//el indx dice que zona es, indx = 1...4
Point2f getAreaCenter(RotatedRect& rect, int indx){
Point2f aux(0,0);
if (abs(rect.angle)<1) {
aux.x = ((indx == 1 || indx == 3) ? rect.center.x-rect.size.width/4 : rect.center.x+rect.size.width/4);
aux.y = ((indx == 1 || indx == 2) ? rect.center.y-rect.size.height/4 : rect.center.y+rect.size.height/4);
}
else {
CvPoint2D32f boxPoints[4];
RotatedRect box2(rect.center,cv::Size(rect.size.width/2,rect.size.height/2),-rect.angle+90);
cvBoxPoints(CvBox2D(box2), boxPoints);
if (indx == 1) {
aux.x = (double)boxPoints[1].x;
aux.y = (double)boxPoints[1].y;
}
else if(indx == 2){
aux.x = (double)boxPoints[2].x;
aux.y = (double)boxPoints[2].y;
}
else if(indx == 3){
aux.x = (double)boxPoints[0].x;
aux.y = (double)boxPoints[0].y;
}
else if(indx == 4){
aux.x = (double)boxPoints[3].x;
aux.y = (double)boxPoints[3].y;
}
else
CV_Assert(false);
}
return aux;
}
//@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
//@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
void DrawBox(const cv::RotatedRect &R, cv::Scalar color, IplImage *colorop) {
CvPoint2D32f Rvts[4];
cvBoxPoints(R,Rvts);
int thickness=5;
cvLine(colorop,R2Ipnt(Rvts[0]),R2Ipnt(Rvts[1]),color,thickness);
cvLine(colorop,R2Ipnt(Rvts[1]),R2Ipnt(Rvts[2]),color,thickness);
cvLine(colorop,R2Ipnt(Rvts[2]),R2Ipnt(Rvts[3]),color,thickness);
cvLine(colorop,R2Ipnt(Rvts[3]),R2Ipnt(Rvts[0]),color,thickness);
}
void * cvBox(CvBox2D box, IplImage *image, CvScalar color, int thickness)
{
CvPoint2D32f pt[4];
cvBoxPoints(box, pt);
for(int i = 0; i < 4; i++) {
cvLine(image, cvPointFrom32f(pt[i]), cvPointFrom32f(pt[(i+1)%4]), color, thickness);
cvCircle(image, cvPointFrom32f(pt[i]), thickness, cvScalarAll((255/4)*i), -1);
}
}
// the function draws all the squares in the image
void drawSquares(IplImage* imgSrc, CvSeq* squares)
{
CvSeqReader reader;
IplImage* imgCopy = cvCloneImage(imgSrc);
int i;
// initialize reader of the sequence
cvStartReadSeq(squares, &reader, 0);
// read 4 sequence elements at a time (all vertices of a square)
printf("Found %d rectangles in image\n", squares->total / 4);
for (i = 0; i < squares->total; i += 4)
{
CvPoint* pntRect = gPnt;
int pntCount = 4;
CvSeq* seqRect = cvCreateSeq(CV_32SC2, sizeof(CvSeq), sizeof(CvPoint), gStorage);
// read 4 vertices
memcpy(gPnt, reader.ptr, squares->elem_size);
CV_NEXT_SEQ_ELEM(squares->elem_size, reader);
cvSeqPush(seqRect, &pntRect[0]);
memcpy(gPnt + 1, reader.ptr, squares->elem_size);
CV_NEXT_SEQ_ELEM(squares->elem_size, reader);
cvSeqPush(seqRect, &pntRect[1]);
memcpy(gPnt + 2, reader.ptr, squares->elem_size);
CV_NEXT_SEQ_ELEM(squares->elem_size, reader);
cvSeqPush(seqRect, &pntRect[2]);
memcpy(gPnt + 3, reader.ptr, squares->elem_size);
CV_NEXT_SEQ_ELEM(squares->elem_size, reader);
cvSeqPush(seqRect, &pntRect[3]);
// draw the square as a closed polyline
cvPolyLine(imgCopy, &pntRect, &pntCount, 1, 1, CV_RGB(0, 255, 0), 1, CV_AA, 0);
// draw the min outter rect
CvBox2D box = cvMinAreaRect2(seqRect, NULL);
CvPoint2D32f ptBox[4];
cvBoxPoints(box, ptBox);
for(int i = 0; i < 4; ++i) {
cvLine(imgCopy, cvPointFrom32f(ptBox[i]), cvPointFrom32f(ptBox[((i+1)%4)?(i+1):0]), CV_RGB(255,0,0));
}
}
// show the resultant image
cvShowImage(wndname, imgCopy);
cvReleaseImage(&imgCopy);
}
void cvMinAreaRect( CvPoint* points, int n, int, int, int, int,
CvPoint2D32f* anchor, CvPoint2D32f* vect1, CvPoint2D32f* vect2 )
{
CvMat mat = cvMat( 1, n, CV_32SC2, points );
CvBox2D box = cvMinAreaRect2( &mat, 0 );
CvPoint2D32f pt[4];
cvBoxPoints( box, pt );
*anchor = pt[0];
vect1->x = pt[1].x - pt[0].x;
vect1->y = pt[1].y - pt[0].y;
vect2->x = pt[3].x - pt[0].x;
vect2->y = pt[3].y - pt[0].y;
}
/*
* call-seq:
* points -> array(include cvpoint2d32f)
* Find box vertices. Return Array contain 4 CvPoint2D32f.
