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mainwindow.cpp
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mainwindow.cpp
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#include "mainwindow.h"
#include "help_window.h"
#include "thread_manualcontrol.h"
#include "waypointspath_control.h"
#include <ui_mainwindow.h>
#include <qgraphicsview>
#include <qsignalmapper.h>
#include <qgraphicsscene.h>
#include <qevent.h>
#include<qobject.h>
#include "FlyCapture2.h"
#include<conio.h>
#include<stdio.h>
#include <fstream>
#include<iostream>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/video/background_segm.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/flann/flann.hpp>
#include <opencv2/flann/flann_base.hpp>
#include <opencv2/calib3d/calib3d.hpp> // for homography
#include <opencv2/nonfree/nonfree.hpp>
#include <math.h>
#include <time.h>
#include<windows.h>
#include<string.h>
#include<atlstr.h>
#include<fstream>
#include "SiUSBXp.h"
using namespace cv;
using namespace FlyCapture2;
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
selectObject = 0;
first_press = 0, loopcount = 0, fauto_press = 0,clicks = 0, backgrnd_clicks = 0;
filename_inc = 1;
mouseevent_valid = false;
processing_status = false;
scene = new QGraphicsScene(this);
scene->setSceneRect(0,0,ui->Video_wn->width(),ui->Video_wn->height());
ui->Video_wn->setScene(scene);
ui->template_wn->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
ui->template_wn->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
ui->backgrnd_wn->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
ui->backgrnd_wn->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
ui->backgrndsans_wn->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
ui->backgrndsans_wn->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
ui->mask_wn->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
ui->mask_wn->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
ui->Video_wn->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
ui->Video_wn->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
//delete ui->template_wn->horizontalScrollBar();
if(!image.data)
backgrnd_pts = NULL;
if(backgrnd_pts != NULL)
delete backgrnd_pts;
backgrnd_pts = (Point *)malloc(sizeof(Point) * ui->backgrndclicks_label->text().toInt());
Qim = NULL;
factorx = 0.4; factory = 0.4;
help_wn = new Help_window(0);
m_threadDoneEvent = CreateEvent( NULL, FALSE, FALSE, NULL );
//ui->scrollArea->addScrollBarWidget(ui->scrollArea,Qt::Alignment
//ui->Video_wn->setMouseTracking(true);
QObject::connect(ui->capture_pb,SIGNAL(clicked()),this,SLOT(on_Capturepb_pushed()));
QObject::connect(ui->stopcapture_pb,SIGNAL(clicked()),this,SLOT(on_Stopcapturepb_pushed()));
QStringList streamlist = QStringList() <<QString("Camera") << QString("MinOil.wmv") << QString("Video_demo.wmv") << QString("Tumbling_video.wmv");
//QObject::connect(this,SIGNAL(manual_finished()), this, SLOT(on_Stopcapturepb_pushed()));
QObject::connect(ui->track_cb,SIGNAL(clicked()),this,SLOT(on_trackbt_pushed()));
QObject::connect(ui->template_pb,SIGNAL(clicked()),this,SLOT(learnTemplate()));
QObject::connect(ui->autogo_pb,SIGNAL(clicked()),this,SLOT(on_coilcontrol_automatic_pushed()));
QObject::connect(ui->closewn_pb,SIGNAL(clicked()),this,SLOT(on_closeapplication_pushed()));
QObject::connect(ui->setwaypts_cb,SIGNAL(clicked()),this,SLOT(on_learnwaypts_pb_pushed()));
QObject::connect(ui->pixelval_cb,SIGNAL(clicked()),this,SLOT(on_getpixelval_cb_clicked()));
QObject::connect(ui->learnbackgnd_pb,SIGNAL(clicked()), this, SLOT(learn_backgroundfield()));
QObject::connect(ui->nextwaypt_pb,SIGNAL(clicked()),this,SLOT(nextwaypoint_pb_pushed()));
QObject::connect(ui->help_pb,SIGNAL(clicked()),this,SLOT(open_helpwindow()));
//QObject::connect(ui->autowaypts_pb,SIGNAL(clicked()),this,SLOT(on_autowayptspath_pb_pushed()));
//QThread * thread = new QThread();
Thread_manualcontrol *thread = new Thread_manualcontrol(0, this);
thread_control = (void *)thread;
waypointspath_control * waypoints_thread = new waypointspath_control(0, this);
wayptspath_thread = (void *)waypoints_thread;
mapper = new QSignalMapper();
QSignalMapper * threadmap = new QSignalMapper();
QSignalMapper * filesett_map = new QSignalMapper(this);
mapper->setMapping(ui->leftc_pb,QString("L"));
mapper->setMapping(ui->rightc_pb,QString("R"));
mapper->setMapping(ui->bottomc_pb,QString("B"));
mapper->setMapping(ui->topc_pb,QString("T"));
mapper->setMapping(ui->upc_pb,QString("U"));
mapper->setMapping(ui->downc_pb, QString("D"));
mapper->setMapping(ui->termcurrent_pb,QString("C"));
mapper->setMapping(ui->autowaypts_pb,QString("W"));
filesett_map->setMapping(ui->autoincrmnt_cb,QString("I"));
filesett_map->setMapping(ui->appendfile_cb,QString("P"));
QObject::connect(ui->leftc_pb, SIGNAL(clicked()),mapper, SLOT(map()));
QObject::connect(ui->topc_pb,SIGNAL(clicked()),mapper,SLOT(map()));
QObject::connect(ui->rightc_pb,SIGNAL(clicked()),mapper,SLOT(map()));
QObject::connect(ui->bottomc_pb,SIGNAL(clicked()),mapper,SLOT(map()));
QObject::connect(ui->upc_pb,SIGNAL(clicked()),mapper,SLOT(map()));
QObject::connect(ui->downc_pb,SIGNAL(clicked()),mapper,SLOT(map()));
QObject::connect(ui->autowaypts_pb,SIGNAL(clicked()),mapper,SLOT(map()));
QObject::connect(ui->autoincrmnt_cb,SIGNAL(clicked()),filesett_map,SLOT(map()));
