Solved todo

.gitignore

@@ -38,4 +38,3 @@
 
 cmake-build-debug/
 build/
-output_detection/*

CMakeLists.txt

@@ -7,7 +7,7 @@ set(CMAKE_CXX_STANDARD 17)
 
 find_package(OpenCV REQUIRED)
 
-include_directories(${OpenCV_INCLUDE_DIRS} include/)
+include_directories(${OpenCV_INCLUDE_DIRS} include/ img/)
 
 add_library(Ball include/ball.h src/ball.cpp)
 add_library(Table include/table.h src/table.cpp)
@@ -17,7 +17,7 @@ add_library(TableOrientation include/tableOrientation.h src/tableOrientation.cpp
 add_library(Transformation include/transformation.h src/transformation.cpp)
 add_library(Tracking include/tracking.h src/tracking.cpp)
 add_library(Metrics include/metrics.h src/metrics.cpp)
-add_library(Utils include/category.h include/minimapConstants.h include/util.h src/util_first.cpp src/util_second.cpp)
+add_library(Utils include/category.h include/minimapConstants.h include/util.h src/util_first.cpp src/util_second.cpp img/minimap.h)
 
 target_link_libraries(Ball
     ${OpenCV_LIBS}

src/main.cpp

@@ -21,8 +21,6 @@ using namespace std;
 using namespace cv;
 using namespace chrono;
 
-//TODO: remove folders Dataset/other_videos and output_detection
-
 /* 	Given a video it detects table and balls in the first frame and track the balls over different frame.
 	Using this information then it creates the output video with a minimap superimposed and then detect the balls
 	in the last frame. For the detection of the table and of the balls it computes also some performance metrics. */
@@ -44,12 +42,11 @@ int main(int argc, char* argv[]){
 	vector<double> metricsIoU;
 
 	//INPUT
-	// TODO rotate image if vertical; resize to be inscribed in current sizes, centered in the Mat; use this to calculate minimap; write to video file the original unrotated, unscaled image with the calculated image superimposed
 	if (argc == 2){
 		videoPath = filesystem::path(argv[1]);
 	}
 	else if (argc == 1) { //TODO: remove at the end
-		videoPath = filesystem::path("../Dataset/game2_clip1/game2_clip1.mp4");
+		videoPath = filesystem::path("../Dataset/game1_clip1/game1_clip1.mp4");
 	}
 	else {
 		cout << "Error of number of parameters: insert one parameter" << endl;
@@ -104,14 +101,14 @@ int main(int argc, char* argv[]){
 	table.setBoundaries(img_corners);
 
 	//MINIMAP
-	Mat minimap = imread(MINIMAP_PATH);
-	Mat minimap_with_track = minimap.clone();
-	Mat minimap_with_balls = minimap.clone();
-	//TODO use minimap.h
-	// vector<unsigned char> minimapVec(MINIMAP_DATA, MINIMAP_DATA + MINIMAP_DATA_SIZE);
-	// Mat minimap = imdecode(minimapVec, cv::IMREAD_UNCHANGED);
+	// The original is the png provided but we converted it to an header
 	// Mat minimap = imread(MINIMAP_PATH);
-	// imshow("minimap", minimap);
+	// Mat minimap_with_track = minimap.clone();
+	// Mat minimap_with_balls = minimap.clone();
+	vector<unsigned char> minimapVec(MINIMAP_DATA, MINIMAP_DATA + MINIMAP_DATA_SIZE);
+	Mat minimap = imdecode(minimapVec, cv::IMREAD_UNCHANGED);
+	Mat minimap = imread(MINIMAP_PATH);
+	imshow("minimap", minimap);
 
 	Mat transform =  table.getTransform();
 	minimap_with_balls = drawMinimap(minimap_with_track, transform, table.ballsPtr());

src/tableOrientation.cpp

@@ -43,7 +43,7 @@ bool compareByPercentile(const Edge &e1, const Edge &e2)
  * @throw invalid_argument if the rect in input is empty
  */
 double computeTablePercentile(const Mat &mask_img, const Rect &rect) {
-    //TODO: check mask_img and colors
+
 	if(mask_img.empty())
         throw invalid_argument("Empty image in input");
 

src/tracking.cpp

@@ -35,18 +35,19 @@ Rect BallTracker::trackOne(unsigned short ballIndex, const Mat &frame, bool call
 	ballsVec_->at(ballIndex).setBbox_prec(bbox);
 
 	bool isBboxUpdated = false;
-	// TODO check if ball is visible
 	if (callInit) {
 		enlargeRect(bbox, 10);  // enlarge bbox to enhance tracking performance
 		ballTrackers_[ballIndex]->init(frame, bbox);
 	} else {
-		isBboxUpdated = ballTrackers_[ballIndex]->update(frame, bbox);
-		const float IOU_THRESHOLD = 0.9;    // TODO tune IoU threshold for updating ball position
-		if (isBboxUpdated && IoU(ballsVec_->at(ballIndex).getBbox_prec(), bbox) > IOU_THRESHOLD) {  // if IoU is too high, do not update: the shift is not significant
-			isBboxUpdated = false;
-			// TODO check if not updating the bbox makes the tracker lose the ball
-		} else {
-			ballsVec_->at(ballIndex).setBbox(bbox); // do not update if shift is too little (use IoU)
+		if(ballsVec_->at(ballIndex).getVisibility())
+		{
+			isBboxUpdated = ballTrackers_[ballIndex]->update(frame, bbox);
+			const float IOU_THRESHOLD = 0.9;    // TODO tune IoU threshold for updating ball position
+			if (isBboxUpdated && IoU(ballsVec_->at(ballIndex).getBbox_prec(), bbox) > IOU_THRESHOLD) {  // if IoU is too high, do not update: the shift is not significant
+				isBboxUpdated = false;
+			} else {
+				ballsVec_->at(ballIndex).setBbox(bbox); // do not update if shift is too little (use IoU)
+			}
 		}
 	}
 	//std::cout<< "Ball " << ballIndex << " updated? " << isBboxUpdated << " current bbox: " << bbox << std::endl;

src/transformation.cpp

@@ -92,8 +92,7 @@ Mat computeTransformation(const Mat& img, Vec<Point2f, 4>  &img_corners) {
  * @throw invalid_argument if the transformation matrix in input is empty
  * @throw invalid_argument if the balls pointer is a null pointer
  */
-//TODO: const ptr?
-Mat drawMinimap(Mat &minimap_with_track, const Mat &transform, const Ptr<vector<Ball>> balls) {
+Mat drawMinimap(Mat &minimap_with_track, const Mat &transform, Ptr<vector<Ball>> balls) {
     if(minimap_with_track.empty())
         throw invalid_argument("Empty image in input");