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ToolsTrackingApp.cpp
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ToolsTrackingApp.cpp
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#include "ToolsTrackingApp.hpp"
#include <assert.h>
#define ECHAP 27
#define KEY_Q 'q'
#define MVT_MIN 16
#define MAX_TRACKING_ERR 5
#define OUTPUT_NAME "output.avi"
ToolsTrackingApp::ToolsTrackingApp() :toolbox(), trackedPoints(), capture(), frame(), fgMask(), gray(), prevGray()
{
// Get the moving foreground properly
pMOG = new BackgroundSubtractorMOG2(20, 200, false);
element[0] = getStructuringElement(MORPH_CROSS, Size(5, 5), Point(0, 0));
element[1] = getStructuringElement(MORPH_ELLIPSE, Size(8, 8), Point(0, 0));
element[2] = getStructuringElement(MORPH_ELLIPSE, Size(3, 3), Point(0, 0));
element[3] = getStructuringElement(MORPH_ELLIPSE, Size(3, 3), Point(0, 0));
// ROI params
//roi.x = 80;
//roi.y = 60;
//roi.width = 1100;
//roi.height = 680;
//temp_mat.create(roi.height, roi.width, CV_8UC3);
//temp_mat = Scalar::all(0);
// Logger Open File
logger.open("Contour_properties.txt", ios_base::out);
}
ToolsTrackingApp::~ToolsTrackingApp()
{
destroyAllWindows();
capture.release();
outputVideo.release();
delete pMOG;
}
int ToolsTrackingApp::init(const char* filename)
{
//initializing the application for tool tracking
capture.open(filename);
if (!capture.isOpened())
{
cerr << "Unable to open video file: " << filename << endl;
return -1;
}
capture >> frame;
//namedWindow("Frame"/*, WINDOW_NORMAL*/);
//namedWindow("seg-motion"/*, WINDOW_NORMAL*/);
//namedWindow("seg-ring"/*, WINDOW_NORMAL*/);
namedWindow("test-1"/*, WINDOW_NORMAL*/);
//int ex = capture.get(CV_CAP_PROP_FOURCC);
//Size S = Size(roi.s, height);
int fps = capture.get(CV_CAP_PROP_FPS);
outputVideo.open(OUTPUT_NAME, CV_FOURCC('M', 'J', 'P', 'G'), fps, frame.size(), true);
if (!outputVideo.isOpened())
{
cerr << "Unable to open output video file: " << OUTPUT_NAME << endl;
exit(EXIT_FAILURE);
}
return 0;
}
bool ToolsTrackingApp::isNotAContour(ContourFeature& cf, int hierarchy)
{
if (cf.getArea() > 100000)
{
return true;
}
else
{
return (cf.getArea() < 2000 || cf.getPerimeter() < 200 || hierarchy != -1);
}
}
bool ToolsTrackingApp::isNotARing(ContourFeature& cf, int hierarchy)
{
return true;
}
void ToolsTrackingApp::run()
{
//initialize
Mat test1;
vector <Ring> rings;
vector<vector<Point> > contours;
vector<vector<Point> > contours_ring;
vector<Point> poly;
vector<vector<Point> > poly_ring;
vector<vector<Point> > poly1(1); // delete
vector<Vec4i> hierarchy;
vector<Vec4i> hierarchy_ring;
int contoursSize = 0;
int contours_ringSize = 0;
BoundingBox boundingBox;
State_Machine state_obj;
bool forward = true;
char key = 0;
int nbFrames = 0;
Scalar* color;
Scalar blue = Scalar(200, 0, 0);
Scalar yellow = Scalar(0, 200, 200);
Scalar red = Scalar(0, 0, 200);
Scalar green = Scalar(0, 200, 0);
TermCriteria termcrit(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03);
Size winSize(31, 31);
vector<unsigned char> status;
vector<float> err;
int count = 0;
ofstream outStream("rings_mask_out.log");
int p = 0;
int q = 0;
//Main chunk of execution
while (key != ECHAP && key != KEY_Q)
{
capture >> frame;
//frame = frame(roi);
//imshow("out1", frame);
// Process the contour for tool
vector<Point> contour_tool;
int max_y = -1;
bool tool_present = segmentation_tool(frame, contour_tool, &max_y);
Mat mask_tool = Mat::zeros(frame.rows, frame.cols, CV_8UC3);
Mat mask_rings = Mat::zeros(frame.rows, frame.cols, CV_8UC1);
// Pass tool contour to the ring analyzer;
segmentation_ring(contour_tool, mask_rings);
//imshow("Rings", mask_rings);
count++;
if (count == 1)
{
Mat initial_ring_mask = mask_rings.clone();
//imshow("Initial mask", initial_ring_mask);
//imwrite("image.jpg", initial_ring_mask);
///**
//Module to process the fgMaskRing
//**/
findContours(initial_ring_mask, contours_ring, hierarchy_ring, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
unsigned int No_of_ring = contours_ring.size();
//cout << "No of Rings -> " << No_of_ring << endl;
Mat draw_rings = Mat::zeros(frame.rows, frame.cols, CV_8UC1);
std::ostringstream os;
for (int i = contours_ring.size() - 1; i >= 0; i--)
{
ContourFeature cFeat(contours_ring[i]);
cv::Point centre = cFeat.getCentre(); centre.y += 10;
if (centre.x < 20 && centre.y < 20)
{
contours_ring.erase(contours_ring.begin() + i);
}
}
vector<Mat> subregions;
vector<Point> centre;