*/
VALUE
rb_points(VALUE self)
{
const int n = 4;
CvPoint2D32f p[n];
try {
cvBoxPoints(*CVBOX2D(self), p);
}
catch (cv::Exception& e) {
raise_cverror(e);
}
VALUE points = rb_ary_new2(n);
for (int i = 0; i < n; ++i)
rb_ary_store(points, i, cCvPoint2D32f::new_object(p[i]));
return points;
}
//在图像srcImg上根据contour轮廓画上最小外接矩形
CvBox2D DrawMinAreaRect(IplImage *srcImg,CvSeq *contour,CvScalar color/*=CV_RGB(255,0,0)*/)
{
CvBox2D box=cvMinAreaRect2(contour);
CvPoint2D32f box_vtx[4];
CvPoint pt0, pt;
cvBoxPoints( box, box_vtx );
pt0.x = cvRound(box_vtx[3].x);
pt0.y = cvRound(box_vtx[3].y);
for(int i = 0; i < 4; i++ )
{
pt.x = cvRound(box_vtx[i].x);
pt.y = cvRound(box_vtx[i].y);
cvLine(srcImg, pt0, pt, color, 1, CV_AA, 0);
pt0 = pt;
}
return box;
}
void drawRotatedRect(Mat& img, const RotatedRect& rect, CvScalar color, int thickness){
if (abs(rect.angle)<1) {
rectangle(img, Point2i(rect.center.x-rect.size.width/2,rect.center.y-rect.size.height/2),
Point2i(rect.center.x+rect.size.width/2,rect.center.y+rect.size.height/2), color, thickness);
}
else {
RotatedRect box(rect.center,rect.size,-rect.angle+90);
CvPoint2D32f boxPoints[4];
cvBoxPoints(CvBox2D(box), boxPoints);
line(img,Point2f((int)boxPoints[0].x, (int)boxPoints[0].y), Point2f((int)boxPoints[1].x, (int)boxPoints[1].y),color,thickness);
line(img,Point2f((int)boxPoints[1].x, (int)boxPoints[1].y), Point2f((int)boxPoints[2].x, (int)boxPoints[2].y),color,thickness);
line(img,Point2f((int)boxPoints[2].x, (int)boxPoints[2].y), Point2f((int)boxPoints[3].x, (int)boxPoints[3].y),color,thickness);
line(img,Point2f((int)boxPoints[3].x, (int)boxPoints[3].y), Point2f((int)boxPoints[0].x, (int)boxPoints[0].y),color,thickness);
}
}
static void draw_box(IplImage *image, CvBox2D box, double color) {
CvPoint2D32f boxPoints[4];
/* CamShift seems to get this backwards */
box.angle = -box.angle;
cvBoxPoints(box, boxPoints);
cvLineAA(image,
cvPoint((int)boxPoints[0].x, (int)boxPoints[0].y),
cvPoint((int)boxPoints[1].x, (int)boxPoints[1].y),
color);
cvLineAA(image,
cvPoint((int)boxPoints[1].x, (int)boxPoints[1].y),
cvPoint((int)boxPoints[2].x, (int)boxPoints[2].y),
color);
cvLineAA(image,
cvPoint((int)boxPoints[2].x, (int)boxPoints[2].y),
cvPoint((int)boxPoints[3].x, (int)boxPoints[3].y),
color);
cvLineAA(image,
cvPoint((int)boxPoints[3].x, (int)boxPoints[3].y),
cvPoint((int)boxPoints[0].x, (int)boxPoints[0].y),
color);
}
IplImage* BouyBaseObject::GetMask(const IplImage * imgIn, IplImage * debugOut) const
{
if(imgIn == NULL) return NULL;
IplImage* colormask = NULL;
IplImage* gvcolormask = NULL;
//IplImage* shapemask = ShapeMask(imgIn);
IplImage* segmentationmask = NULL;
IplImage* histogrammask = NULL;
//IplImage* edgemask = EdgeMask(imgIn);
IplImage* templatemask = NULL;
// if(colormask == NULL || shapemask == NULL ||
// segmentationmask== NULL || histogrammask == NULL ||
// edgemask == NULL ) return NULL;
//cvShowImage("colormask", colormask);
