Object serialization

main.cpp

@@ -1,7 +1,7 @@
 /*
     This file is part of WARG's computer-vision
 
-    Copyright (c) 2015, Waterloo Aerial Robotics Group (WARG)
+    Copyright (c) 2015-2017, Waterloo Aerial Robotics Group (WARG)
     All rights reserved.
 
     Redistribution and use in source and binary forms, with or without
@@ -46,6 +46,7 @@
 #include <fstream>
 #include "frame.h"
 #include "target_identifier.h"
+#include "target_analyzer.h"
 #include "imgimport.h"
 #include "importer.h"
 #include "decklink_import.h"
@@ -81,6 +82,7 @@ int processors;
 // Processing module classes
 Importer importer;
 TargetIdentifier identifier;
+TargetAnalyzer * analyzer = NULL;
 MetadataInput *logReader = new MetadataInput();
 
 double aveFrameTime = 1000;
@@ -163,9 +165,16 @@ void worker(Frame* f) {
     workers++;
     assert(!f->get_img().empty());
     identifier.process_frame(f);
-    if (intermediate && f->get_objects().size() > 0) {
+    int poSize = f->get_objects().size();
+    if (intermediate && poSize > 0) {
         intermediate_buffer.push(f);
     }
+
+    //Analyze the image after it is identified
+    analyzer = TargetAnalyzer::getInstance();
+    for (int i = 0; i < poSize; i++){
+        analyzer->analyze_pixelobject(f->get_objects()[i]);
+    }
 
     workers--;
     auto end = std::chrono::steady_clock::now();
@@ -323,6 +332,23 @@ vector<Command> commands = {
     }),
     Command("frames.source.update_delay", "Updates the delay for the source at the given index", {"index", "delay"}, [=](State &newState, vector<string> args) {
         importer.update_delay(stoi(args[0]), stol(args[1]));
+    }),
+    Command("objects.serialize", "Serialize objects to file", {"file_name"}, [=](State &newState, vector<string> args) {
+        std::ofstream ofs (args[0], std::ofstream::out);
+
+        ofs << "[" << endl;
+
+        vector<Object*> objects = TargetAnalyzer::getInstance()->extract_objects();
+        for (Object *o : objects) {
+            ofs << o->serialize().str() << endl;
+            o->write_images(outputDir);
+        }
+        ofs << "]" << endl;
+        ofs.close();
+    }),
+    Command("objects.cluster.species", "Assigns species based on colour", {"num_species"}, [=](State &newState, vector<string> args) {
+        vector<Object*> objects = TargetAnalyzer::getInstance()->extract_objects();
+        // TODO: Cluster by colour and num_species
     })
 };
 

modules/core/include/frame.h

@@ -1,44 +1,26 @@
-/* 
-    This file is part of WARG's computer-vision
-    Copyright (c) 2015, Waterloo Aerial Robotics Group (WARG)
-    All rights reserved.
-
-    Redistribution and use in source and binary forms, with or without
-    modification, are permitted provided that the following conditions are met:
-    1. Redistributions of source code must retain the above copyright
-       notice, this list of conditions and the following disclaimer.
-    2. Redistributions in binary form must reproduce the above copyright
-       notice, this list of conditions and the following disclaimer in the
-       documentation and/or other materials provided with the distribution.
-    3. Usage of this code MUST be explicitly referenced to WARG and this code 
-       cannot be used in any competition against WARG.
-    4. Neither the name of the WARG nor the names of its contributors may be used 
-       to endorse or promote products derived from this software without specific
-       prior written permission.
-
-    THIS SOFTWARE IS PROVIDED BY WARG ''AS IS'' AND ANY
-    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-    DISCLAIMED. IN NO EVENT SHALL WARG BE LIABLE FOR ANY
-    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
-
-#ifndef FRAME_H_INCLUDED
-#define FRAME_H_INCLUDED
-
 /**
  * @file frame.h
+ * @author WARG
  *
  * @brief Container class for storing photos or frames of video to be
  *        processed and analyzed
  *
+ * @section LICENSE
+ *
+ *  Copyright (c) 2015-2017, Waterloo Aerial Robotics Group (WARG)
+ *  All rights reserved.
+ *
+ *  This software is licensed under a modified version of the BSD 3
+ *  clause license
+ *  that should have been included with this software in a file called
+ *  COPYING.txt
+ *  Otherwise it is available at:
+ *  https://raw.githubusercontent.com/UWARG/computer-vision/master/COPYING.txt
  */
 
