int Touch::countArea()
{
Mat m(contourPoints);
return contourArea(m);
}
bool ScreenDetector::contour_compare_area(const std::vector<cv::Point> c1, const std::vector<cv::Point> c2)
{
return contourArea(c1) > contourArea(c2);
}
bool ProcessingThread::CrossDetect(Mat gray, vector<Point2f> &cross)
{
double tresholdmin = 0.6;
int tresholdmin_int = 6;
int tresholdmax_int = 6;
int tresholdCannyMin = 1400;
int tresholdCannyMax = 1500;
bool found = true;
vector<Mat> contours;
vector<Point> approx;
//Mat gray;
//cvtColor(img, gray, CV_BGR2GRAY);
Mat bw;
Canny(gray, bw, tresholdCannyMin, tresholdCannyMax, 5);
findContours(bw.clone(), contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
for (int i = 0; i < contours.size(); i++)
{
approxPolyDP(Mat(contours[i]), approx, arcLength(Mat(contours[i]), true)*0.02, true);
if (fabs(contourArea(contours[i])) < 100 || isContourConvex(approx) || (approx.size() != 8))
continue;
double x0 = approx[0].x;
double x1 = approx[1].x;
double x2 = approx[2].x;
double x3 = approx[3].x;
double x4 = approx[4].x;
double x5 = approx[5].x;
double x6 = approx[6].x;
double x7 = approx[7].x;
double y0 = approx[0].y;
double y1 = approx[1].y;
double y2 = approx[2].y;
double y3 = approx[3].y;
double y4 = approx[4].y;
double y5 = approx[5].y;
double y6 = approx[6].y;
double y7 = approx[7].y;
double length_top = (((abs(x0 - x1) + abs(x0 - x7)) / 2) + ((abs(y0 - y1) + abs(y0 - y7)) / 2)) / 2;
double length_bot = (((abs(x3 - x4) + abs(x4 - x5)) / 2) + ((abs(y3 - y4) + abs(y4 - y5)) / 2)) / 2;
double ratio1 = ((((length_top + length_bot) / length_top - 0.5) + ((length_top + length_bot) / length_bot - 0.5))) / 2 - 0.5;
double length_left = (((abs(x2 - x1) + abs(x2 - x3)) / 2) + ((abs(y2 - y1) + abs(y2 - y3)) / 2)) / 2;
double length_right = (((abs(x6 - x7) + abs(x6 - x5)) / 2) + ((abs(y6 - y7) + abs(y6 - y5)) / 2)) / 2;
double ratio2 = ((((length_left + length_right) / length_left - 0.5) + ((length_left + length_right) / length_right - 0.5))) / 2 - 0.5;
if (abs((ratio1 + ratio2) / 2 - 1) > 0.2)
{
found = false;
continue;
}
for (int j = 0; j < approx.size() - 3; j++){
double ang1 = angle(approx[j], approx[j + 1], approx[j + 2]);
double ang2 = angle(approx[j + 1], approx[j + 2], approx[j + 3]);
//printf("ang1: %f\t, ang2: %f \n", ang1, ang2);
if (ang1 > 0.7){
if (!(ang1 > 0.7 && ang2 < 0.3))
{
found = false;
continue;
}
}
}
if (found)
{
for each(Point pt in approx)
cross.push_back((Point2f)pt);
return true;
}
}
return found;
}
void VisionNode::CameraCallback(CCamera *cam, const void *buffer, int buffer_length) {
cv::Mat myuv(HEIGHT + HEIGHT / 2, WIDTH, CV_8UC1, (unsigned char *) buffer);
cv::cvtColor(myuv, img, CV_YUV2RGBA_NV21);
cv::cvtColor(img, img_gray, CV_RGBA2GRAY);
communication::MarkerPosition markerPosition;
markerPosition.header.stamp = ros::Time::now();
static uint next_id = 0;
markerPosition.header.seq = next_id++;
markerPosition.cameraID = ID;
static uint counter = 0;
t2 = std::chrono::high_resolution_clock::now();
time_span = std::chrono::duration_cast<std::chrono::milliseconds>(t2 - t1);
markerPosition.fps = (double)counter/time_span.count();
counter++;
if(time_span.count()>30){ // reset every 30 seconds
counter = 0;
t1 = std::chrono::high_resolution_clock::now();
std_msgs::Int32 msg;
msg.data = ID;
cameraID_pub->publish(msg);
}