//cvShowImage("channelmask", channelmask);
IplImage * imgOut = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
IplImage * threshold = cvCreateImage(cvGetSize(imgIn),IPL_DEPTH_8U, 1);
cvZero(imgOut);
if(mEnableHist)
{
histogrammask = HistogramMask(imgIn);
}
if(mEnableColor)
{
colormask = ColorMask(imgIn);
}
if(mEnableSegment)
{
segmentationmask = SegmentationMask(imgIn);
}
if(mEnableGVColor)
{
gvcolormask = GVColorMask(imgIn);
}
int count = 1;
if(VisionUtils::CombineMasks(imgOut,histogrammask,imgOut,count,mHistWeight))
{
count++;
}
if(VisionUtils::CombineMasks(imgOut,colormask,imgOut, count, mColorWeight))
{
count++;
}
if(VisionUtils::CombineMasks(imgOut,segmentationmask,imgOut,count,mSegmentWeight))
{
count++;
}
if(VisionUtils::CombineMasks(imgOut,gvcolormask,imgOut,count,mGVColorWeight))
{
count++;
}
//VisionUtils::CombineMasks(imgOut,edgemask,imgOut,2,1);
//VisionUtils::CombineMasks(imgOut,histogrammask,imgOut,2,1);
cvNormalize(imgOut,imgOut,255,0,CV_MINMAX);
if(mDebug)
{
cvShowImage("combined", imgOut);
}
cvThreshold(imgOut,threshold,mMainThreshold,255,CV_THRESH_BINARY );
std::list<CvBox2D> blobList;
blobList = Zebulon::Vision::VisionUtils::GetBlobBoxes(threshold,0,mMinNoiseSizePercent);
for(std::list<CvBox2D>::iterator it = blobList.begin(); it != blobList.end(); it++)
{
CvPoint2D32f boxCorners32[4];
CvPoint boxCorners[4];
cvBoxPoints(*it,boxCorners32);
for(int i = 0; i < 4; i ++)
{
boxCorners[i] = cvPointFrom32f(boxCorners32[i]);
}
cvFillConvexPoly(threshold,boxCorners,4,cvScalar(0,0,0),4);
//Zebulon::Vision::VisionUtils::DrawSquare(imgOut,*it);
}
//shapemask = FindCircles(imgOut);
imgOut = TemplateMask(imgOut, threshold, mTemplate);
//VisionUtils::CombineMasks(imgOut,templatemask,imgOut);
if(mDebug)
{
cvShowImage("clean", threshold);
cvShowImage("final", imgOut);
cvShowImage("color", colormask);
cvShowImage("hist", histogrammask);
cvShowImage("segment", segmentationmask);
cvShowImage("template", templatemask);
cvShowImage("gvcolor", gvcolormask);
}
cvReleaseImage(&colormask);
//cvReleaseImage(&shapemask);
cvReleaseImage(&segmentationmask);
cvReleaseImage(&histogrammask);
cvReleaseImage(&gvcolormask);
//cvReleaseImage(&edgemask);
return imgOut;
}
ColorChecker find_colorchecker(CvSeq * quads, CvSeq * boxes, CvMemStorage *storage, IplImage *image, IplImage *original_image)
{
CvPoint2D32f box_corners[4];
bool passport_box_flipped = false;
bool rotated_box = false;
CvMat* points = cvCreateMat( boxes->total , 1, CV_32FC2 );
for(int i = 0; i < boxes->total; i++)
{
CvBox2D box = (*(CvBox2D*)cvGetSeqElem(boxes, i));
cvSet1D(points, i, cvScalar(box.center.x,box.center.y));
}
CvBox2D passport_box = cvMinAreaRect2(points,storage);
fprintf(stderr,"Box:\n\tCenter: %f,%f\n\tSize: %f,%f\n\tAngle: %f\n",passport_box.center.x,passport_box.center.y,passport_box.size.width,passport_box.size.height,passport_box.angle);
if(passport_box.angle < 0.0) {
passport_box_flipped = true;
}
cvBoxPoints(passport_box, box_corners);
