2_INIT_FRAME_NUMBER TODO
- _bkgSubMethodMog2(false)
-{
- _TrackingParameter = p_TrackingParameter;
- init();
-}
-
-ImagePreProcessor::~ImagePreProcessor(void)
-{
-}
-
-void ImagePreProcessor::setBkgFrameNum(int frameNum)
-{
- QMutexLocker locker(&initBgkFrameNumMutex);
- _maxBackgroundImageInitTime = frameNum;
-}
-
-int ImagePreProcessor::getBkgFrameNum()
-{
- QMutexLocker locker(&initBgkFrameNumMutex);
- return _maxBackgroundImageInitTime;
-}
-
-
-void ImagePreProcessor::init()
-{
- QMutexLocker locker(&bgsMutex);
-
- m_backgroundImage = std::make_shared<cv::Mat>();
- m_foregroundImage = std::make_shared<cv::Mat>();
-
- _pMOG = cv::createBackgroundSubtractorMOG2(
- _TrackingParameter->getmog2History(),
- _TrackingParameter->getmog2VarThresh(),
- true); //Shadow detection
-
- _backgroundSubtractionEnabled = true;
- _backgroundEnabled = true;
- _erodeEnabled = true;
- _dilateEnabled = true;
- _gaussianBlurEnabled = false;
- _binarizeEnabled = true;
- _resetBackgroundImageEnabled = false;
-}
-
-cv::Mat ImagePreProcessor::binarize(cv::Mat& image)
-{
- cv::Mat binarizedImage;
-
- if (image.channels() >= 3)
- cv::cvtColor(image, binarizedImage, cv::COLOR_BGR2GRAY);
- else
- image.copyTo(binarizedImage);
-
- if (binarizedImage.data)
- cv::threshold(binarizedImage, binarizedImage, m_TrackingParameter->getBinarizationThreshold(), 255, cv::THRESH_BINARY);
-
- return binarizedImage;
-}
-
-cv::Mat ImagePreProcessor::erode(cv::Mat& image)
-{
- cv::Mat erodedImage;
- cv::Mat erodeKernel;
- int sizeErode = m_TrackingParameter->getSizeErode();
- if (sizeErode > 0)
- {
- erodeKernel = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(sizeErode, sizeErode));
- }
- else {
- return image;
- }
- if (image.data)
- cv::erode(image, erodedImage, erodeKernel);
- return erodedImage;
-}
-
-cv::Mat ImagePreProcessor::dilate(cv::Mat& image)
-{
- cv::Mat dilatedImage;
- cv::Mat dilateKernel;
- int sizeDilate = m_TrackingParameter->getSizeDilate();
- if (sizeDilate > 0)
- {
- dilateKernel = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(sizeDilate, sizeDilate));
- }
- else {
- return image;
- }
- if (image.data)
- cv::dilate(image, dilatedImage, dilateKernel);
- return dilatedImage;
-}
-
-cv::Mat ImagePreProcessor::backgroundSubtraction(cv::Mat& image)
-{
- if (false)//(isEnabledMog2())
- {
- //QMutexLocker locker(&bgsMutex);
- cv::Mat fgMaskMOG;
- _pMOG->setBackgroundRatio(m_TrackingParameter->getmog2BackgroundRatio());
-
- _pMOG->apply(image, fgMaskMOG); //fg mask generated by MOG method
- _pMOG->getBackgroundImage(*m_backgroundImage);
- return fgMaskMOG;
- }
-
- // otherwise, custom background subtraction
-
- if (!m_backgroundImage->data)
- image.copyTo(*m_backgroundImage);
-
- // calculate the image difference
- const double alpha = m_TrackingParameter->getmog2BackgroundRatio();
-
- const int &imageWidth = m_backgroundImage->cols;
- const int &imageHeight = m_backgroundImage->rows;
- const int totalRegionsX = 4;
- const int totalRegionsY = 4;
- const int totalRegions = totalRegionsX * totalRegionsY;
- const int regionWidth = imageWidth / totalRegionsX;
- const int regionHeight = imageHeight / totalRegionsY;
-
- cv::Mat results(imageHeight, imageWidth, image.type());
-
- auto workOnRegion = [&](int x, int y) {
- const int startingX = x * regionWidth;
- const int startingY = y * regionHeight;
- const cv::Rect subArea = cv::Rect(startingX, startingY, regionWidth, regionHeight);