cv::Mat filtered_img;
cv::threshold(img_gray, filtered_img, threshold_value, 255, 3);
// find contours in result, which hopefully correspond to a found object
vector <vector<cv::Point>> contours;
vector <cv::Vec4i> hierarchy;
findContours(filtered_img, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE,
cv::Point(0, 0));
// filter out tiny useless contours
double min_contour_area = 10;
for (auto it = contours.begin(); it != contours.end();) {
if (contourArea(*it) < min_contour_area) {
it = contours.erase(it);
}
else {
++it;
}
}
// publish the markerPositions
vector<cv::Point2f> centers(contours.size());
vector<float> radius(contours.size());
for (int idx = 0; idx < contours.size(); idx++) {
minEnclosingCircle(contours[idx], centers[idx], radius[idx]);
communication::Vector2 pos;
pos.x = WIDTH - centers[idx].x;
pos.y = centers[idx].y;
markerPosition.marker_position.push_back(pos);
}
//imshow("camera", img);
//waitKey(1);
markerPosition.markerVisible=contours.size();
marker_position_pub->publish(markerPosition);
if(publish_video_flag && counter%3==0){
// get centers and publish
for (int idx = 0; idx < contours.size(); idx++) {
drawContours(img_gray, contours, idx, cv::Scalar(0, 0, 0), 4, 8, hierarchy, 0,
cv::Point());
}
cv_bridge::CvImage cvImage;
img_gray.copyTo(cvImage.image);
sensor_msgs::Image msg;
cvImage.toImageMsg(msg);
msg.encoding = "mono8";
msg.header = markerPosition.header;
video_pub->publish(msg);
}
}
double Circle::findRadiusFromContours(vector<vector<Point> > contours) {
double area = contourArea(contours.at(0));
double radius = sqrt(area/M_PI);
return radius;
}
double Circle::getContourArea(vector<vector<Point> > contours) {
double area = contourArea(contours.at(0));
return area;
}
void imgproc(const uint8_t *image, int width, int height)
{
cv::Mat img(height, width, CV_8UC1, const_cast<uint8_t*>(image), width);
imshow("Original", img);
cv::waitKey(1);
return;
cv::Mat src = img.clone();
cv::Mat color_src(height, width, CV_8UC3);
cvtColor(src, color_src, CV_GRAY2RGB);
// Image processing starts here
GaussianBlur(src, src, cv::Size(3,3), 0);
adaptiveThreshold(src, src, 255, cv::ADAPTIVE_THRESH_GAUSSIAN_C, cv::THRESH_BINARY_INV, 5, 3);
//equalizeHist(src, src);
// TODO: Can think about using multiple thresholds and choosing one where
// we can detect a pattern
//threshold(src, src, 100, 255, cv::THRESH_BINARY_INV);
imshow("Thresholded", src);
std::vector<std::vector<cv::Point> > contours;
findContours(src, contours, CV_RETR_CCOMP, CV_CHAIN_APPROX_NONE);
//printf("Num contours: %lu\n", contours.size());
std::vector<double> contour_area, contour_arclength;
contour_area.resize(contours.size());
contour_arclength.resize(contours.size());
std::vector<unsigned int> circle_index;
for(unsigned int idx = 0; idx < contours.size(); idx++)
{
if(contours[idx].size() > 25)
{
cv::Mat contour(contours[idx]);
contour_area[idx] = contourArea(contour);
if(contour_area[idx] > 50)
{
contour_arclength[idx] = arcLength(contour,true);
float q = 4*M_PI*contour_area[idx] /
(contour_arclength[idx]*contour_arclength[idx]);
if(q > 0.8f)
{
circle_index.push_back(idx);
//printf("isoperimetric quotient: %f\n", q);
//Scalar color( rand()&255, rand()&255, rand()&255 );
//drawContours(contours_dark, contours, idx, color, 1, 8);
}
}
}
}
std::list<Circle> circles;
