Auball - Revision history

Jca: /* Ball finder plugin */

2020-02-16T13:19:32Z

Ball finder plugin

← Older revision		Revision as of 15:19, 16 February 2020
Line 14:		Line 14:
	The code in the function is explained below.		The code in the function is explained below.

	The images are obtained with the test image "ball08.png", that is loaded into image-pool image 78.		The images are obtained with the "ucamserver" and the test image "ball08.png", that is loaded into image-pool image 78.

	>> poolset img=78 loadpng=./ball08.png		>> poolset img=78 loadpng=./ball08.png

Jca: /* Ball finder plugin */

2020-02-16T13:18:31Z

Ball finder plugin

← Older revision		Revision as of 15:18, 16 February 2020
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	The code in the function is explained below.		The code in the function is explained below.

			The images are obtained with the test image "ball08.png", that is loaded into image-pool image 78.

			>> poolset img=78 loadpng=./ball08.png
			>> ball img=78 filt debug
			Using gauss filter (5x5)
			Hough circles found 3 circles
			AUBall:: 0 (361, 93, 27) Hue=122, sat=114 - blue(122)= 0 off, red(166)=-44 off (OK: blue)
			AUBall:: 1 (469, 91, 30) Hue=163, sat=187 - blue(122)= 41 off, red(166)= -3 off (OK: red)
			AUBall:: 2 ( 61, 45, 24) Hue=141, sat=127 - blue(122)= 19 off, red(166)=-25 off (NOT: low intensity)
			<ball Cnt="2" blue=1, red=1/>

	=== Sourse image ===		=== Sourse image ===

Jca: /* Hough transform */

2020-02-16T13:14:08Z

Hough transform

← Older revision		Revision as of 15:14, 16 February 2020
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	Figure 50. The found circles (balls?) are shown in the original image with blue and red circles. The removed top part is shown as a red line. The white ring is a rejected circle.		Figure 50. The found circles (balls?) are shown in the original image with blue and red circles. The removed top part is shown as a red line. The white ring is a rejected circle.
			The green squares in the circles ar the area, where the colour of the ball is checked (see below).

	====Code====		====Code====

Jca at 13:10, 16 February 2020

2020-02-16T13:10:09Z

← Older revision		Revision as of 15:10, 16 February 2020
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	[[File:code_hough.png]]		[[File:code_hough.png]]

	~~=== Canny ===~~

	~~The Hough includes a canny edge detector, to make the image binary.~~

	~~[[File:ball_5271_51_canny.png \| 400px]]~~

	~~Figure 51. A replica of the Canny edge filtered image that the Hough transform uses as the basis for estimation.~~

	===Ball check===		===Ball check===
Line 203:		Line 195:

	There is further an overlap filter. If two Hough circles overlap, then the circle with the best colour (hue) match is selected (from line 759).		There is further an overlap filter. If two Hough circles overlap, then the circle with the best colour (hue) match is selected (from line 759).


			=== Canny ===

			The Hough includes a canny edge detector, to make the image binary.

			[[File:ball_5271_51_canny.png \| 400px]]

			Figure 51. A replica of the Canny edge filtered image that the Hough transform uses as the basis for estimation.

	=== Reporting ===		=== Reporting ===

	The rest of the code (line ~~205~~ to line ~~245~~) is for reporting the result to the client and to the MRC.		The rest of the code in the HandleCommand function (line 208 to line 270) is for reporting the result to the client and to the MRC.

	== Parameters ==		== Parameters ==

Jca: /* Ball color */

2020-02-16T13:06:42Z

Ball color

← Older revision		Revision as of 15:06, 16 February 2020
Line 181:		Line 181:
	Figure 51. A replica of the Canny edge filtered image that the Hough transform uses as the basis for estimation.		Figure 51. A replica of the Canny edge filtered image that the Hough transform uses as the basis for estimation.

	===Ball ~~color~~===		===Ball check===

	The code in this function filters the found circles		The code in this function filters the found circles
Line 199:		Line 199:

	The average value is calculated in a subroutine (line 888), and further draws the used square in the annotated image (if used with the debug option).		The average value is calculated in a subroutine (line 888), and further draws the used square in the annotated image (if used with the debug option).

			===Ball overlap===

			There is further an overlap filter. If two Hough circles overlap, then the circle with the best colour (hue) match is selected (from line 759).

	=== Reporting ===		=== Reporting ===

Jca: /* Ball color */

2020-02-16T13:02:35Z

Ball color

← Older revision		Revision as of 15:02, 16 February 2020
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	===Ball color===		===Ball color===

	The code		The code in this function filters the found circles

	~~179~~ findUsableCircles(circles, usable, imgHue, ~~varTopLine->getInt()~~, ~~imgRGB~~);		674 void findUsableCircles(std::vector<cv::Vec3f> & circles,
			std::vector<UCircle> & usable,
			UImage * imgHue, int tl,
			UImage * imgAnn,
			UImage * imgSat,
			UImage * imgVal)
			{
			...

