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refactor to adhere to style
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@aknj
aknj committed Feb 19, 2017
1 parent de510ae commit a27470f
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Showing 4 changed files with 74 additions and 80 deletions.
3 changes: 2 additions & 1 deletion .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -9,4 +9,5 @@ Makefile
cmake_install.cmake
install_manifest.txt
compile_commands.json
CTestTestfile.cmake
CTestTestfile.cmake
build*
2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -36,4 +36,4 @@ enable_cxx_compiler_flag_if_supported("-std=c++11")
enable_cxx_compiler_flag_if_supported("-g")
enable_cxx_compiler_flag_if_supported("-Wformat=0")

enable_cxx_compiler_flag_if_supported("-DSTEPS")
#enable_cxx_compiler_flag_if_supported("-DSTEPS")
8 changes: 5 additions & 3 deletions README.txt
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
cmake and compile
# cmake and compile:

cmake . -G "MinGW Makefiles"
mingw32-make.exe
cmake build -G "MinGW Makefiles"

cd build
mingw32-make.exe
141 changes: 66 additions & 75 deletions main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,30 +21,29 @@ const int HEIGHT = 240;
const int WIDTH = 320 * 2;
const int HEIGHT = 240 * 2;
#endif
const int FPS = 10;
const int FPS = 60;

const int MIN_M_CONTOUR_LENGTH_ALLOWED = 100;

//- size and corners of the canonical marker
const Size marker_size = Size(100,100);
const Size MARKER_SIZE = Size(100,100);
static
const Point2f
arr[] = { Point2f(0,0),
Point2f(marker_size.width-1,0),
Point2f(marker_size.width-1,marker_size.height-1),
Point2f(0,marker_size.height-1)
const Point2f
PTS[] = { Point2f(0,0),
Point2f(MARKER_SIZE.width-1,0),
Point2f(MARKER_SIZE.width-1,MARKER_SIZE.height-1),
Point2f(0,MARKER_SIZE.height-1)
};
const vector<Point2f>
m_marker_corners_2d(arr, arr + sizeof(arr) / sizeof(arr[0]));

map<int, int>
marker_ids = {
{106, 1},
{107, 2},
{108, 3},
{270, 4},
{300, 5},
{415, 6}
const vector<Point2f>
CANONICAL_M_CORNERS( PTS, PTS + sizeof(PTS)/sizeof(PTS[0]) );

const map<int, int>
marker_ids = { {106, 1},
{107, 2},
{108, 3},
{270, 4},
{300, 5},
{415, 6}
};


Expand Down Expand Up @@ -83,7 +82,7 @@ float perimeter(vector<Point2f> &a) {
* draw polygons with a random color of line
*/
void draw_polygon(Mat mat_name, vector<Point2f> &poly,
Scalar color = Scalar(rand()%255, rand()%255, rand()%255))
Scalar color = Scalar(rand()%255, rand()%255, rand()%255))
{
for(size_t i = 0; i < poly.size(); i++) {
size_t i2 = (i+1) % poly.size();
Expand Down Expand Up @@ -117,7 +116,7 @@ int marker_hamm_dist(const Mat &bits) {
int dist = 0;

for (int y = 0; y < 5; y++) {
int min_sum = 1e5;
int min_sum = 1e5;
for(int p = 0; p < 4; p++) {
int sum = 0;
// counting
Expand All @@ -136,9 +135,9 @@ int matrix_to_id(const Mat &bits) {
int val = 0;
for(int y = 0; y < 5; y++) {
val <<= 1;
if(bits.at<uchar>(y,2)) val|=1;
if(bits.at<uchar>(y, 2)) val|=1;
val <<= 1;
if(bits.at<uchar>(y,4)) val|=1;
if(bits.at<uchar>(y, 4)) val|=1;
}
return val ? val : -1;
}
Expand All @@ -151,19 +150,18 @@ int read_marker_id(Mat &marker_image, int &n_rotations) {

//- threshold image
threshold(grey, grey, 125, 255, THRESH_BINARY | THRESH_OTSU);
// namedWindow("binary marker", 1);

