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Updated how the homography is validated (which should be more robust now). Added new parameters Homography/allCornersVisible, Homography/minAngle and General/autoPauseOnDetection.

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git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@377 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe
2014-08-06 01:17:17 +00:00
parent 8b5056d208
commit 072f6cc8f5
5 changed files with 194 additions and 50 deletions
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src/FindObject.cpp
+116 -43
View File
@@ -17,6 +17,7 @@
#include <QtCore/QFileInfo>
#include <QtCore/QStringList>
#include <QtCore/QTime>
#include <QtGui/QGraphicsRectItem>
#include <stdio.h>
FindObject::FindObject(QObject * parent) :
@@ -510,7 +511,8 @@ public:
matches_(matches),
objectId_(objectId),
kptsA_(kptsA),
kptsB_(kptsB)
kptsB_(kptsB),
code_(DetectionInfo::kRejectedUndef)
{
Q_ASSERT(matches && kptsA && kptsB);
}
@@ -523,6 +525,7 @@ public:
QMultiMap<int, int> getInliers() const {return inliers_;}
QMultiMap<int, int> getOutliers() const {return outliers_;}
const cv::Mat & getHomography() const {return h_;}
DetectionInfo::RejectedCode rejectedCode() const {return code_;}
protected:
virtual void run()
@@ -565,15 +568,20 @@ protected:
}
}
// ignore homography when all features are inliers
if(inliers_.size() == (int)outlierMask_.size() && !h_.empty())
{
if(Settings::getHomography_ignoreWhenAllInliers() || cv::countNonZero(h_) < 1)
{
// ignore homography when all features are inliers
h_ = cv::Mat();
code_ = DetectionInfo::kRejectedAllInliers;
}
}
}
else
{
code_ = DetectionInfo::kRejectedLowMatches;
}
//UINFO("Homography Object %d time=%d ms", objectIndex_, time.elapsed());
}
@@ -582,6 +590,7 @@ private:
int objectId_;
const std::vector<cv::KeyPoint> * kptsA_;
const std::vector<cv::KeyPoint> * kptsB_;
DetectionInfo::RejectedCode code_;
std::vector<int> indexesA_;
std::vector<int> indexesB_;
@@ -860,65 +869,129 @@ bool FindObject::detect(const cv::Mat & image, DetectionInfo & info)
threads[j]->wait();
int id = threads[j]->getObjectId();
if(!threads[j]->getHomography().empty())
QTransform hTransform;
DetectionInfo::RejectedCode code = DetectionInfo::kRejectedUndef;
if(threads[j]->getHomography().empty())
{
if(threads[j]->getInliers().size() >= Settings::getHomography_minimumInliers())
code = threads[j]->rejectedCode();
}
if(code == DetectionInfo::kRejectedUndef &&
threads[j]->getInliers().size() < Settings::getHomography_minimumInliers() )
{
code = DetectionInfo::kRejectedLowInliers;
}
if(code == DetectionInfo::kRejectedUndef)
{
const cv::Mat & H = threads[j]->getHomography();
hTransform = QTransform(
H.at<double>(0,0), H.at<double>(1,0), H.at<double>(2,0),
H.at<double>(0,1), H.at<double>(1,1), H.at<double>(2,1),
H.at<double>(0,2), H.at<double>(1,2), H.at<double>(2,2));
// is homography valid?
// Here we use mapToScene() from QGraphicsItem instead
// of QTransform::map() because if the homography is not valid,
// huge errors are set by the QGraphicsItem and not by QTransform::map();
QRectF objectRect = objects_.value(id)->rect();
QGraphicsRectItem item(objectRect);
item.setTransform(hTransform);
QPolygonF rectH = item.mapToScene(item.rect());
// If a point is outside of 2x times the surface of the scene, homography is invalid.
for(int p=0; p<rectH.size(); ++p)
{
const cv::Mat & H = threads[j]->getHomography();
QTransform hTransform(
H.at<double>(0,0), H.at<double>(1,0), H.at<double>(2,0),
H.at<double>(0,1), H.at<double>(1,1), H.at<double>(2,1),
H.at<double>(0,2), H.at<double>(1,2), H.at<double>(2,2));
int distance = Settings::getGeneral_multiDetectionRadius(); // in pixels
if(Settings::getGeneral_multiDetection())
if(rectH.at(p).x() < -image.cols || rectH.at(p).x() > image.cols*2 ||
rectH.at(p).y() < -image.rows || rectH.at(p).y() > image.rows*2)
{
// Get the outliers and recompute homography with them
matchesList.push_back(threads[j]->getOutliers());
matchesId.push_back(id);
code= DetectionInfo::kRejectedNotValid;
break;
}
}
// compute distance from previous added same objects...
