bool findTop(cv::Point& top, int& topVal, cv::Mat* src, cv::Rect rect){
cv::Point res(0, 0);
int x = 0, y = 0;
bool bFound = false;
topVal = 65535;
if (!src->empty()){
try
{
for (int i = rect.tl().y; i < rect.br().y; ++i){
for (int j = rect.tl().x; j < rect.br().x; ++j){
{
Int16 curVarVec = Convert::ToInt16((src->at<Int16>(cv::Point(j, i))) * 255.0f / 8191.0f);
if (curVarVec < topVal && curVarVec > 0)
{
topVal = curVarVec;
x = j;
y = i;
bFound = true;
}
}
}
}
}
catch(...)
{
// DO NOTHING
}
}
//ht.nNose = src->at<Int16>(0,0);
if(bFound) top = cv::Point(x,y);
return bFound;
}
//retourne vrai si la boundingBox a contient la bounding box b
bool contient(cv::Rect a, cv::Rect b)
{
if ((a.tl().x < b.tl().x) &&
(a.tl().y < b.tl().y) &&
(a.br().x > b.br().x) &&
(a.br().y > b.br().y))
return true;
return false;
}
void BlobPeople::update(const cv::Rect& track) {
cur = toOf(track).getCenter();
smooth.interpolate(cur, 0.5);
height = track.tl().y-track.br().y;
bottom = track.br().y;
left = track.tl().x;
right = track.br().x;
}
float jaccardSimilarity(cv::Rect bbox1, cv::Rect bbox2) {
cv::Vec4i bi(std::max(bbox1.x, bbox2.x), std::max(bbox1.y,bbox2.y), std::min(bbox1.br().x,bbox2.br().x), std::min(bbox1.br().y,bbox2.br().y));
int iw = bi[2] - bi[0];
int ih = bi[3] - bi[1];
if (iw > 0 && ih > 0) {
int un = (bbox1.br().x - bbox1.x) * (bbox1.br().y - bbox1.y) +
(bbox2.br().x - bbox2.x) * (bbox2.br().y - bbox2.y) - iw * ih;
return iw * ih / float(un);
}
return 0.f;
}
void LevelTracker::setRegion(const cv::Rect &roi)
{
topLeft=roi.tl();
bottonRight=roi.br();
if(topLeft.x<bottonRight.x && topLeft.y<bottonRight.y)
regOk=true;
}
static bool checkColision(const cv::Rect &a, const cv::Rect &b){
if (b.contains(a.tl())) return true;
if (b.contains(a.br())) return true;
if (b.contains(cv::Point(a.x+a.width,a.y))) return true;
if (b.contains(cv::Point(a.x,a.y+a.height))) return true;
return false;
}
bool GeoMapEditor::addMouseObject( // пытаемся добавить новый объект вытянув или кликнув мышкой
cv::Rect& rect, // note: in-out -- подкручиваем ректангл по законам первого рождения для данного объекта
int flags )
{
if (objType() == "AGM_Segm")
{
Point xyTL = rect.tl();
Point xyBR = rect.br();
GeoSheet& sh = gm.sheets[ cur_sheet ];
Point2d enTL = sh.xy2en( xyTL );
Point2d enBR = sh.xy2en( xyBR );
AGM_Segm* ps = new AGM_Segm(enTL, enBR);
gm.objects.push_back(cv::Ptr<AGM_Segm>(ps));
}
else
{
Point xy = center( rect );
GeoSheet& sh = gm.sheets[ cur_sheet ];
Point2d en = sh.xy2en( xy );
AGM_Point* pp = new AGM_Point( en );
gm.objects.push_back(cv::Ptr<AGM_Point>(pp));
}
return true;
};
inline static cv::Point center(const cv::Rect &rc)
{
std::vector<cv::Point> pts;
pts.push_back(rc.tl());
pts.push_back(rc.br());
return center(pts);
}
// A litte subroutine to draw a box onto an image
//
void draw_box(cv::Mat& img, cv::Rect box) {
cv::rectangle(
img,
box.tl(),
box.br(),
cv::Scalar(0x00, 0x00, 0xff) /* red */
);
}
void Rectangle::set(const cv::Rect &_rect)
{
rect = _rect;
tl = _rect.tl();
br = _rect.br();
left->set(tl, cv::Point(tl.x, br.y));
top->set(tl, cv::Point(br.x, tl.y));
bottom->set(tl, cv::Point(tl.x, br.y));
right->set(cv::Point(br.x, tl.y), cv::Point(tl.x, br.y));
info.set(_rect);
}
/**
* @brief Scales and translates a facebox. Useful for converting
* between face boxes from different face detectors.
