Added the camera calibration pattern detection.
This commit is contained in:
530
jni/marker.cpp
530
jni/marker.cpp
@@ -24,375 +24,323 @@
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namespace nxtar{
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static const cv::Scalar COLOR = cv::Scalar(255, 255, 255);
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static int PATTERN_DETECTION_PARAMS = cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_NORMALIZE_IMAGE + cv::CALIB_CB_FAST_CHECK;
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static const cv::TermCriteria termCriteria = cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1);
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static const cv::Scalar COLOR = cv::Scalar(255, 255, 255);
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static const cv::Size checkersPatternSize(6, 9);
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float perimeter (points_vector &);
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int hammDistMarker (cv::Mat);
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cv::Mat rotate (cv::Mat);
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int decodeMarker (cv::Mat &);
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void renderMarkers (markers_vector &, cv::Mat &);
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void isolateMarkers (const contours_vector &, markers_vector &);
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void findContours (cv::Mat &, contours_vector &, int);
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void warpMarker (Marker &, cv::Mat &, cv::Mat &);
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void getAllMarkers(std::vector<int> & codes, cv::Mat & img){
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cv::Mat gray, thresh, cont, mark;
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contours_vector contours;
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markers_vector markers;
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markers_vector valid_markers;
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#ifdef DESKTOP
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std::ostringstream oss;
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#endif
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class Marker;
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typedef std::vector<std::vector<cv::Point> > contours_vector;
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typedef std::vector<cv::Point2f> points_vector;
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typedef std::vector<Marker> markers_vector;
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codes.clear();
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cv::cvtColor(img, gray, CV_BGR2GRAY);
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cv::adaptiveThreshold(gray, thresh, 255, cv::ADAPTIVE_THRESH_MEAN_C, cv::THRESH_BINARY_INV, 7, 7);
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findContours(thresh, contours, 40);
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isolateMarkers(contours, markers);
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class Marker{
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public:
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~Marker();
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points_vector points;
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int code;
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};
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for(int i = 0; i < markers.size(); i++){
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warpMarker(markers[i], gray, mark);
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float perimeter(points_vector &);
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int hammDistMarker(cv::Mat);
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cv::Mat rotate(cv::Mat);
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void binarize(cv::Mat &, cv::Mat &);
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void findContours(cv::Mat &, contours_vector &, int);
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void renderContours(contours_vector &, cv::Mat &);
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void renderMarkers(markers_vector &, cv::Mat &);
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void warpMarker(Marker &, cv::Mat &, cv::Mat &);
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int decodeMarker(cv::Mat &);
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void fixCorners(cv::Mat &, Marker &);
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void isolateMarkers(const contours_vector &, markers_vector &);
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int code = decodeMarker(mark);
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void getAllMarkers(std::vector<int> & codes, cv::Mat & img){
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cv::Mat gray, thresh, cont, mark;
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contours_vector contours;
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markers_vector markers;
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markers_vector valid_markers;
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if(code != -1){
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markers[i].code = code;
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valid_markers.push_back(markers[i]);
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}
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}
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codes.clear();
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for(int i = 0; i < valid_markers.size(); i++){
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#ifdef DESKTOP
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oss << valid_markers[i].code;
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cv::cvtColor(img, gray, CV_BGR2GRAY);
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binarize(gray, thresh);
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findContours(thresh, contours, 40);
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isolateMarkers(contours, markers);
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cv::putText(mark, oss.str(), cv::Point(5, 250), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar::all(128), 3, 8);
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for(int i = 0; i < markers.size(); i++){
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warpMarker(markers[i], gray, mark);
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oss.str("");
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oss.clear();
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int code = decodeMarker(mark);
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oss << "Marker[" << i << "]";
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if(code != -1){
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markers[i].code = code;
