Histogram targetid

modules/targetid/CMakeLists.txt

@@ -1,6 +1,6 @@
-include_directories(include ../core/include)
+include_directories(include ../core/include ../imgimport/include)
 ADD_DEFINITIONS("-DBOOST_LOG_DYN_LINK")
-add_library(TargetIdentification src/target_identifier.cpp src/object_detector.cpp src/canny_contour_creator.cpp src/k_means_filter.cpp src/filter.cpp src/qr_identifier.cpp src/contour_comparison.cpp)
-target_link_libraries(TargetIdentification ${OpenCV_LIBS} ${Boost_LIBRARIES} ${ZBAR_LIBRARIES} zbar Core)
-message("ZBAR: " + ${ZBAR_LIBRARIES})
+add_library(TargetIdentification src/target_identifier.cpp src/object_detector.cpp src/canny_contour_creator.cpp src/k_means_filter.cpp src/filter.cpp src/qr_identifier.cpp src/histogram.cpp src/contour_comparison.cpp)
+target_link_libraries(TargetIdentification ${OpenCV_LIBS} ${Boost_LIBRARIES} ${ZBAR_LIBRARIES} zbar Core ImageImport)
+target_compile_features(TargetIdentification PRIVATE cxx_range_for)
 add_subdirectory("test")

modules/targetid/include/histogram.h

@@ -0,0 +1,64 @@
+/* 
+    This file is part of WARG's computer-vision
+
+    Copyright (c) 2015, Waterloo Aerial Robotics Group (WARG)
+    All rights reserved.
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions are met:
+    1. Redistributions of source code must retain the above copyright
+       notice, this list of conditions and the following disclaimer.
+    2. Redistributions in binary form must reproduce the above copyright
+       notice, this list of conditions and the following disclaimer in the
+       documentation and/or other materials provided with the distribution.
+    3. Usage of this code MUST be explicitly referenced to WARG and this code 
+       cannot be used in any competition against WARG.
+    4. Neither the name of the WARG nor the names of its contributors may be used 
+       to endorse or promote products derived from this software without specific
+       prior written permission.
+
+    THIS SOFTWARE IS PROVIDED BY WARG ''AS IS'' AND ANY
+    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+    DISCLAIMED. IN NO EVENT SHALL WARG BE LIABLE FOR ANY
+    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef HISTOGRAM_H_INCLUDED
+#define HISTOGRAM_H_INCLUDED
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/imgcodecs.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+#include "frame.h"
+#include "pictureimport.h"
+#include <iostream>
+#include <stdio.h>
+#include <vector>
+#include "filter.h"
+#include <cmath>
+
+class target_range{
+    public:
+        void input_hue(int a);
+        bool belong(cv::Vec3b c);
+    private:
+        std::vector<int> hue;
+};
+
+class hist_filter : public Filter{
+    public:
+        hist_filter();
+        ~hist_filter();
+        cv::Mat * filter(const cv::Mat & src);
+    private:
+        int count=0;
+        double avg_hue[18],hue_multi[18];
+//        double avg_sat[16],sat_multi[16];
+        int avg_brightness=0;
+};
+#endif // HISTOGRAM_H_INCLUDED