QObject::connect(ui->appendfile_cb,SIGNAL(clicked()),filesett_map,SLOT(map()));
QObject:connect(filesett_map,SIGNAL(mapped(QString)),this,SLOT(filesettings(QString)));
QObject::connect(mapper,SIGNAL(mapped(QString)),this,SLOT(get_coilcommand(QString)));
//QObject::connect(mapper,SIGNAL(mapped(QString)), thread, SLOT(start()), Qt::QueuedConnection);
QObject::connect(mapper,SIGNAL(mapped(QString)),this,SLOT(thread_started(QString)));
thread->wait();
scene_bckgrnd = new QGraphicsScene(this);
scene_bckgrndsans = new QGraphicsScene(this);
scene_template = new QGraphicsScene(this);
scene_mask = new QGraphicsScene(this);
ui->backgrnd_wn->setScene(scene_bckgrnd);
ui->backgrndsans_wn->setScene(scene_bckgrndsans);
ui->template_wn->setScene(scene_template);
ui->mask_wn->setScene(scene_mask);
//QObject::connect(ui->rightc_pb,SIGNAL(clicked()),this,SLOT(on_coilcontrol_manual_pushed('R')));
//QObject::connect(ui->upc_pb,SIGNAL(clicked()),this,SLOT(on_coilcontrol_manual_pushed('U')));
//QObject::connect(ui->downc_pb,SIGNAL(clicked()),this,SLOT(on_coilcontrol_manual_pushed('P')));
//QObject::connect(ui->termcurrent_pb,SIGNAL(clicked()),this,SLOT(on_coilcontrol_manual_pushed('T')));
ui->stream_filemenu->addItems(streamlist);
streamlist.clear();
streamlist = QStringList() << QString("640x480Y8") <<QString("640x480Y16") << QString("640x480RGB") << QString("1280x960Y8") << QString("1280x960Y16") << QString("1280x960RGB");
ui->Videomode_dd->addItems(streamlist);
streamlist.clear();streamlist = QStringList() << QString("7.50 Hz") << QString("15.00 Hz") << QString("30.00 Hz");
ui->stream_fpdd->addItems(streamlist); streamlist.clear();
streamlist = QStringList() << QString("100") << QString("200") << QString("300") << QString("400") << QString("500") ;
ui->featthresh_dd->addItems(streamlist); streamlist.clear();
streamlist = QStringList() <<QString("100") << QString("400") << QString("500") << QString("600") << QString("700") << QString("Default");
ui->extractthresh_dd->addItems(streamlist);
streamlist.clear();
streamlist = QStringList() << QString("0") << QString("1");
ui->bckgrdthreshtype_dd->addItems(streamlist);streamlist.clear();
streamlist = QStringList() << "Filled" << "Non-Filled";
ui->backgrndtype_dd->addItems(streamlist);
/*streamlist = QStringList() << QString("30") << QString("40") << QString("90") << QString("100") << QString("125") << QString("160") << QString("200");
ui->threshlimit_le->addItems(streamlist);
streamlist.clear();
streamlist = QStringList() << QString("50") << QString("90") << QString("125") << QString("150") << QString("200") <<QString("255");
ui->threshmax_le->addItems(streamlist);
streamlist.clear();*/
streamlist = QStringList() << QString("0") << QString("1");
ui->threshtype_dd->addItems(streamlist);
//cvSetMouseCallback("Test", mouseHandler , this );
for(int i = 0; i < 7; i++)
{datasend[i] = 0x00; prevsent[i] = 0x00;}
}
void MainWindow::thread_started(QString coil){
if(coil != "W"){
Thread_manualcontrol * mthread = (Thread_manualcontrol *)thread_control;
mthread->moveToThread(mthread);
mthread->time_duration = ui->td_le->text().toInt();
mthread->coil = coil.toStdString().c_str()[0];
mthread->start();
}
else{
waypointspath_control * wthread = (waypointspath_control *)wayptspath_thread;
wthread->moveToThread(wthread);
ss << ui->startcommand_le->text().toStdString();
ss >> std::hex >> value;
wthread->start_command = value;
wthread->conv_factor[0] = double(img_stream.width) / image.cols;
wthread->conv_factor[1] = double(img_stream.height) / image.rows;
if(ui->waypts_cycles->text().toInt() != 0)
wthread->cycles_no = ui->waypts_cycles->text().toInt();
else
wthread->cycles_no = 1;
qDebug() << "Conversion factor : " << wthread->conv_factor[0] << " Window width : " << image.cols;
wthread->start();
ui->track_cb->setChecked(true);
ui->track_cb->clicked(true);
//emit ui->track_cb->clicked(true);
//ui->track_cb->clicked(true);
}
qDebug("GUI thread running status : %d",this->thread()->isRunning());
}
void MainWindow::filesettings(QString filetype)
{
if(filetype.toStdString().c_str()[0] == 'I'){
if(ui->autoincrmnt_cb->isChecked())
ui->appendfile_cb->setChecked(false);}
else if(filetype.toStdString().c_str()[0] == 'P'){
if(ui->appendfile_cb->isChecked())
ui->autoincrmnt_cb->setChecked(false);}}
void MainWindow::on_Capturepb_pushed(){
stop_capture = false;
if(ui->track_cb->isChecked())
return;
//cv::VideoWriter output_video;
//CvVideoWriter * output_video;
if(ui->stream_filemenu->currentIndex() > 1){
cap = cvCaptureFromAVI(ui->stream_filemenu->currentText().toLocal8Bit().data());
image = cvQueryFrame(cap);}
else{
/*try{
if(cam.IsConnected())
//cam.StopCapture();
cam.Disconnect();
throw 1;}
catch (int n)
{ui->errorlog_label->setText("Exception Caught");}*/
if(!cam.IsConnected()){
busMgr.GetCameraFromIndex(0, &guid);
cam.Connect(&guid);}
//if(image.data)
//cvReleaseImage(&src_img);
switch(ui->stream_fpdd->currentIndex()){
case 1: fps = FRAMERATE_7_5; break;
case 2: fps = FRAMERATE_15; break;
case 3: fps = FRAMERATE_30; break;
default : fps = FRAMERATE_15;
}
switch(ui->Videomode_dd->currentIndex()){
case 1: vd = VIDEOMODE_640x480Y8; src_img = cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,1); break;
case 2: vd = VIDEOMODE_640x480Y16; src_img = cvCreateImage(cvSize(650,480),IPL_DEPTH_16U,1); break;