*
* To convert from V&J faceboxes to ibug faceboxes, use a scaling
* of 0.85 and a translation_y of 0.2.
* Ideally, we would learn the exact parameters from data.
*
* @param[in] facebox Input facebox.
* @param[in] scaling The input facebox will be scaled by this factor.
* @param[in] translation_y How much, in percent of the original facebox's width, the facebox will be translated in y direction. A positive value means facebox moves downwards.
* @return The rescaled facebox.
*/
cv::Rect rescale_facebox(cv::Rect facebox, float scaling, float translation_y)
{
// Assumes a square input facebox to work? (width==height)
const auto new_width = facebox.width * scaling;
const auto smaller_in_px = facebox.width - new_width;
const auto new_tl = facebox.tl() + cv::Point2i(smaller_in_px / 2.0f, smaller_in_px / 2.0f);
const auto new_br = facebox.br() - cv::Point2i(smaller_in_px / 2.0f, smaller_in_px / 2.0f);
cv::Rect rescaled_facebox(new_tl, new_br);
rescaled_facebox.y += facebox.width * translation_y;
return rescaled_facebox;
};
/** expand a roi **/
void Cropper::expandROI(cv::Rect &r) {
bool canExpand = true;
Point2i p1, p2;
cv::Rect rp;
while(canExpand){
canExpand = false;
Point2i stp = (rect.tl() - r.tl());
stp.x /=2; stp.y /=2;
p2 = r.br();
while(abs(stp.x) + abs(stp.y)>=1){
p1 = r.tl() + stp;
rp = cv::Rect(p1, p2);
if(!rectHasBlankPixels(rp)){
r = rp;
canExpand = true;
break;
}
stp.x /= 2; stp.y /=2;
}
stp = (rect.br() - r.br());
stp.x /=2; stp.y /=2;
p1 = r.tl();
while(abs(stp.x) + abs(stp.y)>=1){
p2 = r.br() + stp;
rp = cv::Rect(p1, p2);
if(!rectHasBlankPixels(rp)){
r = rp;
canExpand = true;
break;
}
stp.x /=2; stp.y/=2;
}
}
}
std::pair<double, cv::Point> DescribeMaximum(const cv::Mat &surface,
const cv::Rect &boundingBox) {
// assert surface double
cv::Point position = boundingBox.tl();
cv::Point end = boundingBox.br();
size_t x = position.x, y = position.y;
double value = surface.at<double>(position);
for (; x <= end.x; x++) {
for (; y <= end.y; y++) {
if (surface.at<double>(y, x) > value) {
value = surface.at<double>(y, x);
position = cv::Point(x, y);
}
}
}
return std::make_pair(value, position);
}
// === FUNCTION ======================================================================
// Name: get_masked_frame
// Description: Masks the frame based on slope and roi. Mask returned by pointer.
// =====================================================================================
cv::Mat get_masked_frame ( cv::Rect roi, double slope, cv::Mat* frame, cv::Mat* mask )
{
cv::Point corners[1][4];
//Set the frame
*mask=cv::Mat::zeros( frame->size(), CV_8UC1 );
cv::Mat masked_frame;
if( slope==0 )
{
// TODO: Could use direction handling here.
corners[0][0] = roi.br();
corners[0][1] = cv::Point( frame->cols, roi.y+roi.height );
corners[0][2] = corners[0][1]-cv::Point( 0, roi.height );
corners[0][3] = corners[0][0]-cv::Point( 0, roi.height );
}
else if( isinf( slope ) )
{
{
corners[0][0] = cv::Point( roi.x, frame->rows );
corners[0][1] = cv::Point( roi.x, roi.y+roi.height);
}
{
corners[0][0] = roi.tl();
corners[0][1] = cv::Point( roi.x, 0 );
}
corners[0][2] = corners[0][1]+cv::Point( roi.width, 0);
corners[0][3] = corners[0][0]+cv::Point( roi.width, 0 );
}
else
{
corners[0][0].x = ( int ) ( (frame->rows + slope*roi.x-roi.y)/slope );
corners[0][0].y = frame->rows;
corners[0][1] = cv::Point( ( int )( (-roi.y + slope * roi.x ) / slope ), 0 );
corners[0][2] = corners[0][1] + cv::Point(roi.width, 0);
corners[0][3] = corners[0][0] + cv::Point(roi.width, 0);
}
// This is weird, but follows OpenCV docs.
