jens/ocv_template_matching
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- fixed masking

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- no image blur for processed image
This commit is contained in:
jens
2024-07-06 09:07:59 +02:00
parent 12f2cb5c36
commit de57a8d9a2
1 changed files with 12 additions and 13 deletions
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ocv_corner_tracker.py
+12 -13
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@@ -18,7 +18,7 @@ COLOR_CIRCLE = (0, 255, 0)
TEMPLATE_MATCH_OVERLAP = 0 TEMPLATE_MATCH_OVERLAP = 0
CONSOLE_DEBUG = False CONSOLE_DEBUG = False
IMAGE_DEBUG = True IMAGE_DEBUG = False
DO_TRACKING = False DO_TRACKING = False
@@ -158,7 +158,7 @@ class CornerTracker:
@staticmethod @staticmethod
def image_process(_image: np.array): def image_process(_image: np.array):
result = cv2.cvtColor(_image, cv2.COLOR_BGR2GRAY) result = cv2.cvtColor(_image, cv2.COLOR_BGR2GRAY)
result = cv2.GaussianBlur(result, (9, 9), 0) # result = cv2.GaussianBlur(result, (9, 9), 0)
return result return result
@@ -175,10 +175,9 @@ class CornerTracker:
return False return False
tracking_img = image_crop(_image, bb) tracking_img = image_crop(_image, bb)
image_process_local = CornerTracker.image_process(tracking_img)
tracking_mask = image_crop(_mask, bb) tracking_mask = image_crop(_mask, bb)
masked_tracking_img = tracking_img.copy() CornerTracker.mask_apply(tracking_img, tracking_mask)
CornerTracker.mask_apply(masked_tracking_img, tracking_mask) image_processed_local = CornerTracker.image_process(tracking_img)
self.corner_matcher_list = [] self.corner_matcher_list = []
self.tracking_bb = bb self.tracking_bb = bb
@@ -188,11 +187,11 @@ class CornerTracker:
count = 1 count = 1
while True: while True:
print(f"Add Corner {count}") print(f"Add Corner {count}")
matching_tpl_bb = cv2.selectROI("Matcher Reference", masked_tracking_img, fromCenter=True, showCrosshair=True) matching_tpl_bb = cv2.selectROI("Matcher Reference", tracking_img, fromCenter=True, showCrosshair=True)
if bbox_center(matching_tpl_bb) == (0, 0): if bbox_center(matching_tpl_bb) == (0, 0):
break break
matching_tpl_img = image_crop(image_process_local.copy(), matching_tpl_bb) matching_tpl_img = image_crop(image_processed_local, matching_tpl_bb)
self.corner_matcher_list.append(Corner(matching_tpl_img, matching_tpl_bb, name=f"Corner-{count}")) self.corner_matcher_list.append(Corner(matching_tpl_img, matching_tpl_bb, name=f"Corner-{count}"))
corner_list.append(bbox_center(matching_tpl_bb)) corner_list.append(bbox_center(matching_tpl_bb))
@@ -215,10 +214,10 @@ class CornerTracker:
self.tracker.init(_image, self.tracking_bb) self.tracker.init(_image, self.tracking_bb)
print(corner_list) print(corner_list)
cv2.imshow("image_process_local", image_process_local) cv2.imshow("image_process_local", image_processed_local)
# Refine initial corners and store them as reference # Refine initial corners and store them as reference
corners_local = self._corner_refine(image_process_local, corners=corner_list) corners_local = self._corner_refine(image_processed_local, corners=corner_list)
# Transform corners to global # Transform corners to global
self.corner_ref = [] self.corner_ref = []
@@ -242,18 +241,18 @@ class CornerTracker:
return self._match(_image_processed_local, _image_anno, _image_local.copy()) return self._match(_image_processed_local, _image_anno, _image_local.copy())
def _match(self, _image: np.array, _image_anno: np.array, tracking_anno): def _match(self, _image: np.array, _image_anno: np.array, tracking_anno):
corners_raw = [] corner_list = []
for _ct in self.corner_matcher_list: for _ct in self.corner_matcher_list:
matcher_bbox_local, matcher = _ct.process(_image) matcher_bbox_local, matcher = _ct.process(_image)
# Draw path # Draw path
corner = bbox_center(matcher_bbox_local) corner = bbox_center(matcher_bbox_local)
corners_raw.append(corner) corner_list.append(corner)
self._debug(_image_anno, tracking_anno, matcher_bbox_local) self._debug(_image_anno, tracking_anno, matcher_bbox_local)
# refine corners # refine corners
corners_local = self._corner_refine(_image, corners_raw) corners_local = self._corner_refine(_image, corner_list)
# Transform corners to global # Transform corners to global
corners_refined = [] corners_refined = []
@@ -284,7 +283,7 @@ class CornerTracker:
# show refined corners # show refined corners
for _i in range(0, corners_refined.shape[0]): for _i in range(0, corners_refined.shape[0]):
self._print(f" -- Corner Reference [{i}] {self.corner_ref[_i]}") self._print(f" -- Corner Reference [{i}] {self.corner_ref[_i]}")
self._print(f" -- Corner coarse [{i}] {corners_raw[_i]}") self._print(f" -- Corner coarse [{i}] {corner_list[_i]}")
self._print(f" -- Corner fine [{i}] {corners_refined[_i]}") self._print(f" -- Corner fine [{i}] {corners_refined[_i]}")
self._print(f" -- Corner distance [{i}] {corners_refined[_i] - self.corner_ref[_i]}") 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) cv2.circle(_image_anno, (int(corners_refined[_i, 0] + 0.5), int(corners_refined[_i, 1] + 0.5)), 4, COLOR_CIRCLE)