/
_centerOfMassTailTracking.py
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/
_centerOfMassTailTracking.py
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import math
import cv2
import numpy as np
from numpy import linspace
from scipy.interpolate import UnivariateSpline
from ._tailTrackingBase import TailTrackingBase
class CenterOfMassTailTrackingMixin(TailTrackingBase):
@staticmethod
def __smoothTail(points, nbTailPoints):
y = points[0]
x = linspace(0, 1, len(y))
if len(x) > 3:
s = UnivariateSpline(x, y, s=10)
xs = linspace(0, 1, nbTailPoints)
newX = s(xs)
y = points[1]
x = linspace(0, 1, len(y))
s = UnivariateSpline(x, y, s=10)
xs = linspace(0, 1, nbTailPoints)
newY = s(xs)
else:
newX = x
newY = y
return [newX, newY]
def __findNextPoints(self, depth, x, y, frame, points, angle, maxDepth, debug):
step = self._hyperparameters["centerOfMassParamStep"]
segStep = self._hyperparameters["centerOfMassParamSegStep"]
halfDiam = self._hyperparameters["centerOfMassParamHalfDiam"]
if debug:
frameDisplay = frame.copy()
frameDisplay = cv2.cvtColor(frameDisplay, cv2.COLOR_GRAY2RGB)
lenX = len(frame[0]) - 1
lenY = len(frame) - 1
thetaDiffAccept = 0.4
pixTotMax = 1000000
maxTheta = angle
xNew = self._assignValueIfBetweenRange(int(x + step * (math.cos(angle))), 0, lenX)
yNew = self._assignValueIfBetweenRange(int(y + step * (math.sin(angle))), 0, lenY)
# if debug:
# cv2.circle(frameDisplay, (xNew, yNew), 1, (0,0,0), -1)
framecopy = frame.copy()
xmin = self._assignValueIfBetweenRange(xNew - halfDiam, 0, lenX-1)
xmax = self._assignValueIfBetweenRange(xNew + halfDiam, 0, lenX-1)
ymin = self._assignValueIfBetweenRange(yNew - halfDiam, 0, lenY-1)
ymax = self._assignValueIfBetweenRange(yNew + halfDiam, 0, lenY-1)
if debug:
cv2.circle(frameDisplay, (xmin, ymin), 1, (255,0,0), -1)
cv2.circle(frameDisplay, (xmax, ymax), 1, (255,0,0), -1)
cv2.circle(frameDisplay, (x, y), 1, (0,255,0), -1)
if (xmin==0 or xmin==lenX-1 or xmax==0 or xmax==lenX-1 or ymin==0 or ymin==lenY-1 or ymax==0 or ymax==lenY-1):
return (points,0)
framecopy[0:ymin, :] = 255
framecopy[ymax:lenY+1, :] = 255
framecopy[:, 0:xmin] = 255
framecopy[:, xmax:lenX+1] = 255
if debug:
self._debugFrame(framecopy, title='Frame2')
(minVal, maxVal, headPosition, maxLoc) = cv2.minMaxLoc(framecopy)
xNew = headPosition[0]
yNew = headPosition[1]
theta = self._calculateAngle(x, y, xNew, yNew)
xNew = self._assignValueIfBetweenRange(int(x + segStep * (math.cos(theta)) ), 0, lenX)
yNew = self._assignValueIfBetweenRange(int(y + segStep * (math.sin(theta)) ), 0, lenY)
# Calculates distance between new and old point
distSubsquentPoints = math.sqrt((xNew - x)**2 + (yNew - y)**2)
if debug:
cv2.circle(frameDisplay, (xNew, yNew), 1, (0,0,255), -1)
self._debugFrame(frameDisplay, title='Frame2')
self._debugFrame(framecopy, title='Frame2')
points = self._appendPoint(xNew, yNew, points)
newTheta = self._calculateAngle(x,y,xNew,yNew)
if distSubsquentPoints > 0 and depth < maxDepth:
(points,nop) = self.__findNextPoints(depth+distSubsquentPoints,xNew,yNew,frame,points,newTheta,maxDepth,debug)
return (points,newTheta)
def _centerOfMassTailTracking(self, headPosition, frame, maxDepth):
x = headPosition[0]
y = headPosition[1]
initialAngle = self._hyperparameters["headEmbededParamInitialAngle"]
gaussian_blur = self._hyperparameters["headEmbededParamGaussianBlur"]
frame = cv2.GaussianBlur(frame, (gaussian_blur, gaussian_blur), 0)
points = np.zeros((2, 0))
# if i > 63033:
# (points, lastFirstTheta2) = self.__findNextPoints(0,x,y,frame,points,initialAngle,maxDepth,True)
# else:
(points, lastFirstTheta2) = self.__findNextPoints(0,x,y,frame,points,initialAngle,maxDepth,False)
output = np.zeros((1, self._nbTailPoints, 2))
points = np.insert(points, 0, headPosition, axis=1)
points = points[:,0:(len(points[0])-1)]
points = self.__smoothTail(points, self._nbTailPoints)
for idx, x in enumerate(points[0]):
output[0][idx][0] = x
output[0][idx][1] = points[1][idx]
return output
def _centerOfMassTailTrackFindMaxDepth(self, frame):
gaussian_blur = self._hyperparameters["headEmbededParamGaussianBlur"]
frame = cv2.GaussianBlur(frame, (gaussian_blur, gaussian_blur), 0)
angle = self._hyperparameters["headEmbededParamInitialAngle"]
points = np.zeros((2, 0))
x = self._headPositionFirstFrame[0]
y = self._headPositionFirstFrame[1]
(points, lastFirstTheta2) = self.__findNextPoints(0,x,y,frame,points,angle,300,False)
distToTip = np.full((200),10000)
curTailLengthTab = np.full((200),10000)
curTailLength = 0
k = 0
distFromHeadToTip = abs(math.sqrt((x-self._tailTipFirstFrame[0])**2 + (y-self._tailTipFirstFrame[1])**2))
while (curTailLength < 1.5*distFromHeadToTip) and (k < len(points[0])-1):
curTailLength = curTailLength + abs(math.sqrt((points[0,k]-points[0,k+1])**2 + (points[1,k]-points[1,k+1])**2))
distToTip[k] = abs(math.sqrt((points[0,k]-self._tailTipFirstFrame[0])**2 + (points[1,k]-self._tailTipFirstFrame[1])**2))
curTailLengthTab[k] = curTailLength
k = k + 1
minDistToTip = 1000000
indMinDistToTip = 0
for idx, dist in enumerate(distToTip):
if dist < minDistToTip:
minDistToTip = dist
indMinDistToTip = idx
return (curTailLengthTab[indMinDistToTip])