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/*
* =====================================================================================
*
* Filename: vision.cpp
*
* Description: Class for vision tasks such as opening images, plotting
* points in the image frame, performing measurements.
*
* Version: 1.0
* Created: 04/07/2017 11:34:16 AM
* Revision: none
* Compiler: gcc
*
* Author: Martin Miller (MHM), miller7@illinois.edu
* Organization: Aerospace Robotics and Controls Lab (ARC)
*
* =====================================================================================
*/
#include "vision.h"
/*
*--------------------------------------------------------------------------------------
* Class: Vision
* Method: Vision
* Description: constructor
*--------------------------------------------------------------------------------------
*/
Vision::Vision ()
{
;
} /* ----- end of method Vision::Vision (constructor) ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Vision
* Method: Vision :: open
* Description: Opens the given image, undistorts.
*--------------------------------------------------------------------------------------
*/
void
Vision::open ( const char *fn, const Camera &cam )
{
Mat bayered, unbayered ;
bayered = cv::imread(fn, -1);
if (!bayered.data) {
fprintf(stderr, "Could not read %s.\n", fn);
exit(1);
}
cv::cvtColor(bayered, unbayered, CV_BayerBG2BGR ,3);
unbayered.convertTo(original, CV_32FC3);
Mat luv;
cv::cvtColor(original, gray, CV_BGR2GRAY);
//vector<Mat> luv_channels;
//cv::split(luv,luv_channels);
//gray = luv_channels[0];
display = unbayered.clone();
return ;
} /* ----- end of method Vision::open ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Vision
* Method: Vision :: drawMeasurements
* Description: Draws the measured points onto the image.
*--------------------------------------------------------------------------------------
*/
void
Vision::drawMeasurements ( const vector<measurement_t> &z, const Camera &cam,
const cv::Scalar &colsrc, const cv::Scalar &colref, bool drawEllipse)
{
cv::Scalar ellcol(0,0,200);
for (auto i=z.begin(); i!=z.end(); ++i) {
if (i->z_type==HEIGHT) continue;
Vector3d xis, xir;
xis = cam.body2img(i->source);
xis /= xis[2];
xir = cam.body2img(i->reflection);
xir /= xir[2];
cv::Point ps(xis[0],xis[1]);
cv::Point pr(xir[0],xir[1]);
cv::circle(display, ps, 3, colsrc,2);
cv::circle(display, pr, 3, colref);
if (drawEllipse) {
double xs, ys, xr, yr;
xs = 2*sqrt(i->Ssrc(0));
ys = 2*sqrt(i->Ssrc(1));
xr = 2*sqrt(i->Sref(0));
yr = 2*sqrt(i->Sref(1));
// Create rotated rect for ellipse
cv::RotatedRect rrs(ps, cv::Size(2*INLIER_THRESHOLD*xs, 2*INLIER_THRESHOLD*ys), 0.);
cv::RotatedRect rrr(pr, cv::Size(2*INLIER_THRESHOLD*xr, 2*INLIER_THRESHOLD*yr), 0.);
cv::ellipse(display, rrs, ellcol );
cv::ellipse(display, rrr, ellcol);
}
}
return ;
} /* ----- end of method Vision::drawMeasurements ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Vision
* Method: Vision :: show
* Description: Show the display image.
*--------------------------------------------------------------------------------------
*/
void
Vision::show ( )
{
cv::imshow("Image view", display);
cv::waitKey(1);
return ;
} /* ----- end of method Vision::show ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Vision
* Method: Vision :: acquireFeatures
* Description: Finds new features, assigns IDs, extracts descriptors.
