big change: detectors need not cleanup between detections and they ig…

…nore each other's circles for free; global cleanup is used only once at the end

since it is quite fast; all console printing is now turned off and can be turned on during compilation

CMakeLists.txt

@@ -2,13 +2,16 @@ cmake_minimum_required(VERSION 2.8)
 project(whycon)
 
 # set some flags
-SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Wall -O4 -march=native -Wfatal-errors")
+add_definitions(-std=c++11)
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_RELEASE} -Wall -O4 -march=native -Wfatal-errors")
+#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_RELEASE} -Wall -O0 -g -Wfatal-errors")
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake-configs")
 
 # set some options
 option(DISABLE_ROS "Do not build for ROS, but as standalone code" OFF)
 option(ENABLE_FULL_UNDISTORT "Undistort the whole frame" OFF)
 option(ENABLE_RANDOMIZED_THRESHOLD "Use rand() instead of binary-like search for threshold" OFF)
+option(ENABLE_VERBOSE "Enable verbose console messages during detection" OFF)
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake ${CMAKE_CURRENT_SOURCE_DIR}/include/whycon/config.h)
 
 #### ROS CONFIGURATION ####

config.h.cmake

@@ -3,5 +3,12 @@
 
 #cmakedefine ENABLE_FULL_UNDISTORT
 #cmakedefine ENABLE_RANDOMIZED_THRESHOLD
+#cmakedefine ENABLE_VERBOSE
+
+#if defined(ENABLE_VERBOSE)
+#define WHYCON_DEBUG(x) cout << x << endl
+#else
+#define WHYCON_DEBUG(x)
+#endif
 
 #endif

include/whycon/circle_detector.h

@@ -9,6 +9,8 @@
 #include <opencv2/opencv.hpp>
 #include <math.h>
 #include <vector>
+#include <whycon/config.h>
+#include <unordered_set>
 
 #define WHYCON_DEFAULT_OUTER_DIAMETER 0.122
 #define WHYCON_DEFAULT_INNER_DIAMETER 0.050
@@ -24,7 +26,7 @@ namespace cv {
       CircleDetector(int width, int height, Context* context, float diameter_ratio = WHYCON_DEFAULT_DIAMETER_RATIO);
       ~CircleDetector();
 
-      Circle detect(const cv::Mat& image, const Circle& previous_circle = cv::CircleDetector::Circle());
+      Circle detect(const cv::Mat& image, bool& fast_cleanup_possible, const Circle& previous_circle = cv::CircleDetector::Circle());
       bool examineCircle(const cv::Mat& image, Circle& circle, int ii, float areaRatio, bool search_in_window);
       void cover_last_detected(cv::Mat& image);
 
@@ -46,6 +48,7 @@ namespace cv {
 
       int threshold, threshold_counter;
       void change_threshold(void);
+      inline int threshold_pixel(uchar* ptr);
 
       int queueStart,queueEnd,queueOldStart,numSegments;
 
@@ -54,22 +57,23 @@ namespace cv {
       int local_window_width, local_window_height, local_window_x, local_window_y;
 
       Context* context;
-
+      int detector_id, BLACK, WHITE, UNKNOWN;
+      int initial_segment_id;
+
+      inline bool is_unclassified(int pixel_class);
+
     public:
       class Circle {
         public:
           Circle(void);
 
-          float x;
-          float y;
+          float x, y;
           int size;
           int maxy,maxx,miny,minx;
           int mean;
           int type;
-          float roundness;
-          float bwRatio;
-          bool round;
-          bool valid;
+          float roundness, bwRatio;
+          bool round, valid;
           float m0,m1; // axis dimensions
           float v0,v1; // axis (v0,v1) and (v1,-v0)
 
@@ -84,12 +88,17 @@ namespace cv {
           Context(int _width, int _height);
           void debug_buffer(const cv::Mat& image, cv::Mat& img);
 
+          void cleanup_buffer(void);
+          void cleanup_buffer(const Circle& c);
+          void reset(void);
+
           std::vector<int> buffer, queue;
           int width, height;
 
-        private:
-          void cleanup(const Circle& c, bool fast_cleanup);
-          friend class CircleDetector;
+          int next_detector_id;
+          std::unordered_set<int> valid_segment_ids;
+          int total_segments;
+
       };
   };
 }

launch/mono.launch

@@ -2,9 +2,11 @@
   <group ns="camera">
     <node pkg="image_proc" type="image_proc" name="image_proc"/>
   </group>
-   <node name="whycon" type="whycon" pkg="whycon" _launch-prefix="konsole --new-tab -e bash /home/v01d/misc/scripts/ros-debug" output="screen">
+   <node name="whycon" type="whycon" pkg="whycon" _launch-prefix="konsole --new-tab -e bash /home/v01d/misc/scripts/ros-debug"  output="screen">
     <remap from="/camera/image_raw" to="/camera/image_rect_color"/>
-    <param name="targets" value="2"/>
+    <param name="targets" value="1"/>
+    <param name="max_refine" value="5"/>
+    <param name="max_attempts" value="5"/>
     <!--<param name="axis" value="$(find whycon)/axis"/>-->
   </node>
 </launch>