modules/targetid/src/histogram.cpp

@@ -0,0 +1,97 @@
+#include "histogram.h"
+using namespace std;
+using namespace cv;
+
+void target_range::input_hue(int a){
+    hue.push_back(a);
+}
+
+bool target_range::belong(Vec3b c){
+    for(int i=0;i<hue.size();i++){
+        if(hue.at(i)==c.val[0]){
+            return true;
+        }
+    }
+    return false;
+}
+
+hist_filter::hist_filter()
+            :Filter(){
+}
+
+hist_filter::~hist_filter(){
+}
+
+Mat* hist_filter::filter(const Mat & src){
+    Mat bgr_img=src.clone();
+    int brightness;
+    for(int y=0;y<bgr_img.rows;y++){
+        for(int x=0;x<bgr_img.cols;x++){
+            Vec3b colour = bgr_img.at<Vec3b>(Point(x, y));
+            brightness+=colour.val[0];
+            brightness+=colour.val[1];
+            brightness+=colour.val[2];
+        }
+    }
+    brightness/=(bgr_img.rows*bgr_img.cols*3);
+    avg_brightness=(avg_brightness*count+brightness)/(count+1);
+    for(int y=0;y<bgr_img.rows;y++){
+        for(int x=0;x<bgr_img.cols;x++){
+            bgr_img.at<Vec3b>(Point(x, y)).val[0]=bgr_img.at<Vec3b>(Point(x, y)).val[0]+avg_brightness-brightness;
+            if(bgr_img.at<Vec3b>(Point(x, y)).val[0]>255) bgr_img.at<Vec3b>(Point(x, y)).val[0]=255;
+            if(bgr_img.at<Vec3b>(Point(x, y)).val[0]<0) bgr_img.at<Vec3b>(Point(x, y)).val[0]=0;
+            bgr_img.at<Vec3b>(Point(x, y)).val[1]=bgr_img.at<Vec3b>(Point(x, y)).val[1]+avg_brightness-brightness;
+            if(bgr_img.at<Vec3b>(Point(x, y)).val[1]>255) bgr_img.at<Vec3b>(Point(x, y)).val[1]=255;
+            if(bgr_img.at<Vec3b>(Point(x, y)).val[1]<0) bgr_img.at<Vec3b>(Point(x, y)).val[1]=0;
+            bgr_img.at<Vec3b>(Point(x, y)).val[2]=bgr_img.at<Vec3b>(Point(x, y)).val[2]+avg_brightness-brightness;
+            if(bgr_img.at<Vec3b>(Point(x, y)).val[2]>255) bgr_img.at<Vec3b>(Point(x, y)).val[2]=255;
+            if(bgr_img.at<Vec3b>(Point(x, y)).val[2]<0) bgr_img.at<Vec3b>(Point(x, y)).val[2]=0;
+        }
+    }
+    Mat* hsv_img=new Mat;
+    cvtColor(bgr_img,*hsv_img,CV_BGR2HSV);
+    blur(*hsv_img,*hsv_img,Size(3,3));
+    int hueSize = 18;
+    int satSize=16;
+    vector<Mat> bgr_planes;
+    split(*hsv_img,bgr_planes);
+    float hue_range[]={0,180};
+    const float* hueRange={hue_range};
+//    float sat_range[]={0,256};
+//    const float* satRange={sat_range};
+    bool uniform = true; bool accumulate = false;
+    Mat hue_hist;
+//    Mat sat_hist;
+    calcHist( &bgr_planes[0], 1, 0, Mat(), hue_hist, 1, &hueSize, &hueRange, uniform, accumulate );
+//    calcHist( &bgr_planes[1], 1, 0, Mat(), sat_hist, 1, &satSize, &satRange, uniform, accumulate );
+    for( int i = 0; i < hueSize; i++ ){
+        avg_hue[i]=(avg_hue[i]*count+cvRound(hue_hist.at<float>(i)))/(count+1);
+    }
+/*    for( int i = 0; i < satSize; i++ ){
+        avg_sat[i]=(avg_sat[i]*count+cvRound(sat_hist.at<float>(i)))/(count+1);
+    }*/
+    count++;
+    int tmp;
+    for( int i = 0; i < hueSize; i++ ){
+        tmp=cvRound(hue_hist.at<float>(i)-avg_hue[i]);
+        if(tmp<0) tmp=0;
+        hue_multi[i]=pow(tmp/hue_hist.at<float>(i),2);
+    }
+/*    for( int i = 0; i < satSize; i++ ){
+        tmp=cvRound(sat_hist.at<float>(i)-avg_sat[i]);
+        if(tmp<0) tmp=0;
+        sat_multi[i]=pow(tmp/sat_hist.at<float>(i),3);
+    }*/
+    Mat* result=new Mat;
+    cvtColor(*hsv_img,*result,CV_HSV2BGR);
+    for(int y=0;y<hsv_img->rows;y++){
+        for(int x=0;x<hsv_img->cols;x++){
+            Vec3b colour = hsv_img->at<Vec3b>(Point(x, y));
+            result->at<Vec3b>(Point(x, y)).val[0]=result->at<Vec3b>(Point(x, y)).val[0]*hue_multi[colour.val[0]/10]*colour.val[1]/256;
+            result->at<Vec3b>(Point(x, y)).val[1]=result->at<Vec3b>(Point(x, y)).val[1]*hue_multi[colour.val[0]/10]*colour.val[1]/256;
+            result->at<Vec3b>(Point(x, y)).val[2]=result->at<Vec3b>(Point(x, y)).val[2]*hue_multi[colour.val[0]/10]*colour.val[1]/256;
+        }
+    }
+    return result;
+}
+