const cv::Point* ppt[1] = { corners[0] };
const int npt[] = { 4 };
fillPoly( *mask, ppt, npt, 1, 255 );
frame->copyTo(masked_frame, *mask);
return masked_frame;
} // ----- end of function get_masked_frame -----
Rectangle::Rectangle(const cv::Rect &_rect, const int &_id) :
rect(_rect)
{
tl = _rect.tl();
br = _rect.br();
left = new VerticalLine();
left->set(tl, cv::Point(tl.x, br.y));
top = new HorizontalLine();
top->set(tl, cv::Point(br.x, tl.y));
bottom = new HorizontalLine();
bottom->set(cv::Point(tl.x, br.y), br);
right = new VerticalLine();
right->set(cv::Point(br.x, tl.y), br);
info.set(_id, _rect);
selected = false;
selected_color = RED_COLOR;
offset = 4;
lineOffset = LINE_WEIGHT;
color = cv::Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
}
void singleeyefitter::cvx::getROI(const cv::Mat& src, cv::Mat& dst, const cv::Rect& roi, int borderType)
{
cv::Rect bbSrc = boundingBox(src);
cv::Rect validROI = roi & bbSrc;
if (validROI == roi)
{
dst = cv::Mat(src, validROI);
}
else
{
// Figure out how much to add on for top, left, right and bottom
cv::Point tl = roi.tl() - bbSrc.tl();
cv::Point br = roi.br() - bbSrc.br();
int top = std::max(-tl.y, 0); // Top and left are negated because adding a border
int left = std::max(-tl.x, 0); // goes "the wrong way"
int right = std::max(br.x, 0);
int bottom = std::max(br.y, 0);
cv::Mat tmp(src, validROI);
cv::copyMakeBorder(tmp, dst, top, bottom, left, right, borderType);
}
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//
// 自訂的矩行繪製函數
//
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
void DrawRectangle( Mat& img, cv::Rect box)
{
//隨機顏色
rectangle(img, box.tl(), box.br(), Scalar(g_rng.uniform(0,255),
g_rng.uniform(0,255), g_rng.uniform(0,255)));
}
int main( int argc, char** argv)
{
// Initialization
traxmode = false;
silent = false;
interactive = false;
opterr = 0;
initializeFile = NULL;
configFile = NULL;
configString = NULL;
outputFile = NULL;
#ifdef BUILD_INTROSPECTION
introspectionFile = NULL;
#endif
int c = 0;
seed = time(NULL);
initialized = false;
initialize = false;
run = true;
while ((c = getopt(argc, argv, CMD_OPTIONS)) != -1)
switch (c)
{
case 'h':
print_help();
exit(0);
case 's':
silent = true;
break;
case 'g':
enable_gui();
break;
case 'i':
interactive = true;
break;
#ifdef BUILD_DEBUG
case 'd':
__debug_enable();
break;
#endif
case 'C':
configFile = optarg;
break;
case 'c':
configString = optarg;
break;
case 'I':
initializeFile = optarg;
break;
case 'o':
outputFile = optarg;
break;
#ifdef BUILD_INTROSPECTION
case 'D':
introspectionFile = optarg;
break;
#endif
case 'S':
seed = atoi(optarg);
break;
#ifdef BUILD_TRAX
case 't':
traxmode = true;
break;
#endif
default:
print_help();
fprintf(stderr, "Unknown switch '-%c'\n", optopt);
exit(-1);
}
RANDOM_SEED(seed);
DEBUGMSG("Random seed: %d \n", seed);
sequence = NULL;
if (!traxmode)
{
if (optind < argc)
{
sequence = open_sequence(argv[optind]);
if (!sequence)
{
fprintf(stderr, "Illegal source\n");
exit(-1);
}
VideoFileSequence* videostream = dynamic_cast<VideoFileSequence*>(sequence);
ImageDirectorySequence* dirstream = dynamic_cast<ImageDirectorySequence*>(sequence);
FileListSequence* liststream = dynamic_cast<FileListSequence*>(sequence);
if (videostream != NULL)
{
const char* filename = videostream->get_file();
initialize = true;
if (!initializeFile && filename)
{
initializeFile = new char[strlen(filename) + 5];
strcpy(initializeFile, filename);
strcpy(initializeFile+strlen(filename), ".txt");
}
}
else if (dirstream != NULL)
{
const char* filename = dirstream->get_directory();
initialize = true;