vector<Rect> roi;
for (int i = 0; i < contours_ring.size(); i++)
{
ContourFeature cFeat(contours_ring[i]);
centre.push_back(cFeat.getCentre()); //centre.y += 10;
// Get bounding box for contour
roi.push_back(boundingRect(contours_ring[i])); // This is a OpenCV function
//double area = cFeat.getArea();
//double length = sqrt(area);
drawContours(draw_rings, contours_ring, i, Scalar(255, 0, 0), CV_FILLED);
Mat contourRegion, imageROI;
Mat ring_mask(draw_rings.size(), CV_8UC1, Scalar::all(0));
imageROI = ring_mask.clone(); // 'image' is the image you used to compute the contours.
////ring_mask = imageROI(roi).setTo(Scalar(255));
imageROI(roi[i]).setTo(Scalar::all(255));
ring_mask = draw_rings & imageROI;
////imageROI= ring_mask(contourRegion);
//// Mat maskROI = mask(roi); // Save this if you want a mask for pixels within the contour in contourRegion.
//// Store contourRegion. contourRegion is a rectangular image the size of the bounding rect for the contour
//// BUT only pixels within the contour is visible. All other pixels are set to (0,0,0).
subregions.push_back(ring_mask);
//RotatedRect rRect = RotatedRect(centre, Size2f(length+12+i,length-10-i), 30);
//Point2f vertices[4];
//rRect.points(vertices);
////for (int i = 0; i < 4; i++)
// //line(draw_rings, vertices[i], vertices[(i+1)%4], Scalar(255,255,0));
//Rect brect = rRect.boundingRect();
//rectangle(draw_rings, brect, Scalar(0,255,0));
//os << "Centre ->( " << centre[i].x << "," << centre[i].y << ")" << endl;
//putText(draw_rings, os.str(), centre[i], 0, 0.4, cv::Scalar(0, 0, 255), 1, 8, false);
//os.str("");
//cvDestroyWindow("rectangles");
}
for (int j = 0; j < 6; j ++)
{
if( j == 2 )
{
Ring ring(centre[j+1], sqrt(pow(roi[j+1].width, 2.0) + pow (roi[j+1].height, 2.0))/ 2, subregions[j + 1]);
rings.push_back(ring);
}
else if( j == 3 )
{
Ring ring(centre[j-1], sqrt(pow(roi[j-1].width, 2.0) + pow (roi[j-1].height, 2.0))/ 2, subregions[j - 1]);
rings.push_back(ring);
}
else
{
Ring ring(centre[j], sqrt(pow(roi[j].width, 2.0) + pow (roi[j].height, 2.0))/ 2, subregions[j]);
rings.push_back(ring);
}
}
}
vector<Mat> rings_out;
vector<double> gray_sum;
//Mat frameGray;
//cvtColor(mask_rings, frameGray, CV_BGR2GRAY);
for (int i = 0; i < 6; i ++)
{
Mat current_ring_mask = rings[i].getRing_mask();
rings_out.push_back(current_ring_mask & mask_rings);
imshow(" current ring mask", rings_out[i]);
gray_sum.push_back(sum(sum(rings_out[i])).val[0]);
//cout <<"Sum of mask "<< gray_sum[i] << endl;
//outStream << 0 << "\t" << gray_sum[i] << endl;
}
/*
[2.34422e+006, 0, 0, 0]
0 [884340, 0, 0, 0] motion ring 2
0 [2.40032e+006, 0, 0, 0]
0 [1.48487e+006, 0, 0, 0] motion ring 4
0 [1.82096e+006, 0, 0, 0]
0 [1.14546e+006, 0, 0, 0] motion ring 6
*/
//gray_sum.push_back(2.3e6);
//gray_sum.push_back(2.4e6);
//gray_sum.push_back(2.4e6);
//gray_sum.push_back(1.4e6);
//gray_sum.push_back(1.8e6);
//gray_sum.push_back(1.6e6);
//vector<double> x;
//x.push_back(0);
//x.push_back(0);
//x.push_back(2.4e6);
//x.push_back(1.4e6);
//x.push_back(1.8e6);
//x.push_back(1.6e6);
//bool is_equal = false;
//is_equal = equal (gray_sum.begin(), gray_sum.end(), x.begin());
vector<size_t> y(gray_sum.size());
vector<size_t> target_allrings;
vector<size_t> target_norings;
ostringstream outs1;
cv::Point textOrg(10, 130);
if(!gray_sum.empty())
{
//
// copy_if(gray_sum.begin(),gray_sum.end(), back_inserter(target),
// bind(less<int>(), 1.75e6, 1));
iota(y.begin(), y.end(), 0);
copy_if(y.begin(), y.end(),
back_inserter(target_allrings),[=] (size_t i) { return (gray_sum[i] > 1.7e6); });
copy_if(y.begin(), y.end(),
back_inserter(target_norings),[=] (size_t i) { return (gray_sum[i] == 0); });
//os << "Height, Width, Angle->( " << tt.size.height << " ," << tt.size.width << " ," << tt.angle << ")";
if (forward == true)
{
switch(target_allrings.size())
{
case 0:
if (target_norings.size() == 6)
{
if(state_obj.getStatus() == "5rings")
{
state_obj.setAllRings(2);
state_obj.setStatus("Allringsmoved");
forward = false;
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " All rings moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " All rings moved" << endl;
}
else if (target_norings.size() == 5)
{
if(state_obj.getStatus() == "fourrings")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setRing(target_norings[2], 0);
state_obj.setRing(target_norings[3], 0);
state_obj.setRing(target_norings[4], 0);
