void BallMovementCalculator::PrintCalculationData(Mat& image, vector<TimedDetectedBall> relevantSamples)
{
char message[256];
for (int i = 0 ; i < NUM_OF_SAMPLES ; i++)
{
TimedDetectedBall currentBall = m_SamplesArray[i];
circle(image, currentBall.Location, 5, Scalar(255,0,0), 2);
sprintf(message, "%d", i);
PrintMessageOnImage(image, message, Point(currentBall.Location.x,currentBall.Location.y - 10), 0.9);
sprintf(message, "%d - (%.2f,%.2f) - %f", i, currentBall.Location.x, currentBall.Location.y, GetRelativeTimeToFirstSample(currentBall.DetectionTime));
PrintMessageOnImage(image, message, Point(0,(i+1)*20), 0.9);
}
ImageShowOnDebug("BallMove", "Vision", image);
}
/*****************************************************************************************
* Method Name: FindGate
* Description: The function search for a couple of white vertical rectangles, whose buttom points
* are on green && upper part is not on green.
* This rectangles are marked as gate posts.
* If only one post is present in the frame, the function tries to find the direction
* of the second vertical post, using the upper post direction.
* Arguments: BWImage, Output - DetectedGate
* Return Values: DetectedGate object
* Owner: Hen Shoob, Assaf Rabinowitz
*****************************************************************************************/
DetectedObject* GateDetector::FindGate(Mat& inputImage)
{
Mat onlyWhiteImage;
GetWhiteImage(inputImage, onlyWhiteImage);
Mat whiteVertical = onlyWhiteImage.clone();
GetVerticalObjects(whiteVertical);
//creating Mat thr with contours, using canny
Mat src;
cvtColor(whiteVertical, src, CV_GRAY2BGR);
Mat canny;
Canny(whiteVertical, canny, 50, 190, 3, false);
ImageShowOnDebug("canny", canny);
//crating contours vector
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
findContours(canny, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
cvtColor(canny, canny, CV_GRAY2BGR);
//finding the blocking rectangles of the contours
vector<RotatedRect> minRect(contours.size());
for (size_t i = 0; i < contours.size(); i++)
{
minRect[i] = minAreaRect(Mat(contours[i]));
DrawRectangle(canny, minRect[i]);
}
ImageShowOnDebug("contours", canny);
Mat field;
FindField(inputImage, field);
//Showing the contours + field in one image
cvtColor(canny, canny, CV_BGR2GRAY);
// Mat or;
// bitwise_or(field, canny, or);
// ImageShowOnDebug("convex", or);
vector<RotatedRect> post1Candidates;
FindPostCandidates(field, minRect, post1Candidates);
RotatedRect post1 = FindLargestCandidate(post1Candidates);
DrawRectangle(src, post1);
ImageShowOnDebug("post1", src);
vector<RotatedRect> post2Candidates;
for (size_t i = 0; i < post1Candidates.size(); i++)
{
if (post1Candidates[i].center.x != post1.center.x)
{
post2Candidates.push_back(post1Candidates[i]);
}
}
RotatedRect post2 = FindLargestCandidate(post2Candidates);
DrawRectangle(src, post2);
ImageShowOnDebug("post2", src);
//////////////////////////////////////////////////////////////////////////////////////////
if (post1.size.area() > 0 && post2.size.area() > 0)
{
return new DetectedGate(post1, post2);
}
if (post1.size.area() == 0 && post2.size.area() == 0)
{
return new DetectedGate();
}
// One post - detect which.
float longSide = (post1.size.height > post1.size.width) ? post1.size.height : post1.size.width;
float shortSide = (post1.size.height < post1.size.width) ? post1.size.height : post1.size.width;
Mat whiteHorizontal = onlyWhiteImage.clone();
GetHorizontalObjects(whiteHorizontal);
ImageShowOnDebug("whiteHorizontal", whiteHorizontal);
//counting white pixels near the top of the post on both sides
// We set the range to look for white pixels in the upper post.
float upperPostTop = MAX(post1.center.y - longSide / 2 - 10, 0);
float upperPostButtom = upperPostTop + shortSide + 5;
//Counting near the left post
float upperPostLeft = MAX(post1.center.x - shortSide * 3, 0);
float upperPostRight = MAX(post1.center.x - shortSide, 0);
unsigned int leftCounter = CountAndDrawWhitePixels(whiteHorizontal, src, upperPostTop, upperPostButtom, upperPostLeft, upperPostRight);
//finding right check rectangle, left and right side
upperPostRight = MIN(post1.center.x + shortSide * 3, FRAME_WIDTH - 1);
upperPostLeft = MIN(post1.center.x + shortSide, FRAME_WIDTH - 1);
unsigned int rightCounter = CountAndDrawWhitePixels(whiteHorizontal, src, upperPostTop, upperPostButtom, upperPostLeft, upperPostRight);
if (rightCounter > leftCounter && rightCounter - leftCounter > 5)
{
return new DetectedGate(post1, E_DetectedPost_LEFT);
}
else if (rightCounter < leftCounter && leftCounter - rightCounter > 5)
{
return new DetectedGate(post1, E_DetectedPost_RIGHT);
}
else
{
PrintStringOnImage(src, "Move camera up");
return new DetectedGate();
}
}
