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Add consistent contour reporting #6

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Add consistent contour reporting #6

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965f750
added contour sorting from left to right
TaviKohn Oct 14, 2016
e7aff9f
Added basic solution for fluctuating max contour
TaviKohn Oct 17, 2016
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2 changes: 1 addition & 1 deletion config.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ vision:
maxArea: 10000
minSolidity: 0.0
maxSolidity: 1.0

maxAreaDifference: 50 #Maximum difference in area between largest contours to
arcLengthPercentage: 0.01

# fieldOfView: [62.2, 48.8] # RPI camera FOV
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2 changes: 1 addition & 1 deletion src/main/java/org/teamtators/vision/config/Config.kt
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Expand Up @@ -34,7 +34,7 @@ class VisionConfig {
var maxArea: Int = 100000
var minSolidity: Double = 0.0
var maxSolidity: Double = 1.0

var maxAreaDifference: Int = 50
var arcLengthPercentage: Double = 0.01

var fieldOfView: Size = Size(62.2, 48.8)
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119 changes: 72 additions & 47 deletions src/main/java/org/teamtators/vision/vision/FrameProcessor.kt
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Expand Up @@ -124,8 +124,17 @@ class FrameProcessor @Inject constructor(
&& it.solidity <= config.maxSolidity
}

// Find largest contour by area
val trackingContour = filteredContours.maxBy { it.area }
val trackingContour: ContourInfo?;
if (contours.size >= 2) {
trackingContour = if (Math.abs(contours[0].area - contours[1].area) < config.maxAreaDifference) {
contours[0];
} else {
// Find largest contour by area
contours.maxBy { it.area }
}
} else {
trackingContour = contours.maxBy { it.area }
}

val drawStart = System.nanoTime()
// Draw all contours, with the largest one in a larger thickness
Expand Down Expand Up @@ -161,62 +170,78 @@ class FrameProcessor @Inject constructor(
var newAngle: Double? = null
if (trackingContour != null) {
val center = trackingContour.center
val height = inputMat.height()
val width = inputMat.width()
target = center
val height = inputMat.height()
val width = inputMat.width()
target = center

distance = config.distancePoly.calculate(center.y / height.toDouble())
distance = config.distancePoly.calculate(center.y / height.toDouble())

// val widthInches = distance * Math.tan(config.fieldOfView.width.toRadians() / 2) * 2
// val offsetInches = (center.x / width - .5) * widthInches
// offsetAngle = Math.atan2(offsetInches, distance).toDegrees() + config.horizontalAngleOffset
offsetAngle = (center.x / width - 0.5) * config.fieldOfView.width
newAngle = captureData.turretAngle + offsetAngle
}
val calculateEnd = System.nanoTime()

if (_config.profile) {
val scale = 1
val thresholdTime = (erodeStart - thresholdStart) / scale
val erodeTime = (contoursStart - erodeStart) / scale
val contoursTime = (filterContoursStart - contoursStart) / scale
val filterContoursTime = (drawStart - filterContoursStart) / scale
val drawTime = (calculateStart - drawStart) / scale
val calculateTime = (calculateEnd - calculateStart) / scale
val totalTime = (calculateEnd - erodeStart) / scale
logger.trace("threshold: {}, erode: {}, contours: {}, filter: {}, draw: {}, calculate: {}, total: {}",
thresholdTime, erodeTime, contoursTime, filterContoursTime, drawTime, calculateTime, totalTime)
}
offsetAngle = (center.x / width - 0.5) * config.fieldOfView.width
newAngle = captureData.turretAngle + offsetAngle
}
val calculateEnd = System.nanoTime()

if (_config.profile) {
val scale = 1
val thresholdTime = (erodeStart - thresholdStart) / scale
val erodeTime = (contoursStart - erodeStart) / scale
val contoursTime = (filterContoursStart - contoursStart) / scale
val filterContoursTime = (drawStart - filterContoursStart) / scale
val drawTime = (calculateStart - drawStart) / scale
val calculateTime = (calculateEnd - calculateStart) / scale
val totalTime = (calculateEnd - erodeStart) / scale
logger.trace("threshold: {}, erode: {}, contours: {}, filter: {}, draw: {}, calculate: {}, total: {}",
thresholdTime, erodeTime, contoursTime, filterContoursTime, drawTime, calculateTime, totalTime)
}


