detect_road_borders etwas verschönert (WIP)

2 files changed, 125 insertions, 99 deletions

diff --git a/detect_road_borders.cpp b/detect_road_borders.cpp
index 5a7c31d..33d3d2f 100644
--- a/detect_road_borders.cpp
+++ b/detect_road_borders.cpp
@@ -124,86 +124,72 @@ double linear(double x, double x1, double y1, double x2, double y2, bool clip=fa
 }
 
 
-#define AREA_HISTORY 10
-int alertcnt=21;
-int main(int argc, char* argv[])
+int annotate_regions(Mat img) //img is treated as black/white (0, !=0)
+// changes img, and returns the number of found areas
 {
-	if (argc!=2) {printf("usage: %s videofile\n",argv[0]); exit(1);}
-	VideoCapture capture(argv[1]);
-	
-	if (!capture.isOpened())
+	int region_index=1; // "0" means "no area"
+	for (int row = 0; row<img.rows; row++)
 	{
-		cout << "couldn't open file" << endl;
-		exit(1);
+		uchar* data=img.ptr<uchar>(row);
+
+		for (int col=0; col<img.cols;col++)
+		{
+			if (*data==255)
+			{
+				floodFill(img, Point(col,row), region_index);
+				region_index++;
+			}
+
+			data++;
+		}
 	}
-	
-	Mat erode_kernel=circle_mat(10);
-	
-	
-	Mat frame;
-	capture >> frame;
-	
-	
+	return region_index-1;
+}
 
+Mat nicely_draw_regions(Mat annotated, int* area_cnt, int total_area_cnt, int largest_region)
+{
+	Mat result;
+	annotated.copyTo(result);
 	
-	
-	Mat thres(frame.rows, frame.cols, CV_8UC1);
-	Mat tmp(frame.rows, frame.cols, CV_8UC1);
-	int** contour_map;
-	contour_map=new int*[frame.cols];
-	for (int i=0;i<frame.cols;i++)
-		contour_map[i]=new int[frame.rows];
-	
-	int area_history[AREA_HISTORY];
-	for (int i=0;i<AREA_HISTORY;i++) area_history[i]=1;
-	int area_history_ptr=0;
-	int area_history_sum=AREA_HISTORY;
-	cout << endl<<endl<<endl;
-	int frameno=0;
-	while (1)
+	// Das ist nur zum schönsein.
+	for (int row=0; row<result.rows; row++)
 	{
-		capture >> frame;
-		
-		if (frameno<190)
-		{
-			frameno++;
-			continue;
-		}
-		
-		cvtColor(frame, tmp, CV_RGB2GRAY);
-		threshold(tmp, thres, 132, 255, THRESH_BINARY);
-		dilate(thres,tmp,Mat());
-		erode(tmp,thres,Mat());
-		erode(thres,tmp,Mat());
-		dilate(tmp,thres,Mat());
-		
-		int area_index=1; // "0" means "no area"
-		for (int row = 0; row<thres.rows; row++)
-		{
-			uchar* data=thres.ptr<uchar>(row);
+		uchar* data=result.ptr<uchar>(row);
 
-			for (int col=0; col<thres.cols;col++)
+		for (int col=0; col<result.cols;col++)
+		{
+			if (*data)
 			{
-				if (*data==255)
-				{
-					floodFill(thres, Point(col,row), area_index);
-					area_index++;
-				}
-
-				data++;
+				long long tmp = (long long)30000*(long)area_cnt[*data-1]/(long)total_area_cnt + 64;
+				if (tmp>200) tmp=200;
+				if (*data==largest_region) tmp=255;
+				*data=tmp;
 			}
+			
+			data++;
 		}
+	}
+}
+
+double only_retain_largest_region(Mat img, int* size)
+// img is a binary image
+// in *size, if non-NULL, the size of the largest area is stored.
+// returns: ratio between the second-largest and largest region
+//          0.0 means "that's the only region", 1.0 means "both had the same size!"
+// can be interpreted as 1.0 - "confidence".
+{
+		int n_regions = annotate_regions(img);
 		
-		
-		int* area_cnt = new int[area_index-1];
+		// calculate the area of each region
+		int* area_cnt = new int[n_regions];
+		for (int i=0;i<n_regions;i++) area_cnt[i]=0;
 		int total_area_cnt=0;
-		for (int i=0;i<area_index-1;i++) area_cnt[i]=0;
 		
-		for (int row = 0; row<thres.rows; row++)
+		for (int row=0; row<img.rows; row++)
 		{
-			uchar* data=thres.ptr<uchar>(row);
+			uchar* data=img.ptr<uchar>(row);
 
-			for (int col=0; col<thres.cols;col++)
+			for (int col=0; col<img.cols;col++)
 			{
 				if (*data)
 				{
@@ -216,30 +202,11 @@ int main(int argc, char* argv[])
 		}
 
 
-		/*
-		// Das ist nur zum schönsein. man wird einfach den größten area_cnt nehmen wollen und den rest nullen.
-		for (int row = 0; row<thres.rows; row++)
-		{
-			uchar* data=thres.ptr<uchar>(row);
-
-			for (int col=0; col<thres.cols;col++)
-			{
-				if (*data)
-				{
-					long long tmp = (long long )30000*(long)area_cnt[*data-1]/(long)total_area_cnt + 64;
-					if (tmp>200) tmp=255;
-					*data=tmp;
-				}
-				
-				data++;
-			}
-		}
-		*/
 		
