PixelObjectList implementation - Duplicates by visual identification

main.cpp

@@ -44,6 +44,7 @@
 #include <fstream>
 #include "frame.h"
 #include "target_identifier.h"
+#include "target_analyzer.h"
 #include "imgimport.h"
 #include "decklink_import.h"
 #include "pictureimport.h"
@@ -78,6 +79,7 @@ int processors;
 ImageImport * importer = NULL;
 TargetIdentifier identifier;
 MetadataInput * logReader = NULL;
+TargetAnalyzer * analyzer = NULL;
 
 double aveFrameTime = 1000;
 int frameCount = 0;
@@ -87,9 +89,16 @@ void worker(Frame* f) {
     workers++;
     assert(!f->get_img().empty());
     identifier.process_frame(f);
-    if (intermediate && f->get_objects().size() > 0) {
+    int poSize = f->get_objects().size();
+    if (intermediate && poSize > 0) {
         intermediate_buffer.push(f);
     }
+
+    //Analyze the image after it is identified
+    analyzer = TargetAnalyzer::getInstance();
+    for (int i = 0; i < poSize; i++){
+        analyzer->analyze_pixelobject(f->get_objects()[i]);
+    }
 
     workers--;
     auto end = std::chrono::steady_clock::now();
@@ -168,6 +177,7 @@ int main(int argc, char** argv) {
 
     ioService.post(boost::bind(read_images));
     ioService.post(boost::bind(assign_workers));
+    //ioService.post(boost::bind());
     ioService.post(boost::bind(output));
 
     boost::asio::io_service::work work(ioService);

modules/core/include/object.h

@@ -34,7 +34,7 @@ class PixelObject;
 
 class Object {
 public:
-    Object(std::string type);
+    Object();
 
     /**
      * @brief Getter for Object image
@@ -92,21 +92,47 @@ class Object {
      */
     double get_error_angle();
 
+    /**
+     * @brief Getter for the pixel distance
+     *
+     * @return The distance covered by each pixel of the image in the X and Y
+     * directions.
+     */
+    cv::Point2d get_pixel_distance(); 
+
+    /**
+     * @brief Setter for the pixel distance
+     *
+     * @param The distance covered by each pixel of the image in the X and Y
+     * directions.
+     */
+    void set_pixel_distance(cv::Point2d); 
+
+    /**
+     * @brief Setter for the pixel distance
+     *
+     * @param The distance covered by each pixel of the image in the X direction.
+     * @param The distance covered by each pixel of the image in the Y
+     * direction.
+     */
+    void set_pixel_distance(double x, double y); 
+
+
     /**
      * @brief Adds given PixelObject to Object's storage
      *        and recalculate target information
      *
-     * @param o PixelObject to be added
+     * @param po PixelObject to be added
      */
-    void add_object(Object * o);
+    void add_pobject(PixelObject * po);
 
     /**
      * @brief Getter for pixel Objects
      *
      * @return Array containing all of the PixelObjects that were used to
      *         create this instance of Object
      */
-    const std::vector<Object *> & get_objects();
+    const std::vector<PixelObject *> & get_pobjects();
 private:
 
     /**

modules/core/include/pixel_object.h

@@ -4,7 +4,7 @@
  *
  * @section LICENSE
  *
- *  Copyright (c) 2015, Waterloo Aerial Robotics Group (WARG)
+ *  Copyright (c) 2015-2016, Waterloo Aerial Robotics Group (WARG)
  *  All rights reserved.
  *
  *  This software is licensed under a modified version of the BSD 3 clause license
@@ -141,6 +141,7 @@ class PixelObject{
      * @brief Cropped picture of object
      */
     cv::Mat crop;
+
 };
 
 

modules/core/include/target.h

@@ -4,7 +4,7 @@
  *
  * @section LICENSE
  *
- *  Copyright (c) 2015, Waterloo Aerial Robotics Group (WARG)
+ *  Copyright (c) 2015-2016, Waterloo Aerial Robotics Group (WARG)
  *  All rights reserved.
  *
  *  This software is licensed under a modified version of the BSD 3 clause license
@@ -33,7 +33,7 @@ class Object;
 
 class Target{
 public:
-    Target(std::string type);
+    Target();
 
     /**
      * @brief Getter for Target image
@@ -54,7 +54,16 @@ class Target{
      *
      * @return GPS co-ordinates of the Target
      */
-    cv::Point2f get_centroid();
+    cv::Point2d get_centroid();
+
+    /**
+     * @brief Getter for the pixel distance
+     *
+     * @return The distance covered by each pixel of the image in the X and Y
+     * directions.
+     */
+    cv::Point2d get_pixel_distance();
+
 
     /**
      * @brief Getter for area
@@ -106,6 +115,16 @@ class Target{
      *         create this instance of Target
      */
     const std::vector<Object *> & get_objects();
+
+    /**
+     * @brief Setter for the pixel distance.
+     *
+     * @param x The distance covered by each pixel of the image in the X.
+     * @param y The distance covered by each pixel of the image in the Y.
+     */
+    void set_pixel_distance(double x, double y);
+    void set_pixel_distance(cv::Point2d);
+
 private:
 
     /**
@@ -126,8 +145,15 @@ class Target{
     /**
      * @brief GPS co-ordinates of the centre of the Target
      */
-    cv::Point2f centroid;
+    cv::Point2d centroid;
 
