update algorithm

tpvs17/valveDetector/valveDetector.cpp

@@ -366,7 +366,7 @@ double tempScoreShoot(Mat &_img, Mat &template_img, detectMode mode)
 	calcHist(&normTemplateDir, 1, 0, Mat(), templateHist, 1, &histSize, &histRange, true, false);
 	calcHist(&normTemporaryDir, 1, 0, Mat(), temporaryHist, 1, &histSize, &histRange, true, false);
 
-//#ifdef VEIW_HISTGRAM
+#ifdef VEIW_HISTGRAM
 
 	Mat dstImage = Mat::zeros(512, 800, CV_8UC3);
 	//normalize(templateHist, templateHist, 0, histImage.rows, NORM_MINMAX, -1, Mat());
@@ -410,7 +410,7 @@ double tempScoreShoot(Mat &_img, Mat &template_img, detectMode mode)
 		cv::putText(dstImage, string, Point(xAxis*(dstImage.cols / 360), dstImage.rows), 1, 1, Scalar(0, 255, 255));
 	}
 
-//#endif // VEIW_HISTGRAM
+#endif // VEIW_HISTGRAM
 	switch (mode)
 	{
 	case shootWheelExist:
@@ -1364,17 +1364,17 @@ bool ValveDetector::detect(Mat & imgSrc, InputParam &paramIn, OutputParam &param
 
 				float fMin = 1000;
 				int nIndex = 0;
-				//std::map<float, int> scoreMapIndex;
+				std::map<float, int> scoreMapIndex;
 				for (int i = 0; i < ret.cols; i++) {
 					float fSum = sum(ret.col(i))[0];
-					//scoreMapIndex[fSum] = i;
+					scoreMapIndex[fSum] = i;
 					if (fSum < fMin) {
 						fMin = fSum;
 						nIndex = i;
 					}
 				}
 				
-			/*	std::map<float, int>::iterator it = scoreMapIndex.begin();
+				std::map<float, int>::iterator it = scoreMapIndex.begin();
 				int candidateIndex = 0;
 				int ni = 0;
 				for (; it != scoreMapIndex.end(); ++it, ++ni)
@@ -1383,18 +1383,30 @@ bool ValveDetector::detect(Mat & imgSrc, InputParam &paramIn, OutputParam &param
 					{
 						candidateIndex = it->second;
 					}
-				}*/
+				}
 				//FOR MOTORCIRCLE END
 				double mcutOffset = 1.0;
 				float ss = 0.0;
 				if (paramIn.wheelType == 0)
 				{
+
 					mcutOffset = 2.0;
+					
+					// FOR MOTORCIRCLE PROGRAM START
 					Mat imgTemplate = paramIn.imgTemplate(Rect(0, 0, paramIn.imgTemplate.cols, paramIn.imgTemplate.rows / mcutOffset));
 
-					Mat identicalImg = vecImg[nIndex](Rect(10, 0, imgTemplate.cols, imgTemplate.rows));
+					Mat ret0;
+					matchTemplate(vecImg[nIndex], imgTemplate, ret0, CV_TM_CCORR_NORMED);
+					Point p0;
+					double v0 = luffy_math::getMinMaxData(ret0, luffy_math::emDataMax, &p0);
 
-					// FOR MOTORCIRCLE PROGRAM START
+					Mat ret1;
+					matchTemplate(vecImg[candidateIndex], imgTemplate, ret1, CV_TM_CCORR_NORMED);
+					Point p1;
+					double v1 = luffy_math::getMinMaxData(ret1, luffy_math::emDataMax, &p1);
+					nIndex = v1 > v0 ? candidateIndex : nIndex;
+					
+					Mat identicalImg = vecImg[nIndex](Rect(10, 0, imgTemplate.cols, imgTemplate.rows));
 					double disVal = tempScoreShoot(identicalImg, imgTemplate, detectMode::shootTargetMatch);
 
 					std::vector<Mat> vecMat;
@@ -1426,6 +1438,7 @@ bool ValveDetector::detect(Mat & imgSrc, InputParam &paramIn, OutputParam &param
 
 					if (disVal < 0.85)
 					{
+						float vMax = FLT_MIN;
 						for (int k = 0; k < vecImg.size(); k++)
 						{
 							if (k == nIndex)
@@ -1434,15 +1447,40 @@ bool ValveDetector::detect(Mat & imgSrc, InputParam &paramIn, OutputParam &param
 							}
 							else
 							{
-								identicalImg = vecImg[k](Rect(10, 0, imgTemplate.cols, imgTemplate.rows));
-								disVal = tempScoreShoot(identicalImg, imgTemplate, detectMode::shootTargetMatch);
-								if (disVal > maxVal)
+
+								Mat imgRet;
+								matchTemplate(vecImg[k], imgTemplate, imgRet, CV_TM_CCORR_NORMED);
+								Point pnt;
+								double v3 = luffy_math::getMinMaxData(imgRet, luffy_math::emDataMax, &pnt);
+								if (v3 > vMax)
 								{
-									maxVal = disVal;
 									targetIndex = k;
+									vMax = v3;
 								}
+								
 							}
 						}
+						/*identicalImg = vecImg[targetIndex](Rect(10, 0, imgTemplate.cols, imgTemplate.rows));
+						vector<Mat> localMatVec;
+						imgCrop(vecImg[targetIndex], localMatVec);
+
+						for each (Mat mat in localMatVec)
+						{
+							double s = tempScoreShoot(mat, imgTemplate, detectMode::shootTargetMatch);
+							if (s > disVal)
+							{
+								disVal = s;
+							}
+						}
+						*/
+						
+						/*disVal = tempScoreShoot(identicalImg, imgTemplate, detectMode::shootTargetMatch);
+
+						if (disVal > maxVal)
+						{
+							maxVal = disVal;
+							targetIndex = k;
+						}*/
 					}
 					nIndex = targetIndex;
 					Mat imgMatchRet;