- cv::Mat subBackground = (*m_backgroundImage)(subArea);
- cv::Mat subImage = image(subArea);
- cv::Mat subResults = results(subArea);
-
- subResults = (subBackground - subImage);
- subBackground = (1.0 - alpha) * subBackground + alpha * subImage;
- };
-
- std::vector<std::future<void>> merger;
- merger.reserve(totalRegions);
-
- for (int x = 0; x < totalRegionsX; ++x)
- {
- for (int y = 0; y < totalRegionsY; ++y)
- {
- merger.push_back(std::async([&, x, y] { workOnRegion(x, y); }));
- }
- }
-
- for (const auto & asyncResult : merger)
- asyncResult.wait();
-
- return results;
-}
-
-std::map<std::string, std::shared_ptr<cv::Mat>> ImagePreProcessor::preProcess(std::shared_ptr<cv::Mat> p_image)
-{
- std::shared_ptr<cv::Mat> greyMat = std::make_shared<cv::Mat>();
- std::shared_ptr<cv::Mat> binarizedImage = std::make_shared<cv::Mat>();
- std::shared_ptr<cv::Mat> erodedImage = std::make_shared<cv::Mat>();
- std::shared_ptr<cv::Mat> dilatedImage = std::make_shared<cv::Mat>();
- //cv::Mat test;
-
- cv::cvtColor(*p_image, *greyMat, cv::COLOR_BGR2GRAY);
-
- // 1. step: do the background subtraction
- *m_foregroundImage = backgroundSubtraction(*greyMat);
-
- // 2. step: binarize the image
- *binarizedImage = binarize(*m_foregroundImage);
-
- // 3. step: erode the image
- *erodedImage = erode(*binarizedImage);
-
- // 4. step: dilate the image
- *dilatedImage = dilate(*erodedImage);
-
- 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("Difference"), m_foregroundImage));
- all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(std::string("Binarized"), binarizedImage));
- all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(std::string("Eroded"), erodedImage));
- all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(std::string("Dilated"), dilatedImage));
-
- return all;
-}
-
-void ImagePreProcessor::resetBackgroundImage()
-{
- // this will reset the background at the next opportunity
- init();
-}
-
-bool ImagePreProcessor::isEnabledMog2()
-{
- return _bkgSubMethodMog2;
-}
-
-void ImagePreProcessor::setEnabledMog2(bool enable)
-{
- QMutexLocker locker(&mog2Mutex);
- _bkgSubMethodMog2 = enable;
-}
diff --git a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.h b/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.h
deleted file mode 100644
index 7a8d55e..0000000
--- a/Src/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.h
+++ /dev/null
@@ -1,111 +0,0 @@
-#pragma once
-
-#include <QSettings>
-
-#include <opencv2/opencv.hpp>
-
-#include "../../../../helper/StringHelper.h"
-#include "../../../TrackerParameter.h"
-
-
-class ImagePreProcessor
-{
-public:
-
- /**
- * The standard constructor.
- */
- ImagePreProcessor(TrackerParameter* p_TrackingParameter);
-
- /**
- * The standard destructor.
- */
- ~ImagePreProcessor(void);
-
- /**
- * Init function. Sets the property for the imge pre-processing.
- * @return void.
- */
- void init();
-
- /**
- * A computer vision method to binarize an image.
- * @param: image, image to binarize,
- * @return: a binarized image.
- */
- cv::Mat binarize(cv::Mat& image);
-
- /**
- * A mathematical morphology operation using in computer vision to erode an image.
- * Erode image with 3x3 4-connectivity.
- * @param: image, image to erode,
- * @return: an eroded image.
- */
- cv::Mat erode(cv::Mat& image);
-
- /**
- * A mathematical morphology operation using in computer vision to dilate an image.