state_obj.setStatus("5rings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 << " , " << target_norings[2] +1 << " , " << target_norings[3] +1 << " and " << target_norings[4] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 << " , " << target_norings[2] +1 << " , " << target_norings[3] +1 << " and " << target_norings[4] +1 << " moved" << endl;
}
else if (target_norings.size() == 4)
{
if(state_obj.getStatus() == "three_rings")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setRing(target_norings[2], 0);
state_obj.setRing(target_norings[3], 0);
state_obj.setStatus("fourrings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 << " , " << target_norings[2] +1 << " and " << target_norings[3] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 << " , " << target_norings[2] +1 << " and " << target_norings[3] +1 << " moved" << endl;
}
else if (target_norings.size() == 3)
{
if(state_obj.getStatus() == "tworings")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setRing(target_norings[2], 0);
state_obj.setStatus("three_rings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 <<" and " << target_norings[2] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 <<" and " << target_norings[2] +1 << " moved" << endl;
}
else if (target_norings.size() == 2)
{
if(state_obj.getStatus() == "onering")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setStatus("tworings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but ring "<< target_norings[0] +1 << " and ring " << target_norings[1] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but ring "<< target_norings[0] +1 << " and ring " << target_norings[1] +1 << " moved" << endl;
}
else if (target_norings.size() == 1)
{
if(state_obj.getStatus() == "Stationary")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setStatus("onering");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but ring "<< target_norings[0]+1 <<" moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but ring "<< target_norings[0]+1 <<" moved" << endl;
}
else
outs1 << " Some motion in masks but no ring moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in masks but no ring moved" << endl;
break;
case 1:
if (target_norings.size() == 5)
{
if(state_obj.getStatus() == "fourrings")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setRing(target_norings[2], 0);
state_obj.setRing(target_norings[3], 0);
state_obj.setRing(target_norings[4], 0);
state_obj.setStatus("5rings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " No motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 << " , " << target_norings[2] +1 << " , " << target_norings[3] +1 << " and " << target_norings[4] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " No motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 << " , " << target_norings[2] +1 << " , " << target_norings[3] +1 << " and " << target_norings[4] +1 << " moved" << endl;
}
//cout << " All but one ring moved" << endl;
else if (target_norings.size() == 4)
{
if(state_obj.getStatus() == "three_rings")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setRing(target_norings[2], 0);
state_obj.setRing(target_norings[3], 0);
state_obj.setStatus("fourrings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 << " , " << target_norings[2] +1 << " and " << target_norings[3] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 << " , " << target_norings[2] +1 << " and " << target_norings[3] +1 << " moved" << endl;
}
//cout << " Some motion in mask but 4 rings moved" << endl;
else if (target_norings.size() == 3)
{
if(state_obj.getStatus() == "tworings")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setRing(target_norings[2], 0);
state_obj.setStatus("three_rings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 <<" and " << target_norings[2] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 <<" and " << target_norings[2] +1 << " moved" << endl;
}
else if (target_norings.size() == 2)
{
if(state_obj.getStatus() == "onering")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setStatus("tworings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but ring "<< target_norings[0] +1 << " and ring " << target_norings[1] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but ring "<< target_norings[0] +1 << " and ring " << target_norings[1] +1 << " moved" << endl;
}
else if (target_norings.size() == 1)
{