for(unsigned int i = 0; i < circle_index.size(); i++)
{
Circle c;
cv::Moments moment = moments(contours[circle_index[i]]);
float inv_m00 = 1./moment.m00;
c.center = cv::Point2f(moment.m10*inv_m00, moment.m01*inv_m00);
c.radius = (sqrtf(contour_area[circle_index[i]]/M_PI) + contour_arclength[circle_index[i]]/(2*M_PI))/2.0f;
circles.push_back(c);
}
// Get the circles with centers close to each other
std::vector<std::list<Circle> > filtered_circles;
std::list<Circle>::iterator it = circles.begin();
unsigned int max_length = 0;
while(it != circles.end())
{
std::list<Circle> c;
c.push_back(*it);
cv::Point c1 = it->center;
std::list<Circle>::iterator it2 = it;
it2++;
while(it2 != circles.end())
{
cv::Point c2 = it2->center;
std::list<Circle>::iterator it3 = it2;
it2++;
if(hypotf(c2.x - c1.x, c2.y - c1.y) < 10)
{
c.push_back(*it3);
circles.erase(it3);
}
}
unsigned int length_c = c.size();
if(length_c > 1 && length_c > max_length)
{
max_length = length_c;
filtered_circles.push_back(c);
}
it2 = it;
it++;
circles.erase(it2);
}
if(filtered_circles.size() > 0)
{
Circle target_circle;
target_circle.radius = std::numeric_limits<float>::max();
for(it = filtered_circles.back().begin(); it != filtered_circles.back().end(); it++)
{
//printf("circle: c: %f, %f, r: %f\n", it->center.x, it->center.y, it->radius);
if(it->radius < target_circle.radius)
{
target_circle.radius = it->radius;
target_circle.center = it->center;
}
}
circle(color_src, cv::Point(target_circle.center.x, target_circle.center.y), target_circle.radius, cv::Scalar(0,0,255), 2);
printf("target: c: %f, %f, r: %f\n", target_circle.center.x, target_circle.center.y, target_circle.radius);
}
#if defined(CAPTURE_VIDEO)
static cv::VideoWriter video_writer("output.mp4", CV_FOURCC('M','J','P','G'), 20, cv::Size(width, height));
video_writer.write(color_src);
#endif
imshow("Target", color_src);
cv::waitKey(1);
}
void OpenniFilter::cloud_cb_ (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud)
{
if (!viewer.wasStopped())
{
if (cloud->isOrganized())
{
// initialize all the Mats to store intermediate steps
int cloudHeight = cloud->height;
int cloudWidth = cloud->width;
rgbFrame = Mat(cloudHeight, cloudWidth, CV_8UC3);
drawing = Mat(cloudHeight, cloudWidth, CV_8UC3, NULL);
grayFrame = Mat(cloudHeight, cloudWidth, CV_8UC1, NULL);
hsvFrame = Mat(cloudHeight, cloudWidth, CV_8UC3, NULL);
contourMask = Mat(cloudHeight, cloudWidth, CV_8UC1, NULL);
if (!cloud->empty())
{
for (int h = 0; h < rgbFrame.rows; h ++)
{
for (int w = 0; w < rgbFrame.cols; w++)
{
pcl::PointXYZRGBA point = cloud->at(w, cloudHeight-h-1);
Eigen::Vector3i rgb = point.getRGBVector3i();
rgbFrame.at<Vec3b>(h,w)[0] = rgb[2];
rgbFrame.at<Vec3b>(h,w)[1] = rgb[1];
rgbFrame.at<Vec3b>(h,w)[2] = rgb[0];
}
}
// do the filtering
int xPos = 0;
int yPos = 0;
mtx.lock();
xPos = mouse_x;
yPos = mouse_y;
mtx.unlock();
// color filtering based on what is chosen by users
cvtColor(rgbFrame, hsvFrame, CV_RGB2HSV);
Vec3b pixel = hsvFrame.at<Vec3b>(xPos,yPos);
int hueLow = pixel[0] < iHueDev ? pixel[0] : pixel[0] - iHueDev;
int hueHigh = pixel[0] > 255 - iHueDev ? pixel[0] : pixel[0] + iHueDev;
// inRange(hsvFrame, Scalar(hueLow, pixel[1]-20, pixel[2]-20), Scalar(hueHigh, pixel[1]+20, pixel[2]+20), grayFrame);
inRange(hsvFrame, Scalar(hueLow, iLowS, iLowV), Scalar(hueHigh, iHighS, iHighV), grayFrame);
