Es++ Sample: HarrisCornerDetector |
/****************************************************************************** * * Copyright (c) 2017 Antillia.com TOSHIYUKI ARAI. 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. The name of the author may not be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 THE AUTHOR 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. * * * HarrisCornerDetector.cpp * *****************************************************************************/ // #include <es++/gtkmm-3.0/Application.h> #include <es++/gtkmm-3.0/Label.h> #include <es++/gtkmm-3.0/LabeledTrackBar.h> #include <es++/gtkmm-3.0/FileOpenDialog.h> #include <es++/opencv-4.0/OpenCVMainView.h> #include <es++/opencv-4.0/OpenCVScrolledImageView.h> #include <es++/opencv-4.0/OpenCVScaleComboBox.h> using namespace Gtk; namespace Es { class MainView :public Es::OpenCVMainView { private: /////////////////////////////////////////////////////// //Inner classes start. class OriginalImageView :public Es::OpenCVScrolledImageView { public: OriginalImageView() { } void rescale(int scaling_ratio) { OpenCVScrolledImageView::scaleImage(scaling_ratio); } }; class DetectedImageView :public Es::OpenCVScrolledImageView { private: cv::Mat gray_image; cv::Mat detected_image; public: DetectedImageView() { } void loadImage(const std::string& filename, int imageLoadingFlag= CV_LOAD_IMAGE_COLOR, int scaling_ratio=100) { OpenCVScrolledImageView::loadImage(filename, imageLoadingFlag, scaling_ratio); cv::Mat& original_image = getOriginalImage(); cv::cvtColor(original_image, gray_image, COLOR_BGR2GRAY ); detected_image = original_image.clone(); scaleImage(gray_image, scaling_ratio); } //The following detect_cornert method is based on the code: //http://www.swarthmore.edu/NatSci/mzucker1/opencv-2.4.10-docs/ // doc/tutorials/features2d/trackingmotion/harris_detector/harris_detector.html int detect_corner(int blockSize, int ksize, int threshold, int scaling_ratio) { cv::Mat& original_image = getOriginalImage(); //blockSize: Neighborhood size. //ksize : Aperture parameter for the Sobel operator, // which should be odd. ksize = (ksize/2)*2 + 1; //k: Harris detector free parameter. double k = 0.04; detected_image.release(); cv::Mat dest_image = cv::Mat::zeros(original_image.size(), CV_32FC1 ); cv::cornerHarris(gray_image, dest_image, blockSize, ksize, k, BORDER_DEFAULT ); cv::Mat dest_normalized; cv::normalize(dest_image, dest_normalized, 0, 255, NORM_MINMAX, CV_32FC1, Mat() ); //We draw circles at the corners detected by cornerHarris on the originalImage // by using the destNormalized image data and the threshold parameter // which is used to draw the circles.. detected_image = original_image.clone(); int detectedNumber = 0; for( int j = 0; j < dest_normalized.rows ; j++ ) { for( int i = 0; i < dest_normalized.cols; i++ ) { if( (int) dest_normalized.at<float>(j,i) > threshold ) { cv::circle(detected_image, cv::Point( i, j ), 5, cv::Scalar(0, 0, 255), //red 1, 8, 0); detectedNumber++; } } } scaleImage(detected_image, scaling_ratio); return detectedNumber; } void rescale(int scaling_ratio) { OpenCVScrolledImageView::scaleImage(detected_image, scaling_ratio); } }; // Inner classes end. /////////////////////////////////////////////////////// Es::Label filepath; Es::HorizontalLayout horiz_layout; Es::VerticalLayout control_pane; OriginalImageView original_image; DetectedImageView detected_image; int loading_flag; Es::OpenCVScaleComboBox scale_combobox; int blockSize; Es::LabeledTrackBar blockSize_trackbar; int ksize; Es::LabeledTrackBar ksize_trackbar; int detectorThreshold; Es::LabeledTrackBar detectorThreshold_trackbar; Es::Label detectedNumber; int scaling_ratio; //Percentage. static const int CONTROLPANE_WIDTH = 200; std::string filename; Es::FileOpenDialog file_dialog; public: ////////////////////////////////////////////// //Constructor // MainView(Es::Application& applet, std::string& name, Es::Args& args) :OpenCVMainView(applet, name, args) ,scaling_ratio(100) //100% ,file_dialog(*this, Es::FileOpenDialog::IMAGE_FILES) { int w = (int)args.get(XmNwidth); int