case 4: vd = VIDEOMODE_1280x960Y8; src_img = cvCreateImage(cvSize(1280,960),IPL_DEPTH_8U,1); break;
case 5: vd = VIDEOMODE_1280x960Y16; src_img = cvCreateImage(cvSize(1280,960),IPL_DEPTH_16U,1); break;
case 6: vd = VIDEOMODE_1280x960RGB; src_img = cvCreateImage(cvSize(1280,960),IPL_DEPTH_8U,3); break;
default : vd = VIDEOMODE_1280x960RGB; src_img = cvCreateImage(cvSize(1280,960),IPL_DEPTH_8U,3);
}
cam.SetVideoModeAndFrameRate(vd,fps);
if(ui->videofile_cb->isChecked()){
filename = ui->videofilename_le->text().toStdString() + ".wmv";
output_video = cvCreateVideoWriter(filename.c_str(),CV_FOURCC('D','I','V','3'),30,Size(1280,960),1);}
//output_video = VideoWriter("Video_output.wmv",CV_FOURCC('D','I','V','3'),30,Size(src_img->width,src_img->height),true);
/*(cv::VideoWriter output_cap("Video_output.wmv",1,cap.get(CV_CAP_PROP_FPS),
cv::Size(cap.get(CV_CAP_PROP_FRAME_WIDTH),
cap.get(CV_CAP_PROP_FRAME_HEIGHT)));*/
/*Format7ImageSettings form7sett;
form7sett.width = 960;
form7sett.height = 1280;
form7sett.mode = MODE_3;
form7sett.offsetX = 0;
form7sett.offsetY = 0;
form7sett.pixelFormat = PIXEL_FORMAT_RGB;
bool valid;
Format7PacketInfo fmt7PacketInfo;
cam.ValidateFormat7Settings(&form7sett, &valid, &fmt7PacketInfo );
cam.SetFormat7Configuration(&form7sett,fmt7PacketInfo.recommendedBytesPerPacket);
// Set Format 7 (partial image mode) settings */
cam.StartCapture();
}
//cv::VideoCapture cap("Video_demo.wmv");
//unsigned int rowBytes = (double).GetReceivedDataSize()/(double)cf2Img.GetRows();
//cv::Mat opencvImg = cv::Mat( cf2Img.GetRows(), cf2Img.GetCols(), CV_8UC3, cf2Img.GetData(),
//rowBytes );
namedWindow("Test",WINDOW_AUTOSIZE);
while (waitKey(30) != 27 && !stop_capture) {
//qDebug() << "Thread Id :"<<QThread::currentThreadId();
//ui->errorlog_label->setText("Loopcount : "+QString::number(loopcount));
if(ui->stream_filemenu->currentIndex() == 1){
error = cam.RetrieveBuffer( &rawImage );
if (error != FlyCapture2::PGRERROR_OK){
continue;
}
//metadata = rawImage.GetMetadata();
// cout << "framecount: " << metadata.embeddedFrameCounter << endl;
rawImage.Convert(FlyCapture2::PIXEL_FORMAT_BGR, &convertedimage);
//src_img = Mat(convertedimage.GetRows(),convertedimage.GetCols(),CV_8UC1);
src_img = cvCreateImage(cvSize(convertedimage.GetCols(),convertedimage.GetRows()),IPL_DEPTH_8U,3);
memcpy(src_img->imageData, static_cast<uchar *>(convertedimage.GetData()), convertedimage.GetDataSize());
if(loopcount == 0)
img_stream = Size(src_img->width,src_img->height);
//cvWriteFrame(output_video,src_img);
//cvWriteToAVI(output_video,src_img);
cv::resize(cv::Mat(src_img),temp,Size(ui->Video_wn->width(),ui->Video_wn->height()));
//output_video.write(cv::Mat(src_img));
//qDebug("Streamed Image Size : (%d,%d) ",src_img->width,src_img->height);
temp.copyTo(image);
if(clicks && clicks <= ui->wayptsno_le->text().toInt() && ui->setwaypts_cb->isChecked()){
cvInitFont(&font,CV_FONT_HERSHEY_PLAIN,1.0,1.0);
for(int k = 0; k < clicks; k++)
{
cvDrawCircle(&IplImage(image),cvPoint(waypoints[k].x,waypoints[k].y),3,Scalar(100,100,255),1);
string point = string("Waypoint") + std::to_string(long double(k + 1));
cvPutText(&IplImage(image),point.c_str(),Point(waypoints[k].x + 3, waypoints[k].y + 3),&font,Scalar(0,255,0));
}
}
if(pixelcheck.x && (ui->pixelval_cb->isChecked() || ui->backgrndpts_cb->isChecked()))
cvDrawCircle(&IplImage(image),pixelcheck,3,Scalar(255,0,255));
if(selection.x)
rectangle(image,selection,Scalar(255,0,0),1);
}
if(ui->stream_filemenu->currentIndex() > 1){
cv::resize(cv::Mat(image),temp,Size(ui->Video_wn->width(),ui->Video_wn->height()));
temp.copyTo(image);}
//QImage Qim((const uchar *)image.data,image.cols, image.rows, image.step, QImage::Format_RGB32);
if(ui->track_cb->isChecked())
{break; }//goto track_robot;}
//if(SIGNAL(manual_finished()))
//break;
Qim = Mat2QImage(image, Qim);
//QImage Qim(convertedimage.GetData(),convertedimage.GetCols(),convertedimage.GetRows(),QImage::Format_RGB888);
if(Qim != NULL){
scene->clear();
scene->addPixmap(QPixmap::fromImage(*Qim));}
//ui->Video_wn->resize(QSize(scene->width(),scene->height()));
//QGraphicsPixmapItem *item = scene->addPixmap((QPixmap::fromImage(Qim)).scaled(QSize((int)scene->width(), (int)scene->height()),Qt::KeepAspectRatio, Qt::SmoothTransformation));
//ui->Video_wn->fitInView(QRectF(0, 0,ui->Video_wn->width(), ui->Video_wn->height()),Qt::KeepAspectRatio);
//image = QImage2Mat(Qim);
//scene->addPixmap(QPixmap::fromImage(Qim));
//if(image.data)
//output_cap.write(image);
//imshow("Test",image);
if(ui->stream_filemenu->currentIndex() > 1){
src_img = cvQueryFrame(cap);
image = cv::Mat(src_img);
if(src_img == NULL)
break;
}
loopcount++;
free(src_img->roi);
free(src_img->tileInfo);
cvReleaseData(src_img);
cvReleaseImage(&src_img);
}
//error = cam.Disconnect();
//cvReleaseVideoWriter(&output_video);
if(ui->stream_filemenu->currentIndex() == 1){
if(error != PGRERROR_OK)
ui->errorlog_label->setText(QString::fromStdString(error.GetDescription()));}
//on_Stopcapturepb_pushed();
}
void MainWindow::onMouse( int event, int x, int y, int flags, void* param)
{
ui->errorlog_label->setText("Checking callback");
if( selectObject )
{
selection.x = MIN(x, origin.x);
selection.y = MIN(y, origin.y);
selection.width = std::abs(x - origin.x);
selection.height = std::abs(y - origin.y);
Mat tmplate = image(selection);
cvtColor(tmplate,object,CV_RGB2GRAY);