	~~checkes~~ the ~~colour in the centre of the found circles~~, and ~~annotates with 1 or 2 if the colour~~ is ~~within the red or blue range~~, and further ~~paints circles~~ in the ~~RGB~~ image~~. Other circles are deleted~~.		For each circle, the average hue, saturation and value are tested in a square area in this code.

			[[File:code_get_centre_values.png]]

			The average value is calculated in a subroutine (line 888), and further draws the used square in the annotated image (if used with the debug option).

	=== Reporting ===		=== Reporting ===

Jca: /* Hough transform */

2020-02-16T12:51:45Z

Hough transform

← Older revision		Revision as of 14:51, 16 February 2020
Line 169:		Line 169:
	====Code====		====Code====

	The result of the Hough transform is delivered in a vector with 3 floats (line ~~165~~).		The result of the Hough transform is delivered in a vector with 3 floats (line 191).

	~~164 // prepare result circles~~		[[File:code_hough.png]]
	~~165 std~~:~~:vector<cv::Vec3f> circles;~~
	~~166 std::vector<int> usable; // 0 = not, 1 = red, 2= blue~~
	~~167 // find circles~~
	~~168 cv::HoughCircles(use, circles, cv::HOUGH_GRADIENT, varHough->getInt(2),~~
	~~169 use~~.~~rows/16, // change this value to detect circles with different distances to each other~~
	~~170 varHough->getInt(0), // Canny top parameter [0..1000~~]
	~~171 varHough->getInt(1), // circle quality limit~~
	~~172 varSize->getInt(0), // minimum radius in pixels~~
	~~173 varSize->getInt(1) // maximum radius in pixels~~
	~~174 );~~
	~~175 isOK = circles.size() > 0;~~
	~~176 printf("Hough circles found %d circles\n", (int)circles.size());~~

	=== Canny ===		=== Canny ===

Jca: /* Smoothing */

2020-02-16T12:49:16Z

Smoothing

← Older revision		Revision as of 14:49, 16 February 2020
Line 144:		Line 144:
	Blur filtering is optional but recommended.		Blur filtering is optional but recommended.

	~~137 if (varFilter->getBool())~~		[[File:code_enh_gauss.png]]
	~~138 {~~
	~~139 int n = varFilter->getInt(1);~~
	~~140 if (true)~~
	~~141 {~~
	~~142 printf("Using median filter (%dx%d)\n", n,n);~~
	~~143 cv~~:~~:medianBlur(use, buffer, n);~~
	~~144 }~~
	~~145 else~~
	~~146 {~~
	~~147 printf("Using gauss filter (%dx%d)\n", n,n);~~
	~~148 cv::GaussianBlur(use, buffer, cv::Size(n, n), 0 , 0);~~
	~~149 }~~
	~~150 use = buffer~~.~~clone();~~
	~~151 }~~

	A ~~median~~ blur is used here, but a ~~Gaussian blur was probably better~~.		A Gaussian blur is used here, but a median could be used too.

	=== Hough transform ===		=== Hough transform ===

Jca: /* Smoothing */

2020-02-16T12:43:15Z

Smoothing

← Older revision		Revision as of 14:43, 16 February 2020
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	[[File:ball_5271_55_filtered.png \| 400px]]		[[File:ball_5271_55_filtered.png \| 400px]]
			[[File:ball08_enh_filt.png \| 400px]]

	Figure 55. The smoothing is a Gauss blur with a mask size of 5 ('filter="1 5"').		Figure 55. The smoothing is a Gauss blur with a mask size of 5 ('filter="1 5"').

Jca: /* Code */

2020-02-16T12:42:00Z

Code

← Older revision		Revision as of 14:42, 16 February 2020
Line 128:		Line 128:
	The opening code is straight forward - a number of erodes followed by the same number of dilations.		The opening code is straight forward - a number of erodes followed by the same number of dilations.

	~~124 cv::Mat buffer;~~
	~~125 cv::Mat mask = (cv::Mat_<char>(3,3) <<~~
	~~126 1, 1, 1,~~
	~~127 1, 1, 1,~~
	~~128 1, 1, 1);~~
	~~129 cv::erode(use, buffer, mask, cv::Point(-1,-1), varOpening->getInt(0));~~
	~~130 cv::dilate(buffer, use, mask, cv::Point(-1,-1), varOpening->getInt(0));~~

	[[File:code_opening_filter.png]]		[[File:code_opening_filter.png]]