improve finding algorithm and add export

configfinder/configfinder.pde

@@ -11,6 +11,8 @@ PImage cam_reference;
 PImage cam_currentbox;
 PGraphics canvas;
 
+PImage image_clear;
+
 
 int currentID=0;
 //int MAXID = 50; //inclusive
@@ -36,9 +38,9 @@ ArrayList<Box> boxes=new ArrayList<Box>();
 //int FINDBOXES_MINIMUMBRIGHTNESS; //brightness difference required
 int FINDBOXES_MAXIMUMPIXELDISTANCE; //distance to add pixel to existing box
 PVector MINBOXSIZE; //minimum box size to accept box
-int TIME_FIND = 500; //time in ms to find box in image
-int TIME_RESULT = 250; //time in ms to show success/fail
-int TIME_TURNOFF = 250; //time in ms to wait to turn off
+int TIME_FIND = 100; //time in ms to find box in image
+int TIME_RESULT = 100; //time in ms to show success/fail
+int TIME_TURNOFF = 100; //time in ms to wait to turn off
 float MINBRIGHTNESS_PERCENTILE=0.98; //percentile for minbrightness calculation (how many pixels will be considered). between 0(all) and 1(none). 0=all pixels. ->1=only bright pixels 
 int MINIMUMALLOWEDBRIGHTNESS=50; //minimum brightness. will be limited to this lower bound if no box in image (percentile calculation yields low value)
 
@@ -73,6 +75,7 @@ void setup() {
     cam = new Capture(this, cameras[1]); //linux
     cam.start();
   }
+  image_clear=cam.copy();
   cam_reference=cam.copy();
 }
 
@@ -126,6 +129,7 @@ void checkState() {
   switch(searchstate) {
     case 0: //0=get reference image and ping box
       cam_reference=cam.copy();
+      println();
       println("Searching BoxID "+str(currentID));
 
       
@@ -147,6 +151,7 @@ void checkState() {
       Box box = findSingleBox(cam_currentbox); //find single box in this image
       if (box!=null && (box.getBoxSize().x<MINBOXSIZE.x || box.getBoxSize().y<MINBOXSIZE.y)) { //box too small
         box=null;
+        println("  Box too small");
       }
       if (box!=null) { //if box found
         PVector boxsize = box.getBoxSize();
@@ -190,6 +195,7 @@ void checkState() {
       currentID++;
       if (currentID>MAXID) {
         running=false;
+        cam_reference=image_clear; //show normal camera image
       }
       break;
   }
@@ -200,19 +206,24 @@ void keyPressed() {
     cam_reference=cam.copy();
     println("New Reference Set");
 
-  } else if (key == 's' ){
+  } else if (key == 10){ //ENTER
     running=true;
     colorAllOff(); //turn box off
     currentID=0; //reset
     searchstate=0;
     boxes.clear(); //reset found boxes
     println("Search started");
+  } else if (key == 'r' ){
+    running=false;
+    cam_reference=image_clear; //show normal camera image
+  } else if(key == 's') {
+     saveBoxConfig(); 
   }
+  
 
 }
 
 int getPercentileBrightness(PImage img, float percentile) { //percentile between 0 and 1
-  println("percentile="+str(percentile));
   percentile=min(max(percentile,0.0),1.0); //limit to 0 to 1
   int[] brightness=new int[img.pixels.length];
   for (int i=0;i<brightness.length;i++) {
@@ -256,6 +267,30 @@ ArrayList<Box> findBoxes(PImage img) {
     }
     
     println(" findBoxes(): foundboxes.size="+foundboxes.size());
+    //merge overlapping boxes together
+    for (int i=0;i<foundboxes.size();i++) {
+       Box fbox = foundboxes.get(i); 
+       if (fbox.getMarked()) { continue; } //skip if this box was marked
+       for (int i2=i+1;i2<foundboxes.size();i2++) {
+         Box fbox2 = foundboxes.get(i2);
+         if (fbox.getMarked()) { continue; } //skip if this box was marked
+         if (fbox2.isInside(fbox) && fbox.isInside(fbox2)) {
+           fbox.merge(fbox2); //add pixels to one box
+           fbox2.setMarked(true); //mark for deletion
+         }
+       
+       }
+    }
+    for (int i=0;i<foundboxes.size();i++) { //remove marked boxes
+      Box fbox = foundboxes.get(i); 
+      if (fbox.getMarked()) { //if marked
+       foundboxes.remove(fbox); //remove merged box
+       i--;
+      }
+      
+    }
+    
+    println(" after merge: foundboxes.size="+foundboxes.size());
     return foundboxes;
 }
 
@@ -273,10 +308,17 @@ Box findSingleBox(PImage img) {
 public class Box {
    ArrayList<PVector> boxpixels;
    int boxid;
+   boolean marked=false;
    
    public Box() {
      boxpixels = new ArrayList<PVector>();
    }
+   public void setMarked(boolean pm) {
+      marked=pm; 
+   }
+   public boolean getMarked() {
+      return marked; 
+   }
    
    public void addPixel(PVector newpix) {
      boxpixels.add(newpix); 
@@ -327,7 +369,7 @@ public class Box {
      return boxsize;
    }
    
-   public PVector getBoxCenter(){ //returns widht and height as vector
+   public PVector getBoxCenter(){ //returns width and height as vector
      PVector upperleft= new PVector(MAX_FLOAT,MAX_FLOAT); //min x and y
      PVector lowerright= new PVector(0,0); //max x and y
      for (PVector pbox : boxpixels) {
@@ -344,6 +386,28 @@ public class Box {
    public int getPixelNumber()  {
       return this.boxpixels.size(); 
    }
+   
+   public boolean isInside(Box pbox) {
+     int pixelsinside=0; //for counting pixels of pbox inside this box
+     PVector pboxsize=pbox.getBoxSize();
+     PVector pboxcenter=pbox.getBoxCenter();
+     float pboxX1 = pboxcenter.x-pboxsize.x/2;
+     float pboxX2 = pboxcenter.x+pboxsize.x/2;
+     float pboxY1 = pboxcenter.y-pboxsize.y/2;
+     float pboxY2 = pboxcenter.y+pboxsize.y/2;
+     for (PVector pix : boxpixels) {
+         if (pix.x>pboxX1 && pix.x<pboxX2 && pix.y>pboxY1 && pix.y<pboxY2) { //is inside
+           pixelsinside++;
+         }
+     }
+     
+     return pixelsinside>0; 
+     
+   }
+   
+   public void merge(Box mergebox) { //merge pixels from mergebox inside this box
+     boxpixels.addAll(mergebox.getPixels());
+   }
 }
 
 void colorBox(int id, color c) 
@@ -354,3 +418,15 @@ void colorAllOff()
 {
   sPort.write("A,0\n"); 
 }
+
+void saveBoxConfig(){
+  String[] boxconfig=new String[boxes.size()];
+  for (int i=0;i<boxes.size();i++) {
+    Box box=boxes.get(i);
+    PVector boxcenter=box.getBoxCenter();
+    PVector boxsize=box.getBoxSize();
+    boxconfig[i]=box.getBoxID()+";"+(boxcenter.x/cam.width)+";"+(boxcenter.y/cam.height)+";"+(boxsize.x/cam.width)+";"+(boxsize.y/cam.height);
+  }
+  saveStrings("boxconfig.txt", boxconfig);
+  println("saved");
+}