- * Dilate image with 6x6 8-connectivity.
- * @param: image, image to dilate,
- * @return: a dilated image.
- */
- cv::Mat dilate(cv::Mat& image);
-
- /**
- * A computer vision methode to calculate the image difference.
- * Background image subtracts the foreground image.
- * @param: image, image to background subtract,
- * @return: the background subtracted image.
- */
- cv::Mat backgroundSubtraction(cv::Mat& image);
-
- /**
- * Pre-process an image, if all methods enabled, this function:
- * - does the background subtraction
- * - erodes the image
- * - dilates the image
- * @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);
-
- /**
- * The method updates the image background.
- * @return: void.
- */
- void resetBackgroundImage();
- TrackerParameter* m_TrackingParameter;
-
-private:
-
-
- cv::Mat _outputImage;
-
- int m_Mog2ShadowDetection = true;
- std::shared_ptr<cv::Mat> m_backgroundImage;
- std::shared_ptr<cv::Mat> m_foregroundImage;
-
- // background subtraction
- cv::Ptr<cv::BackgroundSubtractorMOG2> _pMOG;
-
- //parameters for image pre-processing
- bool _backgroundSubtractionEnabled;
- bool _backgroundEnabled;
- bool _binarizeEnabled;
- bool _erodeEnabled;
- bool _dilateEnabled;
- bool _gaussianBlurEnabled;
- bool _resetBackgroundImageEnabled;
-
- int _maxBackgroundImageInitTime;
- bool _bkgSubMethodMog2;
-
- TrackerParameter* _TrackingParameter;
-
- // functions
- void setBkgFrameNum(int);
- int getBkgFrameNum();
-
- void setEnabledMog2(bool);
- bool isEnabledMog2();
-};
diff --git a/Src/View/TrackedElementView.cpp b/Src/View/TrackedElementView.cpp
index f9cdea1..8b29f6a 100644
--- a/Src/View/TrackedElementView.cpp
+++ b/Src/View/TrackedElementView.cpp
@@ -1,7 +1,6 @@
#include "TrackedElementView.h"
#include "../Model/TrackedComponents/TrackedElement.h"
#include "../Model/TrackedComponents/TrackedTrajectory.h"
-#include "../Model/TrackingAlgorithm/ParamNames.h"
#include "QBrush"
#include "QPainter"
#include "QGraphicsScene"
diff --git a/Src/helper/CvHelper.cpp b/Src/helper/CvHelper.cpp
deleted file mode 100644
index 5cf0a91..0000000
--- a/Src/helper/CvHelper.cpp
+++ /dev/null
@@ -1,405 +0,0 @@
-#include "CvHelper.h"
-
-#include "StringHelper.h"
-
-cv::Point CvHelper::subtractTwoCvPoints(cv::Point a, cv::Point b)
-{
- return cv::Point(a.x - b.x, a.y - b.y);
-}
-
-cv::Point CvHelper::addTwoCvPoints(cv::Point a, cv::Point b)
-{
- return cv::Point(a.x + b.x, a.y + b.y);
-}
-
-cv::Point CvHelper::multCvPoint(double scalar, cv::Point p)
-{
- return cv::Point(scalar * p.x, scalar * p.y);
-}
-
-QPointF CvHelper::norm(double x, double y)
-{
- double distance = qSqrt(x * x + y * y);
-
- if (distance == 0) {
- return QPointF(0, 0);
- }
- return QPointF(x / distance, y / distance);
-}
-
-QPointF CvHelper::norm(QPoint p)
-{
- return CvHelper::norm((double) p.x(), (double) p.y());
-}
-
-QPointF CvHelper::norm(QPointF p)
-{
- return CvHelper::norm(p.x(), p.y());
-}
-
-double CvHelper::getDistance(double x1, double y1, double x2, double y2)
-{
- return qSqrt( ( (x1 - x2) * (x1 - x2) ) + ( (y1 - y2) * (y1 - y2) ) );
-}
-
-double CvHelper::getDistance(double x1, double y1, double z1, double x2, double y2, double z2 )
