code feature extractor update

configs/params.yaml

@@ -26,7 +26,7 @@ stationaryDebug: True
 # Mode 2: Driving forward with back camera
 # Mode 3: Driving backwards with back camera
 # Mode 4: Driving backwards with front camera
-navigationMode: 2
+navigationMode: 1
 # angular velocity scaler
 maxOmega: 0.05 
 minOmega: 0.01 
@@ -44,11 +44,11 @@ matching_keypoints_th: 10
 # scanner window params
 winSweepStart: 0
 winSweepEnd: 1280
-winMinWidth: 128
+winMinWidth: 0
 # W/8 for small plants, W/5 for big plants
 winSize: 200
 # for filtering contours
-min_contour_area: 50
+min_contour_area: 10
 # for dividing bushy rows
 max_coutour_height: 120
 # in case of using bigger size image size, we suggest to set ROI 

scripts/contours.py

@@ -1,6 +1,9 @@
 
+import cv2 as cv
+import numpy as np
+from geometric import *
 
-def getCCenter(self, contours):
+def getCCenter(contours):
  """function to compute the center points of the contours
 
  Args:
@@ -23,14 +26,11 @@ def getCCenter(self, contours):
  cx = int(M['m10']/M['m00'])
  cy = int(M['m01']/M['m00'])
  contCenterPTS[i,:] = [cy,cx]
- # draw point on countur centers
- self.processedIMG[cy-3:cy+3,cx-3:cx+3] = [255, 0, 255]
 
  contCenterPTS = contCenterPTS[~np.all(contCenterPTS == 0, axis=1)]
  return contCenterPTS
 
-
-def getClosedRegions(self, binrayMask):
+def getClosedRegions(binrayMask, min_contour_area, bushy=False):
  # find contours
  contours = cv.findContours(binrayMask, cv.RETR_TREE, cv.CHAIN_APPROX_NONE)[1]
 
@@ -41,13 +41,13 @@ def getClosedRegions(self, binrayMask):
  # self.filtered_contours = contours
  filtered_contours = list()
  for i in range(len(contours)):
- if cv.contourArea(contours[i]) > self.min_contour_area:
+ if cv.contourArea(contours[i]) > min_contour_area:
 
- if self.bushy : 
+ if bushy : 
  cn_x, cn_y, cnt_w, cn_h = cv.boundingRect(contours[i])
 
  # split to N contours h/max_coutour_height
- sub_contours = self.splitContours(contours[i], cn_x, cn_y, cnt_w, cn_h)
+ sub_contours = splitContours(contours[i], cn_x, cn_y, cnt_w, cn_h)
  for j in sub_contours:
  if j != []:
  filtered_contours.append(j)
@@ -58,78 +58,77 @@ def getClosedRegions(self, binrayMask):
  # filtered_contours.append(contours[i]) 
  return filtered_contours
 
- def splitContours(self, contour, x, y, w, h):
- """splits larg contours in smaller regions 
-
- Args:
- contour (_type_): _description_
- x (_type_): _description_
- y (_type_): _description_
- w (_type_): _description_
- h (_type_): _description_
-
- Returns:
- _type_: sub polygons (seperated countours)
- """
- sub_polygon_num = h // self.max_coutour_height
- sub_polys = list()
+def splitContours(contour, x, y, w, h, max_coutour_height):
+ """splits larg contours in smaller regions 
+
+ Args:
+ contour (_type_): _description_
+ x (_type_): _description_
+ y (_type_): _description_
+ w (_type_): _description_
+ h (_type_): _description_
+
+ Returns:
+ _type_: sub polygons (seperated countours)
+ """
+ sub_polygon_num = h // max_coutour_height
+ sub_polys = list()
+ subContour = list()
+ vtx_idx = list()
+ contour = [contour.squeeze().tolist()]
+ for subPoly in range(1, sub_polygon_num + 1):
+ for vtx in range(len(contour[0])): 
+ if (subPoly - 1 * max_coutour_height) -1 <= contour[0][vtx][1] and \
+ (subPoly * max_coutour_height) -1 >= contour[0][vtx][1] and \
+ vtx not in vtx_idx:
+ subContour.append([contour[0][vtx]])
+ vtx_idx.append(vtx)
+
+ sub_polys.append(np.array(subContour))
  subContour = list()
- vtx_idx = list()
- # contour = [sorted(contour.squeeze().tolist(), key=operator.itemgetter(0), reverse=True)]
- contour = [contour.squeeze().tolist()]
- for subPoly in range(1, sub_polygon_num + 1):
- for vtx in range(len(contour[0])): 
- if (subPoly - 1 * self.max_coutour_height) -1 <= contour[0][vtx][1] and \
- (subPoly * self.max_coutour_height) -1 >= contour[0][vtx][1] and \
- vtx not in vtx_idx:
- subContour.append([contour[0][vtx]])
- vtx_idx.append(vtx)
-
- sub_polys.append(np.array(subContour))
- subContour = list()
-
- return sub_polys
-
- def sortContours(self, cnts, method="left-to-right"):
- """initialize the reverse flag and sort index
 