+#ifndef FRAME_H_INCLUDED
+#define FRAME_H_INCLUDED
+
 #include <opencv2/core/core.hpp>
 #include "metadata.h"
 #include <vector>
@@ -99,6 +81,31 @@ class Frame{
     void save(std::string dir);
 
     /**
+     * @brief Getter for the pixel distance
+     *
+     * @return The distance covered by each pixel of the image in the X and Y
+     * directions.
+     */
+    cv::Point2d get_pixel_distance(); 
+
+    /**
+     * @brief Setter for the pixel distance
+     *
+     * @param The distance covered by each pixel of the image in the X and Y
+     * directions.
+     */
+    void set_pixel_distance(cv::Point2d); 
+
+    /**
+     * @brief Setter for the pixel distance
+     *
+     * @param The distance covered by each pixel of the image in the X direction.
+     * @param The distance covered by each pixel of the image in the Y
+     * direction.
+     */
+    void set_pixel_distance(double x, double y); 
+
+    /*
      * @brief returns a new undistorted image using the given camera
      * Intended for testing purposes, Does not modify the Frame.
      * @param camera the camera to use for undistortion
@@ -133,6 +140,12 @@ class Frame{
      */
     std::vector<PixelObject *> objects;
 
+    /**
+     * @brief Distance of each pixel covers in the x and y direction with
+     * componesation for altitude, camera lens, etc.
+     */
+    cv::Point2d pixel_distance; 
+
     /*
      * @brief Camera used to capture the frame
      */

modules/core/include/metadata.h

@@ -1,44 +1,25 @@
-/* 
-    This file is part of WARG's computer-vision
-
-    Copyright (c) 2015, Waterloo Aerial Robotics Group (WARG)
-    All rights reserved.
-
-    Redistribution and use in source and binary forms, with or without
-    modification, are permitted provided that the following conditions are met:
-    1. Redistributions of source code must retain the above copyright
-       notice, this list of conditions and the following disclaimer.
-    2. Redistributions in binary form must reproduce the above copyright
-       notice, this list of conditions and the following disclaimer in the
-       documentation and/or other materials provided with the distribution.
-    3. Usage of this code MUST be explicitly referenced to WARG and this code 
-       cannot be used in any competition against WARG.
-    4. Neither the name of the WARG nor the names of its contributors may be used 
-       to endorse or promote products derived from this software without specific
-       prior written permission.
-
-    THIS SOFTWARE IS PROVIDED BY WARG ''AS IS'' AND ANY
-    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-    DISCLAIMED. IN NO EVENT SHALL WARG BE LIABLE FOR ANY
-    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
-
-#ifndef METADATA_H_INCLUDED
-#define METADATA_H_INCLUDED
-
 /**
  * @file metadata.h
+ * @author WARG
  *
  * @brief Structure for storing plane status information from the time
  *        that an image was taken
  *
+ * @section LICENSE
+ *
+ *  Copyright (c) 2015-2017, Waterloo Aerial Robotics Group (WARG)
+ *  All rights reserved.
+ *
+ *  This software is licensed under a modified version of the BSD 3
+ *  clause license
+ *  that should have been included with this software in a file called
+ *  COPYING.txt
+ *  Otherwise it is available at:
+ *  https://raw.githubusercontent.com/UWARG/computer-vision/master/COPYING.txt
  */
+
+#ifndef METADATA_H_INCLUDED
+#define METADATA_H_INCLUDED
 