}
if(event == CV_EVENT_LBUTTONDOWN){
origin = Point(x,y);
selection = Rect(x,y,0,0);
selectObject = true;}
if((event == CV_EVENT_MOUSEMOVE) && selectObject){
line(image,origin,Point(x,origin.y),Scalar(255,0,0),1);
line(image,Point(x,y),Point(x,origin.y),Scalar(255,0,0),1);
line(image,Point(x,y),Point(origin.x,y),Scalar(255,0,0),1);
line(image,Point(origin.x,y),origin,Scalar(255,0,0),1);
imshow("Test",image);
image.copyTo(lbutton_up);
temp.copyTo(image);}
if(event == CV_EVENT_LBUTTONUP){
selectObject = false;
imshow("Test",lbutton_up);
if( selection.width > 0 && selection.height > 0 )
trackObject = -1;
}
}
void MainWindow::mouseHandler(int event, int x, int y, int flags, void * param){
static_cast<MainWindow*> (param)->image.copyTo(static_cast<MainWindow*> (param)->temp);
static_cast<MainWindow*> (param)->onMouse(event,x,y,flags, param);
}
double MainWindow::calculate_angle(Point2f* points,RotatedRect rotrect)
{
double angle; Point2f p1,p2;
if(sqrt(pow(std::abs(points[1].x - points[2].x),2.0f) + pow(std::abs(points[1].y - points[2].y),2.0f)) > sqrt(pow(std::abs(points[1].x - points[0].x),2.0f) + pow(std::abs(points[1].y - points[0].y),2.0f)))
{p1 = points[1]; p2 = points[2];}
else
{p1 = points[0]; p2 = points[1];}
if(p1.x < p2.x)
angle = atan(std::abs(p1.y - p2.y) / std::abs(p1.x - p2.x)) * (180 * 7 / 22);
else
angle = 180.00 - atan(std::abs(p1.y - p2.y) / std::abs(p1.x - p2.x)) * (180 * 7 / 22);
if(angleprev == 0 && angle == 180)
angle = 0;
return angle;}
void MainWindow::mousePressEvent(QMouseEvent * ev){
mouseevent_valid = false;
if(ev->x() < ui->Video_wn->x() + 20 || ev->x() > ui->Video_wn->x() + ui->Video_wn->width() + 20)
return;
if(ev->y() < ui->Video_wn->y() + 63 || ev->y() > ui->Video_wn->y() + ui->Video_wn->height() + 63)
return;
if(!ui->stream_filemenu->currentIndex() > 0)
return;
mouseevent_valid = true;
grabMouse();
if(image.data){
cv::resize(cv::Mat(image),temp,Size(ui->Video_wn->width(),ui->Video_wn->height()));
temp.copyTo(image);
image.copyTo(lbutton_up);
//if(ev->flags() == MOUSEEVENTF_LEFTDOWN
if(ev->button() == Qt::LeftButton && !ui->setwaypts_cb->isChecked() && !ui->backgrndpts_cb->isChecked()){
origin = Point(ev->x() - ui->Video_wn->x() - 20 ,ev->y() - ui->Video_wn->y() - 63);
selection = Rect(ev->x() - ui->Video_wn->x() - 20 ,ev->y() - ui->Video_wn->y() - 63,0,0);
//ui->errorlog_label->setText(QString::number(ev->x() - ui->Video_wn->x())+QString(",")+QString::number(ev->y() - ui->Video_wn->y()));
//cvDrawCircle(&IplImage(image),Point(ui->Video_wn->x() - 20 ,ui->Video_wn->y() - 63),3,Scalar::all(255),1);
Qim = Mat2QImage(image, Qim);
scene->addPixmap(QPixmap::fromImage(*Qim));
image.copyTo(temp);
selectObject = true;}
}
}
void MainWindow::mouseMoveEvent(QMouseEvent * ev){
if(!mouseevent_valid || ui->backgrndpts_cb->isChecked() || ui->track_cb->isChecked() || !image.data)
return;
if(image.data){
cv::resize(cv::Mat(image),temp,Size(ui->Video_wn->width(),ui->Video_wn->height()));
temp.copyTo(image);
image.copyTo(temp);
if(selectObject){
//line(image,origin,Point(ev->x()-ui->Video_wn->x() - 20 ,origin.y),Scalar(255,0,0),1);
//line(image,Point(ev->x()-ui->Video_wn->x() - 20 ,ev->y()-ui->Video_wn->y() - 63),Point(ev->x()-ui->Video_wn->x() - 20 ,origin.y),Scalar(255,0,0),1);
//line(image,Point(ev->x()-ui->Video_wn->x() - 20 ,ev->y()-ui->Video_wn->y() - 63),Point(origin.x,ev->y()-ui->Video_wn->y() - 63),Scalar(255,0,0),1);
//line(image,Point(origin.x,ev->y()-ui->Video_wn->y() - 63),origin,Scalar(255,0,0),1);
/*if(ev->x() > ui->Video_wn->x() + ui->Video_wn->width() + 20)
ev->= ui->Video_wn->x() + ui->Video_wn->width() + 20;
if(ev->y() > ui->Video_wn->y() + ui->Video_wn->height() + 63)
ev->y() = ui->Video_wn->y() + ui->Video_wn->height() + 63;*/
if(ev->x() < ui->Video_wn->x() + 17){
selection.x = 0;
selection.width = origin.x;}
else if(ev->x() > ui->Video_wn->x() + image.cols + 20){
selection.x = origin.x;
selection.width = std::abs(origin.x - image.cols);}
else{
selection.x = MIN(ev->x()-ui->Video_wn->x() - 20 , origin.x);
selection.width = std::abs(ev->x()-ui->Video_wn->x() - 20 - origin.x);}
if(ev->y() < ui->Video_wn->y() + 63){
selection.y = 0;
selection.height = origin.y;}
else if(ev->y() > ui->Video_wn->y() + image.rows + 63){
selection.y = origin.y;
selection.height = image.rows - origin.y;}
else{
selection.y = MIN(ev->y()-ui->Video_wn->y() - 63, origin.y);
selection.height = std::abs(ev->y()-ui->Video_wn->y() - 63 - origin.y);}
rectangle(image,selection,Scalar(255,0,0),1);
Qim = Mat2QImage(image, Qim);
scene->clear();
scene->addPixmap(QPixmap::fromImage(*Qim));
image.copyTo(lbutton_up);
temp.copyTo(image);
}
}
}
void MainWindow::mouseReleaseEvent(QMouseEvent *ev){
if(!mouseevent_valid || ui->track_cb->isChecked())
return;
if(ev->x() < ui->Video_wn->x() + 17 || ev->x() > ui->Video_wn->x() + ui->Video_wn->width() + 17)
return;
if(ev->y() < ui->Video_wn->y() + 63 || ev->y() > ui->Video_wn->y() + ui->Video_wn->height() + 63)
return;
if(image.data){
cv::resize(cv::Mat(image),temp,Size(ui->Video_wn->width(),ui->Video_wn->height()));
temp.copyTo(image);}
if(ui->backgrndpts_cb->isChecked()){
backgrnd_clicks++;
if(backgrnd_clicks <= ui->backgrndno_le->text().toInt()){
pixelcheck = Point(ev->x() - ui->Video_wn->x() - 20 ,ev->y() - ui->Video_wn->y() - 63);