//- markers are divided in 7x7, of which the inner 5x5 belongs to marker
//--info. the external border should be entirely black

int cell_size = marker_image.rows / 7;

for(int y=0; y < 7; y++) {
for(int y = 0; y < 7; y++) {
int inc = 6;

if(y==0 || y==6) inc = 1; // for 1st and last row, check whole border

for(int x=0; x < 7; x+=inc) {
for(int x = 0; x < 7; x+=inc) {
int cellX = x * cell_size;
int cellY = y * cell_size;
Mat cell = grey(Rect(cellX, cellY, cell_size, cell_size));
Expand All @@ -172,15 +170,15 @@ int read_marker_id(Mat &marker_image, int &n_rotations) {

if(n_z > (cell_size * cell_size) / 2) {
return -1; // cannot be a marker bc the border elem is not black
}
}
}
}

Mat bit_matrix = Mat::zeros(5, 5, CV_8UC1);

//- get info (for each inner square, determiine if it is black or white)
for(int y=0; y < 5; y++) {
for(int x=0; x < 5; x++) {
for(int y = 0; y < 5; y++) {
for(int x = 0; x < 5; x++) {
int cellX = (x+1) * cell_size;
int cellY = (y+1) * cell_size;
Mat cell = grey(Rect(cellX, cellY, cell_size, cell_size));
Expand Down Expand Up @@ -235,27 +233,23 @@ int main() {
cap.set(CV_CAP_PROP_FPS, FPS);

int it = 0;
Mat frame, grayscale, thresholdImg, markers_prev, markers_vis, marker_image;
#ifdef STEPS
namedWindow("input", 1);
namedWindow("threshold", 1);
namedWindow("contours_prev", 1);
namedWindow("markers_cand", 1);
#endif
Mat frame, grayscale, threshold_img, markers_vis,
markers_prev, contours_prev;

namedWindow("output", 1);

//- reading an image from file
//- reading images from files
vector<Mat> imgs;

for(int i = 0; i < 6; i++) {
char path[20];
sprintf(path, "images/%d.jpg", i+1);
char path[20];
sprintf(path, "../images/%d.jpg", i+1);
imgs.push_back(imread(path, CV_LOAD_IMAGE_COLOR));
if(!imgs[i].data) {
printf("Could not open or find the image %s", path);
return -1;
}
resize(imgs[i], imgs[i], marker_size);
resize(imgs[i], imgs[i], MARKER_SIZE);
}


Expand Down Expand Up @@ -284,26 +278,27 @@ int main() {

//- copy frame to marker visualization Mat
markers_vis = frame.clone();
markers_prev = frame.clone();
contours_prev = frame.clone();

//- manipulate frame
cvtColor(frame, grayscale, CV_BGRA2GRAY);
marker_image = grayscale.clone();


int thr_blocksize = t1 / 2 * 2 + 3;
int thr_c = t2 - 10;

adaptiveThreshold(grayscale, thresholdImg, 255,
CV_ADAPTIVE_THRESH_GAUSSIAN_C,
adaptiveThreshold(grayscale, threshold_img, 255,
CV_ADAPTIVE_THRESH_GAUSSIAN_C,
CV_THRESH_BINARY_INV, thr_blocksize, thr_c);


vector<vector<Point> > all_contours;
vector<vector<Point> > contours;

Mat contours_img;
thresholdImg.copyTo(contours_img);
findContours(contours_img, all_contours, CV_RETR_LIST,
threshold_img.copyTo(contours_img);
findContours(contours_img, all_contours, CV_RETR_LIST,
CV_CHAIN_APPROX_NONE);

for(size_t i = 0; i < all_contours.size(); i++) {
Expand All @@ -313,10 +308,12 @@ int main() {
}
}

Mat contours_prev = Mat::zeros(frame.size(), CV_8UC3);
Mat markers_prev = Mat::zeros(frame.size(), CV_8UC3);
#ifdef STEPS
contours_prev = Mat::zeros(frame.size(), CV_8UC3);
markers_prev = Mat::zeros(frame.size(), CV_8UC3);

drawContours(contours_prev, contours, -1, Scalar(255,0,0));
#endif

//- find candidates -------
vector<marker_t> possible_markers,
Expand Down Expand Up @@ -355,7 +352,7 @@ int main() {
//- all tests are passed. save marker candidate
marker_t m;

for(int i = 0; i < 4; i++)
for(int i = 0; i < 4; i++)
m.points.push_back(Point2f(approx_curve[i].x, approx_curve[i].y));

