forked from firepick1/FireSight
-
Notifications
You must be signed in to change notification settings - Fork 0
/
calcOffset.cpp
200 lines (187 loc) · 8.62 KB
/
calcOffset.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
#include <string.h>
#include <math.h>
#include "FireLog.h"
#include "FireSight.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "jansson.h"
#include "jo_util.hpp"
#include "MatUtil.hpp"
using namespace cv;
using namespace std;
using namespace firesight;
bool Pipeline::apply_calcOffset(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
string tmpltPath = jo_string(pStage, "template", "", model.argMap);
Scalar offsetColor(32,32,255);
offsetColor = jo_Scalar(pStage, "offsetColor", offsetColor, model.argMap);
int xtol = jo_int(pStage, "xtol", 32, model.argMap);
int ytol = jo_int(pStage, "ytol", 32, model.argMap);
vector<int> channels = jo_vectori(pStage, "channels", vector<int>(), model.argMap);
assert(model.image.cols > 2*xtol);
assert(model.image.rows > 2*ytol);
Rect roi= jo_Rect(pStage, "roi", Rect(xtol, ytol, model.image.cols-2*xtol, model.image.rows-2*ytol), model.argMap);
if (roi.x == -1) {
roi.x = (model.image.cols - roi.width)/2;
}
if (roi.y == -1) {
roi.y = (model.image.rows - roi.height)/2;
}
Rect roiScan = Rect(roi.x-xtol, roi.y-ytol, roi.width+2*xtol, roi.height+2*ytol);
float minval = jo_float(pStage, "minval", 0.7f, model.argMap);
float corr = jo_float(pStage, "corr", 0.99f);
string outputStr = jo_string(pStage, "output", "current", model.argMap);
string errMsg;
int flags = INTER_LINEAR;
int method = CV_TM_CCOEFF_NORMED;
Mat tmplt;
int borderMode = BORDER_REPLICATE;
if (roiScan.x < 0 || roiScan.y < 0 || model.image.cols < roiScan.x+roiScan.width || model.image.rows < roiScan.y+roiScan.height) {
errMsg = "ROI with and surrounding xtol,ytol region must be within image";
}
if (tmpltPath.empty()) {
errMsg = "Expected template path for imread";
} else {
if (model.image.channels() == 1) {
tmplt = imread(tmpltPath.c_str(), CV_LOAD_IMAGE_GRAYSCALE);
} else {
tmplt = imread(tmpltPath.c_str(), CV_LOAD_IMAGE_COLOR);
}
if (tmplt.data) {
LOGTRACE2("apply_calcOffset(%s) %s", tmpltPath.c_str(), matInfo(tmplt).c_str());
if (model.image.rows<tmplt.rows || model.image.cols<tmplt.cols) {
errMsg = "Expected template smaller than image to match";
}
} else {
errMsg = "imread failed: " + tmpltPath;
}
}
if (errMsg.empty()) {
if (model.image.channels() > 3) {
errMsg = "Expected at most 3 channels for pipeline image";
} else if (tmplt.channels() != model.image.channels()) {
errMsg = "Template and pipeline image must have same number of channels";
} else {
for (int iChannel = 0; iChannel < channels.size(); iChannel++) {
if (channels[iChannel] < 0 || model.image.channels() <= channels[iChannel]) {
errMsg = "Referenced channel is not in image";
}
}
}
}
if (errMsg.empty()) {
Mat result;
Mat imagePlanes[] = { Mat(), Mat(), Mat() };
Mat tmpltPlanes[] = { Mat(), Mat(), Mat() };
if (channels.size() == 0) {
channels.push_back(0);
if (model.image.channels() == 1) {
imagePlanes[0] = model.image;
tmpltPlanes[0] = tmplt;
} else {
cvtColor(model.image, imagePlanes[0], CV_BGR2GRAY);
cvtColor(tmplt, tmpltPlanes[0], CV_BGR2GRAY);
}
} else if (model.image.channels() == 1) {
imagePlanes[0] = model.image;
tmpltPlanes[0] = tmplt;
} else {
split(model.image, imagePlanes);
split(tmplt, tmpltPlanes);
}
json_t *pRects = json_array();
json_t *pChannels = json_object();
json_object_set(pStageModel, "channels", pChannels);