-{
- return qSqrt(((x1 - x2) * (x1 - x2)) + ((y1 - y2) * (y1 - y2)) + ((z1 - z2) * (z1 - z2)));
-}
-
-double CvHelper::getSqDistance(double x1, double y1, double x2, double y2)
-{
- return ( (x1 - x2) * (x1 - x2) ) + ( (y1 - y2) * (y1 - y2) );
-}
-
-double CvHelper::getSqDistance(double x1, double y1, double z1, double x2, double y2, double z2)
-{
- return ((x1 - x2) * (x1 - x2)) + ((y1 - y2) * (y1 - y2)) + ((z1 - z2) * (z1 - z2));
-}
-
-double CvHelper::getDistance(QPoint p1, QPoint p2)
-{
- return getDistance((double) p1.x(), (double) p1.y(), (double) p2.x(), (double) p2.y());
-}
-
-double CvHelper::getDistance(QPointF p1, QPointF p2)
-{
- return getDistance(p1.x(), p1.y(), p2.x(), p2.y());
-}
-
-double CvHelper::getDistance(cv::Point2f p1, cv::Point2f p2)
-{
- return getDistance(p1.x, p1.y, p2.x, p2.y);
-}
-
-double CvHelper::getDistance(cv::Point3f p1, cv::Point3f p2)
-{
- return getDistance(p1.x, p1.y, p1.z, p2.x, p2.y, p2.z);
-}
-
-double CvHelper::getDistance(cv::Point p1, cv::Point p2)
-{
- return sqrt(double((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y)));
-}
-
-double CvHelper::getSqDistance(cv::Point2f p1, cv::Point2f p2)
-{
- return getSqDistance(p1.x, p1.y, p2.x, p2.y);
-}
-
-double CvHelper::getSqDistance(cv::Point3f p1, cv::Point3f p2)
-{
- return getSqDistance(p1.x, p1.y, p1.z, p2.x, p2.y, p2.z);
-}
-
-double CvHelper::orientation(cv::Point2f front, cv::Point2f back)
-{
- cv::Point2f diff = front - back;
- //return qAtan2(diff.x, diff.y);
-
- // need to check the origin of coorindiates
- return qAtan2(diff.x, diff.y) + CV_PI / 2.0;
-}
-
-double CvHelper::orientation(QPointF front, QPointF back)
-{
- //QPointF diff = front - back;
- //return qAtan2(diff.x(), diff.y());
- return orientation(cv::Point2f(front.x(),front.y()),cv::Point2f(back.x(),back.y()));
-}
-
-float CvHelper::angleDifference(float alpha, float beta)
-{
- float difference = alpha - beta;
- while (difference < -CV_PI) difference += 2.0f * CV_PI;
- while (difference > +CV_PI) difference -= 2.0f * CV_PI;
- return difference;
-}
-
-float CvHelper::findMin(float n1, float n2, float n3) {
- return (n1 < n2 && n1 < n3) ? n1 : (n2 < n3 ? n2 : n3);
-}
-
-float CvHelper::findMax(float n1, float n2, float n3) {
- return (n1 > n2 && n1 > n3) ? n1 : (n2 > n3 ? n2 : n3);
-}
-
-float CvHelper::normalDist(float x, float mean, float variance) {
- return 1.0 / (variance *qSqrt(2*CV_PI)) * qExp(- ((x - mean) * (x - mean)) / (2 * variance * variance));
-}
-
-float CvHelper::sigmoid(float x, float shrink) {
- return (2.0 / (1.0 + qExp(-x * shrink)) - 1.0);
-}
-
-float CvHelper::sigmoidAbsInv(float x, float shrink) {
- return 1.0 - qAbs((2.0 / (1.0 + qExp(-x * shrink)) - 1.0));
-}
-
-double CvHelper::getAngleDifference(double dirToTargetAsRad, double currOrientationAsRad) {
- /*double angleDiff = dirToTargetAsRad - currOrientationAsRad + CV_PI / 2.0;
- while (angleDiff < -CV_PI) angleDiff += 2 * CV_PI;
- while (angleDiff > CV_PI) angleDiff -= 2 * CV_PI;
- return angleDiff;*/
-
- double a = dirToTargetAsRad - currOrientationAsRad;
