diff options
| -rw-r--r-- | detect_road_borders.cpp | 179 |
1 files changed, 171 insertions, 8 deletions
diff --git a/detect_road_borders.cpp b/detect_road_borders.cpp index 2e2ad07..5a7c31d 100644 --- a/detect_road_borders.cpp +++ b/detect_road_borders.cpp @@ -1,3 +1,5 @@ +//frame 275: da hängts!! + #include <stdlib.h> #include <stdio.h> #include <iostream> @@ -7,6 +9,34 @@ using namespace std; using namespace cv; + +int find_intersection_index(int x0, int y0, int x1, int y1, int** contour_map, bool stop_at_endpoint=true) // bresenham aus der dt. wikipedia +// returns: the point's index where the intersection happened, or a negative number if no intersection. +{ + int dx = abs(x1-x0), sx = x0<x1 ? 1 : -1; + int dy = -abs(y1-y0), sy = y0<y1 ? 1 : -1; + int err = dx+dy, e2; /* error value e_xy */ + + for(;;){ /* loop */ + + //setPixel(x0,y0); + if (contour_map[x0][y0]>0) return contour_map[x0][y0]; // found intersection? + if (contour_map[x0][y0+1]>0) return contour_map[x0][y0+1]; + if (contour_map[x0+1][y0]>0) return contour_map[x0+1][y0]; + + + + + if (stop_at_endpoint && x0==x1 && y0==y1) break; + e2 = 2*err; + if (e2 > dy) { err += dy; x0 += sx; } /* e_xy+e_x > 0 */ + if (e2 < dx) { err += dx; y0 += sy; } /* e_xy+e_y < 0 */ + } + + return -1; +} + + Mat circle_mat(int radius) { Mat result(radius*2+1, radius*2+1, CV_8U); @@ -119,16 +149,27 @@ int main(int argc, char* argv[]) 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()); @@ -240,6 +281,7 @@ int main(int argc, char* argv[]) vector<Vec4i> hierarchy; findContours(thres_tmp, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_NONE, Point(0, 0)); + /// Draw contours Mat drawing = Mat::zeros( thres_tmp.size(), CV_8UC3 ); @@ -255,7 +297,7 @@ int main(int argc, char* argv[]) for( int i = 0; i< contours.size(); i++ ) { if (hierarchy[i][3]<0) - { + { int lowy=0, lowj=-1; int highy=drawing.rows; @@ -273,6 +315,12 @@ int main(int argc, char* argv[]) if (lowj!=-1) { std::rotate(contours[i].begin(),contours[i].begin()+lowj,contours[i].end()); + + // create contour map + for (int j=0;j<frame.cols;j++) // zero it + memset(contour_map[j],0,frame.rows*sizeof(**contour_map)); + for (int j=0;j<contours[i].size(); j++) // fill it + contour_map[contours[i][j].x][contours[i][j].y]=j; int j; for (j=0;j<contours[i].size();j++) @@ -317,6 +365,7 @@ int main(int argc, char* argv[]) } #define ANG_SMOOTH 9 + double* angle_derivative = new double[contours[i].size()]; for (j=init_j+ANG_SMOOTH;j<contours[i].size()-ANG_SMOOTH;j++) { int x=drawing.cols-drawing.cols*(j-init_j)/(contours[i].size()-init_j); @@ -332,23 +381,133 @@ int main(int argc, char* argv[]) int y=25+40-2*ang_diff/ANG_SMOOTH; + angle_derivative[j] = (double)ang_diff / ANG_SMOOTH; + double quality = ((double)ang_diff/ANG_SMOOTH) * linear(contours[i][j].y, highy, 1.0, highy+ (drawing.rows-highy)/10, 0.0, true) * linear( abs(drawing.cols/2 - contours[i][j].x), 0.8*drawing.cols/2, 1.0, drawing.cols/2, 0.6, true); - int y2=25+40+100-5*quality; + //int y2=25+40+100-5*quality; line(drawing, Point(x,y), Point(x,y), Scalar(255,255,255)); - line(drawing, Point(x,25+40+100), Point(x,25+40+100), Scalar(127,127,127)); - line(drawing, Point(x,y2), Point(x,y2), Scalar(255,255,255)); + //line(drawing, Point(x,25+40+100), Point(x,25+40+100), Scalar(127,127,127)); + //line(drawing, Point(x,y2), Point(x,y2), Scalar(255,255,255)); circle(drawing, contours[i][j], 2, col); } + for (int j=init_j; j<init_j+ANG_SMOOTH; j++) angle_derivative[j]=angle_derivative[init_j+ANG_SMOOTH]; + for (int j=contours[i].size()-ANG_SMOOTH; j<contours[i].size(); j++) angle_derivative[j]=angle_derivative[contours[i].size()-ANG_SMOOTH-1]; + + double lastmax=-999999; + double bestquality=0.0; + double bestquality_max=0.0; + int bestquality_j=-1; + int bestquality_width=-1; + + #define MAX_HYST 0.8 + for (int j=3;j<contours[i].size()-3;j++) + { + if (angle_derivative[j] > lastmax) lastmax=angle_derivative[j]; + if (angle_derivative[j] < MAX_HYST*lastmax && angle_derivative[j+1] < MAX_HYST*lastmax && angle_derivative[j+2] < MAX_HYST*lastmax) + { + int j0=-1; + for (j0=j-1; j0>=0; j0--) + if (angle_derivative[j0] < MAX_HYST*lastmax && angle_derivative[j0-1] < MAX_HYST*lastmax && angle_derivative[j0-2] < MAX_HYST*lastmax) + break; + + if (lastmax > 5) + { + // the maximum area goes from j0 to j + int x=drawing.cols-drawing.cols*((j+j0)/2-init_j)/(contours[i].size()-init_j); + + double quality = ((double)angle_derivative[(j+j0)/2]) * linear(contours[i][j].y, highy, 1.0, highy+ (drawing.rows-highy)/10, 0.0, true) + * linear( abs(drawing.cols/2 - contours[i][j].x), 0.8*drawing.cols/2, 1.0, drawing.cols/2, 0.6, true); + + if (quality>bestquality) + { + bestquality=quality; + bestquality_max=lastmax; + bestquality_j=(j+j0)/2; + bestquality_width=j-j0; + } + + line(drawing, Point(x,25+40-3*quality), Point(x, 25+40), Scalar(0,255,0)); + circle(drawing, contours[i][(j+j0)/2], 1, Scalar(128,0,0)); + } + lastmax=-999999; + } + } + + circle(drawing, contours[i][bestquality_j], 3, Scalar(255,255,0)); + circle(drawing, contours[i][bestquality_j], 2, Scalar(255,255,0)); + circle(drawing, contours[i][bestquality_j], 1, Scalar(255,255,0)); + circle(drawing, contours[i][bestquality_j], 0, Scalar(255,255,0)); + + int antisaturation = 200-(200* bestquality/10.0); + if (antisaturation<0) antisaturation=0; + for (int j=0;j<bestquality_j-bestquality_width/2;j++) + circle(drawing, contours[i][j], 2, Scalar(255,antisaturation,255)); + for (int j=bestquality_j+bestquality_width/2;j<contours[i].size();j++) + circle(drawing, contours[i][j], 2, Scalar(antisaturation,255,antisaturation)); + + line(drawing, contours[i][bestquality_j], Point(drawing.cols/2, drawing.rows-drawing.rows/5), Scalar(0,64,64)); + + int intersection = find_intersection_index(drawing.cols/2, drawing.rows-drawing.rows/5, contours[i][bestquality_j].x, contours[i][bestquality_j].y, contour_map); + if (intersection>=0) // should always be true + { + circle(drawing, contours[i][intersection], 2, Scalar(0,0,0)); + circle(drawing, contours[i][intersection], 1, Scalar(0,0,0)); + + int xx=contours[i][bestquality_j].x; + int lastheight=-1; + if (intersection < bestquality_j) // im pinken bereich, also zu weit rechts + { + for (; xx>=0; xx--) + { + int intersection2 = find_intersection_index(drawing.cols/2, drawing.rows-drawing.rows/5, xx, contours[i][bestquality_j].y, contour_map); + if (intersection2<0) + break; + if (intersection2>=bestquality_j) // im gegenüberliegenden bereich? + { + if (contours[i][intersection2].y>=lastheight) xx++; // undo last step + break; + } + lastheight=contours[i][intersection2].y; + } + } + else if (intersection > bestquality_j) // im grünen bereich, also zu weit links + { + for (; xx<drawing.cols; xx++) + { + int intersection2 = find_intersection_index(drawing.cols/2, drawing.rows-drawing.rows/5, xx, contours[i][bestquality_j].y, contour_map); + if (intersection2<0) + break; + if (intersection2<=bestquality_j) // im gegenüberliegenden bereich? + { + if (contours[i][intersection2].y>=lastheight) xx--; // undo last step + break; + } + lastheight=contours[i][intersection2].y; + } + } + // else // genau den horizontpunkt getroffen + // do nothing + + int steering_point = find_intersection_index(drawing.cols/2, drawing.rows-drawing.rows/5, xx, contours[i][bestquality_j].y, contour_map, false); + if (steering_point>=0) // should be always true + line(drawing, contours[i][steering_point], Point(drawing.cols/2, drawing.rows-drawing.rows/5), Scalar(0,255,255)); + } + + cout << "bestquality_width="<<bestquality_width <<",\tquality="<<bestquality<<",\t"<<"raw max="<<bestquality_max + <<endl<<endl<<endl<<endl; + + + delete [] angle_derivative; delete [] angles; } } } - Point midpoint=Point(drawing.cols/2, 250); + /*Point midpoint=Point(drawing.cols/2, 250); // farbkreis for (int a=0; a<360; a++) { double s=sin((double)a*3.141592654/180.0); @@ -356,7 +515,7 @@ int main(int argc, char* argv[]) int r,g,b; hue2rgb(a, &r, &g, &b); line(drawing,midpoint-Point(c*5, s*5), midpoint-Point(c*30, s*30),Scalar(b,g,r) ); - } + }*/ @@ -385,10 +544,14 @@ int main(int argc, char* argv[]) alertcnt++; if (alertcnt == 20) cout << "\n\n\n\n\n\n------------------------\n\n\n"; + cout << "frame #"<<frameno<<endl; + imshow("input",thres); imshow("contours",drawing); - //waitKey(100); +// waitKey(100); waitKey(); + + frameno++; } } |