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Rectangle joining test

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lhark 2016-06-16 16:55:36 +02:00
parent 3038c41036
commit db2c5fb3bf
1 changed files with 58 additions and 3 deletions
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61
src/papillon.cpp
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@ -17,6 +17,7 @@ class Traite_image {
const static int CLOSE_SIZE = 20;
const static int ERODE_SIZE = 5;
const static int NB_FRAME_DROP = 3;
constexpr static double CONNECT_MAX_DIST = 40.0;
vector<cv::Mat> prevs;
@ -198,12 +199,18 @@ class Traite_image {
//largestContourVec.push_back(contours.at(contours.size()-1));
//make a bounding rectangle around the largest contour then find its centroid
//this will be the object's final esticv::Mated position.
cv::Rect objectBoundingRectangle;
vector<cv::Rect> nc_rects; // Non connected rectangles
for(int i=0; i<contours.size();i++)
{
objectBoundingRectangle = cv::boundingRect(contours[i]);
cv::rectangle(output, objectBoundingRectangle, cv::Scalar(0, 255, 0), 2);
nc_rects.push_back(cv::boundingRect(contours[i]));
//cv::rectangle(output, objectBoundingRectangle, cv::Scalar(0, 255, 0), 2);
}
vector<cv::Rect> c_rects; // Connected rectangles
connectBBox(nc_rects, c_rects);
for (const auto& rect : c_rects)
cv::rectangle(output, rect, cv::Scalar(0, 255, 0), 2);
cv::Rect objBRect = cv::boundingRect(contours.at(contours.size()-1));
//cv::rectangle(output, objBRect, cv::Scalar(0, 255, 0), 2);
papillon::BoundingBox bbox = papillon::BoundingBox();
@ -226,6 +233,54 @@ class Traite_image {
//putText(output,"Tracking object at (" + intToString(x)+","+intToString(y)+")",Point(x,y),1,1,cv::Scalar(255,0,0),2);
}
void connectBBox(vector<cv::Rect> nc_rects, vector<cv::Rect> &c_rects) {
int* blocs_id = new int[nc_rects.size()];
int val;
// We find all the bounding boxes that are close enough to each other
// And we sort them into teams (blocs_id)
for (int i = 0; i < nc_rects.size() - 2; ++i) {
for (int j = i + 1; j < nc_rects.size() - 1; ++j) {
if (cv::norm(rectCenter(nc_rects.at(i)) - rectCenter(nc_rects.at(j))) < CONNECT_MAX_DIST) {
val = min(blocs_id[i], blocs_id[j]);
blocs_id[j] = blocs_id[i] = val;
} else if (blocs_id[i] == blocs_id[j]) {
blocs_id[j] = i + 1;
}
}
}
int maximum = maxElement(blocs_id,nc_rects.size()) + 1;
vector<cv::Rect>* sorted_rects = new vector<cv::Rect>[maximum];
for (int i = 0; i < maximum; ++i) {
sorted_rects[i].push_back(nc_rects[i]);
}
for (int i = 0; i < maximum; ++i) {
c_rects.push_back(sorted_rects[i].at(0));
for (const auto& rect : sorted_rects[i]) {
c_rects.back() |= rect;
}
}
delete [] sorted_rects;
}
int maxElement(int Array[], int array_size)
{
int max = Array[0];
for (int i = 1; i < array_size; i++)
{
if (Array[i] > max)
max = Array[i];
}
return max;
}
cv::Point rectCenter(cv::Rect r) {
return cv::Point(r.x + r.width/2, r.y + r.height / 2);
}
inline bool isFlowCorrect(cv::Point2f u)
{
return !cvIsNaN(u.x) && !cvIsNaN(u.y) && fabs(u.x) < 1e9 && fabs(u.y) < 1e9;