// for(int i = 0; i < 4; i++)
// {
// fprintf(stderr,"Box corner %d: %d,%d\n",i,cvPointFrom32f(box_corners[i]).x,cvPointFrom32f(box_corners[i]).y);
// }
// cvBox(passport_box, image, cvScalarAll(128), 10);
if(euclidean_distance(cvPointFrom32f(box_corners[0]),cvPointFrom32f(box_corners[1])) <
euclidean_distance(cvPointFrom32f(box_corners[1]),cvPointFrom32f(box_corners[2]))) {
fprintf(stderr,"Box is upright, rotating\n");
rotate_box(box_corners);
rotated_box = true && passport_box_flipped;
}
double horizontal_spacing = euclidean_distance(
cvPointFrom32f(box_corners[0]),cvPointFrom32f(box_corners[1]))/(double)(MACBETH_WIDTH-1);
double vertical_spacing = euclidean_distance(
cvPointFrom32f(box_corners[1]),cvPointFrom32f(box_corners[2]))/(double)(MACBETH_HEIGHT-1);
double horizontal_slope = (box_corners[1].y - box_corners[0].y)/(box_corners[1].x - box_corners[0].x);
double horizontal_mag = sqrt(1+pow(horizontal_slope,2));
double vertical_slope = (box_corners[3].y - box_corners[0].y)/(box_corners[3].x - box_corners[0].x);
double vertical_mag = sqrt(1+pow(vertical_slope,2));
double horizontal_orientation = box_corners[0].x < box_corners[1].x ? -1 : 1;
double vertical_orientation = box_corners[0].y < box_corners[3].y ? -1 : 1;
fprintf(stderr,"Spacing is %f %f\n",horizontal_spacing,vertical_spacing);
fprintf(stderr,"Slope is %f %f\n", horizontal_slope,vertical_slope);
int average_size = 0;
for(int i = 0; i < boxes->total; i++)
{
CvBox2D box = (*(CvBox2D*)cvGetSeqElem(boxes, i));
CvRect rect = contained_rectangle(box);
average_size += MIN(rect.width, rect.height);
}
average_size /= boxes->total;
fprintf(stderr,"Average contained rect size is %d\n", average_size);
CvMat * this_colorchecker = cvCreateMat(MACBETH_HEIGHT, MACBETH_WIDTH, CV_32FC3);
CvMat * this_colorchecker_points = cvCreateMat( MACBETH_HEIGHT, MACBETH_WIDTH, CV_32FC2 );
// calculate the averages for our oriented colorchecker
for(int x = 0; x < MACBETH_WIDTH; x++) {
for(int y = 0; y < MACBETH_HEIGHT; y++) {
CvPoint2D32f row_start;
if ( ((image->origin == IPL_ORIGIN_BL) || !rotated_box) && !((image->origin == IPL_ORIGIN_BL) && rotated_box) )
{
row_start.x = box_corners[0].x + vertical_spacing * y * (1 / vertical_mag);
row_start.y = box_corners[0].y + vertical_spacing * y * (vertical_slope / vertical_mag);
}
else
{
row_start.x = box_corners[0].x - vertical_spacing * y * (1 / vertical_mag);
row_start.y = box_corners[0].y - vertical_spacing * y * (vertical_slope / vertical_mag);
}
CvRect rect = cvRect(0,0,average_size,average_size);
rect.x = row_start.x - horizontal_spacing * x * ( 1 / horizontal_mag ) * horizontal_orientation;
rect.y = row_start.y - horizontal_spacing * x * ( horizontal_slope / horizontal_mag ) * vertical_orientation;
cvSet2D(this_colorchecker_points, y, x, cvScalar(rect.x,rect.y));
rect.x = rect.x - average_size / 2;
rect.y = rect.y - average_size / 2;
// cvRectangle(
// image,
// cvPoint(rect.x,rect.y),
