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Fixed marker rotation bug. Added device orientation slider.

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Wally Hackenslacker
2014-06-20 11:31:09 -04:30
parent 0d7df37f74
commit 74b260a33e
2 changed files with 23 additions and 3 deletions
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26
jni/marker.cpp
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@@ -77,7 +77,7 @@ int hammDistMarker(cv::Mat);
cv::Mat rotate(cv::Mat); cv::Mat rotate(cv::Mat);
int decodeMarker(cv::Mat &); int decodeMarker(cv::Mat &, int &);
void renderMarkers(markers_vector &, cv::Mat &); void renderMarkers(markers_vector &, cv::Mat &);
@@ -92,9 +92,11 @@ void warpMarker(Marker &, cv::Mat &, cv::Mat &);
******************************************************************************/ ******************************************************************************/
void getAllMarkers(markers_vector & valid_markers, cv::Mat & img){ void getAllMarkers(markers_vector & valid_markers, cv::Mat & img){
int rotations = 0;
cv::Mat gray, thresh, cont, mark; cv::Mat gray, thresh, cont, mark;
contours_vector contours; contours_vector contours;
markers_vector markers; markers_vector markers;
cv::Point2f point;
#ifdef DESKTOP #ifdef DESKTOP
std::ostringstream oss; std::ostringstream oss;
#endif #endif
@@ -116,10 +118,25 @@ void getAllMarkers(markers_vector & valid_markers, cv::Mat & img){
for(int i = 0; i < markers.size(); i++){ for(int i = 0; i < markers.size(); i++){
warpMarker(markers[i], gray, mark); warpMarker(markers[i], gray, mark);
int code = decodeMarker(mark); int code = decodeMarker(mark, rotations);
if(code != -1){ if(code != -1){
markers[i].code = code; markers[i].code = code;
// If the decoder detected the marker is rotated then reorder the points
// so that the orientation calculations always use the correct top of the marker.
if(rotations > 0){
while(rotations > 0){
for(int r = 0; r < 3; r++){
point = markers[i].points.at(markers[i].points.size() - 1);
markers[i].points.pop_back();
markers[i].points.insert(markers[i].points.begin(), point);
}
rotations--;
}
}
valid_markers.push_back(markers[i]); valid_markers.push_back(markers[i]);
} }
} }
@@ -434,11 +451,13 @@ cv::Mat rotate(cv::Mat in){
* Decode a marker image and return it's code. Returns -1 if the image is * Decode a marker image and return it's code. Returns -1 if the image is
* not a valid marker. * not a valid marker.
*/ */
int decodeMarker(cv::Mat & marker){ int decodeMarker(cv::Mat & marker, int & rotations){
bool found = false; bool found = false;
int code = 0; int code = 0;
cv::Mat bits; cv::Mat bits;
rotations = 0;
// Verify that the outer rim of marker cells are all black. // Verify that the outer rim of marker cells are all black.
for(int y = 0; y < 7; y++){ for(int y = 0; y < 7; y++){
int inc = (y == 0 || y == 6) ? 1 : 6; int inc = (y == 0 || y == 6) ? 1 : 6;
@@ -478,6 +497,7 @@ int decodeMarker(cv::Mat & marker){
if(hammDistMarker(bits) != 0){ if(hammDistMarker(bits) != 0){
for(int r = 1; r < 4; r++){ for(int r = 1; r < 4; r++){
bits = rotate(bits); bits = rotate(bits);
rotations++;
if(hammDistMarker(bits) != 0) continue; if(hammDistMarker(bits) != 0) continue;
else{ found = true; break;} else{ found = true; break;}
} }