Appender::Appender()
{
_id = -1;
_layout = comlog_get_def_layout();
_core_debug("init layout %lx", _layout);
_mask = 0;
_open = 1;
resetMask();
pthread_mutex_init(&_lock, NULL);
_bkappender = NULL;
setLayout(NULL);
}
void ChromaticMask::setParams(unsigned int mc, unsigned int nc, double threshProb, aruco::CameraParameters CP, aruco::BoardConfiguration BC, vector<cv::Point3f> corners)
{
_classifiers.resize(mc*nc);
for(unsigned int i=0; i<_classifiers.size(); i++) _classifiers[i].setProb(threshProb);
_mc = mc;
_nc = nc;
_threshProb = threshProb;
_cell_neighbours.resize(mc*nc);
int idx_=0;
//cout << "STD PRINTING!!" << endl;
//SGJ: revisar, no engo claro sepa bien que es i y j y los puedo estar confundiendo!!!
for(unsigned int j=0; j<nc; j++)
for(unsigned int i=0; i<mc; i++,idx_++) {
_centers.push_back(cv::Point2f(i+0.5, j+0.5));
for(unsigned int nj=max(j-1,(unsigned int)0); nj<min(mc,j+1); nj++) {
for(unsigned int ni=max(i-1,(unsigned int)0); ni<min(mc,i+1); ni++) {
size_t tidx=nj*mc+ni;
_cell_neighbours[idx_].push_back(tidx);
}
}
}
//cout << "STD PRINTING!!" << endl;
//deterimne the idx of the neighbours
_BD.getMarkerDetector().setThresholdParams(35,7);
_BD.getMarkerDetector().enableErosion(false);
_BD.getMarkerDetector().setCornerRefinementMethod(aruco::MarkerDetector::LINES);
_BD.setYPerpendicular(false);
_BD.setParams(BC, CP);
_objCornerPoints = corners;
_CP = CP;
//cout << "STD PRINTING!!" << endl;
_pixelsVector.clear();
for(unsigned int i=0; i<CP.CamSize.height/2; i++)
for(unsigned int j=0; j<CP.CamSize.width/2; j++)
_pixelsVector.push_back( cv::Point2f(2*j,2*i) );
//cout << "STD PRINTING!!" << endl;
resetMask();
//cout << "cam size: " << CP.CamSize.height << " " << CP.CamSize.width << endl;
_cellMap = cv::Mat(CP.CamSize.height, CP.CamSize.width, CV_8UC1, cv::Scalar::all(0));
_canonicalPos = cv::Mat(CP.CamSize.height, CP.CamSize.width, CV_8UC2);
_cellCenters.resize(_classifiers.size());
for(unsigned int i=0; i<mc; i++) {
for(unsigned int j=0; j<nc; j++) {
_cellCenters[i*mc+j].x = ((2*i+1)*_cellSize)/2.;
_cellCenters[i*mc+j].y = ((2*j+1)*_cellSize)/2.;
}
}
}
void ChromaticMask::classify(const cv::Mat& in, const aruco::Board &board)
{
calculateGridImage(board);
resetMask();
for(unsigned int i=0; i<in.rows; i++) {
const uchar* in_ptr = in.ptr<uchar>(i);
const uchar* _cellMap_ptr = _cellMap.ptr<uchar>(i);
for(unsigned int j=0; j<in.cols; j++) {
uchar idx = _cellMap_ptr[j];
if(idx!=0) {
// considering neighbours
// float prob=0.0;
// float totalW = 0.0;
// cv::Point2d pix(i,j);
// for(uint k=0; k<_classifiers.size()-17; k++) {
// float w = 1./(1.+getDistance(pix,k));
// totalW += w;
// prob += w*_classifiers[k].getProb(in_ptr[j] );
// }
// prob /= totalW;
// if(prob > _threshProb) _mask.at<uchar>(i,j)=1;
// not considering neighbours
if(_classifiers[idx-1].classify( in.at<uchar>(i,j) )) _mask.at<uchar>(i,j)=1;
// if(_classifiers[idx-1].probConj[ in.at<uchar>(i,j)]>_threshProb ) _mask.at<uchar>(i,j)=1;
}
}
}
// apply closing to mask
cv::Mat maskClose;
cv::Mat element = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3,3));
cv::morphologyEx(_mask, maskClose, CV_MOP_CLOSE, element);
_mask = maskClose;
}