// removes small objects from the foreground by morphological opening
erode(grayFrame, grayFrame, getStructuringElement(MORPH_ELLIPSE, Size(5,5)));
dilate(grayFrame, grayFrame, getStructuringElement(MORPH_ELLIPSE, Size(5,5)));
// morphological closing (removes small holes from the foreground)
dilate(grayFrame, grayFrame, getStructuringElement(MORPH_ELLIPSE, Size(5,5)));
erode(grayFrame, grayFrame, getStructuringElement(MORPH_ELLIPSE, Size(5,5)));
// gets contour from the grayFrame and keeps the largest contour
Mat cannyOutput;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
int thresh = 100;
Canny(grayFrame, cannyOutput, thresh, thresh * 2, 3);
findContours(cannyOutput, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
int largestContourArea, largestContourIndex = 0;
int defaultContourArea = 1000; // 1000 seems to work find in most cases... cannot prove this
vector<vector<Point> > newContours;
for (int i = 0; i < contours.size(); i++)
{
double area = contourArea(contours[i], false);
if (area > defaultContourArea)
newContours.push_back(contours[i]);
}
// draws the largest contour:
drawing = Mat::zeros(cannyOutput.size(), CV_8UC3);
for (int i = 0; i < newContours.size(); i++)
drawContours(drawing, newContours, i, Scalar(255, 255, 255), CV_FILLED, 8, hierarchy, 0, Point());
// gets the filter by setting everything within the contour to be 1.
inRange(drawing, Scalar(1, 1, 1), Scalar(255, 255, 255), contourMask);
// filters the point cloud based on contourMask
// again go through the point cloud and filter out unnecessary points
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr resultCloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::PointXYZRGBA newPoint;
for (int h = 0; h < contourMask.rows; h ++)
{
for (int w = 0; w < contourMask.cols; w++)
{
if (contourMask.at<uchar>(h,w) > 0)
{
newPoint = cloud->at(w,h);
resultCloud->push_back(newPoint);
}
}
}
if (xPos == 0 && yPos == 0)
viewer.showCloud(cloud);
else
viewer.showCloud(resultCloud);
imshow("tracker", rgbFrame);
imshow("filtered result", contourMask);
char key = waitKey(1);
if (key == 27)
{
interface->stop();
return;
}
}
else
cout << "Warning: Point Cloud is empty" << endl;
}
else
cout << "Warning: Point Cloud is not organized" << endl;
}
}
int CHuman::HumanDetectRun(Mat &displayframe)
{
//int time_use=0;
//struct timeval start;
//struct timeval end;
//gettimeofday(&start,NULL);
Mat tmpframe;
//Mat blobdealFrame;
vector< vector<Point> > contours;
Rect contoursRect;
alarm =0;
displayframe.copyTo(tmpframe);
//displayframe.copyTo(blobdealFrame);
vector<blobnode>().swap(humanlistpro);
m_zoomRows = tmpframe.rows /m_rowsZoomRate;
m_zoomCols = tmpframe.cols /m_colsZoomRate;
w_Rate = (float)tmpframe.cols / m_zoomCols;
h_Rate = (float)tmpframe.rows / m_zoomRows;
Mat morph = Mat(tmpframe.rows ,tmpframe.cols,CV_8UC1);
mog(tmpframe,foregrondframe,0.001); // 0.001
frameindex++;
if(frameindex<250) return 2;
if(frameindex >= 250) frameindex =250;
foregrondframe.copyTo(mask);
threshold(mask, mask, 200, 255, THRESH_BINARY);
cv::erode(mask, mask, cv::Mat());
cv::dilate(mask, mask, cv::Mat());
algorithmMorphology_Operations(mask, mask);
findContours(mask, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
mask.release(); //nikola
m_BlobRects.clear();
for(int i=0;i<contours.size();i++)
