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)
-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)
+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 +1,65 @@
+/* 
+    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"
+
+class target_range{
+    public:
+        void input_b(int a);
+        void input_g(int a);
+        void input_r(int a);
+        bool belong(cv::Vec3b c);
+    private:
+        std::vector<int> blue;
+        std::vector<int> green;
+        std::vector<int> red;
+};
+
+class hist_filter : public Filter{
+    public:
+        hist_filter();
+        ~hist_filter();
+        cv::Mat * filter(const cv::Mat & src);
+    private:
+        int count=0;
+        double avg_b[256],avg_g[256],avg_r[256];
+};
+#endif // HISTOGRAM_H_INCLUDED

modules/targetid/src/histogram.cpp

@@ -0,0 +1,95 @@
+#include "histogram.h"
+using namespace std;
+using namespace cv;
+
+void target_range::input_b(int a){
+    blue.push_back(a);
+}
+
+void target_range::input_g(int a){
+    green.push_back(a);
+}
+
+void target_range::input_r(int a){
+    red.push_back(a);
+}
+
+bool target_range::belong(Vec3b c){
+    for(int i=0;i<blue.size();i++){
+        if(blue.at(i)==c.val[0]){
+            for(int j=0;j<green.size();j++){
+                if(green.at(j)==c.val[1]){
+                    for(int k=0;k<red.size();k++){
+                        if(red.at(k)==c.val[2])
+                            return true;
+                    }
+                }
+             }
+         }
+    }
+    return false;
+}
+
+hist_filter::hist_filter()
+            :Filter(){
+}
+
+hist_filter::~hist_filter(){
+}
+
+Mat* hist_filter::filter(const Mat & src){
+    int histSize = 256;
+    vector<Mat> bgr_planes;
+    split(src,bgr_planes);
+    float range[] = { 0, 256 } ;
+    const float* histRange = { range };
+    bool uniform = true; bool accumulate = false;
+    Mat* b_hist=new Mat;
+    Mat* g_hist=new Mat;
+    Mat* r_hist=new Mat;
+    calcHist( &bgr_planes[0], 1, 0, Mat(), *b_hist, 1, &histSize, &histRange, uniform, accumulate );
+    calcHist( &bgr_planes[1], 1, 0, Mat(), *g_hist, 1, &histSize, &histRange, uniform, accumulate );
+    calcHist( &bgr_planes[2], 1, 0, Mat(), *r_hist, 1, &histSize, &histRange, uniform, accumulate ); 
+    int hist_w = 512; int hist_h = 400;
+    int bin_w = cvRound( (double) hist_w/histSize );
+    Mat histImage( hist_h, hist_w, CV_8UC3, Scalar( 0,0,0) );
+    normalize(*b_hist, *b_hist, 0, histImage.rows, NORM_MINMAX, -1, Mat() );
+    normalize(*g_hist, *g_hist, 0, histImage.rows, NORM_MINMAX, -1, Mat() );
+    normalize(*r_hist, *r_hist, 0, histImage.rows, NORM_MINMAX, -1, Mat() ); 
+    for( int i = 0; i < histSize; i++ ){
+        avg_b[i]=(avg_b[i]*count+cvRound(b_hist->at<float>(i)))/(count+1);
+        avg_g[i]=(avg_g[i]*count+cvRound(g_hist->at<float>(i)))/(count+1);
+        avg_r[i]=(avg_r[i]*count+cvRound(r_hist->at<float>(i)))/(count+1);
+    }
+    count++;
+    int tmp;
+    int minimal=300;
+    target_range* pack=new target_range;
+    for( int i = 0; i < histSize; i++ ){
+        tmp=cvRound(b_hist->at<float>(i)-avg_b[i]);
+        if(tmp>minimal){
+            pack->input_b(i);
+        }
+        tmp=cvRound(g_hist->at<float>(i)-avg_g[i]);
+        if(tmp>minimal){
+            pack->input_g(i);
+        }
+        tmp=cvRound(r_hist->at<float>(i)-avg_r[i]);
+        if(tmp>minimal){
+            pack->input_r(i);
+        }
+    }
+    Mat* result=new Mat(src);
+    for(int y=0;y<result->rows;y++){
+        for(int x=0;x<result->cols;x++){
+            Vec3b colour = result->at<Vec3b>(Point(x, y));
+            if(!pack->belong(colour)){
+                result->at<Vec3b>(Point(x, y)).val[0]=0;
+                result->at<Vec3b>(Point(x, y)).val[1]=0;
+                result->at<Vec3b>(Point(x, y)).val[2]=0;
+            }
+        }
+    }
+    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 +1,46 @@
+#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>
+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;
+    }
+    PictureImport* input=new PictureImport(telemetry_path,filePath,n);
+    hist_filter test_filter;
+    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);
+        namedWindow("display",WINDOW_NORMAL);
+        resizeWindow("display", 1000, 1000);
+        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