- a += (a > CV_PI) ? -(2*CV_PI) : (a < -CV_PI) ? (2*CV_PI) : 0;
- return a;
-}
-
-//double CvHelper::getAngleToTarget(cv::Point2f A, cv::Point2f B) {
-// double ab = A.x*B.x + A.y*B.y;
-// double a = qSqrt(A.x*A.x + A.y*A.y);
-// double b = qSqrt(B.x*B.x + B.y*B.y);
-// double cosT = ab / (a*b);
-// return qAcos(cosT);
-//}
-
-double CvHelper::getAngleToTarget(cv::Point2f currentPos, cv::Point2f targetPos) {
- return qAtan2(targetPos.x - currentPos.x, targetPos.y - currentPos.y);
-}
-
-std::deque<cv::Point2f> CvHelper::convertMat2Point2fDeque(cv::Mat mat)
-{
- std::deque<cv::Point2f> point2fS;
-
- if(mat.cols != 2)
- return point2fS;
-
- for (int row = 0; row < mat.rows; row++)
- {
- float x = mat.at<float>(row,0);
- float y = mat.at<float>(row,1);
- point2fS.push_back(cv::Point2f(x,y));
- }
-
- return point2fS;
-}
-
-cv::Mat CvHelper::convertPoint2fDeque2Mat(std::deque<cv::Point2f> points)
-{
- cv::Mat mat;
-
- if(points.empty())
- return mat;
-
- mat = cv::Mat(points.size(), 2, CV_32F);
-
- for (int i = 0; i < points.size(); i++)
- {
- cv::Point2f p = points.at(i);
- mat.at<float>(i,0)= p.x;
- mat.at<float>(i,1)= p.y;
- }
-
- return mat;
-}
-
-QList<std::deque<cv::Point2f>> CvHelper::convertMatList2Point2fDequeList(QList<cv::Mat> mats)
-{
- QList<std::deque<cv::Point2f>> pointList;
- cv::Mat mat;
- foreach (mat , mats)
- {
- pointList << CvHelper::convertMat2Point2fDeque(mat);
- }
- return pointList;
-}
-
-cv::Point2f CvHelper::getMirrowPoint(cv::Point2f point2Mirror, cv::Point2f pointOfOrigin, float angelAsGrad)
-{
- //Convert angelAsGrad to radian
- float angelAsRadian = (angelAsGrad * CV_PI / 180.0);
-
- cv::Mat G = (cv::Mat_<float>(2,2) << cos(2.0 * angelAsRadian), sin(2.0 * angelAsRadian), sin(2.0 * angelAsRadian), -cos(2.0 * angelAsRadian));
-
- cv::Mat point2MirrorMat(1/*rows*/,2 /* cols */,CV_32F);
- point2MirrorMat.at<float>(0,0) = point2Mirror.x;
- point2MirrorMat.at<float>(0,1) = point2Mirror.y;
-
- cv::Mat pointOfOriginMat(1/*rows*/,2 /* cols */,CV_32F);
- pointOfOriginMat.at<float>(0,0) = pointOfOrigin.x;
- pointOfOriginMat.at<float>(0,1) = pointOfOrigin.y;
-
- cv::Mat point2MirrorFromOrigin = point2MirrorMat - pointOfOriginMat;
-
- cv::Mat point2MirrorMatT;
- cv::transpose(point2MirrorFromOrigin, point2MirrorMatT);
-
- cv::Mat mirrowedPointMat = (G * point2MirrorMatT);
-
- cv::Mat mirrowedPointMatT;
- cv::transpose(mirrowedPointMat, mirrowedPointMatT);
-
- cv::Mat finalMat = mirrowedPointMatT + pointOfOriginMat;
-
- return cv::Point2f(finalMat.at<float>(0,0),finalMat.at<float>(0,1));
-}
-
-std::deque<cv::Point2f> CvHelper::getMirrowPoints(std::deque<cv::Point2f> points2Mirror, cv::Point2f pointOfOrigin, float angelAsGrad)
-{
- std::deque<cv::Point2f> mirrowedPoints;
-
- for(int i = 0; i < points2Mirror.size(); i++)
- {
- cv::Point2f p = CvHelper::getMirrowPoint(points2Mirror.at(i), pointOfOrigin, angelAsGrad);
- mirrowedPoints.push_back(p);
- }
- return mirrowedPoints;
-
-}
-
-std::deque<cv::Point2f> CvHelper::getMirrowLine(cv::Point2f pointOfOrigin, float width, float height, float angelAsGrad)
-{
- float angle = angelAsGrad * CV_PI / 180.0;
-