QMultiMap<int, QTransform>::iterator objIter = info.objDetected_.find(id);
for(;objIter!=info.objDetected_.end() && objIter.key() == id; ++objIter)
// angle
if(code == DetectionInfo::kRejectedUndef &&
Settings::getHomography_minAngle() > 0)
{
for(int a=0; a<rectH.size(); ++a)
{
// Find the smaller angle
QLineF ab(rectH.at(a).x(), rectH.at(a).y(), rectH.at((a+1)%4).x(), rectH.at((a+1)%4).y());
QLineF cb(rectH.at((a+1)%4).x(), rectH.at((a+1)%4).y(), rectH.at((a+2)%4).x(), rectH.at((a+2)%4).y());
float angle = ab.angle(cb);
float minAngle = (float)Settings::getHomography_minAngle();
if(angle < minAngle ||
angle > 180.0-minAngle)
{
qreal dx = objIter.value().m31() - hTransform.m31();
qreal dy = objIter.value().m32() - hTransform.m32();
int d = (int)sqrt(dx*dx + dy*dy);
if(d < distance)
{
distance = d;
}
code = DetectionInfo::kRejectedByAngle;
break;
}
}
}
// multi detection
if(code == DetectionInfo::kRejectedUndef &&
Settings::getGeneral_multiDetection())
{
int distance = Settings::getGeneral_multiDetectionRadius(); // in pixels
// Get the outliers and recompute homography with them
matchesList.push_back(threads[j]->getOutliers());
matchesId.push_back(id);
// compute distance from previous added same objects...
QMultiMap<int, QTransform>::iterator objIter = info.objDetected_.find(id);
for(;objIter!=info.objDetected_.end() && objIter.key() == id; ++objIter)
{
qreal dx = objIter.value().m31() - hTransform.m31();
qreal dy = objIter.value().m32() - hTransform.m32();
int d = (int)sqrt(dx*dx + dy*dy);
if(d < distance)
{
distance = d;
}
}
if(distance >= Settings::getGeneral_multiDetectionRadius())
if(distance < Settings::getGeneral_multiDetectionRadius())
{
QRect rect = objects_.value(id)->rect();
info.objDetected_.insert(id, hTransform);
info.objDetectedSizes_.insert(id, rect.size());
info.objDetectedInliers_.insert(id, threads[j]->getInliers());
info.objDetectedOutliers_.insert(id, threads[j]->getOutliers());
info.objDetectedInliersCount_.insert(id, threads[j]->getInliers().size());
info.objDetectedOutliersCount_.insert(id, threads[j]->getOutliers().size());
info.objDetectedFilenames_.insert(id, objects_.value(id)->filename());
}
else
{
info.rejectedInliers_.insert(id, threads[j]->getInliers());
info.rejectedOutliers_.insert(id, threads[j]->getOutliers());
code = DetectionInfo::kRejectedSuperposed;
}
}
else
// Corners visible
if(code == DetectionInfo::kRejectedUndef &&
Settings::getHomography_allCornersVisible())
{
info.rejectedInliers_.insert(id, threads[j]->getInliers());
info.rejectedOutliers_.insert(id, threads[j]->getOutliers());
// Now verify if all corners are in the scene
QRectF sceneRect(0,0,image.cols, image.rows);
for(int p=0; p<rectH.size(); ++p)
{
if(!sceneRect.contains(QPointF(rectH.at(p).x(), rectH.at(p).y())))
{
code = DetectionInfo::kRejectedCornersOutside;
break;
}
}
}
}
if(code == DetectionInfo::kRejectedUndef)
{
// Accepted!
//std::cout << "H= " << threads[j]->getHomography() << std::endl;
info.objDetected_.insert(id, hTransform);
info.objDetectedSizes_.insert(id, objects_.value(id)->rect().size());
info.objDetectedInliers_.insert(id, threads[j]->getInliers());
info.objDetectedOutliers_.insert(id, threads[j]->getOutliers());
info.objDetectedInliersCount_.insert(id, threads[j]->getInliers().size());
info.objDetectedOutliersCount_.insert(id, threads[j]->getOutliers().size());
info.objDetectedFilenames_.insert(id, objects_.value(id)->filename());
}
else
{
//Rejected!