if(state_obj.getStatus() == "Stationary")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setStatus("onering");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but ring "<< target_norings[0]+1 <<" moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but ring "<< target_norings[0]+1 <<" moved" << endl;
}
else
outs1 << " Some motion in masks but no ring moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in masks but no ring moved" << endl;
break;
case 2:
if (target_norings.size() == 4)
{
if(state_obj.getStatus() == "three_rings")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setRing(target_norings[2], 0);
state_obj.setRing(target_norings[3], 0);
state_obj.setStatus("fourrings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " No motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 << " , " << target_norings[2] +1 << " and " << target_norings[3] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " No motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 << " , " << target_norings[2] +1 << " and " << target_norings[3] +1 << " moved" << endl;
}
//cout << " All but two rings moved" << endl;
else if (target_norings.size() == 3)
{
if(state_obj.getStatus() == "tworings")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setRing(target_norings[2], 0);
state_obj.setStatus("three_rings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 <<" and " << target_norings[2] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but rings "<< target_norings[0] +1 << " , " << target_norings[1] +1 <<" and " << target_norings[2] +1 << " moved" << endl;
}
else if (target_norings.size() == 2)
{
if(state_obj.getStatus() == "onering")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setStatus("tworings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but ring "<< target_norings[0] +1 << " and ring " << target_norings[1] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but ring "<< target_norings[0] +1 << " and ring " << target_norings[1] +1 << " moved" << endl;
}
else if (target_norings.size() == 1)
{
//state_obj.setRing(target_norings[0], 0);
if(state_obj.getStatus() == "Stationary")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setStatus("onering");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but ring "<< target_norings[0]+1 <<" moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but ring "<< target_norings[0]+1 <<" moved" << endl;
//cout << " but 1 ring moved" << endl;
}
else
outs1 << "Some motion in masks but no ring moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << "Some motion in masks but no ring moved" << endl;
break;
case 3:
if (target_norings.size() == 3)
{
if(state_obj.getStatus() == "tworings")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setRing(target_norings[2], 0);
state_obj.setStatus("three_rings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " No motion in mask but ring "<< target_norings[0] +1 << " , " << target_norings[1] +1 <<" and ring " << target_norings[2] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " No motion in mask but ring "<< target_norings[0] +1 << " , " << target_norings[1] +1 <<" and ring " << target_norings[2] +1 << " moved" << endl;
}
else if (target_norings.size() == 2)
{
if(state_obj.getStatus() == "onering")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setStatus("tworings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but ring "<< target_norings[0] +1 << " and ring " << target_norings[1] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but ring "<< target_norings[0] +1 << " and ring " << target_norings[1] +1 << " moved" << endl;
}
else if (target_norings.size() == 1)
{
if(state_obj.getStatus() == "Stationary")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setStatus("onering");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but ring "<< target_norings[0] +1 << " moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but ring "<< target_norings[0] +1 << " moved" << endl;
}
else
outs1 << " Some motion in masks but no ring moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in masks but no ring moved" << endl;
break;
case 4:
if (target_norings.size() == 2)
{
if(state_obj.getStatus() == "onering")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setRing(target_norings[1], 0);
state_obj.setStatus("tworings");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " No motion in mask but ring "<< target_norings[0] +1 << " and ring " << target_norings[1] +1 << " moved" ;