- float r = CvHelper::getDistance(pointOfOrigin, cv::Point2f(width, height));
-
- float xOff1 = pointOfOrigin.x + r * cos(angle);
- float yOff1 = pointOfOrigin.y + r * sin(angle);
-
- float xOff2 = pointOfOrigin.x - r * cos(angle);
- float yOff2 = pointOfOrigin.y - r * sin(angle);
-
- cv::Point2f front(xOff2,yOff2);
- cv::Point2f back(xOff1,yOff1);
-
- std::deque<cv::Point2f> points;
-
- points.push_back(front);
- points.push_back(back);
- return points;
-}
-
-
-std::vector<cv::Point> CvHelper::convertMat2Vector(cv::Mat mat)
-{
- std::vector<cv::Point> value(mat.rows);
- for (int i = 0; i < value.size(); i++)
- {
- cv::Point p((int)mat.at<float>(i,0),(int)mat.at<float>(i,1));
- value.at(i) = p;
- }
- return value;
-}
-
-cv::Mat CvHelper::convertVector2Mat(std::vector<cv::Point> vect)
-{
- cv::Mat mat(vect.size(),2,CV_32F);
- for (int i = 0; i < vect.size(); i++)
- {
- mat.at<float>(i,0) = (float)vect.at(i).x;
- mat.at<float>(i,1) = (float)vect.at(i).y;
- }
- return mat;
-}
-
-float CvHelper::degToRad(float deg)
-{
- return deg * CV_PI / 180.0;
-}
-
-float CvHelper::radToDeg(float rad)
-{
- return rad * 180.0 / CV_PI;
-}
-
-int CvHelper::stdStringToInt(std::string string)
-{
- int numb;
- std::istringstream iss(string);
- if (!(iss >> numb))
- {
- throw "String cannot convert to float number!";
- }
- return numb;
-}
-
-float CvHelper::stdStringToFloat(std::string string)
-{
- float numb;
- std::istringstream iss(string);
- if (!(iss >> numb))
- {
- throw "String cannot convert to float number!";
- }
-
- return numb;
-}
-
-std::string CvHelper::convertStdVectorCvPointToStdString(std::vector<cv::Point> points)
-{
- std::string pointListString;
- for (int i = 0; i < points.size(); i++)
- {
- int x = points.at(i).x;
- int y = points.at(i).y;
- if(i < points.size() - 1)
- pointListString.append(StringHelper::iToSS(x)).append(":").append(StringHelper::iToSS(y)).append(" ");
- else
- pointListString.append(StringHelper::iToSS(x)).append(":").append(StringHelper::iToSS(y));
- }
- return pointListString;
-}
-
-std::string CvHelper::convertCvScalarToStdString(cv::Scalar scalar)
-{
- std::string scalarString;
-
- int r = scalar.val[0,0];
- int g = scalar.val[0,1];
- int b = scalar.val[0,2];
-
- scalarString.append(StringHelper::iToSS(r)).append(" ").append(StringHelper::iToSS(g)).append(" ").append(StringHelper::iToSS(b)).append(" ");
-
- return scalarString;
-
-}
-
-std::string CvHelper::cvSizeToSS(cv::Size cvSize_value)
-{
- std::string cvSizeString;
-
- int width = cvSize_value.width;
- int height = cvSize_value.height;
-
- cvSizeString.append(StringHelper::iToSS(height)).append("x").append(StringHelper::iToSS(width));
-
- return cvSizeString;
-}
-
-std::string CvHelper::cvSize2fToSS(cv::Size2f cvSize2f_value)
-{
- std::string cvSize2fString;
-
- float width = cvSize2f_value.width;
- float height = cvSize2f_value.height;
-
- cvSize2fString.append(StringHelper::fToSS(height)).append("x").append(StringHelper::fToSS(width));
-
- return cvSize2fString;
-}
-
-std::string CvHelper::cvSize2fToSS(QString width, QString height)
-{
- std::string cvSize2fString;
-
- cvSize2fString.append(height.toStdString()).append("x").append(width.toStdString());