{
contoursRect = boundingRect(contours[i]);
if(fabs(contourArea(contours[i])) > 600.0)
{
//rectangle(displayframe, contoursRect,color_rect, 2, 8, 0);
m_BlobRects.push_back(contoursRect);
}
}
if((m_Flag & 0x02) == 0x02){
for(int i=0;i<DirectionLines.size();i++)
{
line(displayframe,DirectionLines[i].Start,DirectionLines[i].End,Scalar(255));
}
}
if((m_Flag & 0x01) == 1){
for(int ii=0;ii<MonitorZoneRects.size();ii++)
{
rectangle(displayframe, MonitorZoneRects[ii], Scalar( 255, 0, 0 ), 2, 8, 0);//��
}
}
human_detect(morph,displayframe);
if((m_Flag & 0x01) == 1){
census(displayframe);// for human statistics
}
if((m_Flag & 0x02) == 0x02){
blobdeal(displayframe);
}
if(humanstatis.numAll<(humanstatis.doorin[0]+humanstatis.doorin[1]-humanstatis.doorout[0]-humanstatis.doorout[1]))
humanstatis.numAll = humanstatis.doorin[0]+humanstatis.doorin[1]-humanstatis.doorout[0]-humanstatis.doorout[1];
//dbgprint("door1:in=%d,out=%d door2:in=%d,out=%d\n",humanstatis.doorin[0],humanstatis.doorout[0],humanstatis.doorin[1],humanstatis.doorout[1]);
if(humanstatis.numAll >= MaxNum){
//printf("humanstatis.numAll is %d\n",humanstatis.numAll);
alarm =1;
}
char dstr[100];
sprintf(dstr, "door1:in=%d,out=%d door2:in=%d,out=%d",humanstatis.doorin[0],humanstatis.doorout[0],humanstatis.doorin[1],humanstatis.doorout[1]);
putText(displayframe,dstr,cvPoint(200,25),CV_FONT_HERSHEY_COMPLEX, 0.5, cvScalar(0,0,255));
//printf("humanstatis Num:%d, humanstatisIn:%d,humanstatisOut:%d\n",humanstatis.numAll,humanstatis.inAll,humanstatis.outAll);
//char dstr[100];
//sprintf(dstr, "in=%d,out=%d",humanstatis.doorin,humanstatis.doorout);
//putText(displayframe,dstr,cvPoint(25,25),CV_FONT_HERSHEY_COMPLEX, 1, cvScalar(0,0,255));
//printf("doorin=%d,doorout=%d\n",humanstatis.doorin,humanstatis.doorout);
tmpframe.release(); //nikola
morph.release();
vector<Point>().swap(object); //vector<Point>
vector<blobnode>().swap(humanlist);
//gettimeofday(&end,NULL);
//time_use=(end.tv_sec-start.tv_sec)*1000+(end.tv_usec-start.tv_usec)/1000;//��
//printf("time_use is %d\n",time_use);
foregrondframe.release();
return 0;
}
float TransformationBuilder::getScale(const vector<Point2f>& objectCornersTransformed, const vector<Point2f>& objectCorners)
{
return contourArea(objectCornersTransformed) / contourArea(objectCorners);
}
void camera_contours_display(int num, Straightener & straight) {
int c;
IplImage* color_img;
CvCapture* cv_cap = cvCaptureFromCAM(num);
cvNamedWindow("Video", 0); // create window
resizeWindow("Video", 700,700);
for(;;) {
color_img = cvQueryFrame(cv_cap); // get frame
if(color_img != 0) {
Mat cam_mat(color_img);
Mat result;
cam_mat.copyTo(result);
if(straight.doAll(cam_mat, result)) {
///Apply blur
blur(result, result, Size(3,3));
///Apply Canny to destination Matrix
Canny(result, result, 50, 50, 3);
/// Vectors for storing contours
vector<vector<Point> > contours; //contours of the paper sheet
vector<vector<Point> > approx_contours; //approx contours of the paper sheet
vector<Vec4i> hierarchy;
int erosion_type = 2;
int erosion_size = 3;
Mat element = getStructuringElement(erosion_type,
Size( 2*erosion_size + 1, 2*erosion_size+1),
Point( erosion_size, erosion_size));
dilate(result, result, element);
/// Cut 20 px from each side to avoid paper borders detection
result = result(Rect(10, 10, result.cols-20, result.rows-20));