info.rejectedInliers_.insert(id, threads[j]->getInliers());
info.rejectedOutliers_.insert(id, threads[j]->getOutliers());
info.rejectedCodes_.insert(id, code);
}
}
}
src/MainWindow.cpp
+23 -5
View File
@@ -32,6 +32,7 @@
#include <QtCore/QFile>
#include <QtCore/QBuffer>
#include <QtCore/QThread>
#include <QtCore/QLineF>
#include <QtGui/QFileDialog>
#include <QtGui/QMessageBox>
@@ -129,7 +130,7 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
ui_->menuView->addAction(ui_->dockWidget_plot->toggleViewAction());
connect(ui_->toolBox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
ui_->imageView_source->setGraphicsViewMode(false);
ui_->imageView_source->setGraphicsViewMode(true);
ui_->imageView_source->setTextLabel(tr("Press \"space\" to start the camera..."));
ui_->imageView_source->setMirrorView(Settings::getGeneral_mirrorView());
connect((QCheckBox*)ui_->toolBox->getParameterWidget(Settings::kGeneral_mirrorView()),
@@ -963,22 +964,39 @@ void MainWindow::update(const cv::Mat & image)
QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
QMultiMap<int, int> rejectedInliers = info.rejectedInliers_.value(id);
QMultiMap<int, int> rejectedOutliers = info.rejectedOutliers_.value(id);
if(jter.value().size() < Settings::getHomography_minimumInliers())
int rejectedCode = info.rejectedCodes_.value(id);
if(rejectedCode == DetectionInfo::kRejectedLowMatches)
{
label->setText(QString("Too low matches (%1)").arg(jter.value().size()));
}
else if(rejectedInliers.size() >= Settings::getHomography_minimumInliers())
else if(rejectedCode == DetectionInfo::kRejectedAllInliers)
{
label->setText(QString("Ignored, all inliers (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
}
else
else if(rejectedCode == DetectionInfo::kRejectedNotValid)
{
label->setText(QString("Not valid homography (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
}
else if(rejectedCode == DetectionInfo::kRejectedLowInliers)
{
label->setText(QString("Too low inliers (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
}
else if(rejectedCode == DetectionInfo::kRejectedCornersOutside)
{
label->setText(QString("Corners not visible (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
}
else if(rejectedCode == DetectionInfo::kRejectedByAngle)
{
label->setText(QString("Angle too small (%1 in %2 out)").arg(rejectedInliers.size()).arg(rejectedOutliers.size()));
}
}
}
if(camera_->isRunning() && Settings::getGeneral_autoPauseOnDetection() && info.objDetected_.size())
{
this->pauseProcessing();
}
// Add homography rectangles when homographies are computed
QMultiMap<int, QMultiMap<int,int> >::const_iterator inliersIter = info.objDetectedInliers_.constBegin();
QMultiMap<int, QMultiMap<int,int> >::const_iterator outliersIter = info.objDetectedOutliers_.constBegin();
src/RectItem.cpp
+29 -1
View File
@@ -48,7 +48,35 @@ void RectItem::showDescription()
placeHolder_->setBrush(QBrush(QColor ( 0, 0, 0, 170 ))); // Black transparent background
QGraphicsTextItem * text = new QGraphicsTextItem(placeHolder_);
text->setDefaultTextColor(this->pen().color().rgb());
text->setPlainText(tr("Object=%1").arg(id_));
QTransform t = this->transform();
QPolygonF rectH = this->mapToScene(this->rect());
float angle = 90.0f;
for(int a=0; a<rectH.size(); ++a)
{
// Find the smaller angle
QLineF ab(rectH.at(a).x(), rectH.at(a).y(), rectH.at((a+1)%4).x(), rectH.at((a+1)%4).y());
QLineF cb(rectH.at((a+1)%4).x(), rectH.at((a+1)%4).y(), rectH.at((a+2)%4).x(), rectH.at((a+2)%4).y());
float angleTmp = ab.angle(cb);
if(angleTmp > 90.0f)
{
angleTmp = 180.0f - angleTmp;
}
if(angleTmp < angle)
{
angle = angleTmp;
}
}
text->setPlainText(tr(
"Object=%1\n"
"Homography= [\n"
" %2 %3 %4\n"
" %5 %6 %7\n"
" %8 %9 %10]\n"
"Angle=%11").arg(id_)
.arg(t.m11()).arg(t.m12()).arg(t.m13())
.arg(t.m21()).arg(t.m22()).arg(t.m23())
.arg(t.m31()).arg(t.m32()).arg(t.m33())
.arg(angle));
placeHolder_->setRect(text->boundingRect());
}