Adaptive simple threshold

src/positiondetector/SimpleThreshold.cpp

@@ -41,11 +41,17 @@ SimpleThreshold::SimpleThreshold(const std::string &frame_source_address,
     // dilate_on must be set to false
     set_erode_size(0);
     set_dilate_size(0);
+    set_mincomp_size(0);
 
     // Set required frame type
     required_color_ = PIX_GREY;
 }
 
+
+//,
+//        ("mincomp,m", po::value<int>(),
+//        "Minimum compensation, optionally adjust thresholds by the darkest pixels in the region."),
+
 void SimpleThreshold::appendOptions(po::options_description &opts)
 {
     // Accepts a config file
@@ -64,6 +70,10 @@ void SimpleThreshold::appendOptions(po::options_description &opts)
         ("area,a", po::value<std::string>(),
          "Array of floats, [min,max], specifying the minimum and maximum "
          "object contour area in pixels^2.")
+
+        ("mincomp,m", po::value<int>(),
+        "Minimum compensation, optionally adjust thresholds by the darkest pixels in the region.")
+
         ("tune,t",
          "If true, provide a GUI with sliders for tuning detection parameters.")
         ;
@@ -102,6 +112,12 @@ void SimpleThreshold::configure(const po::variables_map &vm)
     if (oat::config::getNumericValue<int>(vm, config_table, "dilate", dilate, 0))
         set_dilate_size(dilate);
 
+    // Mincomp  value
+    int mincomp;
+    if (oat::config::getNumericValue<int>(vm, config_table, "mincomp", mincomp, 0))
+        set_mincomp_size(mincomp);
+
+
     // Min/max object area
     std::vector<double> area;
     if (oat::config::getArray<double, 2>(vm, config_table, "area", area)) {
@@ -178,9 +194,21 @@ void SimpleThreshold::tune(cv::Mat &frame, const oat::Position2D &position)
 
 void SimpleThreshold::applyThreshold(cv::Mat &frame)
 {
+
+    cv::inRange(frame,
+                1,
+                255,
+                nonmasked_frame_);
+
+    double mincomp_brightness =0;
+    if (mincomp_on_)
+        cv::minMaxIdx(frame, &mincomp_brightness,NULL,NULL,NULL,nonmasked_frame_);       
+
+    //std::cout << " br " << mincomp_brightness <<"\n";
+
     cv::inRange(frame,
-                t_min_,
-                t_max_,
+                t_min_+static_cast<int>(mincomp_brightness),
+                t_max_+static_cast<int>(mincomp_brightness),
                 threshold_frame_);
 
     // Filter the resulting threshold image
@@ -259,6 +287,18 @@ void SimpleThreshold::set_dilate_size(int value)
     }
 }
 
+void SimpleThreshold::set_mincomp_size(int value)
+{
+    std::cout << "mincomp set to " << value<<"\n";
+    if (value != 0) {
+        mincomp_on_ = true;
+
+        mincomp_val_ = value;
+    } else {
+        mincomp_on_ = false;
+    }
+}
+
 // Non-member GUI callback functions
 void simpleThresholdMinAreaSliderChangedCallback(int value, void *object)
 {

src/positiondetector/SimpleThreshold.h

@@ -54,18 +54,20 @@ class SimpleThreshold : public PositionDetector {
     void set_max_object_area(double value) { max_object_area_ = value; }
     void set_erode_size(int erode_px);
     void set_dilate_size(int dilate_px);
+    void set_mincomp_size(int mincomp_val);
 
 private:
 
     // Intermediate variables
     cv::Mat threshold_frame_;
+    cv::Mat nonmasked_frame_;
 
     // Object detection
     double object_area_ {0.0};
 
     // Sizes of the erode and dilate blocks
-    int erode_px_ {0}, dilate_px_ {0};
-    bool erode_on_ {false}, dilate_on_ {false};
+    int erode_px_ {0}, dilate_px_ {0}, mincomp_val_ {0};
+    bool erode_on_ {false}, dilate_on_ {false}, mincomp_on_ {false};
 
     // Internal matricies
     cv::Mat erode_element_, dilate_element_;