backgrnd_pts[backgrnd_clicks - 1] = Point(ev->x() - ui->Video_wn->x() - 20 ,ev->y() - ui->Video_wn->y() - 63);}
else backgrnd_clicks = 0;
ui->backgrndclicks_label->setText(QString::number(backgrnd_clicks));
releaseMouse();
return;
}
if(ui->pixelval_cb->isChecked() && image.data){
pixelcheck = Point(ev->x() - ui->Video_wn->x() - 20 ,ev->y() - ui->Video_wn->y() - 63);
cvDrawCircle(&IplImage(image),Point(ev->x() - ui->Video_wn->x() - 20 ,ev->y() - ui->Video_wn->y() - 63),3,Scalar::all(255));
cvtColor(image,gimage,CV_BGR2GRAY);
ui->pixelvalue->setText(QString::number(gimage.at<uchar>(Point(pixelcheck))));
}
if(ui->setwaypts_cb->isChecked())
{
if(clicks == 0)
image.copyTo(waypts_sans);
clicks++; string point;
if(clicks <= ui->wayptsno_le->text().toInt()){
waypoints[clicks - 1] = Point2f(ev->x() - ui->Video_wn->x() - 20 ,ev->y() - ui->Video_wn->y() - 63);
//for(int k = 0; k < clicks; k++)
//{
//ui->errorlog_label->setText(QString::number(clicks));
/*cvDrawCircle(&IplImage(image),cvPoint(waypoints[clicks - 1].x,waypoints[clicks - 1].y),3,Scalar::all(255),1);
point = string("Waypoint") + std::to_string(long double(clicks));
cvPutText(&IplImage(image),point.c_str(),Point(waypoints[clicks - 1].x + 3, waypoints[clicks - 1].y + 3),&font,Scalar::all(255));*/
//}
//cvDrawCircle(&IplImage(image),cvPoint(ev->x(),ev->y()),3,Scalar(0,255,0),1);
//point = string("Destination") + std::to_string(long double(clicks));
//cvPutText(&image,point.c_str(),Point(ev->x() + 3, ev->y()),&font,Scalar::all(255));
}
else{
clicks = 0; if(ui->stream_filemenu->currentIndex() > 1) waypts_sans.copyTo(image); }
Qim = Mat2QImage(image, Qim);
scene->addPixmap(QPixmap::fromImage(*Qim));
releaseMouse();
return;
}
//clicks = 0;
if(image.data){
if(ev->button() == Qt::LeftButton && selectObject)
{
selection.x = MIN(ev->x()- 20 -ui->Video_wn->x() , origin.x);
selection.y = MIN(ev->y()- 63 -ui->Video_wn->y(), origin.y);
selection.width = std::abs(ev->x() - 20 - ui->Video_wn->x() - origin.x);
selection.height = std::abs(ev->y() - 63 -ui->Video_wn->y() - origin.y);
Qim = Mat2QImage(lbutton_up, Qim);
scene->addPixmap(QPixmap::fromImage(*Qim));
selectObject = false;
releaseMouse();
}
}}
void MainWindow::on_getpixelval_cb_clicked(){
if(ui->pixelval_cb->isChecked()){
ui->pixelvalue->setEnabled(true);
ui->backgrndpts_cb->setChecked(false);
ui->setwaypts_cb->setCheckState(Qt::Unchecked);
ui->setwaypts_cb->clicked(true);
ui->backgrndpts_cb->clicked(true);
}
else
ui->pixelvalue->setEnabled(false);
}
void MainWindow::on_backgrndpts_cb_clicked(){
if(!ui->backgrndpts_cb->isChecked()){
ui->backgrndclicks_label->setEnabled(false);
ui->learnbackgnd_pb->setEnabled(false);
}
else{ui->learnbackgnd_pb->setEnabled(true);
ui->backgrndclicks_label->setEnabled(true);
ui->setwaypts_cb->setCheckState(Qt::Unchecked);
ui->pixelval_cb->setCheckState(Qt::Unchecked);
ui->setwaypts_cb->clicked(true);
ui->pixelval_cb->clicked(true);
}}
void MainWindow::keyPressEvent(QKeyEvent * ev){
//ui->errorlog_label->setText(QString("Key event : ")+QString::number(ev->key()));
if(ev->key() == 16777216){
ui->track_cb->setChecked(false);
waypointspath_control * wayptsthread = (waypointspath_control *)wayptspath_thread;
if(wayptsthread->isRunning()){
//QMutexLocker locker(&mutex);
mutex.lock();
wayptsthread->wayptno = clicks;
//CloseHandle(serialHandle);
wayptsthread->quit(); wayptsthread->wait();
mutex.unlock();
}
}
}
void MainWindow::nextwaypoint_pb_pushed(){
waypointspath_control * wthread = (waypointspath_control *)wayptspath_thread;
if(wthread->isRunning() && wthread->wayptno < ui->wayptsno_le->text().toInt()){
this->mutex.lock();
wthread->wayptno++;
this->mutex.unlock();}
}
void MainWindow::learnTemplate()
{
time_t start, end;
start=clock();
//ui->errorlog_label->setText(QString::number(selectObject));
/*while(clock() - start != 1000)
continue;*/
tmplate = image(selection);
cvtColor(tmplate,object,CV_RGB2GRAY);
namedWindow("ROI");
//if(!selectObject){
cvSetMouseCallback("Test", mouseHandler , this );//selectObject = 1;}
if(object.data) {
temp = cv::Mat(Size(ui->template_wn->width(),ui->template_wn->height()),CV_8UC1);
cv::resize(object,temp,Size(ui->template_wn->width(),ui->template_wn->height()));
Qim = Mat2QImage(temp,Qim);
scene_template->addPixmap(QPixmap::fromImage(*Qim));}
//imshow("ROI",object);
loopcount = 0;
//if(!selectObject)
//on_trackbt_pushed();
}
void MainWindow::learn_backgroundfield(){
if(cam.IsConnected() && image.data)
{
cvtColor(image,update_tmp,CV_BGR2GRAY);
GaussianBlur(update_tmp,update_tmp,Size(3,3),0,0,BORDER_DEFAULT);
cv::threshold(update_tmp,update_tmp, ui->bckgrdthreshlimit_le->text().toInt(),ui->bckgrdthreshmax_le->text().toInt(),ui->bckgrdthreshtype_dd->currentText().toInt());
//imshow("Background Field",update_tmp);
findContours(update_tmp, backgrnd_contours, hierarchy, CV_RETR_EXTERNAL,CV_CHAIN_APPROX_NONE);
storage = cvCreateMemStorage(0);
//cvFindContours(&IplImage(update_tmp), storage, &backgrnd_contours, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE, cvPoint(0,0));
temp = Mat::zeros(image.size(), CV_8UC1);
contour = 0;
//if(backgrnd_contours.size())
//backgrnd_contours.clear();
//backgrnd_contours = std::vector<vector<Point>>(contours.size());
if(backgrnd_contnos.size())
backgrnd_contnos.clear();
//for(int i = 0; i < contours.size(); i++)
//approxPolyDP(contours[i],backgrnd_contours[i],3,1);
