void MarkerDetector::findCandidates
(
const ContoursVector& contours,
std::vector<Marker>& detectedMarkers
)
{
std::vector<cv::Point> approxCurve;
std::vector<Marker> possibleMarkers;
// For each contour, analyze if it is a parallelepiped likely to be the marker
for (size_t i=0; i<contours.size(); i++)
{
// Approximate to a polygon
double eps = contours[i].size() * 0.05;
cv::approxPolyDP(contours[i], approxCurve, eps, true);
// We interested only in polygons that contains only four points
if (approxCurve.size() != 4)
continue;
// And they have to be convex
if (!cv::isContourConvex(approxCurve))
continue;
// Ensure that the distance between consecutive points is large enough
float minDist = std::numeric_limits<float>::max();
for (int i = 0; i < 4; i++)
{
cv::Point side = approxCurve[i] - approxCurve[(i+1)%4];
float squaredSideLength = side.dot(side);
minDist = std::min(minDist, squaredSideLength);
}
// Check that distance is not very small
if (minDist < m_minContourLengthAllowed)
continue;
// All tests are passed. Save marker candidate:
Marker m;
for (int i = 0; i<4; i++)
m.points.push_back( cv::Point2f(approxCurve[i].x,approxCurve[i].y) );
// Sort the points in anti-clockwise order
// Trace a line between the first and second point.
// If the third point is at the right side, then the points are anti-clockwise
cv::Point v1 = m.points[1] - m.points[0];
cv::Point v2 = m.points[2] - m.points[0];
double o = (v1.x * v2.y) - (v1.y * v2.x);
if (o < 0.0) //if the third point is in the left side, then sort in anti-clockwise order
std::swap(m.points[1], m.points[3]);
possibleMarkers.push_back(m);
}
// Remove these elements which corners are too close to each other.
// First detect candidates for removal:
std::vector< std::pair<int,int> > tooNearCandidates;
for (size_t i=0;i<possibleMarkers.size();i++)
{
const Marker& m1 = possibleMarkers[i];
//calculate the average distance of each corner to the nearest corner of the other marker candidate
for (size_t j=i+1;j<possibleMarkers.size();j++)
{
const Marker& m2 = possibleMarkers[j];
float distSquared = 0;
for (int c = 0; c < 4; c++)
{
cv::Point v = m1.points[c] - m2.points[c];
distSquared += v.dot(v);
}
distSquared /= 4;
if (distSquared < 100)
{
tooNearCandidates.push_back(std::pair<int,int>(i,j));
}
}
}
// Mark for removal the element of the pair with smaller perimeter
std::vector<bool> removalMask (possibleMarkers.size(), false);
for (size_t i=0; i<tooNearCandidates.size(); i++)
{
float p1 = perimeter(possibleMarkers[tooNearCandidates[i].first ].points);
float p2 = perimeter(possibleMarkers[tooNearCandidates[i].second].points);
size_t removalIndex;
if (p1 > p2)
removalIndex = tooNearCandidates[i].second;
else
removalIndex = tooNearCandidates[i].first;
removalMask[removalIndex] = true;
}
// Return candidates
detectedMarkers.clear();
for (size_t i=0;i<possibleMarkers.size();i++)
{
if (!removalMask[i])
detectedMarkers.push_back(possibleMarkers[i]);
}
}
void dgConvexHull4d::InsertNewVertex(dgInt32 vertexIndex, dgListNode* const frontFace, dgList<dgListNode*>& deletedFaces, dgList<dgListNode*>& newFaces)
{
dgAssert (Sanity());
dgList<dgListNode*> stack(GetAllocator());
dgInt32 mark = IncMark();
stack.Append(frontFace);
dgHullVector* const hullVertexArray = &m_points[0];
const dgBigVector& p = hullVertexArray[vertexIndex];
while (stack.GetCount()) {
dgList<dgListNode*>::dgListNode* const stackNode = stack.GetLast();
dgListNode* const node = stackNode->GetInfo();
stack.Remove(stackNode);
dgConvexHull4dTetraherum* const face = &node->GetInfo();
if ((face->GetMark() != mark) && (face->Evalue(hullVertexArray, p) > dgFloat64(0.0f))) {
#ifdef _DEBUG
for (dgList<dgListNode*>::dgListNode* deleteNode = deletedFaces.GetFirst(); deleteNode; deleteNode = deleteNode->GetNext()) {
dgAssert (deleteNode->GetInfo() != node);
}
#endif
deletedFaces.Append(node);
face->SetMark(mark);
for (dgInt32 i = 0; i < 4; i ++) {
dgListNode* const twinNode = (dgListNode*)face->m_faces[i].m_twin;
dgAssert (twinNode);
dgConvexHull4dTetraherum* const twinFace = &twinNode->GetInfo();
if (twinFace->GetMark() != mark) {
stack.Append(twinNode);
}
}
}
}
dgTree<dgListNode*, dgInt32> perimeter(GetAllocator());
