include/helper.h

@@ -126,7 +126,7 @@ inline double getMedianOf3(double a, double b, double c)
 // da obige Fkt manchmal schon existiert:
 // d darf keine seiteneffekte haben!!!
 // myround genommen, da round manchmal in math.h existiert, aber nicht immer
-#define myRound(d) ((int) ((d)<0 ? (d)-.5 : (d)+.5))
+#define myRound(d) (static_cast<int>(((d)<0 ? (d)-.5 : (d)+.5)))
 #define myClip(d, min, max) (((d) < min) ? (min) : (((d) > max) ? (max) : (d)))
 
 // get image color from 3-channel-images with values 0..255

include/recognition.h

@@ -29,14 +29,72 @@ class TrackPoint;
 class QRect;
 class BackgroundFilter;
 class Control;
+class ImageItem;
 
-// berechnet pixelverschiebung aufgrund von schraegsicht bei einem farbmarker
-// Maik Dissertation Seite 138
-// boxImageCentre ohne Border
-Vec2F autoCorrectColorMarker(Vec2F &boxImageCentre, Control *controlWidget);
+namespace reco {
+    // berechnet pixelverschiebung aufgrund von schraegsicht bei einem farbmarker
+    // Maik Dissertation Seite 138
+    // boxImageCentre ohne Border
+    Vec2F autoCorrectColorMarker(Vec2F &boxImageCentre, Control *controlWidget);
 
-//void getMarkerPos(IplImage *iplImg, QRect roi, QList<TrackPoint> *crossList, int markerBrightness, int borderSize, bool ignoreWithoutMarker, bool autoWB, BackgroundFilter *bgFilter, int recoMethod);
-void getMarkerPos(cv::Mat &img, QRect &roi, QList<TrackPoint> *crossList, Control *controlWidget, int borderSize, BackgroundFilter *bgFilter);
-void findCodeMarker(cv::Mat &img, QList<TrackPoint> *crossList, Control *controlWidget, Vec2F offsetCropRect2Roi=Vec2F{0,0});
-cv::Ptr<cv::aruco::Dictionary> getDictMip36h12();
+    //void getMarkerPos(IplImage *iplImg, QRect roi, QList<TrackPoint> *crossList, int markerBrightness, int borderSize, bool ignoreWithoutMarker, bool autoWB, BackgroundFilter *bgFilter, int recoMethod);
+    void getMarkerPos(cv::Mat &img, QRect &roi, QList<TrackPoint> *crossList, Control *controlWidget, int borderSize, BackgroundFilter *bgFilter);
+
+    namespace detail {
+        struct ColorBlob{
+            cv::RotatedRect        box;          ///< bounding box
+            Vec2F                  imageCenter;  ///< Center in whole image (instead of ROI)
+            QColor                 color;        ///< color of detected blob
+            std::vector<cv::Point> contour;      ///< detected contour
+            double                 maxExpansion; ///< length of longer side of bounding rect
+        };
+
+        struct ColorBlobDetectionParams{
+            QColor  fromColor;            ///< from color of the colormap
+            QColor  toColor;              ///< to color of the colormap
+            bool    invHue       = false; ///< flag indicating if hue should be inverted (for red-ish colors)
+            bool    useOpen      = true;  ///< should open-operation be used
+            bool    useClose     = true;  ///< should close-operation be used
+            int     radiusOpen  = 5;     ///< radius of open-kernel
+            int     radiusClose = 5;     ///< radius of close-kernel
+            int     minArea      = 1000;  ///< min area of the contour
+            int     maxArea      = 5000;  ///< max area of the contour
+            Vec2F   offset;               ///< offset of ROI to image
+            double  maxRatio = 2;         ///< maximum allowed ratio of sides for bounding rect
+            cv::Mat img;                  ///< img in which to detect the blobs
+            cv::Mat binary;               ///< img for the binary mask
+        };
+
+        struct BlackDotOptions
+        {
+            int  borderSize = 0; ///< size of border from borderFilter
+            bool restrictPosition =
+                false; ///< should the position of the black dot be restricted (see restrictPositionBlackDot())
+            bool ignoreWithoutMarker   = true;  ///< should markers without dot be ignored?
+            bool autoCorrect           = false; ///< should perspective correction be performed
+            bool autoCorrectOnlyExport = false; ///< should perspective correction only be performed when exporting trajectories
+            ImageItem *imageItem       = nullptr; ///< used for getAngleToGround and such
+            QColor     midHue;                    ///< middle hue of the color map
+            double     dotSize      = 5;         ///< size of the black dot
+            Control *  controlWidget = nullptr;   ///< pointer to Control used for autoCorrect
+        };
+
+        struct ArucoOptions
+        {
+            Control *controlWidget       = nullptr; ///< pointer to Control used for autoCorrect
+            bool     ignoreWithoutMarker = true;    ///< should a blob without valid arucoMarker be ignored
+            bool     autoCorrect         = false;   ///< should perspective correction be performed
+            bool autoCorrectOnlyExport   = false;   ///< should perspective correction only be performed when exporting trajectories
+        };
+
+        std::vector<ColorBlob> findColorBlob(const ColorBlobDetectionParams &options);
+        void restrictPositionBlackDot(ColorBlob& blob, ImageItem *imageItem, int bS, cv::Rect& cropRect);
+        cv::Mat customBgr2Gray(const cv::Mat& subImg, const QColor& midHue);
+        void refineWithBlackDot(std::vector<ColorBlob>& blobs, const cv::Mat& img, QList<TrackPoint>& crossList, const BlackDotOptions& options);
+        void refineWithAruco(std::vector<ColorBlob> &blobs, const cv::Mat& img, QList<TrackPoint> &crossList, ArucoOptions& options);
+
+        void findCodeMarker(cv::Mat &img, QList<TrackPoint> *crossList, Control *controlWidget, Vec2F offsetCropRect2Roi=Vec2F{0,0});
+        cv::Ptr<cv::aruco::Dictionary> getDictMip36h12();
+    }
+}
 #endif