return ProcessResult(displayMat, target, distance, offsetAngle, newAngle)
}
return ProcessResult(displayMat, target, distance, offsetAngle, newAngle)
}

private fun drawContour(color: Scalar, contour: ContourInfo, thickness: Int) {
if (config.debug)
displayMat.drawContour(contour.contour, color, thickness)
displayMat.drawRotatedRect(contour.minAreaRect, color = color, thickness = thickness)
displayMat.drawCircle(contour.center, 2, color)
private fun drawContour(color: Scalar, contour: ContourInfo, thickness: Int) {
if (config.debug)
displayMat.drawContour(contour.contour, color, thickness)
displayMat.drawRotatedRect(contour.minAreaRect, color = color, thickness = thickness)
displayMat.drawCircle(contour.center, 2, color)

val fontScale = 0.3
val fontScale = 0.3

val str1 = String.format("area: %.0f", contour.rectArea);
val str1Size = Imgproc.getTextSize(str1, fontFace, fontScale, 1, null)
displayMat.drawText(str1, contour.center + Point(-str1Size.width / 2, -str1Size.height / 2),
fontFace = fontFace, fontScale = fontScale, color = color)
val str1 = String.format("area: %.0f", contour.rectArea);
val str1Size = Imgproc.getTextSize(str1, fontFace, fontScale, 1, null)
displayMat.drawText(str1, contour.center + Point(-str1Size.width / 2, -str1Size.height / 2),
fontFace = fontFace, fontScale = fontScale, color = color)

val str2 = String.format("solidity: %.4f", contour.solidity);
val str2Size = Imgproc.getTextSize(str2, fontFace, fontScale, 1, null)
displayMat.drawText(str2, contour.center + Point(-str1Size.width / 2, str2Size.height / 2),
fontFace = fontFace, fontScale = fontScale, color = color)
}
val str2 = String.format("solidity: %.4f", contour.solidity);
val str2Size = Imgproc.getTextSize(str2, fontFace, fontScale, 1, null)
displayMat.drawText(str2, contour.center + Point(-str1Size.width / 2, str2Size.height / 2),
fontFace = fontFace, fontScale = fontScale, color = color)
}

private fun drawCrosshair(mat: Mat) {
val center = mat.size().toPoint() / 2.0
private fun drawCrosshair(mat: Mat) {
val center = mat.size().toPoint() / 2.0
// val width = mat.size().width
val height = mat.size().height
mat.drawCenterRect(center, 25, 25, overlayColor) //to be replaced with corrected targeting values
val height = mat.size().height
mat.drawCenterRect(center, 25, 25, overlayColor) //to be replaced with corrected targeting values
// mat.drawLine(Point(0.0, center.y), Point(width, center.y), overlayColor)
mat.drawLine(Point(center.x, 0.0), Point(center.x, height), overlayColor)
}
}
mat.drawLine(Point(center.x, 0.0), Point(center.x, height), overlayColor)
}

private fun sortLeftToRight(contours: List<ContourInfo>) {
Collections.sort(contours, { info1: ContourInfo, info2: ContourInfo -> info1.center.x.compareTo(info2.center.x) });
}

private fun sortRightToLeft(contours: List<ContourInfo>) {
Collections.sort(contours, { info1: ContourInfo, info2: ContourInfo -> -info1.center.x.compareTo(info2.center.x) });
}

private fun sortTopToBottom(contours: List<ContourInfo>) {
Collections.sort(contours, { info1: ContourInfo, info2: ContourInfo -> -info1.center.y.compareTo(info2.center.x) });
}

private fun sortBottomToTop(contours: List<ContourInfo>) {
Collections.sort(contours, { info1: ContourInfo, info2: ContourInfo -> info1.center.y.compareTo(info2.center.x) });
}
}