json_object_set(pStageModel, "rects", pRects);
json_t *pRect = json_object();
json_array_append(pRects, pRect);
json_object_set(pRect, "x", json_integer(roiScan.x+roiScan.width/2));
json_object_set(pRect, "y", json_integer(roiScan.y+roiScan.height/2));
json_object_set(pRect, "width", json_integer(roiScan.width));
json_object_set(pRect, "height", json_integer(roiScan.height));
json_object_set(pRect, "angle", json_integer(0));
json_t *pOffsetColor = NULL;
for (int iChannel=0; iChannel<channels.size(); iChannel++) {
int channel = channels[iChannel];
Mat imageSource(imagePlanes[channel], roiScan);
Mat tmpltSource(tmpltPlanes[channel], roi);
matchTemplate(imageSource, tmpltSource, result, method);
LOGTRACE4("apply_calcOffset() matchTemplate(%s,%s,%s,CV_TM_CCOEFF_NORMED) channel:%d",
matInfo(imageSource).c_str(), matInfo(tmpltSource).c_str(), matInfo(result).c_str(), channel);
vector<Point> matches;
float maxVal = *max_element(result.begin<float>(),result.end<float>());
float rangeMin = corr * maxVal;
float rangeMax = maxVal;
matMaxima(result, matches, rangeMin, rangeMax);
if (logLevel >= FIRELOG_TRACE) {
for (size_t iMatch=0; iMatch<matches.size(); iMatch++) {
int mx = matches[iMatch].x;
int my = matches[iMatch].y;
float val = result.at<float>(my,mx);
if (val < minval) {
LOGTRACE4("apply_calcOffset() ignoring (%d,%d) val:%g corr:%g", mx, my, val, val/maxVal);
} else {
LOGTRACE4("apply_calcOffset() matched (%d,%d) val:%g corr:%g", mx, my, val, val/maxVal);
}
}
}
json_t *pMatches = json_object();
char key[10];
snprintf(key, sizeof(key), "%d", channel);
json_object_set(pChannels, key, pMatches);
if (matches.size() == 1) {
int mx = matches[0].x;
int my = matches[0].y;
float val = result.at<float>(my,mx);
if (minval <= val) {
int dx = xtol - mx;
int dy = ytol - my;
json_object_set(pMatches, "dx", json_integer(dx));
json_object_set(pMatches, "dy", json_integer(dy));
json_object_set(pMatches, "match", json_float(val));
if (dx || dy) {
json_t *pOffsetRect = json_object();
json_array_append(pRects, pOffsetRect);
json_object_set(pOffsetRect, "x", json_integer(roi.x+roi.width/2-dx));
json_object_set(pOffsetRect, "y", json_integer(roi.y+roi.height/2-dy));
json_object_set(pOffsetRect, "width", json_integer(roi.width));
json_object_set(pOffsetRect, "height", json_integer(roi.height));
json_object_set(pOffsetRect, "angle", json_integer(0));
if (!pOffsetColor) {
pOffsetColor = json_array();
json_array_append(pOffsetColor, json_integer(offsetColor[0]));
json_array_append(pOffsetColor, json_integer(offsetColor[1]));
json_array_append(pOffsetColor, json_integer(offsetColor[2]));
}
}
}
}
}
json_t *pRoiRect = json_object();
json_array_append(pRects, pRoiRect);
json_object_set(pRoiRect, "x", json_integer(roi.x+roi.width/2));
json_object_set(pRoiRect, "y", json_integer(roi.y+roi.height/2));
json_object_set(pRoiRect, "width", json_integer(roi.width));
json_object_set(pRoiRect, "height", json_integer(roi.height));
json_object_set(pRoiRect, "angle", json_integer(0));
if (pOffsetColor) {
json_object_set(pRoiRect, "color", pOffsetColor);
}
normalize(result, result, 0, 255, NORM_MINMAX);
result.convertTo(result, CV_8U);
Mat corrInset = model.image.colRange(0,result.cols).rowRange(0,result.rows);
switch (model.image.channels()) {
case 3:
cvtColor(result, corrInset, CV_GRAY2BGR);
break;
case 4:
cvtColor(result, corrInset, CV_GRAY2BGRA);
break;
default:
result.copyTo(corrInset);
break;
}
}
return stageOK("apply_calcOffset(%s) %s", errMsg.c_str(), pStage, pStageModel);
}