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " No motion in mask but ring "<< target_norings[0] +1 << " and ring " << target_norings[1] +1 << " moved" << endl;
}
else if (target_norings.size() == 1)
{
//state_obj.setRing(target_norings[0], 0);
if(state_obj.getStatus() == "Stationary")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setStatus("onering");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " Some motion in mask but ring "<< target_norings[0]+1 <<" moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but ring "<< target_norings[0]+1 <<" moved" << endl;
}
else
outs1 << "Some motion in masks but no ring moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << "Some motion in masks but no ring moved" << endl;
break;
case 5:
if (target_norings.size() == 1)
{
//state_obj.setRing(target_norings[0], 0);
if(state_obj.getStatus() == "Stationary")
{
state_obj.setRing(target_norings[0], 0);
state_obj.setStatus("onering");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " No motion in mask but ring "<< target_norings[0]+1 <<" moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " No motion in mask but ring "<< target_norings[0]+1 <<" moved" << endl;
}
else
outs1 << "Some motion in masks but no ring moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in masks but no ring moved" << endl;
break;
case 6:
if (target_norings.size() == 0)
{
if(state_obj.getStatus() == "start")
{
state_obj.setAllRings(1);
state_obj.setStatus("Stationary");
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << "All rings stationary";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//state_obj.setStatus("Stationary");
//cout << "All rings stationary" << endl;
}
else
outs1 << " Unknown";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Unknown" << endl;
break;
}
}
else
{
switch(target_norings.size())
{
case 0:
if (target_allrings.size() == 6)
{
if(state_obj.getStatus() == "5")
{
state_obj.setAllRings(1);
state_obj.setStatus("Stationary");
forward = true;
}
else
{
state_obj.update_state(state_obj.getState());
}
outs1 << " All rings moved back";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " All rings moved back" << endl;
}
else if (target_allrings.size() == 5)
{
if(state_obj.getStatus() == "4b")
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setRing(target_allrings[2], 1);
state_obj.setRing(target_allrings[3], 1);
state_obj.setRing(target_allrings[4], 1);
state_obj.setStatus("5");
}
else if (state_obj.getStatus() == "5")
{
state_obj.update_state(state_obj.getState());
}
else
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setRing(target_allrings[2], 1);
state_obj.setRing(target_allrings[3], 1);
state_obj.setRing(target_allrings[4], 1);
state_obj.setStatus("5");
}
outs1 << " Some motion in mask but rings "<< target_allrings[0] +1 << " , " << target_allrings[1] +1 << " , " << target_allrings[2] +1 << " , " << target_allrings[3] +1 << " and " << target_allrings[4] +1 << " moved back";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but rings "<< target_allrings[0] +1 << " , " << target_allrings[1] +1 << " , " << target_allrings[2] +1 << " , " << target_allrings[3] +1 << " and " << target_allrings[4] +1 << " moved back" << endl;
}
else if (target_allrings.size() == 4)
{
if(state_obj.getStatus() == "3ba")
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setRing(target_allrings[2], 1);
state_obj.setRing(target_allrings[3], 1);
state_obj.setStatus("4b");
}
else if (state_obj.getStatus() == "4b")
{
state_obj.update_state(state_obj.getState());
}
else
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setRing(target_allrings[2], 1);
state_obj.setRing(target_allrings[3], 1);
state_obj.setStatus("4b");
}
outs1 << " Some motion in mask but rings "<< target_allrings[0] +1 << " , " << target_allrings[1] +1 << " , " << target_allrings[2] +1 << " and " << target_allrings[3] +1 << " moved back";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but rings "<< target_allrings[0] +1 << " , " << target_allrings[1] +1 << " , " << target_allrings[2] +1 << " and " << target_allrings[3] +1 << " moved back" << endl;
}
else if (target_allrings.size() == 3)
{
if(state_obj.getStatus() == "2bac")
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setRing(target_allrings[2], 1);
state_obj.setStatus("3ba");
}
else if (state_obj.getStatus() == "3ba")
{
state_obj.update_state(state_obj.getState());
}
else
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setRing(target_allrings[2], 1);