// cvPoint(rect.x+rect.width, rect.y+rect.height),
// cvScalarAll(0),
// 10
// );
CvScalar average_color = rect_average(rect, original_image);
cvSet2D(this_colorchecker,y,x,average_color);
}
}
double orient_1_error = check_colorchecker(this_colorchecker);
cvFlip(this_colorchecker,NULL,-1);
double orient_2_error = check_colorchecker(this_colorchecker);
fprintf(stderr,"Orientation 1: %f\n",orient_1_error);
fprintf(stderr,"Orientation 2: %f\n",orient_2_error);
if(orient_1_error < orient_2_error) {
cvFlip(this_colorchecker,NULL,-1);
}
else {
cvFlip(this_colorchecker_points,NULL,-1);
}
// draw_colorchecker(this_colorchecker,this_colorchecker_points,image,average_size);
ColorChecker found_colorchecker;
found_colorchecker.error = MIN(orient_1_error,orient_2_error);
found_colorchecker.values = this_colorchecker;
found_colorchecker.points = this_colorchecker_points;
found_colorchecker.size = average_size;
return found_colorchecker;
}
int main( int argc, char** argv )
{
IplImage* img = cvCreateImage( cvSize( 500, 500 ), 8, 3 );
#if !ARRAY
CvMemStorage* storage = cvCreateMemStorage(0);
#endif
cvNamedWindow( "rect & circle", 1 );
for(;;)
{
char key;
int i, count = rand()%100 + 1;
CvPoint pt0, pt;
CvBox2D box;
CvPoint2D32f box_vtx[4];
CvPoint2D32f center;
CvPoint icenter;
float radius;
#if !ARRAY
CvSeq* ptseq = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2, sizeof(CvContour),
sizeof(CvPoint), storage );
for( i = 0; i < count; i++ )
{
pt0.x = rand() % (img->width/2) + img->width/4;
pt0.y = rand() % (img->height/2) + img->height/4;
cvSeqPush( ptseq, &pt0 );
}
#ifndef _EiC /* unfortunately, here EiC crashes */
box = cvMinAreaRect2( ptseq, 0 );
#endif
cvMinEnclosingCircle( ptseq, ¢er, &radius );
#else
CvPoint* points = (CvPoint*)malloc( count * sizeof(points[0]));
CvMat pointMat = cvMat( 1, count, CV_32SC2, points );
for( i = 0; i < count; i++ )
{
pt0.x = rand() % (img->width/2) + img->width/4;
pt0.y = rand() % (img->height/2) + img->height/4;
points[i] = pt0;
}
#ifndef _EiC
box = cvMinAreaRect2( &pointMat, 0 );
#endif
cvMinEnclosingCircle( &pointMat, ¢er, &radius );
#endif
cvBoxPoints( box, box_vtx );
cvZero( img );
for( i = 0; i < count; i++ )
{
#if !ARRAY
pt0 = *CV_GET_SEQ_ELEM( CvPoint, ptseq, i );
#else
pt0 = points[i];
#endif
cvCircle( img, pt0, 2, CV_RGB( 255, 0, 0 ), CV_FILLED, CV_AA, 0 );
}
#ifndef _EiC
pt0.x = cvRound(box_vtx[3].x);
pt0.y = cvRound(box_vtx[3].y);
for( i = 0; i < 4; i++ )
{
pt.x = cvRound(box_vtx[i].x);
pt.y = cvRound(box_vtx[i].y);
cvLine(img, pt0, pt, CV_RGB(0, 255, 0), 1, CV_AA, 0);
pt0 = pt;
}
#endif
icenter.x = cvRound(center.x);
icenter.y = cvRound(center.y);
cvCircle( img, icenter, cvRound(radius), CV_RGB(255, 255, 0), 1, CV_AA, 0 );
cvShowImage( "rect & circle", img );
key = (char) cvWaitKey(0);
if( key == 27 || key == 'q' || key == 'Q' ) // 'ESC'
break;
#if !ARRAY
cvClearMemStorage( storage );
#else
free( points );
#endif
}
cvDestroyWindow( "rect & circle" );
return 0;
}