if (!initializeFile && filename)
{
initializeFile = new char[strlen(filename) + 5];
strcpy(initializeFile, filename);
strcpy(initializeFile + strlen(filename) +
(matches_suffix(filename, FILE_DELIMITER_STR) ? -1 : 0),
".txt");
}
}
else if (liststream != NULL && initializeFile)
{
initialize = true;
}
else if (dynamic_cast<CameraSequence*>(sequence) != NULL)
{
interactive = false;
}
}
else
{
fprintf(stderr, "No source given\n");
exit(-1);
}
}
// Tracking
tracking_window = is_gui_enabled() ? ImageWindow::create(WINDOW_NAME, Size(10, 10), false) : NULL;
if (configFile)
{
if (file_type(configFile) == FILETYPE_FILE)
{
DEBUGMSG("Reading config from '%s' \n", configFile);
config.load_config(string(configFile));
}
else
{
DEBUGMSG("Reading built-in configuration '%s' \n", configFile);
read_builtin_config(configFile, config);
}
}
if (configString)
{
for (int i = 0; i < strlen(configString); i++)
{
if (configString[i] == ';') configString[i] = '\n';
}
istringstream moreConfig(configString);
moreConfig >> config;
}
DEBUGGING
{
vector<string> configKeys = config.keys();
for (int i = 0; i < configKeys.size(); i++)
{
string value = config.read<string>(configKeys[i]);
DEBUGMSG("Config dump: %s = %s\n", configKeys[i].c_str(), value.c_str());
}
}
initialize_canvases(config);
if (config.keyExists("window.main.output"))
{
tracking_window->set_output(config.read<string>("window.main.output"), config.read<int>("window.main.output.slowdown", 1));
}
#ifdef BUILD_TRAX
trax_properties* trax_out_properties = NULL;
if (traxmode)
{
#ifdef TRAX_DEBUG
trax_setup("trax.log", TRAX_LOG_INPUT | TRAX_LOG_OUTPUT | TRAX_LOG_DEBUG);
#else
trax_setup(NULL, 0);
#endif
trax_out_properties = trax_properties_create();
}
#endif
Ptr<Tracker> tracker;
Image frame;
int frameNumber = 1;
ImageWindow::grid(2, 3, 400, 400);
std::ofstream rectangle_output;
if (outputFile)
rectangle_output.open( outputFile , std::ifstream::out);
for(; run;)
{
long start_time = clock();
char key = -1;
///////////////////// GET IMAGE ////////////////////
if (!traxmode)
{
frame.capture(sequence);
}
#ifdef BUILD_TRAX
else
{
trax_imagepath path;
trax_rectangle rect;
trax_properties* prop = trax_properties_create();
int tr = trax_wait(path, prop, &rect);
if (tr == TRAX_INIT)
{
start.x = rect.x;
start.y = rect.y;
start.width = rect.width;
start.height = rect.height;
trax_properties_enumerate(prop, trax_properties_to_config, &config);
initialize = true;
initialized = false;
}
else if (tr == TRAX_FRAME)
{
if (!initialized)
{
trax_properties_release(&prop);
break;
}
}
else
{
trax_properties_release(&prop);
break;
}
trax_properties_release(&prop);
frame.load(string(path));
trax_properties_clear(trax_out_properties);
}
#endif
if (frame.empty())
{
DEBUGMSG("No new frame available, quitting.\n");
break;
}
if (frameNumber == 1 && !traxmode)
{
if (is_gui_enabled()) tracking_window->resize(Size(frame.width(), frame.height()));
int size = MAX(frame.width() / 8, frame.height() / 8);
start.width = size;
start.height = size;
start.x = (frame.width() - start.width) / 2;
start.y = (frame.height() - start.height) / 2;
}
///////////////////// PROCESSING ////////////////////
if (!initialized && initialize)
{
DEBUGMSG("Initializing using rectangle from '%s'\n", initializeFile);
if (initializeFile)
{
DEBUGMSG("Initializing using rectangle from '%s'\n", initializeFile);
start = read_rectangle(initializeFile);
if (is_gui_enabled() && (start.width < 1 || start .height < 1))
{
Mat rgb = frame.get_rgb();
tracking_window->draw(rgb);
tracking_window->push();
if (tracking_window->queryrect(start))
{
