std::map<int, Quad> find(const cv::Mat &inputImage){
auto greyscaleImage = mEnsureGreyscale(inputImage);
std::map<int, Quad> tags;
for (const auto & quad : mFindQuads(greyscaleImage)) {
auto refinedQuad = mRefine(greyscaleImage, quad);
auto tag = mDecode(mReadBits(greyscaleImage, refinedQuad), refinedQuad);
if (tag.first != Decode::INVALID_TAG) tags[tag.first] = tag.second;
else {
tag = mDecode(mReadBits(greyscaleImage, quad), quad);
if (tag.first != Decode::INVALID_TAG) tags[tag.first] = tag.second;
}
}
return mFilter(tags);
};
std::map<int, chilitags::Quad> chilitags::Track::operator()(
const cv::Mat &inputImage) {
mEnsureGreyscale(mToImage).copyTo(mFromImage);
mToImage = mEnsureGreyscale(inputImage);
std::vector<uchar> status;
std::vector<float> errors;
std::map<int, chilitags::Quad> trackedTags;
for (auto tag : mFromTags) {
chilitags::Quad result;
static const float GROWTH_RATIO = 20.f/10.f;
cv::Rect roi = growRoi(mToImage, cv::Mat_<cv::Point2f>(tag.second), GROWTH_RATIO);
cv::Point2f roiOffset = roi.tl();
for (int i : {0,1,2,3}) {
tag.second(i,0) -= roiOffset.x;
tag.second(i,1) -= roiOffset.y;
}
cv::calcOpticalFlowPyrLK(
mFromImage(roi), mToImage(roi),
tag.second, result,
status, errors,
//TODO play with parameters (with tests)
cv::Size(21,21), 3,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01)
);
for (int i : {0,1,2,3}) {
result(i,0) += roiOffset.x;
result(i,1) += roiOffset.y;
}
if (cv::sum(cv::Mat(status))[0] == status.size()) {
trackedTags[tag.first] = mRefine(mToImage, result, .5/10.);
}
}
mFromTags = std::move(trackedTags);
return mFromTags;
}
void Detect::doDetection(TagCornerMap& tags)
{
if(mRefineCorners) {
for(const auto& quad : mFindQuads(mFrame)) {
auto refinedQuad = mRefine(mFrame, quad, 1.5f/10.0f);
auto tag = mDecode(mReadBits(mFrame, refinedQuad), refinedQuad);
if(tag.first != Decode::INVALID_TAG)
tags[tag.first] = tag.second;
else{
tag = mDecode(mReadBits(mFrame, quad), quad);
if(tag.first != Decode::INVALID_TAG)
tags[tag.first] = tag.second;
}
}
}
else{
for(const auto& quad : mFindQuads(mFrame)) {
auto tag = mDecode(mReadBits(mFrame, quad), quad);
if(tag.first != Decode::INVALID_TAG)
tags[tag.first] = tag.second;
}
}
}