//backgrnd_approx = cvApproxPoly(backgrnd_contours,sizeof(CvContour), storage, CV_POLY_APPROX_DP, cvContourPerimeter(backgrnd_contours)*0.02,0);
//qDebug() << " approx Poly Contours Size :" << backgrnd_contours.size()<< " CvSeq Contours Size : " << contours.size();
//for (current = backgrnd_contours; current != NULL; current = current -> h_next)
for(int i = 0; i < backgrnd_contours.size(); i++)
{
for(int j = 0; j < ui->backgrndno_le->text().toInt(); j++){
//drawContours(temp,backgrnd_contours,i, Scalar::all(255),1);
// ui->errorlog_label->setText(QString::number(cvPointPolygonTest(&Mat(contours[i]),backgrnd_pts[j],1) < 15));
if(std::abs(pointPolygonTest(Mat(backgrnd_contours[i]),backgrnd_pts[j],1)) < 5){
if(std::find(backgrnd_contnos.begin(),backgrnd_contnos.end(),i) == backgrnd_contnos.end())
backgrnd_contnos.push_back(i);}
//qDebug() << " Point check on contour Polygon "<<i<<" approx : "<<pointPolygonTest(Mat(backgrnd_contours[i]),backgrnd_pts[j],1);
}
}
//temp = cv::Mat(image.size(),CV_8UC1);
//qDebug() << " approx Poly Contours no :" << contour << " CvSeq Contours Size : " << contours.size();
orgim_bckgrndcont = std::vector<vector<Point>>(backgrnd_contnos.size());
mask = Mat(Size(300,200),CV_8UC1,Scalar(255));
if(backgrnd_contours.size()){
for(int i = 0; i < backgrnd_contnos.size(); i++){
for(int j = 0; j < backgrnd_contours[backgrnd_contnos[i]].size(); j++){
orgim_bckgrndcont[i].push_back(Point(backgrnd_contours[backgrnd_contnos[i]][j].x * img_stream.width / image.cols, backgrnd_contours[backgrnd_contnos[i]][j].y * img_stream.height / image.rows));
backgrnd_contours[backgrnd_contnos[i]][j].x = backgrnd_contours[backgrnd_contnos[i]][j].x * 300 / image.cols;
backgrnd_contours[backgrnd_contnos[i]][j].y = backgrnd_contours[backgrnd_contnos[i]][j].y * 200 / image.rows;
}
drawContours(temp,backgrnd_contours,backgrnd_contnos[i],Scalar::all(255));
drawContours(mask, backgrnd_contours,backgrnd_contnos[i],Scalar::all(0),ui->backgrndtype_dd->currentIndex() / 2 * (2) + ui->backgrndtype_dd->currentIndex() - 2);
}
}
qDebug() << "Filling Type : " << ui->backgrndtype_dd->currentIndex() / 2 * (2) + ui->backgrndtype_dd->currentIndex() - 2;
//cvDrawContours(&IplImage(temp),backgrnd_contours->h_next->h_next,Scalar::all(255),Scalar::all(255),100,1);
update_tmp = Mat(Size(ui->backgrnd_wn->width(),ui->backgrnd_wn->height()),temp.type());
cv::resize(temp,update_tmp,Size(ui->backgrnd_wn->width(),ui->backgrnd_wn->height()));
Qim = Mat2QImage(update_tmp,Qim);
scene_bckgrnd->addPixmap(QPixmap::fromImage(*Qim));
cv::resize(mask,update_tmp,Size(ui->mask_wn->width(),ui->mask_wn->height()));
Qim = Mat2QImage(update_tmp,Qim);
scene_mask->addPixmap(QPixmap::fromImage(*Qim));
imshow("Background Field",temp);
}}
void MainWindow::on_trackbt_pushed(){
int key = 0;
if(!image.data){
ui->errorlog_label->setText("Invalid Selection! Please set the camera settings and video source");
return;}
loopcount = 0;
cv::BackgroundSubtractorMOG2 bgsub;
ifstream fname(ui->filename_le->text().toStdString() + ".txt");
if(fname.good() && ui->autoincrmnt_cb->isChecked()){
filename_inc++;
filename = ui->filename_le->text().toStdString() + std::to_string(long double(filename_inc)) + ".txt";
fname.close();}
else
filename = ui->filename_le->text().toStdString() + ".txt";
if(!ui->appendfile_cb->isChecked())
fp = fopen(filename.c_str(),"w+");
else
fp = fopen(filename.c_str(),"a");
if(fp == NULL)
return;
if(!ui->appendfile_cb->isChecked()){
filename = "Position of COM Orientation(degrees) Frame No.\n";
fputs(filename.c_str(),fp);}
Mat fgmask, segm, roi, buff, fmask, obj_or;object.copyTo(obj_or);
//Detect the keypoints using SURF Detector
int minHessian = ui->featthresh_dd->currentText().toInt();
GaussianBlur( object, object, Size(3,3), 0, 0, BORDER_DEFAULT );
FeatureDetector * detector = new SurfFeatureDetector(minHessian);
bgsub.nmixtures = 3;
//bgsub.set("initializationFrames",20);
//bgsub.set("decisionThreshold",0.7);
//cv::Ptr<SurfFeatureDetector> detector = cv::FeatureDetector::create("SURF");
//SurfFeatureDetector detector( minHessian );
std::vector<KeyPoint> kp_object;
std::vector<KeyPoint> kp_img;
QString extract_thresh = ui->extractthresh_dd->currentText();
DescriptorExtractor * extractor;
if(extract_thresh == "Default")
extractor = new SurfDescriptorExtractor() ;
else
extractor = new SurfDescriptorExtractor(extract_thresh.toInt()) ;
Mat des_object, des_img;
FlannBasedMatcher matcher;
if(ui->videofile_cb->isChecked()){
filename = ui->videofilename_le->text().toStdString() + ".wmv";
output_video = cvCreateVideoWriter(filename.c_str(),CV_FOURCC('D','I','V','3'),30,img_stream,true);}
if(ui->stream_filemenu->currentIndex() > 1)
cap = cvCaptureFromAVI(ui->stream_filemenu->currentText().toLocal8Bit().data());
int Key = 0;
//while(Key != 27 && !object.data && im != NULL){
// cvShowImage("Test",im); im = cvQueryFrame(cap);
// Key = cvWaitKey(30);}
//if(im == NULL)
// return;
std::vector<KeyPoint> kp_image;
std::vector<vector<DMatch > > matches;
std::vector<DMatch > good_matches;
std::vector<Point2f> obj;
std::vector<Point2f> scene;
std::vector<Point2f> scene_corners(4);
//Calculate descriptors (feature vectors)
Mat des_image, img_matches;
Mat H;
std::vector<Point2f> obj_corners(4);
//Get the corners from the object
obj_corners[0] = cvPoint(0,0);
obj_corners[1] = cvPoint( object.cols, 0 );