state_obj.setStatus("3ba");
}
outs1 << " Some motion in mask but ring "<< target_allrings[0] +1 << " , " << target_allrings[1] +1 <<" and ring " << target_allrings[2] +1 << " moved back";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but ring "<< target_allrings[0] +1 << " , " << target_allrings[1] +1 <<" and ring " << target_allrings[2] +1 << " moved back" << endl;
}
else if (target_allrings.size() == 2)
{
if(state_obj.getStatus() == "1back")
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setStatus("2bac");
}
else if (state_obj.getStatus() == "1back")
{
state_obj.update_state(state_obj.getState());
}
else
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setStatus("2bac");
}
outs1 << " Some motion in mask but ring "<< target_allrings[0] +1 << " and ring " << target_allrings[1] +1 << " moved back";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but ring "<< target_allrings[0] +1 << " and ring " << target_allrings[1] +1 << " moved back" << endl;
}
else if (target_allrings.size() == 1)
{
//state_obj.setRing(target_norings[0], 0);
if(state_obj.getStatus() == "Allringsmoved")
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setStatus("1back");
}
else if (state_obj.getStatus() == "1back")
{
state_obj.update_state(state_obj.getState());
}
else
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setStatus("1back");
}
outs1 << " Some motion in masks but ring "<< target_allrings[0]+1 <<" moved back";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in masks but ring "<< target_allrings[0]+1 <<" moved back" << endl;
}
else
{
if(state_obj.getStatus() == "Allringsmoved")
{
outs1 << " Some motion in masks but no ring moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in masks but no ring moved" << endl;
}
else
{
state_obj.update_state(state_obj.getState());
outs1 << " Some motion in masks but no ring moved";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in masks but no ring moved" << endl;
}
}
break;
case 1:
if (target_allrings.size() == 5)
{
if(state_obj.getStatus() == "4b")
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setRing(target_allrings[2], 1);
state_obj.setRing(target_allrings[3], 1);
state_obj.setRing(target_allrings[4], 1);
state_obj.setStatus("5");
}
else if (state_obj.getStatus() == "5")
{
state_obj.update_state(state_obj.getState());
}
else
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setRing(target_allrings[2], 1);
state_obj.setRing(target_allrings[3], 1);
state_obj.setRing(target_allrings[4], 1);
state_obj.setStatus("5");
}
outs1 << " No motion in mask but rings "<< target_allrings[0] +1 << " , " << target_allrings[1] +1 << " , " << target_allrings[2] +1 << " , " << target_allrings[3] +1 << " and " << target_allrings[4] +1 << " moved back" ;
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " No motion in mask but rings "<< target_allrings[0] +1 << " , " << target_allrings[1] +1 << " , " << target_allrings[2] +1 << " , " << target_allrings[3] +1 << " and " << target_allrings[4] +1 << " moved back" << endl;
}
else if (target_allrings.size() == 4)
{
if(state_obj.getStatus() == "3ba")
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setRing(target_allrings[2], 1);
state_obj.setRing(target_allrings[3], 1);
state_obj.setStatus("4b");
}
else if (state_obj.getStatus() == "4b")
{
state_obj.update_state(state_obj.getState());
}
else
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setRing(target_allrings[2], 1);
state_obj.setRing(target_allrings[3], 1);
state_obj.setStatus("4b");
}
outs1 << " Some motion in mask but rings "<< target_allrings[0] +1 << " , " << target_allrings[1] +1 << " , " << target_allrings[2] +1 << " and " << target_allrings[3] +1 << " moved back";
putText(frame, outs1.str(), textOrg, 0, 0.8, cv::Scalar(0, 0, 255), 1, 8, false);
//cout << " Some motion in mask but rings "<< target_allrings[0] +1 << " , " << target_allrings[1] +1 << " , " << target_allrings[2] +1 << " and " << target_allrings[3] +1 << " moved back" << endl;
}
else if (target_allrings.size() == 3)
{
if(state_obj.getStatus() == "2bac")
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);
state_obj.setRing(target_allrings[1], 1);
state_obj.setRing(target_allrings[2], 1);
state_obj.setStatus("3ba");
}
else if(state_obj.getStatus() == "3ba")
{
state_obj.update_state(state_obj.getState());
}
else
{
state_obj.setAllRings(2);
state_obj.setRing(target_allrings[0], 1);