-
- return cvSize2fString;
-}
-
-std::string CvHelper::getCurrentDatetimeAsStd()
-{
- return QDateTime::currentDateTime().toString("_yyMMddThhmmss").toUtf8().constData();
-}
-
-bool CvHelper::isFrameSizeEqual(cv::Size o1, cv::Size o2)
-{
- bool equal = false;
-
- if (o1.width == o2.width && o1.height == o2.height)
- equal = true;
-
- return equal;
-}
\ No newline at end of file
diff --git a/Src/helper/CvHelper.h b/Src/helper/CvHelper.h
deleted file mode 100644
index 2c842df..0000000
--- a/Src/helper/CvHelper.h
+++ /dev/null
@@ -1,197 +0,0 @@
-#pragma once
-
-#include <QtMath>
-#include <QPoint>
-#include <QPointF>
-#include <QList>
-#include <QDateTime>
-#include <QDebug>
-
-#include <opencv2/opencv.hpp>
-
-
-/**
- * Computer vision helper class, contains only static methods
- */
-namespace CvHelper
-{
- /**
- * Subtract operation for two CvPoints.
- * @return: the difference of the CvPoints.
- */
- cv::Point subtractTwoCvPoints(cv::Point a, cv::Point b);
-
- /**
- * Add operation for two CvPoints.
- * @return: the sum of the CvPoints.
- */
- cv::Point addTwoCvPoints(cv::Point a, cv::Point b);
-
- cv::Point multCvPoint(double scalar, cv::Point p);
-
- /**
- * Normalizes a coordinate point.
- * @param x, the x coordinate.
- * @param y, the y coordinate.
- * @return the normlized point as floating number.
- */
- QPointF norm(double x, double y);
-
- /**
- * Normalizes a point.
- * @param p, point to normalize.
- * @return the normalized point as floating number.
- */
- QPointF norm(QPoint p);
-
- /**
- * Normalizes a floating number point.
- * @param p, point to normalize.
- * @return the normalized point as floating number.
- */
- QPointF norm(QPointF p);
-
- /**
- * Calculates the distance between two coordinates.
- * @param x1, x-coordinate of the source point.
- * @param y1, y-coordinate of the source point.
- * @param x2, x-coordinate of the destination point.
- * @param y2, y-coordinate of the destination point.
- * @return the distance between the provided coordinates as floating number.
- */
- double getDistance(double x1, double y1, double x2, double y2);
- double getSqDistance(double x1, double y1, double x2, double y2);
-
- /**
- * Calculates the distance between two coordinates.
- * @param x1, x-coordinate of the source point.
- * @param y1, y-coordinate of the source point.
- * @param z1, z-coordinate of the source point.
- * @param x2, x-coordinate of the destination point.
- * @param y2, y-coordinate of the destination point.
- * @param z2, y-coordinate of the destination point.
- * @return the distance between the provided coordinates as floating number.
- */
- double getDistance(double x1, double y1, double z1, double x2, double y2, double z2);
- double getSqDistance(double x1, double y1, double z1, double x2, double y2, double z2);
-
- /**
- * Calculates the distance between two points.
- * @param p1, source point.
- * @param p2, destination point.
- * @return the distance between p1 and p2 as floating number.
- */
- double getDistance(QPoint p1, QPoint p2);
-
- /**
- * Calculates the distance between two floating number points.