write_rectangle(initializeFile, start);
}
}
}
if (tracker.empty())
{
if (!config.keyExists("tracker"))
throw LegitException("Unknown tracker type");
tracker = create_tracker(config.read<string>("tracker"), config, "default");
if (!silent)
{
performance_observer = new PerformanceObserver(tracker->get_stages());
tracker->add_observer(performance_observer);
}
#ifdef BUILD_TRAX
if (traxmode)
{
trax_observer = new TraxObserver();
tracker->add_observer(trax_observer);
trax_properties_set_int(trax_out_properties, "seed", seed);
}
#endif
#ifdef BUILD_INTROSPECTION
if (introspectionFile)
{
introspection_observer = new IntrospectionObserver(frame.width(), frame.height(), seed);
((IntrospectionObserver *)&(*introspection_observer))->configuration(config);
tracker->add_observer(introspection_observer);
}
#endif
}
tracker->initialize(frame, start);
initialized = true;
}
else if (!tracker.empty())
{
frameNumber++;
if (!traxmode && sequence->is_finite() && sequence->position() >= sequence->size())
{
DEBUGMSG("End frame reached, quitting.\n");
run = false;
}
long timer = clock();
tracker->update(frame);
if (!silent && !traxmode) printf("Frame %d - elapsed time: %d ms\n", frameNumber, (int)(((clock() - timer) * 1000) / CLOCKS_PER_SEC));
}
///////////////////// OUTPUT RESULTS ////////////////////
#ifdef BUILD_TRAX
if (traxmode)
{
trax_rectangle region;
if (tracker->is_tracking())
{
Rect rect = tracker->region();
region.x = rect.x;
region.y = rect.y;
region.width = rect.width;
region.height = rect.height;
}
else
{
region.x = 0;
region.y = 0;
region.width = 0;
region.height = 0;
}
trax_report_position(region, trax_out_properties);// properties);
}
#endif
if (is_gui_enabled() && tracking_window)
{
Mat rgb = frame.get_rgb();
tracking_window->draw(rgb);
if (initialized)
{
tracker->visualize(*tracking_window);
cv::Rect region = tracker->region();
tracking_window->rectangle(region, COLOR_YELLOW, 2);
}
else
{
tracking_window->rectangle(start.tl(), start.br(), Scalar(255, 255, 255), 1);
}
tracking_window->push();
}
if (rectangle_output.is_open())
{
cv::Rect rectangle = initialized ? tracker->region() : start;
rectangle_output << rectangle.x << "," << rectangle.y << "," << rectangle.width << "," << rectangle.height << std::endl;
}
///////////////////// HANDLE INPUT ////////////////////
if (!traxmode)
{
if (is_gui_enabled())
{
if (interactive)
{
switch (pause())
{
case 27:
run = false;
break;
case 'p':
interactive = !interactive;
break;
}
}
else
{
long wait = throttle ? MAX(1, (limitFrameTime - (clock() - start_time))) : 1;
key = waitKey(wait);
switch (key)
{
case 27:
run = false;
break;
case ' ':
initialize = true;
break;
}
}
}
else
{
if (throttle)
{
long wait = MAX(1, (limitFrameTime - (clock() - start_time)));
sleep(wait);
}
}
if (!tracker.empty() && !tracker->is_tracking())
{
DEBUGMSG("Target lost\n");
run = false;
}
}
#ifdef BUILD_TRAX
else
{
if (is_gui_enabled()) waitKey(1);
}
#endif
}
if (!performance_observer.empty())
{
((PerformanceObserver *)&(*performance_observer))->print();
}
// Cleanup
#ifdef BUILD_INTROSPECTION
if (!introspection_observer.empty())
{
DEBUGMSG("Storing introspection data to %s\n", introspectionFile);
((IntrospectionObserver *)&(*introspection_observer))->store(introspectionFile, true);
}
#endif
#ifdef BUILD_TRAX
trax_properties_release(&trax_out_properties);
if (traxmode)
trax_cleanup();
#endif
if (rectangle_output.is_open())
{
rectangle_output.close();
}
if (sequence)
delete sequence;
}
//-----------------------------------【DrawRectangle( )函数】------------------------------
// 描述：自定义的矩形绘制函数
