removed IMAGE_DEBUG

ocv_corner_tracker.py

@@ -1,6 +1,5 @@
 import cv2
 import numpy as np
-import imutils as im
 import argparse
 
 from util import image_crop, to_rect, bbox_add_position, bbox_center, bbox_round
@@ -15,53 +14,35 @@ COLOR_TEMPLATE = (255, 0, 0)
 COLOR_TRACK = (255, 255, 0)
 COLOR_CIRCLE = (0, 255, 0)
 
-TEMPLATE_MATCH_OVERLAP = 0
-
 CONSOLE_DEBUG = False
-IMAGE_DEBUG = False
 
 
 class Corner:
-	def __init__(self, reference: np.array, bbox: np.array, name: str = 'Corner'):
+	def __init__(self, _ref_img: np.array, _ref_bb: np.array, name: str = 'Corner'):
-		self.ref = {'image': reference, 'bbox': bbox, 'offset': (0, 0)}
+		self.ref_img = _ref_img
+		self.ref_bb = _ref_bb
+		self.ref_offset = (0, 0)
 		self.name = name
 		self._path = []
 		self.line_from = None
 		self.first_frame = True
 
-	def _debug(self, _image, matcher_res, matcher_start_x, matcher_start_y, template_scaled, crop_scaled):
+	def _debug(self, _image, matcher_res, matcher_start_x, matcher_start_y):
-		template_img = self.ref['image']
-		offset = self.ref['offset']
-
 		(min_val, max_val, min_loc, max_loc) = cv2.minMaxLoc(matcher_res)
 
 		self._print(f"(min_val, max_val, min_loc, max_loc): {(min_val, max_val, min_loc, max_loc)}")
 		self._print(f"matcher_start   : {(matcher_start_x, matcher_start_y)}")
 		self._print(f"matcher_res     : {matcher_res.shape}")
-		self._print(f"crop            : {_image.shape}")
+		self._print(f"template        : {self.ref_img.shape}")
-		self._print(f"crop_scaled     : {crop_scaled.shape}")
+		self._print(f"offset 		  : {self.ref_offset}")
-		self._print(f"template        : {template_img.shape}")
-		self._print(f"template_scaled : {template_scaled.shape}")
-		self._print(f"offset 		  : {offset}")
-
-		if IMAGE_DEBUG:
-			matcher_bbox_local = (matcher_start_x, matcher_start_y, template_img.shape[1], template_img.shape[0])
-			matcher_crop = image_crop(_image, matcher_bbox_local)
-			cv2.imshow(f"{self.name}: Matcher res", matcher_res)
-			cv2.imshow(f"{self.name}: Matcher view", matcher_crop)
 
 	def _print(self, s):
 		if CONSOLE_DEBUG:
 			print(f"{self.name}: {s}")
 
 	def process(self, _image: np.array):
-		_image_anno = _image.copy()
-
-		template = self.ref['image']
-		bb_template = self.ref['bbox']
-
 		# Match
-		matcher_res = cv2.matchTemplate(_image, template, cv2.TM_CCOEFF_NORMED)
+		matcher_res = cv2.matchTemplate(_image, self.ref_img, cv2.TM_CCOEFF_NORMED)
 		(min_val, max_val, min_loc, max_loc) = cv2.minMaxLoc(matcher_res)
 
 		# Get matcher coord
@@ -71,17 +52,17 @@ class Corner:
 		# Store offset at first frame
 		if self.first_frame:
 			self.first_frame = False
-			offset_x = matcher_start_x - bb_template[0]
+			offset_x = matcher_start_x - self.ref_bb[0]
-			offset_y = matcher_start_y - bb_template[1]
+			offset_y = matcher_start_y - self.ref_bb[1]
-			self.ref['offset'] = (offset_x, offset_y)
+			self.ref_offset = (offset_x, offset_y)
 
 		# Compensate offset
-		matcher_start_x -= self.ref['offset'][0]
+		matcher_start_x -= self.ref_offset[0]
-		matcher_start_y -= self.ref['offset'][1]
+		matcher_start_y -= self.ref_offset[1]
 
-		matcher_bbox_local = (matcher_start_x, matcher_start_y, template.shape[1], template.shape[0])
+		matcher_bbox_local = (matcher_start_x, matcher_start_y, self.ref_img.shape[1], self.ref_img.shape[0])
 
-		self._debug(_image_anno, matcher_res, matcher_start_x, matcher_start_y, template, _image)
+		self._debug(_image, matcher_res, matcher_start_x, matcher_start_y)
 
 		return matcher_bbox_local, matcher_res
 
@@ -120,15 +101,9 @@ class CornerTracker:
 		if CONSOLE_DEBUG:
 			print(f"{self.name}: {s}")
 
-	def _debug(self, _image_anno, tracking_anno, matcher_bbox_local):
+	def _debug(self, _image_anno, matcher_bbox_local):
 		matcher_bbox = bbox_round(bbox_add_position(matcher_bbox_local, self.tracking_bb))
 
-		template_top_left, template_bottom_right = to_rect(self.matching_tpl_bb)
-		cv2.rectangle(tracking_anno, template_top_left, template_bottom_right, COLOR_TEMPLATE, 1)
-
-		matcher_top_left_local, matcher_bottom_right_local = to_rect(bbox_round(matcher_bbox_local))
-		cv2.rectangle(tracking_anno, matcher_top_left_local, matcher_bottom_right_local, COLOR_MATCHER, 1)
-
 		matcher_rect = to_rect(matcher_bbox)
 		cv2.rectangle(_image_anno, matcher_rect[0], matcher_rect[1], COLOR_MATCHER, 1)
 
@@ -239,9 +214,9 @@ class CornerTracker:
 		CornerTracker.mask_apply(_image_local, self.tracking_mask)
 		_image_processed_local = CornerTracker.image_process(_image_local)
 
-		return self._match(_image_processed_local, _image_anno, _image_local.copy())
+		return self._match(_image_processed_local, _image_anno)
 
-	def _match(self, _image: np.array, _image_anno: np.array, tracking_anno):
+	def _match(self, _image: np.array, _image_anno: np.array):
 		corner_list = []
 		for _ct in self.corner_matcher_list:
 			matcher_bbox_local, matcher = _ct.process(_image)
@@ -250,7 +225,7 @@ class CornerTracker:
 			corner = bbox_center(matcher_bbox_local)
 			corner_list.append(corner)
 
-			self._debug(_image_anno, tracking_anno, matcher_bbox_local)
+			self._debug(_image_anno, matcher_bbox_local)
 
 		# refine corners
 		corners_local = self._corner_refine(_image, corner_list)
@@ -290,9 +265,6 @@ class CornerTracker:
 			self._print(f" -- Corner distance  [{i}] {corners_refined[_i] - self.corner_ref[_i]}")
 			cv2.circle(_image_anno, (int(corners_refined[_i, 0] + 0.5), int(corners_refined[_i, 1] + 0.5)), 4, COLOR_CIRCLE)
 
-		if IMAGE_DEBUG:
-			cv2.imshow(f"{self.name}: Tracker: ", tracking_anno)
-
 		return _mean_distance
 
 	@staticmethod