//- sort the points in anti-clockwise order
Expand All @@ -367,13 +364,11 @@ int main() {

double o = (v1.x * v2.y) - (v1.y * v2.x);

if(o < 0.0) //- if the 3rd point is on the left side,
swap(m.points[1], m.points[3]); //--sort anti-clockwise
if(o < 0.0) //- if the 3rd point is on the left side,
swap(m.points[1], m.points[3]); //--sort anti-clockwise


possible_markers.push_back(m);

// draw_polygon(markers_prev, m);
}

//-- remove these elements which corners are too close to each other
Expand All @@ -397,7 +392,7 @@ int main() {
dist_squared /= 4;

if(dist_squared < 100) {
too_near_candidates.push_back(pair<int,int>(i,j));
too_near_candidates.push_back(pair<int,int>(i, j));
}
}
}
Expand Down Expand Up @@ -427,15 +422,17 @@ int main() {
for(size_t i = 0; i < possible_markers.size(); i++) {
if(!removal_mask[i]) {
detected_markers.push_back(possible_markers[i]);
#ifdef STEPS
draw_polygon(markers_prev, possible_markers[i].points);
#endif
}
}

////////////////////////////////////////////////////////////////////////
//-- verify/recognize markers
{

Mat canonical_marker_image = Mat(marker_size, grayscale.type());
Mat canonical_marker_image = Mat(MARKER_SIZE, grayscale.type());

//- identify the markers
for(size_t i=0; i < detected_markers.size(); i++) {
Expand All @@ -444,12 +441,12 @@ int main() {
//- find the perspective transformation that brings current
//--marker to rectangular form
Mat marker_transform = getPerspectiveTransform(
marker.points, m_marker_corners_2d
marker.points, CANONICAL_M_CORNERS
);

//- transform image to get a canonical marker image
warpPerspective(grayscale, canonical_marker_image,
marker_transform, marker_size
warpPerspective(grayscale, canonical_marker_image,
marker_transform, MARKER_SIZE
);


Expand All @@ -465,7 +462,7 @@ int main() {
);

marker.transform = getPerspectiveTransform(
marker.points, m_marker_corners_2d
marker.points, CANONICAL_M_CORNERS
);

good_markers.push_back(marker);
Expand All @@ -487,11 +484,11 @@ int main() {
}
}

TermCriteria term_criteria = TermCriteria(
TermCriteria term_criteria = TermCriteria(
TermCriteria::MAX_ITER | TermCriteria::EPS, 30, .01
);
cornerSubPix(
grayscale, precise_corners, Size(5,5), Size(-1,-1),
cornerSubPix(
grayscale, precise_corners, Size(5,5), Size(-1,-1),
term_criteria
);

Expand All @@ -512,25 +509,19 @@ int main() {
marker_t& m = detected_markers[i];

if(marker_ids.find(m.id) == marker_ids.end()) {
cout << "marker id: " << m.id << " -> " <<
marker_ids[m.id] << endl << endl;
cout << "false marker id: " << m.id << endl << endl;
continue;
}

////////////////////////////////////////////////////////////////
//- place images on output frame
Mat t = Mat::zeros(markers_vis.size(), markers_vis.type());

// cout << m.id << " " << marker_ids[m.id] << endl;

// cout << "marker id: " << m.id << " -> " <<
// marker_ids[m.id] << endl << endl;
// cout << m.transform << endl << endl;
// cout << "inv:" << endl << m.transform.inv() << endl << endl <<
// endl;

warpPerspective(imgs[marker_ids[m.id]-1], t, m.transform.inv(),
t.size());
warpPerspective( imgs[marker_ids.at(m.id)-1],
t,
m.transform.inv(),
t.size()
);

Mat mask = t == 0;
bitwise_and(mask, markers_vis, markers_vis);
Expand All @@ -539,14 +530,14 @@ int main() {
}


if(waitKey(255) == 27)
if(waitKey(155) == 27)
break;



#ifdef STEPS
imshow("input", frame);
imshow("threshold", thresholdImg);
imshow("threshold", threshold_img);
imshow("contours_prev", contours_prev);
imshow("markers_cand", markers_prev);
#endif
Expand All @@ -555,4 +546,4 @@ int main() {
}

return 0;
}
}

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