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valid_markers.push_back(markers[i]);
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}
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}
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cv::imshow(oss.str(), mark);
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for(int i = 0; i < valid_markers.size(); i++)
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fixCorners(gray, valid_markers[i]);
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oss.str("");
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oss.clear();
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#endif
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cv::cornerSubPix(gray, valid_markers[i].points, cvSize(10, 10), cvSize(-1, -1), termCriteria);
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codes.push_back(valid_markers[i].code);
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}
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cont = cv::Mat::zeros(img.size(), CV_8UC3);
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renderMarkers(valid_markers, cont);
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cont = cv::Mat::zeros(img.size(), CV_8UC3);
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renderMarkers(valid_markers, cont);
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img = img + cont;
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img = img + cont;
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for(int i = 0; i < valid_markers.size(); i++){
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codes.push_back(valid_markers[i].code);
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}
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markers.clear();
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contours.clear();
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valid_markers.clear();
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}
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markers.clear();
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contours.clear();
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valid_markers.clear();
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}
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void calibrateCamera(cv::Mat & img){
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bool patternfound;
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points_vector corners;
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cv::Mat gray;
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#ifdef DESKTOP
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void getAllMarkers_d(std::vector<int> & codes, cv::Mat & img){
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cv::Mat gray, thresh, cont, mark;
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contours_vector contours;
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markers_vector markers;
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markers_vector valid_markers;
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std::ostringstream oss;
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cv::cvtColor(img, gray, CV_BGR2GRAY);
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patternfound = cv::findChessboardCorners(gray, checkersPatternSize, corners, PATTERN_DETECTION_PARAMS);
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codes.clear();
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if(patternfound)
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cv::cornerSubPix(gray, corners, cv::Size(11, 11), cv::Size(-1, -1), termCriteria);
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cv::cvtColor(img, gray, CV_BGR2GRAY);
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binarize(gray, thresh);
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findContours(thresh, contours, 40);
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isolateMarkers(contours, markers);
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cv::drawChessboardCorners(img, checkersPatternSize, cv::Mat(corners), patternfound);
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}
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for(int i = 0; i < markers.size(); i++){
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warpMarker(markers[i], gray, mark);
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void findContours(cv::Mat & img, contours_vector & v, int minP){
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std::vector<std::vector<cv::Point> > c;
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cv::findContours(img, c, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
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int code = decodeMarker(mark);
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v.clear();
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for(size_t i = 0; i < c.size(); i++){
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if(c[i].size() > minP){
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v.push_back(c[i]);
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}
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}
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}
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if(code != -1){
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markers[i].code = code;
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valid_markers.push_back(markers[i]);
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}
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}
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void renderMarkers(markers_vector & v, cv::Mat & dst){
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contours_vector cv;
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for(int i = 0; i < valid_markers.size(); i++)
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fixCorners(gray, valid_markers[i]);
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for(size_t i = 0; i < v.size(); i++){
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std::vector<cv::Point> pv;
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for(size_t j = 0; j < v[i].points.size(); ++j)
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pv.push_back(cv::Point2f(v[i].points[j].x, v[i].points[j].y));
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cv.push_back(pv);
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}
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cont = cv::Mat::zeros(img.size(), CV_8UC3);
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renderMarkers(valid_markers, cont);
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cv::drawContours(dst, cv, -1, COLOR, 1, CV_AA);
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}
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img = img + cont;
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void isolateMarkers(const contours_vector & vc, markers_vector & vm){
