std::vector<cv::Point2f> findLabelPositions(const cv::Mat3b& img, double threshold, bool visualize)
{
std::vector<LabelContour> labels = findLabelContours(img, threshold, visualize);
printf("Num labels: %lu\n", labels.size());
fflush(stdout);
if (visualize)
{
cv::Mat3b canvas = img * 0.25f;
drawLabels(canvas, labels, cv::Scalar(255, 255, 255));
cv::imshow("detected labels", canvas);
}
// Connect labels with each other in order to associate them.
std::vector<std::vector<LabelContour>> grouped_labels;
std::vector<std::vector<cv::Point2f>> spatial_indices;
std::tie(grouped_labels, spatial_indices) = connectLabelContours(labels, visualize);
Camera cam;
try
{
cam = solveCamera(grouped_labels, spatial_indices, img.size());
}
catch (cv::Exception)
{
return {};
}
return projectCube(cam);
}
void apply_mask(cv::Mat3b& im, const cv::Mat1b& mask)
{
if (!mask.data)
return;
ntk_assert(im.size() == mask.size(), "Wrong mask size");
for_all_rc(im)
if (mask(r,c) == 0)
im(r,c) = Vec3b(0,0,0);
}
void BlendScreen(cv::Mat3b& target_image, const cv::Mat1b& binary_image, cv::Vec3b color) {
assert(target_image.size() == binary_image.size());
cv::Size loop_size = target_image.size();
if(target_image.isContinuous() && binary_image.isContinuous()) {
loop_size.width *= loop_size.height;
loop_size.height = 1;
}
for(int i = 0; i < loop_size.height; ++i) {
cv::Vec3b* target = target_image.ptr<cv::Vec3b>(i);
const unsigned char* binary = binary_image.ptr<unsigned char>(i);
for(int j = 0; j < loop_size.width; ++j) {
if(!binary[j]) {
target[j][0] = target[j][0] + color[0] - (target[j][0] * color[0]) / 255;
target[j][1] = target[j][1] + color[1] - (target[j][1] * color[1]) / 255;
target[j][2] = target[j][2] + color[2] - (target[j][2] * color[2]) / 255;
}
}
}
}
std::vector<cv::Scalar> readLabelColors(const cv::Mat3b img, const std::vector<cv::Point2f>& points)
{
std::vector<cv::Scalar> label_colors;
cv::Rect img_rect(cv::Point(0,0), img.size());
for (const auto& p :points)
{
if (img_rect.contains(p))
{
label_colors.push_back(img(p));
}
}
if (label_colors.size() == 9*3)
{
return label_colors;
}
else
{
return {};
}
}