 		
 		// finde die größte und zweitgrößte fläche
 		int maxi=0, maxa=area_cnt[0], maxi2=-1;
-		for (int i=1;i<area_index-1;i++)
+		for (int i=1;i<n_regions;i++)
 		{
 			if (area_cnt[i]>maxa)
 			{
@@ -251,11 +218,11 @@ int main(int argc, char* argv[])
 		
 		
 		// lösche alle bis auf die größte fläche
-		for (int row = 0; row<thres.rows; row++)
+		for (int row = 0; row<img.rows; row++)
 		{
-			uchar* data=thres.ptr<uchar>(row);
+			uchar* data=img.ptr<uchar>(row);
 
-			for (int col=0; col<thres.cols;col++)
+			for (int col=0; col<img.cols;col++)
 			{
 				if (*data)
 				{
@@ -266,6 +233,67 @@ int main(int argc, char* argv[])
 		}
 		
 		
+		if (size) *size=area_cnt[maxi];
+		
+		if (maxi2==-1) return 0;
+		else           return (double)area_cnt[maxi2]/(double)area_cnt[maxi];
+}
+
+#define AREA_HISTORY 10
+int alertcnt=21;
+int main(int argc, char* argv[])
+{
+	if (argc!=2) {printf("usage: %s videofile\n",argv[0]); exit(1);}
+	VideoCapture capture(argv[1]);
+	
+	if (!capture.isOpened())
+	{
+		cout << "couldn't open file" << endl;
+		exit(1);
+	}
+	
+	Mat erode_kernel=circle_mat(10);
+	
+	
+	Mat frame;
+	capture >> frame;
+	
+	
+
+	
+	
+	Mat thres(frame.rows, frame.cols, CV_8UC1);
+	Mat tmp(frame.rows, frame.cols, CV_8UC1);
+	int** contour_map;
+	contour_map=new int*[frame.cols];
+	for (int i=0;i<frame.cols;i++)
+		contour_map[i]=new int[frame.rows];
+	
+	int area_history[AREA_HISTORY];
+	for (int i=0;i<AREA_HISTORY;i++) area_history[i]=1;
+	int area_history_ptr=0;
+	int area_history_sum=AREA_HISTORY;
+	cout << endl<<endl<<endl;
+	int frameno=0;
+	while (1)
+	{
+		capture >> frame;
+		
+		if (frameno<190)
+		{
+			frameno++;
+			continue;
+		}
+		
+		cvtColor(frame, tmp, CV_RGB2GRAY);
+		threshold(tmp, thres, 132, 255, THRESH_BINARY);
+		dilate(thres,tmp,Mat());
+		erode(tmp,thres,Mat());
+		erode(thres,tmp,Mat());
+		dilate(tmp,thres,Mat());
+		
+		int area_abs;
+		double area_ratio = only_retain_largest_region(thres, &area_abs);
 		
 		
 		dilate(thres, tmp, erode_kernel);
@@ -273,9 +301,8 @@ int main(int argc, char* argv[])
 
 
 		
-		Mat thres_tmp, thres_tmp_;
-		thres.copyTo(thres_tmp);
-		//thres_tmp=thres_tmp_.rowRange(0, 0.6*thres_tmp_.rows );
+		Mat thres_tmp;
+		thres.copyTo(thres_tmp); // this is needed because findContours destroys its input.
 		
 		vector<vector<Point> > contours;
 		vector<Vec4i> hierarchy;
@@ -521,21 +548,21 @@ int main(int argc, char* argv[])
 		
 		
 		area_history_sum-=area_history[area_history_ptr];
-		area_history[area_history_ptr]=area_cnt[maxi];
-		area_history_sum+=area_cnt[maxi];
+		area_history[area_history_ptr]=area_abs;
+		area_history_sum+=area_abs;
 		area_history_ptr=(area_history_ptr+1)%AREA_HISTORY;
 		int prev_area=area_history_sum/AREA_HISTORY;
 		
-		cout << "\r\e[2A area = "<<area_cnt[maxi]<<", \tvize = "<<((maxi2!=-1)?area_cnt[maxi2]:-1)<<", \tratio="<< ((maxi2!=-1)?(area_cnt[maxi]/area_cnt[maxi2]):-1 )<<"                  \n" <<
-		        "prev area = "<<prev_area<<",\tchange="<< (100*area_cnt[maxi]/prev_area -100) <<"%\n"<<flush;
+		cout << "\r\e[2A area = "<<area_abs<<",\tratio="<< area_ratio <<"                  \n" <<
+		        "prev area = "<<prev_area<<",\tchange="<< (100*area_abs/prev_area -100) <<"%\n"<<flush;
 		
-		if (maxi!=-1 && maxi2!=-1 && (area_cnt[maxi]/area_cnt[maxi2]) < 10)
+		if (area_ratio>0.1)
 		{
 			cout << "\nALERT: possibly split road!\n\n\n" << flush;
 			alertcnt=0;
 		}
 		
-		if (abs(100*area_cnt[maxi]/prev_area -100) >=10)
+		if (abs(100*area_abs/prev_area -100) >=10)
 		{
 			cout << "\nALERT: too fast road area change!\n\n\n" << flush;
 			alertcnt=0;
diff --git a/mariokart01.cpp b/mariokart01.cpp
index 955bbe7..3e4d98b 100644
--- a/mariokart01.cpp
+++ b/mariokart01.cpp
@@ -697,8 +697,7 @@ try {
   joystick.reset();
   getchar();
 joystick.reset();
-joystick.press_a(true);
-getchar();
+
 #ifdef LINUX
   XorgGrabber capture("glN64");
 #endif