bool closeSurface( fwVertexPosition &_vertex, fwVertexIndex &_vertexIndex )
{
typedef std::pair< int, int > Edge;
typedef std::vector< Edge > Contour; // at Border
typedef std::vector< Contour> Contours;
Contours contours;
findBorderEdges( _vertexIndex , contours);
bool closurePerformed = !contours.empty() ;
// close each hole
for ( Contours::iterator contour=contours.begin(); contour != contours.end(); ++contour )
{
int newVertexIndex = _vertex.size() ;
// create gravity point & insert new triangle
std::vector< float > massCenter(3,0);
for ( Contour::iterator edge =contour->begin(); edge != contour->end(); ++edge )
{
for (int i=0; i<3; ++i )
{
massCenter[i] += _vertex[edge->first][i];
massCenter[i] += _vertex[edge->second][i];
}
// create new Triangle
std::vector< int > triangleIndex(3);
triangleIndex[0] = edge->first;
triangleIndex[1] = edge->second;
triangleIndex[2] = newVertexIndex;
_vertexIndex.push_back( triangleIndex ); // TEST
}
for (int i=0; i<3; ++i )
{
massCenter[i] /= contour->size()*2;
}
_vertex.push_back( massCenter ); // normalize barycenter
}
return closurePerformed;
}
Mat ScreenDetector::getTransformationMatrix(Error& error)
{
bool approxFound = false;
// convert image to HSV
cvtColor(img, hsv, CV_BGR2HSV);
// threshold the image
inRange(hsv, hsvMin, hsvMax, thresholded);
// Optimize threshold by reducing noise
erode(thresholded, thresholded, getStructuringElement(MORPH_ELLIPSE, Size(erodeDilateSize, erodeDilateSize)) );
dilate( thresholded, thresholded, getStructuringElement(MORPH_ELLIPSE, Size(erodeDilateSize, erodeDilateSize)) );
dilate( thresholded, thresholded, getStructuringElement(MORPH_ELLIPSE, Size(erodeDilateSize, erodeDilateSize)) );
erode(thresholded, thresholded, getStructuringElement(MORPH_ELLIPSE, Size(erodeDilateSize, erodeDilateSize)) );
GaussianBlur(thresholded, thresholded, Size(3,3), 0);
Mat forContours;
thresholded.copyTo(forContours);
// find all contours
Contours contours;
Contour approximatedScreen;
findContours(forContours, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
int nbContours = contours.size();
cout << nbContours << " contours found, debug: " << DEBUG << endl;
if(nbContours == 0)
{
error.setError("Unable to find the screen",
"The camera doesn't detect any screen or green element."
"Please check if your screen is turned on and directed toward the screen");
return img;
}
sort(contours.begin(), contours.end(), contour_compare_area);
// find the contour with the biggest area that have 4 points when approximated
for(int i=0; i < nbContours; ++i)
{
approxPolyDP(contours.at(i), approximatedScreen, approximateEpsilon * arcLength(contours.at(i), true), true);
// our screen has 4 point when approximated
if(approximatedScreen.size() == 4)
{
approxFound = true;
break;
}
}
if(!approxFound)
{
error.setError("Unable to find the screen properly",
"It seems that the screen is not fully detectable by the camera. Try to reduce light in your room");
return img;
}
if(DEBUG)
{
namedWindow("debug", WINDOW_KEEPRATIO);
namedWindow("thresholded_calibration", WINDOW_KEEPRATIO);
Mat debug = Mat::zeros(img.rows, img.cols, CV_8UC3);
polylines(debug, approximatedScreen, true, Scalar(0,0,255), 3);
imshow("debug", debug);
imshow("thresholded_calibration", thresholded);
}
return transformImage(approximatedScreen);
}