h = (int)args.get(XmNheight); int ratio = (int)args.get(XmNscalingRatio); scaling_ratio = OpenCVImageView::validateScale(ratio); Es::MainLayout& main_layout = get_main_layout(); main_layout.pack_start(filepath, FALSE, FALSE, 0); main_layout.pack_start(horiz_layout); filename = "../../images/Geometry.png"; filepath.set_label(filename); int ww = (w - CONTROLPANE_WIDTH)/2; filepath.set_size_request(w, 30); original_image.set_size_request(ww, h); detected_image.set_size_request(ww, h); control_pane.set_size_request( CONTROLPANE_WIDTH, h); horiz_layout.pack_start(original_image); horiz_layout.pack_start(detected_image); horiz_layout.pack_start(control_pane, FALSE, FALSE, 0); scale_combobox.set_selection(scaling_ratio); scale_combobox.set_changed_callback( sigc::mem_fun(*this, &MainView::scale_changed) ); blockSize = 7; blockSize_trackbar.set_label("BlockSize: [2, 100]"); blockSize_trackbar.configure_adjuster((double)blockSize, 2.0f, 100.0f); blockSize_trackbar.set_value_changed_callback( sigc::mem_fun(*this, &MainView::blockSize_value_changed) ); ksize = 5; ksize_trackbar.set_label("KernelSize: [0, 31]"); ksize_trackbar.configure_adjuster((double)ksize, 0.0f, 31.0f); ksize_trackbar.set_value_changed_callback( sigc::mem_fun(*this, &MainView::ksize_value_changed) ); detectorThreshold = 120; detectorThreshold_trackbar.set_label("DetectorThreshold:[100,240]"); detectorThreshold_trackbar.configure_adjuster((double)ksize, 100.0f, 240.0f); detectorThreshold_trackbar.set_value_changed_callback( sigc::mem_fun(*this, &MainView::detectorThreshold_value_changed) ); control_pane.set_spacing(20); control_pane.pack_start(scale_combobox, Gtk::PACK_SHRINK); control_pane.pack_start(blockSize_trackbar, Gtk::PACK_SHRINK); control_pane.pack_start(ksize_trackbar, Gtk::PACK_SHRINK); control_pane.pack_start(detectorThreshold_trackbar, Gtk::PACK_SHRINK); control_pane.pack_start(detectedNumber, Gtk::PACK_SHRINK); loading_flag = IMREAD_COLOR; original_image.loadImage(filename, loading_flag, scaling_ratio); detected_image.loadImage(filename, loading_flag, scaling_ratio); int number = detected_image.detect_corner(blockSize, ksize, detectorThreshold, scaling_ratio); detectedNumber.set_number("Detected:", number); show_all(); } void scale_changed() { std::string scale = scale_combobox.get_active_text(); printf("scale_changed %s\n", scale.c_str()); scaling_ratio = scale_combobox.get_selection(); original_image.rescale(scaling_ratio); detected_image.rescale(scaling_ratio); } void blockSize_value_changed() { blockSize = (int)blockSize_trackbar.get_value(); int number = detected_image.detect_corner(blockSize, ksize, detectorThreshold, scaling_ratio); detectedNumber.set_number("Detected:", number); } void ksize_value_changed() { ksize = (int)ksize_trackbar.get_value(); int number = detected_image.detect_corner(blockSize, ksize, detectorThreshold, scaling_ratio); detectedNumber.set_number("Detected:", number); } void detectorThreshold_value_changed() { detectorThreshold = (int)detectorThreshold_trackbar.get_value(); int number = detected_image.detect_corner(blockSize, ksize, detectorThreshold, scaling_ratio); detectedNumber.set_number("Detected:", number); } void file_open() { int rc = file_dialog.popup(); if (rc == Gtk::RESPONSE_OK) { const std::string filename = file_dialog.get_filename(); filepath.set_label(filename); original_image.loadImage(filename, loading_flag, scaling_ratio); detected_image.loadImage(filename, loading_flag, scaling_ratio); int number = detected_image.detect_corner(blockSize, ksize, detectorThreshold, scaling_ratio); detectedNumber.set_number("Detected:", number); } } }; } int main(int argc, char** argv) { Es::Environment env; try { std::string name = argv[0]; Es::Application applet(argc, argv); Es::Args args; args.set(XmNx, 20); args.set(XmNy, 40); args.set(XmNwidth, 900); args.set(XmNheight, 400); args.set(XmNscalingRatio, 60); //60% Es::MainView mainv(applet, name, args); mainv.show(); applet.run(mainv); } catch (Es::Exception& ex) { caught(ex); } catch (...) { printf("Get exception \n"); } return 0; }