src/petrack.cpp

@@ -3789,7 +3789,7 @@ void Petrack::updateImage(bool imageChanged) // default = false (only true for n
                     //                    getMarkerPos(mIplImgFiltered, rect, &persList, mControlWidget->markerBrightness->value(),
                     //                                getImageBorderSize(), (mControlWidget->markerIgnoreWithout->checkState() == Qt::Checked),
                     //                                (mControlWidget->recoAutoWB->checkState() == Qt::Checked), getBackgroundFilter(), recoMethod); //#tempImg
-                    getMarkerPos(mImgFiltered, rect, &persList, mControlWidget, getImageBorderSize(), getBackgroundFilter());
+                    reco::getMarkerPos(mImgFiltered, rect, &persList, mControlWidget, getImageBorderSize(), getBackgroundFilter());
 //                    markerLess = false;
 //                    debout << "Testausgabe persList: [Frame " << frameNum << "] " << endl;
 //                    for (int i = 0; i < persList.size(); ++i)

src/trackerReal.cpp

@@ -363,7 +363,7 @@ int TrackerReal::calculate(Tracker *tracker, ImageItem *imageItem, ColorPlot *co
 
                             Vec2F moveDir(0,0);
                             if (exportAutoCorrect)
-                                moveDir += autoCorrectColorMarker((*tracker)[i][j], mMainWindow->getControlWidget());
+                                moveDir += reco::autoCorrectColorMarker((*tracker)[i][j], mMainWindow->getControlWidget());
 
                             pos = imageItem->getPosReal(((*tracker)[i][j]+moveDir+br).toQPointF(), bestZ);
 
@@ -380,7 +380,7 @@ int TrackerReal::calculate(Tracker *tracker, ImageItem *imageItem, ColorPlot *co
                     {
                         Vec2F moveDir(0,0);
                         if (exportAutoCorrect)
-                            moveDir += autoCorrectColorMarker((*tracker)[i][j], mMainWindow->getControlWidget());
+                            moveDir += reco::autoCorrectColorMarker((*tracker)[i][j], mMainWindow->getControlWidget());
 
                         pos = imageItem->getPosReal(((*tracker)[i][j]+moveDir+br).toQPointF(), height);
                         // die frame nummer der animation wird TrackPoint der PersonReal mitgegeben,
@@ -436,7 +436,7 @@ int TrackerReal::calculate(Tracker *tracker, ImageItem *imageItem, ColorPlot *co
                             {
                                 Vec2F moveDir(0,0);
                                 if (exportAutoCorrect)
-                                    moveDir += autoCorrectColorMarker((*tracker)[i][j], mMainWindow->getControlWidget());
+                                    moveDir += reco::autoCorrectColorMarker((*tracker)[i][j], mMainWindow->getControlWidget());
 
                                 pos2 = (imageItem->getPosReal(((*tracker)[i][j+1]+moveDir+br).toQPointF(), height) - pos)/(anz+1);
                                 for (f = 1; f <= anz; ++f)