From f04326c661a78831695fcc397071ca7663bf6b43 Mon Sep 17 00:00:00 2001 From: Jens Ahrensfeld Date: Thu, 4 Jul 2024 12:11:47 +0200 Subject: [PATCH] Refactored debug --- ocv_corner_tracker.py | 61 +++++++++++++++++++++++++++---------------- 1 file changed, 39 insertions(+), 22 deletions(-) diff --git a/ocv_corner_tracker.py b/ocv_corner_tracker.py index ed00a98..e82a39a 100644 --- a/ocv_corner_tracker.py +++ b/ocv_corner_tracker.py @@ -22,6 +22,26 @@ class Corner: self.line_from = None self.first_frame = True + def _debug(self, matcher_res, matcher_start_x, matcher_start_y, template_scaled, crop_scaled): + template = self.ref['image'] + offset = self.ref['offset'] + + matcher_bbox_local = (matcher_start_x, matcher_start_y, template.shape[1], template.shape[0]) + (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"crop_scaled : {crop_scaled.shape}") + self._print(f"template : {template.shape}") + self._print(f"template_scaled : {template_scaled.shape}") + self._print(f"offset : {offset}") + + 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): print(f"{self.name}: {s}") @@ -30,33 +50,30 @@ class Corner: template = self.ref['image'] bb_template = self.ref['bbox'] + # Reseize template template_scaled = im.resize(template, IMG_SCALE_UP * template.shape[0], IMG_SCALE_UP * template.shape[1]) + # Match matcher_res = cv2.matchTemplate(crop_scaled, template_scaled, cv2.TM_CCOEFF_NORMED) - (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_res : {matcher_res.shape}") - self._print(f"crop : {image.shape}") - self._print(f"crop_scaled : {crop_scaled.shape}") - self._print(f"template : {template.shape}") - self._print(f"template_scaled : {template_scaled.shape}") + # Get matcher coord matcher_start_x = max_loc[0]/IMG_SCALE_UP matcher_start_y = max_loc[1]/IMG_SCALE_UP + + # Store offset at first frame if self.first_frame: self.first_frame = False offset_x = matcher_start_x - bb_template[0] offset_y = matcher_start_y - bb_template[1] self.ref['offset'] = (offset_x, offset_y) - self._print(f"offset : {(offset_x, offset_y)}") + # Compensate offset matcher_start_x -= self.ref['offset'][0] matcher_start_y -= self.ref['offset'][1] - self._print(f"matcher_start : {(matcher_start_x, matcher_start_y)}") matcher_bbox_local = (matcher_start_x, matcher_start_y, template.shape[1], template.shape[0]) - cv2.imshow(f"{self.name}: Matcher res", matcher_res) + self._debug(matcher_res, matcher_start_x, matcher_start_y, template_scaled, crop_scaled) return matcher_bbox_local, matcher_res @@ -86,20 +103,19 @@ class CornerTracker: def _print(self, s): print(f"{self.name}: {s}") - def _debug(self, image_anno, matcher_bbox_local): + def _debug(self, image_anno, tracking_anno, matcher_bbox_local): matcher_bbox = bbox_round(bbox_add_position(matcher_bbox_local, self.tracking_bb)) - matcher_crop = image_crop(image, matcher_bbox) - cv2.imshow("{self.name}: Matcher view", matcher_crop) + + 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) - tracker_rect = to_rect(self.tracking_bb) - template_top_left, template_bottom_right = to_rect(self.matching_tpl_bb) - matcher_top_left_local, matcher_bottom_right_local = to_rect(bbox_round(matcher_bbox_local)) - - cv2.rectangle(self.tracking_img, template_top_left, template_bottom_right, COLOR_TEMPLATE, 1) - cv2.rectangle(self.tracking_img, matcher_top_left_local, matcher_bottom_right_local, COLOR_MATCHER, 1) - cv2.rectangle(image_anno, matcher_rect[0], matcher_rect[1], COLOR_MATCHER, 1) + + tracker_rect = to_rect(self.tracking_bb) cv2.rectangle(image_anno, tracker_rect[0], tracker_rect[1], COLOR_TRACKER, 1) def init_reference_frame(self, image: np.array): @@ -114,7 +130,7 @@ class CornerTracker: self._print(f"Add Corner {count}") self.matching_tpl_bb = cv2.selectROI("Image", self.tracking_ref_img, fromCenter=True, showCrosshair=True) self.matching_tpl_img = image_crop(self.tracking_ref_gray_img.copy(), self.matching_tpl_bb) - self.corner_list.append(Corner(self.matching_tpl_img, self.matching_tpl_bb)) + self.corner_list.append(Corner(self.matching_tpl_img, self.matching_tpl_bb, name=f"Corner-{count}")) self._print(f"Corner {count} added") self._print(f"Press any key to add another corner or ESC to continue") @@ -147,6 +163,7 @@ class CornerTracker: def _match(self, image: np.array): image_anno = image.copy() + tracking_anno = self.tracking_img.copy() corners = [] for ct in self.corner_list: matcher_bbox_local, matcher = ct.process(self.tracking_img) @@ -156,7 +173,7 @@ class CornerTracker: line_to = bbox_center(matcher_bbox) corners.append([line_to]) - self._debug(image_anno, matcher_bbox_local) + self._debug(image_anno, tracking_anno, matcher_bbox_local) # refine corners corners_refined = self._corner_refine(cv2.cvtColor(image, cv2.COLOR_BGR2GRAY), np.array(corners, dtype=np.float32))