findContours(result, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_NONE, Point(0, 0));
/// Draw contours
Mat drawing = Mat::zeros( result.size(), CV_8UC3 );
/// https://github.com/Itseez/opencv/blob/master/samples/cpp/contours2.cpp
// approx_contours.resize(contours.size());
for(unsigned int i = 0; i < contours.size(); i++) {
/// Area of more than 20 and no parent
if(contourArea(contours[i]) > 20 && hierarchy[i][3] == -1) {
vector<Point> tmp_contour;
approxPolyDP(Mat(contours[i]), tmp_contour, 3, true);
approx_contours.push_back(tmp_contour);
}
}
for(unsigned int i=0; i < approx_contours.size(); i++) {
Scalar color;
if(approx_contours[i].size() == 4) {
color = Scalar( 255, 255, 255);
drawContours( drawing, approx_contours, i, color, 1, 8, NULL, 0, Point() );
}
else {
color = Scalar( 0, 255, 0);
drawContours( drawing, approx_contours, i, color, 1, 8, NULL, 0, Point() );
}
}
imshow("Video", drawing);
}
}
c = cvWaitKey(10); // wait 10 ms or for key stroke
if(c == 27)
break; // if ESC, break and quit
}
/* clean up */
cvReleaseCapture( &cv_cap );
cvDestroyWindow("Video");
}
vector<bool> CharacterAnalysis::filterBetweenLines(Mat img, vector<vector<Point> > contours, vector<Vec4i> hierarchy, vector<Point> outerPolygon, vector<bool> goodIndices)
{
static float MIN_AREA_PERCENT_WITHIN_LINES = 0.88;
vector<bool> includedIndices(contours.size());
for (int j = 0; j < contours.size(); j++)
includedIndices[j] = false;
if (outerPolygon.size() == 0)
return includedIndices;
vector<Point> validPoints;
// Figure out the line height
LineSegment topLine(outerPolygon[0].x, outerPolygon[0].y, outerPolygon[1].x, outerPolygon[1].y);
LineSegment bottomLine(outerPolygon[3].x, outerPolygon[3].y, outerPolygon[2].x, outerPolygon[2].y);
float x = ((float) img.cols) / 2;
Point midpoint = Point(x, bottomLine.getPointAt(x));
Point acrossFromMidpoint = topLine.closestPointOnSegmentTo(midpoint);
float lineHeight = distanceBetweenPoints(midpoint, acrossFromMidpoint);
// Create a white mask for the area inside the polygon
Mat outerMask = Mat::zeros(img.size(), CV_8U);
Mat innerArea = Mat::zeros(img.size(), CV_8U);
fillConvexPoly(outerMask, outerPolygon.data(), outerPolygon.size(), Scalar(255,255,255));
for (int i = 0; i < contours.size(); i++)
{
if (goodIndices[i] == false)
continue;
// get rid of the outline by drawing a 1 pixel width black line
drawContours(innerArea, contours,
i, // draw this contour
cv::Scalar(255,255,255), // in
CV_FILLED,
8,
hierarchy,
0
);
bitwise_and(innerArea, outerMask, innerArea);
vector<vector<Point> > tempContours;
findContours(innerArea, tempContours,
CV_RETR_EXTERNAL, // retrieve the external contours
CV_CHAIN_APPROX_SIMPLE ); // all pixels of each contours );
double totalArea = contourArea(contours[i]);
double areaBetweenLines = 0;
for (int tempContourIdx = 0; tempContourIdx < tempContours.size(); tempContourIdx++)
{
areaBetweenLines += contourArea(tempContours[tempContourIdx]);
}
if (areaBetweenLines / totalArea >= MIN_AREA_PERCENT_WITHIN_LINES)
{
includedIndices[i] = true;
}
innerArea.setTo(Scalar(0,0,0));
}
return includedIndices;
}
Mat CharacterAnalysis::findOuterBoxMask()
{
double min_parent_area = config->templateHeightPx * config->templateWidthPx * 0.10; // Needs to be at least 10% of the plate area to be considered.