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std::vector<cv::Point> appCurve;
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markers_vector posMarkers;
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for(int i = 0; i < valid_markers.size(); i++){
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oss << valid_markers[i].code;
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for(size_t i = 0; i < vc.size(); ++i){
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double eps = vc[i].size() * 0.05;
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cv::approxPolyDP(vc[i], appCurve, eps, true);
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cv::putText(mark, oss.str(), cv::Point(5, 250), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar::all(128), 3, 8);
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if(appCurve.size() != 4 || !cv::isContourConvex(appCurve)) continue;
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oss.str("");
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oss.clear();
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float minD = std::numeric_limits<float>::max();
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oss << "Marker[" << i << "]";
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for(int i = 0; i < 4; i++){
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cv::Point side = appCurve[i] - appCurve[(i + 1) % 4];
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float sqSideLen = side.dot(side);
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minD = std::min(minD, sqSideLen);
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}
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cv::imshow(oss.str(), mark);
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if(minD < MIN_CONTOUR_LENGTH) continue;
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oss.str("");
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oss.clear();
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Marker m;
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codes.push_back(valid_markers[i].code);
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}
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for(int i = 0; i < 4; i++)
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m.points.push_back(cv::Point2f(appCurve[i].x, appCurve[i].y));
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markers.clear();
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contours.clear();
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valid_markers.clear();
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}
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#endif
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cv::Point v1 = m.points[1] - m.points[0];
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cv::Point v2 = m.points[2] - m.points[0];
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void binarize(cv::Mat & src, cv::Mat & dst){
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cv::adaptiveThreshold(src, dst, 255, cv::ADAPTIVE_THRESH_MEAN_C, cv::THRESH_BINARY_INV, 7, 7);
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}
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double o = (v1.x * v2.y) - (v1.y * v2.x);
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if(o < 0.0) std::swap(m.points[1], m.points[3]);
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void findContours(cv::Mat & img, contours_vector & v, int minP){
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std::vector<std::vector<cv::Point> > c;
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cv::findContours(img, c, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
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posMarkers.push_back(m);
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}
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v.clear();
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for(size_t i = 0; i < c.size(); i++){
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if(c[i].size() > minP){
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v.push_back(c[i]);
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}
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}
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}
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std::vector<std::pair<int, int> > tooNear;
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for(size_t i = 0; i < posMarkers.size(); ++i){
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const Marker & m1 = posMarkers[i];
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void renderContours(contours_vector & v, cv::Mat & dst){
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cv::drawContours(dst, v, -1, COLOR, 1, CV_AA);
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}
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for(size_t j = i + 1; j < posMarkers.size(); j++){
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const Marker & m2 = posMarkers[j];
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void renderMarkers(markers_vector & v, cv::Mat & dst){
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contours_vector cv;
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float dSq = 0.0f;
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for(size_t i = 0; i < v.size(); i++){
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std::vector<cv::Point> pv;
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for(size_t j = 0; j < v[i].points.size(); ++j)
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pv.push_back(cv::Point2f(v[i].points[j].x, v[i].points[j].y));
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cv.push_back(pv);
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}
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for(int c = 0; c < 4; c++){
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cv::Point v = m1.points[c] - m2.points[c];
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dSq += v.dot(v);
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}
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cv::drawContours(dst, cv, -1, COLOR, 1, CV_AA);
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}
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dSq /= 4.0f;
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void isolateMarkers(const contours_vector & vc, markers_vector & vm){
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std::vector<cv::Point> appCurve;
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markers_vector posMarkers;
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if(dSq < 100) tooNear.push_back(std::pair<int, int>(i, j));
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}
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}
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for(size_t i = 0; i < vc.size(); ++i){
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double eps = vc[i].size() * 0.05;
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cv::approxPolyDP(vc[i], appCurve, eps, true);