//-----------------------------------------------------------------------------------------------
void DrawRectangle( cv::Mat& img, cv::Rect box )
{
cv::rectangle(img,box.tl(),box.br(),cv::Scalar(g_rng.uniform(0, 255), g_rng.uniform(0,255), g_rng.uniform(0,255)));//随机颜色
}
bool respond(const Bottle & command,
Bottle & reply)
{
// Get command string
string receivedCmd = command.get(0).asString().c_str();
bool f;
int responseCode; //Will contain Vocab-encoded response
reply.clear(); // Clear reply bottle
if (receivedCmd == "getPointClick")
{
if (! getPointClick())
{
//Encode response
responseCode = Vocab::encode("nack");
reply.addVocab(responseCode);
}
else
{
//Encode response
responseCode = Vocab::encode("ack");
reply.addVocab(responseCode);
Bottle& bCoords = reply.addList();
bCoords.addInt(coords2D(0));
bCoords.addInt(coords2D(1));
//bCoords.addDouble(coords3D(2));
}
return true;
} else if (receivedCmd == "getPointTrack")
{
tableHeight = command.get(1).asDouble();
if (!getPointTrack(tableHeight))
{
//Encode response
responseCode = Vocab::encode("nack");
reply.addVocab(responseCode);
}
else
{
//Encode response
printf("Sending out 3D point!!\n");
responseCode = Vocab::encode("ack");
reply.addVocab(responseCode);
Bottle& bCoords = reply.addList();
bCoords.addDouble(coords3D(0));
bCoords.addDouble(coords3D(1));
bCoords.addDouble(coords3D(2));
printf("Coords Bottle %s \n", bCoords.toString().c_str());
printf("sent reply %s \n", reply.toString().c_str());
}
return true;
} else if (receivedCmd == "getBox")
{
if (!getBox())
{
//Encode response
responseCode = Vocab::encode("nack");
reply.addVocab(responseCode);
}
else
{
//Encode response
responseCode = Vocab::encode("ack");
reply.addVocab(responseCode);
Bottle& bBox = reply.addList();
bBox.addInt(BBox.tl().x);
bBox.addInt(BBox.tl().y);
bBox.addInt(BBox.br().x);
bBox.addInt(BBox.br().y);
}
}
else if (receivedCmd == "help")
{
reply.addVocab(Vocab::encode("many"));
reply.addString("Available commands are:");
reply.addString("help");
reply.addString("quit");
reply.addString("getPointClick - reads a click and returns the 2D coordinates");
reply.addString("getPointTrack - Retrieves 2D coords and returns the 3D coordinates of the object tracked based on the table Height");
reply.addString("getBox - Crops the image based on user input and creates a template for the tracker with it");
return true;
}
else if (receivedCmd == "quit")
{
reply.addString("Quitting.");
return false;
} else{
reply.addString("Invalid command, type [help] for a list of accepted commands.");
}
return true;
}
/*! @brief create a single bounding box in 3D
*
* Given an image, its depth correspondences and a candidate,
* return an approximate 3D bounding box which encapsulates the object
* @param im the color image
* @param depth the depth image (may be of different resolution to the color image)
* @return
*/
Rect3d boundingBox3D(const cv::Mat& im, const cv::Mat& depth) const {
const unsigned int nparts = parts_.size();
const cv::Rect bounds = cv::Rect(0,0,0,0) + im.size();
const cv::Rect bb = this->boundingBox();
const cv::Rect bbn = this->boundingBoxNorm();
cv::Size_<double> imsize = im.size();
cv::Size_<double> dsize = depth.size();
cv::Point_<double> s = cv::Point_<double>(dsize.width / imsize.width, dsize.height / imsize.height);
cv::Mat_<float> points;
std::vector<cv::Rect> boxes;
for (unsigned int n = 0; n < nparts; ++n) {
// only keep the intersection of the part with the image frame
boxes.push_back(parts_[n] & bounds);
}
boxes.push_back(bbn & bounds);
for (unsigned int n = 0; n < boxes.size(); ++n) {