- * @param p1, source point.
- * @param p2, destination point.
- * @return the distance between p1 and p2 as floating number.
- */
- double getDistance(QPointF p1, QPointF p2);
-
- double getDistance(cv::Point2f p1, cv::Point2f p2);
- double getDistance(cv::Point p1, cv::Point p2);
- double getSqDistance(cv::Point2f p1, cv::Point2f p2);
-
- double getDistance(cv::Point3f p1, cv::Point3f p2);
- double getSqDistance(cv::Point3f p1, cv::Point3f p2);
-
- double orientation(cv::Point2f front, cv::Point2f back);
- double orientation(QPointF front, QPointF back);
-
- float angleDifference(float alpha, float beta);
-
- /**
- * Convert degree to radian.
- * @param: deg, degree value,
- * @return: rad value.
- */
- float degToRad(float deg);
-
- /**
- * Convert radian to degree.
- * @param: rad, radian value,
- * @return: degree value.
- */
- float radToDeg(float rad);
-
- /**
- * This function finds the minimal number of three numbers.
- */
- float findMin(float n1, float n2, float n3);
-
- /**
- * This function finds the maximal number of three numbers.
- */
- float findMax(float n1, float n2, float n3);
-
- float normalDist(float x, float mean, float variance);
-
- float sigmoid(float x, float shrink);
-
- float sigmoidAbsInv(float x, float shrink);
-
- double getAngleDifference(double dirToTargetAsRad, double currOrientationAsRad);
- double getAngleToTarget(cv::Point2f A, cv::Point2f B);
- //double getAngleToTarget(cv::Point2f currentPos, cv::Point2f targetPos);
-
- cv::Point2f getMirrowPoint(cv::Point2f point2Mirror, cv::Point2f pointOfOrigin, float angelAsGrad);
- std::deque<cv::Point2f> getMirrowPoints(std::deque<cv::Point2f> points2Mirror, cv::Point2f pointOfOrigin, float angelAsGrad);
- std::deque<cv::Point2f> getMirrowLine(cv::Point2f pointOfOrigin, float width, float height, float angelAsGrad);
-
-
- std::deque<cv::Point2f> convertMat2Point2fDeque(cv::Mat mat);
- cv::Mat convertPoint2fDeque2Mat(std::deque<cv::Point2f> points);
- QList<std::deque<cv::Point2f>> convertMatList2Point2fDequeList(QList<cv::Mat> mats);
- std::vector<cv::Point> convertMat2Vector(cv::Mat mat);
- cv::Mat convertVector2Mat(std::vector<cv::Point> vect);
-
- /**
- * Converts a string to an integer number.
- * @param: string, a string containing a number.
- * @return: a converted integer number.
- */
- int stdStringToInt(std::string string);
-
- /**
- * Converts a string to a float number.
- * @param: string, a string containing a number.
- * @return: a converted float number.
- */
- float stdStringToFloat(std::string string);
-
- /**
- * Converts a list of cv::Point to a proper string, which could be save into the config.ini file.
- * @param: points, a list of cv::Point.
- * @return: a converted formated string for the config.ini file.
- */
- std::string convertStdVectorCvPointToStdString(std::vector<cv::Point> points);
-
- /**
- * Converts a cv::Scalar to a proper standard string, which could be save into the config.ini file.
- * @param: scalar, a scalar.
- * @return: a converted formated string for the config.ini file.
- */
- std::string convertCvScalarToStdString(cv::Scalar scalar);
-
- /**
- * Gets the current date time as std string.
- * @return: the current formated date time as standard string.
- */
- std::string getCurrentDatetimeAsStd();
-
- std::string cvSizeToSS(cv::Size cvSize_value);
- std::string cvSize2fToSS(cv::Size2f cvSize2f_value);
- std::string cvSize2fToSS(QString width, QString height);
-
-
- /**
- * Checks if image sizes are equal.
- * @param: size of first object
- * @param: size of second object
- * @return: true if equal, false otherwise
- */
- bool isFrameSizeEqual(cv::Size o1, cv::Size o2);
-}
--
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