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std::vector<bool> remMask(posMarkers.size(), false);
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if(appCurve.size() != 4 || !cv::isContourConvex(appCurve)) continue;
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for(size_t i = 0; i < tooNear.size(); ++i){
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float p1 = perimeter(posMarkers[tooNear[i].first].points);
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float p2 = perimeter(posMarkers[tooNear[i].second].points);
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float minD = std::numeric_limits<float>::max();
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size_t remInd;
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if(p1 > p2) remInd = tooNear[i].second;
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else remInd = tooNear[i].first;
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for(int i = 0; i < 4; i++){
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cv::Point side = appCurve[i] - appCurve[(i + 1) % 4];
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float sqSideLen = side.dot(side);
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minD = std::min(minD, sqSideLen);
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}
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remMask[remInd] = true;
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}
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if(minD < MIN_CONTOUR_LENGTH) continue;
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vm.clear();
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for(size_t i = 0; i < posMarkers.size(); ++i){
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if(remMask[i]) vm.push_back(posMarkers[i]);
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}
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}
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Marker m;
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void warpMarker(Marker & m, cv::Mat & in, cv::Mat & out){
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cv::Mat bin;
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cv::Size markerSize(350, 350);
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points_vector v;
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v.push_back(cv::Point2f(0,0));
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v.push_back(cv::Point2f(markerSize.width-1,0));
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v.push_back(cv::Point2f(markerSize.width-1,markerSize.height-1));
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v.push_back(cv::Point2f(0,markerSize.height-1));
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for(int i = 0; i < 4; i++)
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m.points.push_back(cv::Point2f(appCurve[i].x, appCurve[i].y));
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cv::Mat M = cv::getPerspectiveTransform(m.points, v);
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cv::warpPerspective(in, bin, M, markerSize);
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cv::Point v1 = m.points[1] - m.points[0];
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cv::Point v2 = m.points[2] - m.points[0];
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cv::threshold(bin, out, 128, 255, cv::THRESH_BINARY | cv::THRESH_OTSU);
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}
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double o = (v1.x * v2.y) - (v1.y * v2.x);
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if(o < 0.0) std::swap(m.points[1], m.points[3]);
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int hammDistMarker(cv::Mat bits){
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int ids[4][5] = {
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{1,0,0,0,0},
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{1,0,1,1,1},
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{0,1,0,0,1},
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{0,1,1,1,0}
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};
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posMarkers.push_back(m);
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}
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int dist = 0;
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std::vector<std::pair<int, int> > tooNear;
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for(size_t i = 0; i < posMarkers.size(); ++i){
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const Marker & m1 = posMarkers[i];
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for (int y = 0; y < 5; y++){
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int minSum = 1e5;
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for(size_t j = i + 1; j < posMarkers.size(); j++){
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const Marker & m2 = posMarkers[j];
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for (int p = 0; p < 4; p++){
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int sum = 0;
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float dSq = 0.0f;
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for (int x = 0; x < 5; x++){
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sum += bits.at<uchar>(y, x) == ids[p][x] ? 0 : 1;
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}
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for(int c = 0; c < 4; c++){
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cv::Point v = m1.points[c] - m2.points[c];
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dSq += v.dot(v);
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}
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if(minSum > sum)
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minSum = sum;
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}
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dSq /= 4.0f;
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dist += minSum;
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}
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if(dSq < 100) tooNear.push_back(std::pair<int, int>(i, j));
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}
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}
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return dist;
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}
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std::vector<bool> remMask(posMarkers.size(), false);
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cv::Mat rotate(cv::Mat in){
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cv::Mat out;
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in.copyTo(out);
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for (int i=0;i<in.rows;i++){
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for (int j=0;j<in.cols;j++){
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out.at<uchar>(i,j)=in.at<uchar>(in.cols-j-1,i);