 struct Metadata{
     /**

modules/core/include/object.h

@@ -2,39 +2,41 @@
  * @file object.h
  * @author WARG
  *
+ *
  * @section LICENSE
  *
- *  Copyright (c) 2015, Waterloo Aerial Robotics Group (WARG)
+ *  Copyright (c) 2015-2017, Waterloo Aerial Robotics Group (WARG)
  *  All rights reserved.
  *
- *  This software is licensed under a modified version of the BSD 3 clause license
- *  that should have been included with this software in a file called COPYING.txt
+ *  This software is licensed under a modified version of the BSD 3
+ *  clause license
+ *  that should have been included with this software in a file called
+ *  COPYING.txt
  *  Otherwise it is available at:
  *  https://raw.githubusercontent.com/UWARG/computer-vision/master/COPYING.txt
  */
 
 
+
 #ifndef OBJECT_H_INCLUDED
 #define OBJECT_H_INCLUDED
 
-/**
- * @class Object
- *
- * @brief Container class for storing information about
- *     identified targets in real-world measurements
- *     Adding PixelObjects consolidates their information
- *     into the Object
- *
- */
-
 #include <opencv2/core/core.hpp>
 #include <vector>
 
 class PixelObject;
 
+/*
+ * @class PixelObject
+ * @brief Container class for storing information about
+ *     identified targets in real-world measurements
+ *     Adding PixelObjects consolidates their information
+ *     into the Object
+ */ 
+
 class Object {
 public:
-    Object(std::string type);
+    Object();
 
     /**
      * @brief Getter for Object image
@@ -55,7 +57,7 @@ class Object {
      *
      * @return GPS co-ordinates of the Object
      */
-    cv::Point2f get_centroid();
+    cv::Point2d get_centroid();
 
     /**
      * @brief Getter for area
@@ -83,7 +85,7 @@ class Object {
      *
      * @return 2D error magnitude of the Object's location in metres
      */
-    cv::Point2f get_error();
+    cv::Point2d get_error();
 
     /**
      * @brief Getter for error angle
@@ -96,18 +98,23 @@ class Object {
      * @brief Adds given PixelObject to Object's storage
      *        and recalculate target information
      *
-     * @param o PixelObject to be added
+     * @param po PixelObject to be added
      */
-    void add_object(Object * o);
+    void add_pobject(PixelObject * po);
 
     /**
      * @brief Getter for pixel Objects
      *
      * @return Array containing all of the PixelObjects that were used to
      *         create this instance of Object
      */
-    const std::vector<Object *> & get_objects();
+    const std::vector<PixelObject *> & get_pobjects();
+
+    std::stringstream serialize();
+
+    void write_images(std::string dir);
 private:
+    int id;
 
     /**
      * @brief Cropped Image of the Object
@@ -127,7 +134,7 @@ class Object {
     /**
      * @brief GPS co-ordinates of the centre of the Object
      */
-    cv::Point2f centroid;
+    cv::Point2d centroid;
 
     /**
      * @brief area of the target in square metres
@@ -147,7 +154,7 @@ class Object {
     /**
      * @brief Calculated location error of the target as a 2D rectangle in metres
      */
-    cv::Point2f error;
+    cv::Point2d error;
 
     /**
      * @brief Angle of the error as degrees clockwise from North
@@ -159,6 +166,22 @@ class Object {
      * Each PixelObject is a specific instance of this Object
      */
     std::vector<PixelObject *> pixelObjects;
+
+     /**
+     * @brief Updates Object parameters based on the PixelObjects contained
+     * within it. For now this includes calculating the average
+     * positions/colours/areas with potential error
+     *
+     */ 
+    void update();
+
+    /**
+     * @brief Recalculates Object parameters based on the PixelObjects contained
+     * within it. For now this includes calculating the average
+     * positions/colours/areas with potential error
+     *
+     */ 
+    void recalculate();
 };