- Args:
- cnts (_type_): _description_
- method (str, optional): _description_. Defaults to "left-to-right".
-
- Returns:
- _type_: sorted countours, bboxes
- """
- reverse = False
- i = 0
- # handle if we need to sort in reverse
- if method == "right-to-left" or method == "bottom-to-top":
- reverse = True
- # handle if we are sorting against the y-coordinate rather than
- # the x-coordinate of the bounding box
- if method == "top-to-bottom" or method == "bottom-to-top":
- i = 1
- # construct the list of bounding boxes and sort them from top to
- # bottom
- boundingBoxes = [cv.boundingRect(c) for c in cnts]
- (cnts, boundingBoxes) = zip(*sorted(zip(cnts, boundingBoxes),
- key=lambda b:b[1][i], reverse=reverse))
- # return the list of sorted contours and bounding boxes
- return cnts, boundingBoxes
-
- def getContoursInWindow(self, contourCenters, box):
- """iflters out countours inside a box
-
- Args:
- contourCenters (_type_): _description_
- box (_type_): _description_
-
- Returns:
- _type_: contour centers
- """
- points = []
- for cnt in range(len(contourCenters[1])):
- x, y = contourCenters[0][cnt], contourCenters[1][cnt]
- if self.isInBox(list(box), [x, y]):
- points.append([x, y])
- return points
+ return sub_polys
+
+def sortContours(contours, method="left-to-right"):
+ """initialize the reverse flag and sort index
+
+ Args:
+ cnts (_type_): _description_
+ method (str, optional): _description_. Defaults to "left-to-right".
+
+ Returns:
+ _type_: sorted countours, bboxes
+ """
+ reverse = False
+ i = 0
+ # handle if we need to sort in reverse
+ if method == "right-to-left" or method == "bottom-to-top":
+ reverse = True
+ # handle if we are sorting against the y-coordinate rather than
+ # the x-coordinate of the bounding box
+ if method == "top-to-bottom" or method == "bottom-to-top":
+ i = 1
+ # construct the list of bounding boxes and sort them from top to
+ # bottom
+ boundingBoxes = [cv.boundingRect(c) for c in contours]
+ (contours, boundingBoxes) = zip(*sorted(zip(contours, boundingBoxes),
+ key=lambda b:b[1][i], reverse=reverse))
+ # return the list of sorted contours and bounding boxes
+ return contours, boundingBoxes
+
+def getContoursInWindow(contourCenters, box):
+ """iflters out countours inside a box
+
+ Args:
+ contourCenters (_type_): _description_
+ box (_type_): _description_
+
+ Returns:
+ _type_: contour centers
+ """
+ points = []
+ for cnt in range(len(contourCenters[1])):
+ x, y = contourCenters[0][cnt], contourCenters[1][cnt]
+ if isInBox(list(box), [x, y]):
+ points.append([x, y])
+ return points