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}
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}
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for(size_t i = 0; i < tooNear.size(); ++i){
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float p1 = perimeter(posMarkers[tooNear[i].first].points);
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float p2 = perimeter(posMarkers[tooNear[i].second].points);
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return out;
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}
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size_t remInd;
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if(p1 > p2) remInd = tooNear[i].second;
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else remInd = tooNear[i].first;
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int decodeMarker(cv::Mat & marker){
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bool found = false;
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int code = 0;
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cv::Mat bits;
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remMask[remInd] = true;
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}
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for(int y = 0; y < 7; y++){
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int inc = (y == 0 || y == 6) ? 1 : 6;
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vm.clear();
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for(size_t i = 0; i < posMarkers.size(); ++i){
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if(remMask[i]) vm.push_back(posMarkers[i]);
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}
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}
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for(int x = 0; x < 7; x += inc){
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int cX = x * 50;
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int cY = y * 50;
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void warpMarker(Marker & m, cv::Mat & in, cv::Mat & out){
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cv::Mat bin;
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cv::Size markerSize(350, 350);
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points_vector v;
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v.push_back(cv::Point2f(0,0));
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v.push_back(cv::Point2f(markerSize.width-1,0));
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v.push_back(cv::Point2f(markerSize.width-1,markerSize.height-1));
|
||||
v.push_back(cv::Point2f(0,markerSize.height-1));
|
||||
cv::Mat cell = marker(cv::Rect(cX, cY, 50, 50));
|
||||
|
||||
cv::Mat M = cv::getPerspectiveTransform(m.points, v);
|
||||
cv::warpPerspective(in, bin, M, markerSize);
|
||||
int nZ = cv::countNonZero(cell);
|
||||
|
||||
cv::threshold(bin, out, 128, 255, cv::THRESH_BINARY | cv::THRESH_OTSU);
|
||||
}
|
||||
// Not a valid marker.
|
||||
if(nZ > (50 * 50) / 2) return -1;
|
||||
}
|
||||
}
|
||||
|
||||
int hammDistMarker(cv::Mat bits){
|
||||
int ids[4][5] = {
|
||||
{1,0,0,0,0},
|
||||
{1,0,1,1,1},
|
||||
{0,1,0,0,1},
|
||||
{0,1,1,1,0}
|
||||
};
|
||||
bits = cv::Mat::zeros(5, 5, CV_8UC1);
|
||||
|
||||
int dist = 0;
|
||||
|
||||
for (int y = 0; y < 5; y++){
|
||||
int minSum = 1e5;
|
||||
for(int y = 0; y < 5; y++){
|
||||
for(int x = 0; x < 5; x++){
|
||||
int cX = (x + 1) * 50;
|
||||
int cY = (y + 1) * 50;
|
||||
|
||||
for (int p = 0; p < 4; p++){
|
||||
int sum = 0;
|
||||
cv::Mat cell = marker(cv::Rect(cX, cY, 50, 50));
|
||||
|
||||
for (int x = 0; x < 5; x++){
|
||||
sum += bits.at<uchar>(y, x) == ids[p][x] ? 0 : 1;
|
||||
}
|
||||
int nZ = cv::countNonZero(cell);
|
||||
|
||||
if(minSum > sum)
|
||||
minSum = sum;
|
||||
}
|
||||
if(nZ > (50 * 50) / 2) bits.at<uchar>(y, x) = 1;
|
||||
}
|
||||
}
|
||||
|
||||
dist += minSum;
|
||||
}
|
||||
if(hammDistMarker(bits) != 0){
|
||||
for(int r = 1; r < 4; r++){
|
||||
bits = rotate(bits);
|
||||
if(hammDistMarker(bits) != 0) continue;
|
||||
else{ found = true; break;}
|
||||
}
|
||||
}else found = true;
|
||||
|
||||
return dist;
|
||||
}
|
||||
cv::Mat rotate(cv::Mat in){
|
||||
cv::Mat out;
|
||||
in.copyTo(out);
|
||||
for (int i=0;i<in.rows;i++){
|
||||
for (int j=0;j<in.cols;j++){
|
||||
out.at<uchar>(i,j)=in.at<uchar>(in.cols-j-1,i);
|
||||
}
|
||||
}
|
||||
|
||||
return out;
|
||||
}
|
||||
if(found){
|
||||
for(int y = 0; y < 5; y++){
|
||||
code <<= 1;
|
||||
if(bits.at<uchar>(y, 1))
|
||||
code |= 1;
|
||||
|
||||
int decodeMarker(cv::Mat & marker){
|
||||
bool found = false;
|
||||
int code = 0;
|
||||
cv::Mat bits;
|
||||
code <<= 1;
|
||||
if(bits.at<uchar>(y, 3))
|
||||
code |= 1;
|
||||
}
|
||||
|
||||
for(int y = 0; y < 7; y++){
|
||||
int inc = (y == 0 || y == 6) ? 1 : 6;
|
||||
|
||||
for(int x = 0; x < 7; x += inc){
|
||||
int cX = x * 50;
|
||||
int cY = y * 50;
|
||||
return code;
|
||||
}else
|
||||
return -1;
|
||||
}
|
||||
|
||||
cv::Mat cell = marker(cv::Rect(cX, cY, 50, 50));
|
||||
float perimeter(points_vector & p){
|
||||
float per = 0.0f, dx, dy;
|
||||
|
||||
int nZ = cv::countNonZero(cell);
|
||||
for(size_t i; i < p.size(); ++i){
|
||||
dx = p[i].x - p[(i + 1) % p.size()].x;
|
||||
dy = p[i].y - p[(i + 1) % p.size()].y;
|
||||
per += sqrt((dx * dx) + (dy * dy));
|
||||
}
|
||||
|
||||
// Not a valid marker.
|
||||
if(nZ > (50 * 50) / 2) return -1;
|
||||
}
|
||||
}
|
||||
return per;
|
||||
}
|
||||
|
||||
bits = cv::Mat::zeros(5, 5, CV_8UC1);
|
||||
|
||||
|
||||
for(int y = 0; y < 5; y++){
|
||||
for(int x = 0; x < 5; x++){
|
||||
int cX = (x + 1) * 50;
|
||||
int cY = (y + 1) * 50;
|
||||
|
||||
cv::Mat cell = marker(cv::Rect(cX, cY, 50, 50));
|
||||
|
||||
int nZ = cv::countNonZero(cell);
|
||||
|
||||
if(nZ > (50 * 50) / 2) bits.at<uchar>(y, x) = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if(hammDistMarker(bits) != 0){
|
||||
for(int r = 1; r < 4; r++){
|
||||
bits = rotate(bits);
|
||||
if(hammDistMarker(bits) != 0) continue;
|
||||
else{ found = true; break;}
|
||||
}
|
||||
}else found = true;
|
||||
|
||||
|
||||
if(found){
|
||||
for(int y = 0; y < 5; y++){
|
||||
code <<= 1;
|
||||
if(bits.at<uchar>(y, 1))
|
||||
code |= 1;
|
||||
|
||||
code <<= 1;
|
||||
if(bits.at<uchar>(y, 3))
|
||||
code |= 1;
|
||||
}
|
||||
|
||||
|
||||
return code;
|
||||
}else
|
||||
return -1;
|
||||
}
|
||||
|
||||
void fixCorners(cv::Mat & img, Marker & m){
|
||||
cv::cornerSubPix(img, m.points, cvSize(10, 10), cvSize(-1, -1), cvTermCriteria(CV_TERMCRIT_ITER, 30, 0.1));
|
||||
}
|
||||
|
||||
float perimeter(points_vector & p){
|
||||
float per = 0.0f, dx, dy;
|
||||
|
||||
for(size_t i; i < p.size(); ++i){
|
||||
dx = p[i].x - p[(i + 1) % p.size()].x;
|
||||
dy = p[i].y - p[(i + 1) % p.size()].y;
|
||||
per += sqrt((dx * dx) + (dy * dy));
|
||||
}
|
||||
|
||||
return per;
|
||||
}
|
||||
|
||||
Marker::~Marker(){
|
||||
points.clear();
|
||||
}
|
||||
Marker::~Marker(){
|
||||
points.clear();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user