*--------------------------------------------------------------------------------------
*/
void
Vision::acquireFeatures ( const Camera &cam, vector<measurement_t> &z )
{
vector<cv::Point2f> corners;
Mat mask = Mat::zeros(gray.size(),CV_8UC1);
cv::Rect roi(50,50,gray.cols-100, gray.rows-100);
mask(roi) = 255*Mat::ones(roi.size(),CV_8UC1);
cv::goodFeaturesToTrack(gray, corners, 50, 0.1, 20, mask);
for (auto i=corners.begin(); i!=corners.end(); ++i) {
measurement_t m;
m.id = _id++;
m.z_type = MONO;
Vector3d xi;
xi << i->x, i->y, 1.;
m.source = cam.img2body(xi);
m.reflection << 0,0,1;
getTemplate(m.patch,xi);
if (m.patch.cols==0 || m.patch.rows==0) continue;
z.push_back(m);
}
return ;
} /* ----- end of method Vision::acquireFeatures ----- */
void
Vision::getTemplate( Mat &p, const Vector3d &pt)
{
cv::Rect imrect(0,0,gray.cols,gray.rows);
assert (PATCHSIZE%2==1); // patch size must be odd
cv::Point pti;
pti.x = (int) pt(0);
pti.y = (int)pt(1);
cv::Point topLeft = pti - cv::Point(PATCHSIZE/2,PATCHSIZE/2);
cv::Size sz(PATCHSIZE,PATCHSIZE);
cv::Rect roi(topLeft, sz);
roi &= imrect;
p = gray(roi).clone();
}
void
Vision::measurements ( const Camera &cam, const vector<measurement_t> &zin,
vector<measurement_t> &zout)
{
for (auto i=zin.begin(); i!=zin.end(); ++i) {
measurement_t z;
measure(cam,*i, z);
zout.push_back(z);
}
return ;
} /* ----- end of method Vision::measurements ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Vision
* Method: Vision :: measure
* Description: Performs a measurement on zin and stores it in zout.
*--------------------------------------------------------------------------------------
*/
void
Vision::measure ( const Camera &cam, const measurement_t &zin, measurement_t &zout )
{
zout.id = zin.id;
// Create ROIs
RotatedRect searchrr; // Rotated rect describing search ellipse
Rect searchr; // Rect describing search ellipse
searchRegion(cam, zin, searchrr);
searchr = searchrr.boundingRect();
// Add margin around search region
cv::Point offset(PATCHSIZE/2,PATCHSIZE/2);
cv::Size enlarge(2*(PATCHSIZE/2),2*(PATCHSIZE/2));
Rect roi = (searchr-offset) + enlarge;
Mat sr = gray(roi);
// Match template
Mat result;
result.create( sr.cols-zin.patch.cols+1, sr.rows-zin.patch.rows+1, CV_32FC1 );
matchTemplate( sr, zin.patch, result, CV_TM_CCORR_NORMED);
// Mask the ellipse around the result.
Mat mask = Mat::zeros(result.size(), CV_8UC1);
RotatedRect ellipserr;
cv::Size sz = searchr.size();
ellipserr.size = sz;
ellipserr.center = cv::Point2f(0.5*sz.width,0.5*sz.height);
ellipserr.angle = 0;
cv::ellipse(mask, ellipserr, cv::Scalar(255), -1 );
double minval, maxval;
int minidx[2], maxidx[2];
cv::minMaxIdx(result, &minval, &maxval, minidx, maxidx, mask);
cv::Point maxpt(maxidx[0], maxidx[1]);
cv::Point zpi = maxpt+searchr.tl();
Vector3d zi;
zi << zpi.x, zpi.y, 1;
zout.source = cam.img2body(zi);
zout.xcorrmax = maxval;
return ;
} /* ----- end of method Vision::measure ----- */
void
Vision::searchRegion ( const Camera &cam, const measurement_t &z, cv::RotatedRect &rr )
{
Vector3d xis;
xis = cam.body2img(z.source);
//xis /= xis[2];
cv::Point ps;
ps.x = xis[0];
ps.y = xis[1];
double xs, ys;
xs = 2*sqrt(z.Ssrc(0));
ys = 2*sqrt(z.Ssrc(1));
// Create rotated rect for ellipse
rr = cv::RotatedRect(ps, cv::Size(2*INLIER_THRESHOLD*xs, 2*INLIER_THRESHOLD*ys), 0.);
return ;
} /* ----- end of method Vision::searchRegion ----- */
int Vision::_id = 1;
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