From c8b526c3da1e375155a1a0294280b6be1a5ddc97 Mon Sep 17 00:00:00 2001
From: Sebastian Gomez-Gonzalez <sgomez@tue.mpg.de>
Date: Fri, 22 Sep 2017 16:19:11 +0200
Subject: [PATCH] Testing a max blob implementation (Works)
---
include/ball_tracking/cuda/tracker.hpp | 27 ----------
src/cuda/tracker.cpp | 2 +
src/tracker.cpp | 68 +++++++++++++++++++++++++-
3 files changed, 69 insertions(+), 28 deletions(-)
diff --git a/include/ball_tracking/cuda/tracker.hpp b/include/ball_tracking/cuda/tracker.hpp
index 970926c..b453a01 100644
--- a/include/ball_tracking/cuda/tracker.hpp
+++ b/include/ball_tracking/cuda/tracker.hpp
@@ -74,33 +74,6 @@ namespace ball_tracking {
void operator()(const cv::cuda::GpuMat& src, cv::cuda::GpuMat& dst, cv::cuda::Stream& stream = cv::cuda::Stream::Null());
};
- /**
- * @brief Find candidate ball positions if any in a likelihood image
- */
- class FindBallBlob {
- private:
- class Impl;
- std::shared_ptr<Impl> _impl;
- public:
- FindBallBlob(const nlohmann::json& params);
- ~FindBallBlob();
-
- /**
- * @brief Creates an empty object
- */
- FindBallBlob();
-
- /**
- * @brief Returns all candidate locations of a ball in a single channel
- * likelihood image.
- *
- * @param[in] src A binary (thresholded) image segmenting the interesting parts
- * @returns a vector of Key Points with the locations and other optional
- * properties of the ball blobs found in the image
- */
- std::vector<cv::KeyPoint> operator()(cv::InputArray src);
- };
-
};
};
diff --git a/src/cuda/tracker.cpp b/src/cuda/tracker.cpp
index 262124f..0befcf5 100644
--- a/src/cuda/tracker.cpp
+++ b/src/cuda/tracker.cpp
@@ -7,6 +7,7 @@
#include <ball_tracking/cuda/tracker.hpp>
#include <ball_tracking/utils.hpp>
#include <opencv2/core.hpp>
+#include <opencv2/cudaarithm.hpp>
using namespace cv::cuda;
using namespace cv;
@@ -65,6 +66,7 @@ namespace ball_tracking {
}
}
};
+
};
class BallLogLikelihood::Impl {
diff --git a/src/tracker.cpp b/src/tracker.cpp
index 0129d01..ff134b5 100644
--- a/src/tracker.cpp
+++ b/src/tracker.cpp
@@ -4,6 +4,8 @@
#include <ball_tracking/utils.hpp>
#include <algorithm>
#include <json.hpp>
+#include <queue>
+#include <unordered_set>
#ifdef WITH_CUDA
#include <ball_tracking/cuda/tracker.hpp>
@@ -80,7 +82,6 @@ namespace ball_tracking {
/**
* OpenCV Blob detection algorithm
- * TODO: Continue
*/
class CV_blob_detect {
private:
@@ -120,6 +121,69 @@ namespace ball_tracking {
}
};
+ /**
+ * Finds the blob of highest intensity and returns it only if is above
+ * a given threshold
+ */
+ class Max_blob_detect {
+ private:
+ double high_thresh, low_thresh;
+ int maxArea;
+ public:
+ void set_blob_params(const json& conf) {
+ double phigh = conf.at("high_thresh");
+ double plow = conf.at("low_thresh");
+ high_thresh = log(phigh/(1-phigh));
+ low_thresh = log(plow/(1-plow));
+ maxArea = conf.at("maxArea");
+ }
+
+ Max_blob_detect(const json& conf) {
+ set_blob_params(conf);
+ }
+
+ int h(int rows, const Point& p) {
+ return p.x + p.y*rows;
+ }
+
+ vector<KeyPoint> operator()(cv::InputArray _llh) {
+ Mat llh = _llh.getMat();
+ Point maxLoc;
+ double maxVal;
+ minMaxLoc(llh, 0, &maxVal, 0, &maxLoc);
+ vector<KeyPoint> ans;
+ const vector<Point>& delta{Point(0,1), Point(0,-1), Point(1,0), Point(-1,0)};
+ int rows = llh.rows, cols = llh.cols;
+ if (maxVal > high_thresh) {
+ deque<Point> q{maxLoc};
+ unordered_set<int> s{h(rows,maxLoc)};
+ vector<Point> visited{maxLoc};
+ for (int i=0; i<maxArea && !q.empty(); i++) {
+ Point parent = q.front(); q.pop_front();
+ for (const auto& d : delta) {
+ Point child = parent + d;
+ if (child.x >= 0 && child.x<cols && child.y >= 0 && child.y<rows &&
+ llh.at<double>(child.y, child.x)>low_thresh && s.count(h(rows, child))==0) {
+ q.push_back(child);
+ visited.push_back(child);
+ s.insert(h(rows, child));
+ }
+ }
+ }
+
+ Point2f center(0,0);
+ int low_x=cols+1, high_x=-1;
+ for (const auto p : visited) {
+ center.x += p.x; center.y += p.y;
+ low_x = min(low_x, p.x);
+ high_x = max(high_x, p.x);
+ }
+ ans.push_back( KeyPoint((1.0/visited.size())*center, high_x-low_x+1) );
+ }
+ return ans;
+ }
+ };
+
};
class Binarizer::Impl {
@@ -197,6 +261,8 @@ namespace ball_tracking {
const json& conf = config.at("conf");
if (type == "cv_blob_detect") {
bf = CV_blob_detect(conf);
+ } else if (type == "max_blob_detect") {
+ bf = Max_blob_detect(conf);
} else {
throw std::logic_error("Type of the blob finder algorithm not recognized");
}
--
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