// scale the part down to match the depth image size
cv::Rect& r = boxes[n];
r.x = r.x * s.x;
r.y = r.y * s.y;
r.width = r.width * s.x;
r.height = r.height * s.y;
// add the valid points
cv::Mat_<float> part = depth(r);
if(part.empty())
continue;
for (cv::MatIterator_<float> it = part.begin(); it != part.end(); ++it) {
if (*it != 0 && !std::isnan(*it)) points.push_back(*it);
}
if(points.empty())
{
return Rect3d(std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
0, 0, 0);
}
}
// sort the points
std::sort(points.begin(), points.end());
cv::resize(points, points, cv::Size(1, 400));
// get the median of the points
const unsigned int M = points.rows;
const unsigned int midx = M/2;
float median = points[midx][0];
// filter the points
cv::Mat_<float> g, dog, dpoints;
cv::Matx<float, 3, 1> diff(-1, 0, 1);
g= cv::getGaussianKernel(35, 4, CV_32F);
cv::filter2D(g, dog, -1, diff);
cv::filter2D(points, dpoints, -1, dog);
// starting at the median point, walk up and down until a gradient threshold (0.1)
unsigned int dminidx = midx, dmaxidx = midx;
for (unsigned int m = midx; m < M; ++m) {
if (fabs(dpoints[m][0]) > 0.035) break;
dmaxidx = m;
}
for (int m = midx; m >= 0; --m) {
if (fabs(dpoints[m][0]) > 0.035) break;
dminidx = m;
}
// construct the 3D bounding box
cv::Point3_<double> tl(bb.x, bb.y, points[dminidx][0]);
cv::Point3_<double> br(bb.br().x, bb.br().y, points[dmaxidx][0]);
return Rect3d(tl, br);
}
void GroundTruthEvaluation::evaluateLocalizer(const int currentFrameNumber, taglist_t const& taglist)
{
GroundTruth::LocalizerEvaluationResults& results = _localizerResults;
// iterate over ground truth data (typed Grid3D), convert them to PipelineGrids
// and store them in the std::set taggedGridsOnFrame
for (GroundTruthGridSPtr const& grid : _groundTruthData.at(currentFrameNumber))
{
if (grid) {
results.taggedGridsOnFrame.insert(grid);
}
}
// Detect False Negatives
for (const GroundTruthGridSPtr& grid : results.taggedGridsOnFrame)
{
// ROI of ground truth
const cv::Rect gridBox = grid->getBoundingBox();
bool inGroundTruth = false;
for (const pipeline::Tag& tag : taglist)
{
// ROI of pipeline tag
const cv::Rect& tagBox = tag.getRoi();
// target property is complete containment
if (tagBox.contains(gridBox.tl())
&& tagBox.contains(gridBox.br()))
{
inGroundTruth = true;
break;
}
}
// mark current ground truth box as missing detection (false negative)
if (!inGroundTruth)
results.falseNegatives.insert(grid);
}
// Detect False Positives
// ground truth grids
std::set<std::shared_ptr<PipelineGrid>> notYetDetectedGrids = results.taggedGridsOnFrame;
// iterate over all pipeline tags
for (const pipeline::Tag& tag : taglist)
{
// ROI of pipeline tag
const cv::Rect& tagBox = tag.getRoi();
bool inGroundTruth = false;
// iterate over all ground truth grids
for (const std::shared_ptr<PipelineGrid>& grid : notYetDetectedGrids)
{
// ROI of ground truth grid
const cv::Rect gridBox = grid->getBoundingBox();
if (tagBox.contains(gridBox.tl())
&& tagBox.contains(gridBox.br()))
{
// match!
inGroundTruth = true;
// store pipeline tag in extra set
results.truePositives.insert(tag);
// store mapping from roi -> grid
results.gridByTag[tag] = grid;
// this modifies the container in a range based for loop, which may invalidate
// the iterators. This is not problem in this specific case because we exit the loop
// right away. (beware if that is going to be changed)
notYetDetectedGrids.erase(grid);
break;
}
}
// if no match was found, the pipeline-reported roi is a false detection
if (!inGroundTruth)
results.falsePositives.insert(tag);
}
}