obj_corners[2] = cvPoint( object.cols, object.rows );
obj_corners[3] = cvPoint( 0, object.rows );
Mat background;
cv::Rect rectLine;
std::vector<Vec4i> hierarchy;
Mat prevframe;
double maxC_area, maxCarea;
int contour, cam_mot = 0,contor;
Mat frame;
mfeature = 0, thresh_type = 0, thresh = 50, max_thresh = 255;
IplImage * frameprev, * frame1, *frame_small, *object_small = cvCreateImage(cvSize((int)(object.cols / 5),(int)(object.rows / 5)),IPL_DEPTH_8U,object.channels());
int framecount = 0; int corner_count, or_size;
std::vector<Point> approx;
RotatedRect rott_rect;Point2f rotrect[4];
time_t start,end;Mat boundcn;
string pos,position[] = {"Position is (",",",")"},angle_t[] = {"Angle",":","degrees"},angle_s;
CvPoint org;
start = time(NULL);
clock_t st,en;
st = clock();
/*if(cam.IsConnected()){
rawImage.ReleaseBuffer();
cam.StopCapture();
if(error != PGRERROR_OK)
error.PrintErrorTrace();
Sleep(25);
SetEvent(m_threadDoneEvent);
WaitForSingleObject(m_threadDoneEvent,500);
cam.Disconnect();
cam.Connect(&guid);}*/
cam.Connect(&guid);
cam.SetVideoModeAndFrameRate(vd,fps);
cam.StartCapture();
//try{
while (key != 27 && ui->track_cb->isChecked() )
{
//cap >> frame;
this->mutex.lock();
if(!cam.IsConnected() || !ui->track_cb->isChecked())
return;
cam.RetrieveBuffer(&rawImage);
rawImage.Convert(FlyCapture2::PIXEL_FORMAT_BGR, &convertedimage);
im = cvCreateImage(cvSize(convertedimage.GetCols(),convertedimage.GetRows()),IPL_DEPTH_8U,3);
memcpy(im->imageData, static_cast<uchar *>(convertedimage.GetData()), convertedimage.GetDataSize());
if(loopcount == 0){
start = time(NULL);
frameprev = cvCreateImage(cvGetSize(im),im->depth,im->nChannels);
cvConvertImage(im,frameprev);
frame1 = cvCreateImage(cvGetSize(im),IPL_DEPTH_8U,1);
boundrect.x = selection.x * im->width / image.cols;
boundrect.y = selection.y * im->height / image.rows;
boundrect.height = selection.height * im->height / ui->Video_wn->height();
boundrect.width = selection.width * im->width / ui->Video_wn->width();
}
if(im->imageData == NULL)
return;
cvCvtColor(im,frame1,CV_BGR2GRAY);
frame = cv::Mat(frame1);
GaussianBlur( frame, frame, Size(3,3), 0, 0, BORDER_DEFAULT );
//IplImage * image = cvCreateImage(cvGetSize(im), im->depth, 1);
bgsub(frame,fgmask);
if(loopcount == 0){
feature_track:
detector -> detect( object, kp_object );
extractor->compute( object, kp_object, des_object );
obj_corners[0] = cvPoint(0,0);
obj_corners[1] = cvPoint( object.cols, 0 );
obj_corners[2] = cvPoint( object.cols, object.rows );
obj_corners[3] = cvPoint( 0, object.rows );
//printf("Keypoints of the object: %d\n",kp_object.size());
//cv::Mat mask_roi = Mat::zeros(im->height,im->width,CV_8U);
//printf("Index check : %f %f",kp_object[0].pt.x,kp_object[1].pt.y);
//Laplacian(segm,segm,CV_8U,1,2);
//convertScaleAbs(segm, fgmask);
//Canny(fgmask,fgmask,100,255,3);
printf("Frame Image type : %d",im-> depth);
//if(loopcount > 0)
//{matches.clear(); good_matches.clear();}
detector->detect( frame1, kp_image);
//printf("Frame copied Image type : %d",image-> depth);
extractor->compute( frame1, kp_image, des_image );
matcher.knnMatch(des_object, des_image, matches, 2);
printf("No. of matches : %d\n", matches.size());
for(int i = 0; i < min(des_image.rows-1,(int) matches.size()); i++) //THIS LOOP IS SENSITIVE TO SEGFAULTS
{
if((matches[i][0].distance < 0.6*(matches[i][1].distance)) && ((int) matches[i].size()<=2 && (int) matches[i].size()>0))
{
good_matches.push_back(matches[i][0]);
}
}
//Draw only "good" matches
//drawMatches( object, kp_object, image, kp_image, good_matches, img_matches, Scalar::all(-1), Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
qDebug()<<"Good Matches : "<<QString::number(good_matches.size());
if (good_matches.size() >= 4)
{
for( int i = 0; i < good_matches.size(); i++ )
{
//Get the keypoints from the good matches
obj.push_back( kp_object[ good_matches[i].queryIdx ].pt );
scene.push_back( kp_image[ good_matches[i].trainIdx ].pt );
}
H = findHomography( obj, scene, CV_RANSAC );
perspectiveTransform( obj_corners, scene_corners, H);
cvCopy(im,frameprev);
//Draw lines between the corners (the mapped object in the scene image )
line(cv::Mat(im), scene_corners[0], scene_corners[1], Scalar(0, 255, 0), 4 );
line(cv::Mat(im), scene_corners[1], scene_corners[2], Scalar( 0, 255, 0), 4 );
line(cv::Mat(im), scene_corners[2], scene_corners[3], Scalar( 0, 255, 0), 4 );
line(cv::Mat(im), scene_corners[3], scene_corners[0] , Scalar( 0, 255, 0), 4 );
}
PrevRect = boundrect;
//img_matches.convertTo(img_matches,CV_8U);
//Canny(cv::Mat(image),temp,100,255);
//convertScaleAbs( frame, temp );
//cvInRangeS(im,cv::Scalar(60,100,100),cv::Scalar(60,255,255),im);
//GaussianBlur(temp,temp,Size(3,3),0,0,BORDER_DEFAULT);
mask = Mat(frame.size(),CV_8UC1,Scalar(255));
for(int i = 0; i < orgim_bckgrndcont.size(); i++)
drawContours(mask,orgim_bckgrndcont,i,Scalar(0),ui->backgrndtype_dd->currentIndex() / 2 * (2) + ui->backgrndtype_dd->currentIndex() - 2);
//cv::resize(lbutton_up,mask,frame.size());
//bitwise_not(mask,mask);
if(backgrnd_contnos.size())
frame.copyTo(temp, mask);
else
frame.copyTo(temp);
imshow("Masking",mask);
update_tmp = temp(boundrect);
cv::threshold(update_tmp,update_tmp,ui->threshlimit_le->text().toInt(),ui->threshmax_le->text().toInt(),ui->threshtype_dd->currentText().toInt());
//cv::threshold(cv::Mat(frame1),temp,210,255,0);