modules/targetid/test/CMakeLists.txt

@@ -4,8 +4,10 @@ if(Boost_FOUND AND OpenCV_FOUND)
     add_definitions("-DBOOST_LOG_DYN_LINK")
     add_executable(qr_test qr_test.cpp)
     add_executable(targetid_test_contour test.cpp)
+    add_executable(hist_test hist_test.cpp)
     target_link_libraries(targetid_test_contour ${OpenCV_LIBS} ${Boost_LIBRARIES} Core TargetIdentification)
     target_link_libraries(qr_test ${OpenCV_LIBS} ${Boost_LIBRARIES} ${ZBAR_LIBRARIES} Core TargetIdentification)
+    target_link_libraries(hist_test ${OpenCV_LIBS} ${Boost_LIBRARIES} Core TargetIdentification ImageImport)
     add_executable(targetid_test_interactive interactive.cpp)
     target_link_libraries(targetid_test_interactive ${OpenCV_LIBS} ${Boost_LIBRARIES} Core TargetIdentification)
 
@@ -14,4 +16,5 @@ if(Boost_FOUND AND OpenCV_FOUND)
     # Tests
     add_test("SimpleTarget" targetid_test_contour ${TESTDATA_DIR}/photos/IMG_1644.jpg --log_format=XML --log_sink=TEST-boost.xml --log_level=all --report_level=no)
     add_test("qr_test" qr_test ${TESTDATA_DIR} --log_format=XML --log_sink=TEST-QR.xml --log_level=all --report_level=no)
+    add_test("hist_test" hist_test ${TESTDATA_DIR}/photos ${TESTDATA_DIR}/pictureimport_test_csv.csv --log_format=XML --log_sink=TEST-HIST.xml --log_level=all --report_level=no)
 endif()

modules/targetid/test/hist_test.cpp

@@ -0,0 +1,63 @@
+#define BOOST_TEST_DYN_LINK
+#define BOOST_TEST_MODULE TargetIdentification
+#include "histogram.h"
+#include <boost/test/unit_test.hpp>
+#include <boost/log/trivial.hpp>
+#include <iostream>
+#include <fstream>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include "target_identifier.h"
+#include "canny_contour_creator.h"
+#include "k_means_filter.h"
+#include "frame.h"
+#include "benchmark.h"
+#include "contour_comparison.h"
+using namespace std;
+using namespace cv;
+using namespace boost;
+
+BOOST_AUTO_TEST_CASE(hist_test){
+    vector<int> n;
+    n.push_back(3);
+    string telemetry_path=boost::unit_test::framework::master_test_suite().argv[2];
+    string filePath=boost::unit_test::framework::master_test_suite().argv[1];
+    ofstream fout(telemetry_path);
+    fout<<"time,timeError,lat,lon,latError,lonError,pitch,roll,pitchRate,rollRate,yawRate,altitude,heading,altError,headingError,photonum"<<endl;
+    for(int i=0;i<25;i++)
+    {
+        for(int j=0;j<15;j++){
+            fout<<j<<",";
+        }
+        fout<<i<<endl;
+    }
+    hist_filter test_filter;
+    PictureImport* input=new PictureImport(telemetry_path,filePath,n);
+    Frame* src;
+    for(src=input->next_frame();src!=NULL;src=input->next_frame()){
+        const Mat buffer=src->get_img();
+        test_filter.filter(buffer);
+    }
+    delete input;
+    PictureImport* in=new PictureImport(telemetry_path,filePath,n);
+    Mat* show;
+    for(src=in->next_frame();src!=NULL;src=in->next_frame()){
+        const Mat buffer=src->get_img();
+        show=test_filter.filter(buffer);
+        KMeansFilter filter;
+        CannyContourCreator ccreator;
+        Mat * filtered = filter.filter(buffer);
+        vector<vector<Point> > * results = ccreator.get_contours(*filtered);
+        vector<vector<Point> > * expected = ccreator.get_contours(*show);
+        double diff = compare_contours(*results, *expected);
+        BOOST_CHECK(diff > 0.01);
+        BOOST_TEST_MESSAGE("RESULT: " << diff);
+/*        namedWindow("original",WINDOW_NORMAL);
+        resizeWindow("original", 900, 900);
+        imshow("original",buffer);
+        namedWindow("display",WINDOW_NORMAL);
+        resizeWindow("display", 900, 900);
+        imshow("display",*show);
+        waitKey(0);*/
+    }
+}

testdata/pictureimport_test_csv.csv

@@ -0,0 +1,3 @@
+time,timeError,lat,lon,latError,lonError,pitch,roll,pitchRate,rollRate,yawRate,altitude,heading,altError,headingError,photonum
+0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,0
+0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,1