| Es++ Sample: HarrisCornerDetector |
/******************************************************************************
*
* Copyright (c) 2017 Antillia.com TOSHIYUKI ARAI. ALL RIGHTS RESERVED.
*
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*
* 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-3.0/OpenCVMainView.h>
#include <es++/opencv-3.0/OpenCVScrolledImageView.h>
#include <es++/opencv-3.0/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;
}