int winningIndex = -1;
int winningParentId = -1;
int bestCharCount = 0;
double lowestArea = 99999999999999;
if (this->config->debugCharAnalysis)
cout << "CharacterAnalysis::findOuterBoxMask" << endl;
for (int imgIndex = 0; imgIndex < allContours.size(); imgIndex++)
{
//vector<bool> charContours = filter(thresholds[imgIndex], allContours[imgIndex], allHierarchy[imgIndex]);
int charsRecognized = 0;
int parentId = -1;
bool hasParent = false;
for (int i = 0; i < charSegments[imgIndex].size(); i++)
{
if (charSegments[imgIndex][i]) charsRecognized++;
if (charSegments[imgIndex][i] && allHierarchy[imgIndex][i][3] != -1)
{
parentId = allHierarchy[imgIndex][i][3];
hasParent = true;
}
}
if (charsRecognized == 0)
continue;
if (hasParent)
{
double boxArea = contourArea(allContours[imgIndex][parentId]);
if (boxArea < min_parent_area)
continue;
if ((charsRecognized > bestCharCount) ||
(charsRecognized == bestCharCount && boxArea < lowestArea))
//(boxArea < lowestArea)
{
bestCharCount = charsRecognized;
winningIndex = imgIndex;
winningParentId = parentId;
lowestArea = boxArea;
}
}
}
if (this->config->debugCharAnalysis)
cout << "Winning image index is: " << winningIndex << endl;
if (winningIndex != -1 && bestCharCount >= 3)
{
int longestChildIndex = -1;
double longestChildLength = 0;
// Find the child with the longest permiter/arc length ( just for kicks)
for (int i = 0; i < allContours[winningIndex].size(); i++)
{
for (int j = 0; j < allContours[winningIndex].size(); j++)
{
if (allHierarchy[winningIndex][j][3] == winningParentId)
{
double arclength = arcLength(allContours[winningIndex][j], false);
if (arclength > longestChildLength)
{
longestChildIndex = j;
longestChildLength = arclength;
}
}
}
}
Mat mask = Mat::zeros(thresholds[winningIndex].size(), CV_8U);
// get rid of the outline by drawing a 1 pixel width black line
drawContours(mask, allContours[winningIndex],
winningParentId, // draw this contour
cv::Scalar(255,255,255), // in
CV_FILLED,
8,
allHierarchy[winningIndex],
0
);
// Morph Open the mask to get rid of any little connectors to non-plate portions
int morph_elem = 2;
int morph_size = 3;
Mat element = getStructuringElement( morph_elem, Size( 2*morph_size + 1, 2*morph_size+1 ), Point( morph_size, morph_size ) );
//morphologyEx( mask, mask, MORPH_CLOSE, element );
morphologyEx( mask, mask, MORPH_OPEN, element );
//morph_size = 1;
//element = getStructuringElement( morph_elem, Size( 2*morph_size + 1, 2*morph_size+1 ), Point( morph_size, morph_size ) );
//dilate(mask, mask, element);
// Drawing the edge black effectively erodes the image. This may clip off some extra junk from the edges.
// We'll want to do the contour again and find the larges one so that we remove the clipped portion.
vector<vector<Point> > contoursSecondRound;
findContours(mask, contoursSecondRound, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
int biggestContourIndex = -1;
double largestArea = 0;
for (int c = 0; c < contoursSecondRound.size(); c++)
{
double area = contourArea(contoursSecondRound[c]);
if (area > largestArea)
{
biggestContourIndex = c;
largestArea = area;
}
}
if (biggestContourIndex != -1)
{
mask = Mat::zeros(thresholds[winningIndex].size(), CV_8U);
vector<Point> smoothedMaskPoints;
approxPolyDP(contoursSecondRound[biggestContourIndex], smoothedMaskPoints, 2, true);
vector<vector<Point> > tempvec;
tempvec.push_back(smoothedMaskPoints);
//fillPoly(mask, smoothedMaskPoints.data(), smoothedMaskPoints, Scalar(255,255,255));
drawContours(mask, tempvec,
0, // draw this contour
cv::Scalar(255,255,255), // in
CV_FILLED,
8,
allHierarchy[winningIndex],
0
);
}
if (this->config->debugCharAnalysis)
{
vector<Mat> debugImgs;
Mat debugImgMasked = Mat::zeros(thresholds[winningIndex].size(), CV_8U);
thresholds[winningIndex].copyTo(debugImgMasked, mask);
debugImgs.push_back(mask);
debugImgs.push_back(thresholds[winningIndex]);
debugImgs.push_back(debugImgMasked);
Mat dashboard = drawImageDashboard(debugImgs, CV_8U, 1);
displayImage(config, "Winning outer box", dashboard);
}
hasPlateMask = true;
return mask;
}
hasPlateMask = false;
Mat fullMask = Mat::zeros(thresholds[0].size(), CV_8U);
bitwise_not(fullMask, fullMask);
return fullMask;
}
