From 4ba56d593d28e44b26418b79e23df5f3669ce59e Mon Sep 17 00:00:00 2001
From: Jens Ahrensfeld <jens@jayfield.org>
Date: Thu, 4 Jul 2024 21:51:27 +0200
Subject: [PATCH] - added bbox_int() - use bbox_int() - changed colors of
 tracks

---
 ocv_corner_tracker.py | 15 +++++++++------
 util.py               |  8 ++++++++
 2 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/ocv_corner_tracker.py b/ocv_corner_tracker.py
index 68a6257..58c29f0 100644
--- a/ocv_corner_tracker.py
+++ b/ocv_corner_tracker.py
@@ -2,7 +2,7 @@ import cv2
 import numpy as np
 import imutils as im
 
-from util import bbox_round, image_crop, to_rect, bbox_add_position, bbox_center
+from util import image_crop, to_rect, bbox_add_position, bbox_center, bbox_int
 
 IMG_SCALE_UP = 1
 IMG_ROTATE = 0
@@ -11,6 +11,9 @@ COLOR_TRACKER = (0, 255, 0)
 COLOR_TRACKER_EXT = (0, 255, 255)
 COLOR_MATCHER = (0, 0, 255)
 COLOR_TEMPLATE = (255, 0, 0)
+COLOR_TRACK = (255, 255, 0)
+COLOR_CIRCLE = (0, 255, 0)
+
 TEMPLATE_MATCH_OVERLAP = 0
 
 CONSOLE_DEBUG = False
@@ -113,18 +116,18 @@ class CornerTracker:
 			print(f"{self.name}: {s}")
 
 	def _debug(self, _image_anno, tracking_anno, matcher_bbox_local):
-		matcher_bbox = bbox_round(bbox_add_position(matcher_bbox_local, self.tracking_bb))
+		matcher_bbox = bbox_int(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))
+		matcher_top_left_local, matcher_bottom_right_local = to_rect(bbox_int(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)
 
-		tracker_rect = to_rect(bbox_round(self.tracking_bb))
+		tracker_rect = to_rect(bbox_int(self.tracking_bb))
 		cv2.rectangle(_image_anno, tracker_rect[0], tracker_rect[1], self.color, 1)
 
 	def init_reference_frame(self, _image: np.array):
@@ -212,7 +215,7 @@ class CornerTracker:
 		# draw path
 		for _ct in self.corner_matcher_list:
 			for p in _ct.path:
-				cv2.line(_image_anno, bbox_round(p['from']), bbox_round(p['to']), (0, 0, 255), 1)
+				cv2.line(_image_anno, bbox_int(p['from']), bbox_int(p['to']), COLOR_TRACK, 1)
 
 		distances = []
 		for _i in range(0, corners_refined.shape[0]):
@@ -226,7 +229,7 @@ class CornerTracker:
 			self._print(f" -- Corner coarse    [{i}] {corners_raw[_i]}")
 			self._print(f" -- Corner fine      [{i}] {corners_refined[_i]}")
 			self._print(f" -- Corner distance  [{i}] {corners_refined[_i] - self.corner_ref[_i]}")
-			cv2.circle(_image_anno, (int(corners_refined[_i, 0]), int(corners_refined[_i, 1])), 4, (0, 255, 0))
+			cv2.circle(_image_anno, (int(corners_refined[_i, 0]), int(corners_refined[_i, 1])), 4, COLOR_CIRCLE)
 
 		if IMAGE_DEBUG:
 			cv2.imshow(f"{self.name}: Tracker: ", self.tracking_img)
diff --git a/util.py b/util.py
index d5147b8..89933b5 100644
--- a/util.py
+++ b/util.py
@@ -25,6 +25,14 @@ def bbox_round(src):
 	return res
 
 
+def bbox_int(src):
+	res = ()
+	for s in src:
+		res += (int(s),)
+
+	return res
+
+
 def bbox_center(bbox):
 	x = bbox[0] + bbox[2]/2
 	y = bbox[1] + bbox[3]/2