update_tmp.copyTo(boundcn);
imshow("Check",boundcn);
//Canny(update_tmp,update_tmp,170,255);
findContours(update_tmp, contours, hierarchy, CV_RETR_EXTERNAL,CV_CHAIN_APPROX_NONE);
maxC_area = 0;
contour = 0;
qDebug("\nNumber of contours : %d",contours.size());
for (int i = 0; i < contours.size(); i++)
{
mm = cv::moments(contours[i], false);
//if(loopcount == 0) {
if(mm.m00 > maxC_area){
maxC_area = mm.m00;contour = i;}//}
}
//printf("\nContour no. : %d",contour);
robot_area = contourArea(contours[contour]);
robot_area = (robot_area * 200 * 300 )/ (im ->width * im->height);
//printf("\nARea of robot : %f\n",robot_area);
//namedWindow("Check",WINDOW_AUTOSIZE);
background = cv::Mat(im);
//mask = frame(rectLine);
//cvSetImageROI(&IplImage(mask),rectLine);
//cv::Mat(im).copyTo(background);
//cvCopy(im,&IplImage(background));
//rectangle(mask,rectLine,Scalar::all(255),1);
//frame.copyTo(background,mask);
boundcn = Mat::zeros(frame.size(),CV_8U);
drawContours(boundcn,contours,contour,Scalar::all(255),1);
roi = cv::Mat(im) - background;
mt = cv::moments(contours[contour]);
COM.x = mt.m10/mt.m00 + boundrect.x; COM.y = mt.m01/mt.m00 + boundrect.y; COMprev = COM;
rott_rect = minAreaRect(contours[contour]);
rott_rect.points(rotrect);
rectLine = boundingRect(cv::Mat(contours[contour]));
rectLine.x += PrevRect.x;
rectLine.y += PrevRect.y;
object = frame(rectLine);
if(int(frame.at<uchar>(COM)) < int(frame.at<uchar>(Point(rectLine.x,rectLine.y))))
thresh_type = 1;
rott_rect = minAreaRect(contours[contour]);
rott_rect.points(rotrect);
printf("Thresh Type : %d\n",thresh_type);
boundrect = rectLine;
rectangle(cv::Mat(im),rectLine,Scalar::all(255),2);
goto printpos;
}
prevframe = image;
if(loopcount > 0){
frame = cv::Mat(frame1);
cv::resize(frame,temp,Size(300,200)); temp.copyTo(frame);
cv::resize(fgmask,temp,Size(300,200)); temp.copyTo(fgmask);
GaussianBlur(fgmask,fgmask,Size(3,3),0,0);
processing_status = false;
if(loopcount > 0){
boundrect.y = int(boundrect.y * 200/ frame1->height);
boundrect.x = int(boundrect.x * 300/ frame1->width);
boundrect.width = boundrect.width * 300 / frame1 -> width;
boundrect.height = boundrect.height * 200 / frame1 -> height;
COM.x = COM.x * 300 / im -> width;
COM.y = COM.y * 200 / im->height;
}
//rectangle(cv::Mat(im),boundrect,Scalar::all(255),1);
if(loopcount > 0){
if(thresh_type == 0){
boundrect.x = boundrect.x - 12 * 300/ frame1 -> width;
boundrect.y = boundrect.y - 12 * 200/ frame1 -> height;}
else{
boundrect.x = boundrect.x - 20 * 300/ frame1 -> width;
boundrect.y = boundrect.y - 20 * 200/ frame1 -> height;}
boundrect.height = boundrect.height + int((33 * 300)/ frame1 -> width);
boundrect.width = boundrect.width + int((33 * 200) / frame1 -> height);}
if(boundrect.x && boundrect.y && (boundrect.x + boundrect.width <= img_stream.width) && (boundrect.y + boundrect.height <= img_stream.height))
PrevRect = boundrect;
else
boundrect = PrevRect;
cv::Mat(im).copyTo(segm);
//segm = cv::Mat(frameprev);
subtract(segm, cv::Mat(frameprev),segm);
int check = 0;
cvtColor(segm,buff,CV_RGB2GRAY);
GaussianBlur(buff,buff,Size(3,3),0);
morphologyEx(buff,buff,MORPH_CLOSE,cv::Mat());
cv::threshold(buff,buff,20,255,CV_THRESH_BINARY);
findContours(buff, contours, hierarchy,CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
or_size = contours.size();
printf("Subtracted image type : %d\n",contours.size());
if(contours.size() >= 50){
goto track;
revert:
mfeature++;
printf("Mfeature : %d\n",mfeature);
if((angle < angleprev / 1.5 || angle > angleprev * 1.5)){
if(mt.m00 < robot_area * 1.3 && mt.m00 > robot_area / 1.3){COM.x = COM.x * im->width / 300; COM.y = COM.y * im -> height / 200;
goto printpos;}
}
else if((angle < angleprev / 2 || angle > angleprev * 2))
boundrect = PrevRect;
//if(mt.m00 > robot_area * 1.3){
if(mt.m00 < robot_area / 1.3){
boundrect.x = boundrect.x - 5 * 300 / frame1 -> width;
boundrect.y = boundrect.y - 5 * 200 / frame1 -> height;
boundrect.width = boundrect.width + 15 * 300 / frame1 -> width ;
boundrect.height = boundrect.height + 15 * 200 / frame1 -> height;}
if(mt.m00 > robot_area * 1.3 && mfeature < 2){
boundrect.x = boundrect.x = boundrect.x + 10 * 300 / frame1 -> height;
boundrect.y = boundrect.y + 10 * 200 / frame1 -> width;
boundrect.width = boundrect.width - 30 * 300 / frame1 -> width;
boundrect.height= boundrect.height - 200 * 30 / frame1 -> height;}
PrevRect = boundrect;
COM = COMprev;
//PrevRect = boundrect;
//mfeature = 1;
//cvCopy(im,frameprev);
//if(mfeature == 2)
//if(or_size == 245){
//rectangle(fmask,boundrect,Scalar::all(255),1);
//}
cvCopy(im,frameprev);
goto printpos;
bgsub(frame,fgmask);
}
//else{
fmask = fgmask(boundrect);
//qDebug("COM : (%f,%f)\n",(COM.x),COM.y);
//Laplacian(fgmask,fgmask,fgmask.depth(),3);convertScaleAbs(fgmask,fmask);
GaussianBlur(fmask,fmask,Size(3,3),0,0);
mask = Mat(frame.size(),CV_8UC1,Scalar(255));
for(int k = 0; k < backgrnd_contnos.size(); k++){
drawContours(mask, backgrnd_contours,backgrnd_contnos[k],Scalar(0), ui->backgrndtype_dd->currentIndex() / 2 * (-1) + ui->backgrndtype_dd->currentIndex() - 2);}
//drawContours(fmask,backgrnd_contours,backgrnd_contnos[k],Scalar(0));
fgmask.copyTo(temp,mask);
goto track;
//bitwise_not(mask,mask);
qDebug() << "Background contnos vector size : " << backgrnd_contnos.size();
// if(backgrnd_contnos.size() > 0){