+    /**
+     * @brief Distance covered by each pixel in the original target image
+     * (non-cropped). Each pixel is measured in terms of meters.
+     */
+    cv::Point2d pixelDistance;
+
+
     /**
      * @brief area of the target in square metres
      */

modules/core/src/object.cpp

@@ -29,4 +29,19 @@
     SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
+#include "object.h"
+#include "pixel_object.h"
+
+Object::Object(){
+
+}
+
+void Object::add_pobject(PixelObject * po){
+    pixelObjects.push_back(po);
+}
+
+const std::vector<PixelObject*>& Object::get_pobjects(){
+    return pixelObjects; 
+}
+
 

modules/core/src/target.cpp

@@ -1,32 +1,16 @@
-/* 
-    This file is part of WARG's computer-vision
-
-    Copyright (c) 2015, Waterloo Aerial Robotics Group (WARG)
-    All rights reserved.
-
-    Redistribution and use in source and binary forms, with or without
-    modification, are permitted provided that the following conditions are met:
-    1. Redistributions of source code must retain the above copyright
-       notice, this list of conditions and the following disclaimer.
-    2. Redistributions in binary form must reproduce the above copyright
-       notice, this list of conditions and the following disclaimer in the
-       documentation and/or other materials provided with the distribution.
-    3. Usage of this code MUST be explicitly referenced to WARG and this code
-       cannot be used in any competition against WARG.
-    4. Neither the name of the WARG nor the names of its contributors may be used
-       to endorse or promote products derived from this software without specific
-       prior written permission.
-
-    THIS SOFTWARE IS PROVIDED BY WARG ''AS IS'' AND ANY
-    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-    DISCLAIMED. IN NO EVENT SHALL WARG BE LIABLE FOR ANY
-    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
+/**
+ * @file target.cpp
+ * @author WARG
+ *
+ * @section LICENSE
+ *
+ *  Copyright (c) 2015-2016, Waterloo Aerial Robotics Group (WARG)
+ *  All rights reserved.
+ *
+ *  This software is licensed under a modified version of the BSD 3 clause license
+ *  that should have been included with this software in a file called COPYING.txt
+ *  Otherwise it is available at:
+ *  https://raw.githubusercontent.com/UWARG/computer-vision/master/COPYING.txt
+ */
 
 

modules/targetanalysis/CMakeLists.txt

@@ -1,6 +1,6 @@
-include_directories(include ../core/include)
+include_directories(include ../core/include ../targetid/include)
 ADD_DEFINITIONS("-DBOOST_LOG_DYN_LINK")
-add_library(TargetAnalysis src/area_analyzer.cpp src/target_analyzer.cpp src/target_loader.cpp)
-target_link_libraries(TargetAnalysis ${Boost_LIBRARIES} Core)
+add_library(TargetAnalysis src/area_analyzer.cpp src/target_analyzer.cpp src/target_loader.cpp src/pixel_object_list.cpp)
+target_link_libraries(TargetAnalysis ${Boost_LIBRARIES} Core TargetIdentification)
 target_compile_features(TargetAnalysis PRIVATE)
 add_subdirectory("test")

modules/targetanalysis/include/object_list.h

@@ -0,0 +1,75 @@
+/* 
+    This file is part of WARG's computer-vision
+
+    Copyright (c) 2015, Waterloo Aerial Robotics Group (WARG)
+    All rights reserved.
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions are met:
+    1. Redistributions of source code must retain the above copyright
+       notice, this list of conditions and the following disclaimer.
+    2. Redistributions in binary form must reproduce the above copyright
+       notice, this list of conditions and the following disclaimer in the
+       documentation and/or other materials provided with the distribution.
+    3. Usage of this code MUST be explicitly referenced to WARG and this code 
+       cannot be used in any competition against WARG.
+    4. Neither the name of the WARG nor the names of its contributors may be used 
+       to endorse or promote products derived from this software without specific
+       prior written permission.
+
+    THIS SOFTWARE IS PROVIDED BY WARG ''AS IS'' AND ANY
+    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+    DISCLAIMED. IN NO EVENT SHALL WARG BE LIABLE FOR ANY
+    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef OBJECT_LIST_H_INCLUDED
+#define OBJECT_LIST_H_INCLUDED
+
+/**
+ * @file object_list.h
+ *
+ * @brief Class which describes a structure for storing pixel targets and then
+ * later finding a matching set of targets.
+ *
+ * Module geolocates targets using their pixel locations
+ * and photo metadata, determines target type and calculates 
+ * possible error. As targets are processed unique targets will 
+ * be identified and the data combined into a single object.
+ *
+ *
+**/
+
+#include "frame.h"
+#include "object.h"
+
+struct oNode{
+    Object* o;
+    struct oNode* next;
+
+};
+
+class ObjectList 
+{
+private:
+    oNode* head;
+    oNode* tail;
+    int listLength;
+public:
+    //Constructor
+    ObjectList();
+    //Destructor
+    ~ObjectList();
+
+    bool addNode(Object* o);
+    bool getGPSDuplicates();
+    bool getVisualDuplicates();
+};
+
+#endif // OBJECT_LIST_H_INCLUDED