for (dgList<dgListNode*>::dgListNode* deleteNode = deletedFaces.GetFirst(); deleteNode; deleteNode = deleteNode->GetNext()) {
dgListNode* const deleteTetraNode = deleteNode->GetInfo();
dgConvexHull4dTetraherum* const deletedTetra = &deleteTetraNode->GetInfo();
dgAssert (deletedTetra->GetMark() == mark);
for (dgInt32 i = 0; i < 4; i ++) {
dgListNode* const twinNode = deletedTetra->m_faces[i].m_twin;
dgConvexHull4dTetraherum* const twinTetra = &twinNode->GetInfo();
if (twinTetra->GetMark() != mark) {
if (!perimeter.Find(twinTetra->m_uniqueID)) {
perimeter.Insert(twinNode, twinTetra->m_uniqueID);
}
}
deletedTetra->m_faces[i].m_twin = NULL;
}
}
dgList<dgListNode*> coneList(GetAllocator());
dgTree<dgListNode*, dgInt32>::Iterator iter (perimeter);
for (iter.Begin(); iter; iter ++) {
dgListNode* const perimeterNode = iter.GetNode()->GetInfo();
dgConvexHull4dTetraherum* const perimeterTetra = &perimeterNode->GetInfo();
for (dgInt32 i = 0; i < 4; i ++) {
dgConvexHull4dTetraherum::dgTetrahedrumFace* const perimeterFace = &perimeterTetra->m_faces[i];
if (perimeterFace->m_twin->GetInfo().GetMark() == mark) {
dgListNode* const newNode = AddFace (vertexIndex, perimeterFace->m_index[0], perimeterFace->m_index[1], perimeterFace->m_index[2]);
newFaces.Addtop(newNode);
dgConvexHull4dTetraherum* const newTetra = &newNode->GetInfo();
newTetra->m_faces[2].m_twin = perimeterNode;
perimeterFace->m_twin = newNode;
coneList.Append (newNode);
}
}
}
for (dgList<dgListNode*>::dgListNode* coneNode = coneList.GetFirst(); coneNode->GetNext(); coneNode = coneNode->GetNext()) {
dgListNode* const coneNodeA = coneNode->GetInfo();
for (dgList<dgListNode*>::dgListNode* nextConeNode = coneNode->GetNext(); nextConeNode; nextConeNode = nextConeNode->GetNext()) {
dgListNode* const coneNodeB = nextConeNode->GetInfo();
LinkSibling (coneNodeA, coneNodeB);
}
}
}
bool DetectPolygons::processFrameContainer(BaseFrameContainer *frm, BaseFrameSource *frameSource)
{
Shapes* shapes = frm->getShapes();
std::vector<Point> approxCurve;
unsigned int size = 0;
///for each contour, analyze if it is a paralelepiped likely to be the marker
for (unsigned int i=0;i<shapes->getContours().size();i++)
{
unsigned int contourSize = shapes->getContours()[i].size();
//check it is a possible element by first checking is has enough points
if (contourSize>(unsigned int)(frm->getFrame()->getMat().cols /15))
{
//approximate to a polygon - 1. limit slozitosti (pocet bodu krat cislo vs konstanta), 2. uzavreny
double complexity = double(contourSize)*complexityKoef;
complexity = complexity > maxComplexity ? maxComplexity : (complexity < minComplexity ? minComplexity : complexity);
cv::approxPolyDP( cv::Mat (shapes->getContours()[i]),approxCurve , complexity , onlyClosed);
size = approxCurve.size();
unsigned int one, two;
if (approxCurve.size() >= 3) {
// remove inline points
for (unsigned int i = 0; i < size; i++) {
one = (i + 1)%size;
two = (i + 2)%size;
// rozdil smernic
double x1 = approxCurve[i].x, y1 = approxCurve[i].y,
x2 = approxCurve[one].x, y2 = approxCurve[one].y,
x3 = approxCurve[two].x, y3 = approxCurve[two].y;
float k = std::abs(((y2-y1)/(x2-x1)) - ((y3-y1)/(x3-x1)));
float d1 = std::sqrt((float) (approxCurve[i].x-approxCurve[one].x)*(approxCurve[i].x-approxCurve[one].x) +
(approxCurve[i].y-approxCurve[one].y)*(approxCurve[i].y-approxCurve[one].y));
float d2 = std::sqrt((float) (approxCurve[i].x-approxCurve[two].x)*(approxCurve[i].x-approxCurve[two].x) +
(approxCurve[i].y-approxCurve[two].y)*(approxCurve[i].y-approxCurve[two].y));
// if angle is too small or points are too close
if (k < 0.2 || d1 < 0.04*d2) {
approxCurve.erase(approxCurve.begin()+one);
size--;
}
}
}
if (size >= minimalPolygonLines && size <= maximalPolygonLines)
{
//and is convex
if (!onlyConvex || cv::isContourConvex(Mat (approxCurve)))
{
float minDist=1e10;
if (minDistance > 0) {
for (int i=0;i<size;i++)
{
float d= std::sqrt((float) (approxCurve[i].x-approxCurve[(i+1)%size].x)*(approxCurve[i].x-approxCurve[(i+1)%size].x) +
(approxCurve[i].y-approxCurve[(i+1)%size].y)*(approxCurve[i].y-approxCurve[(i+1)%size].y));
if (d<minDist) minDist=d;
}
}
if (minDist>=minDistance)
{
shapes->getMarkers().push_back(Marker());
for (unsigned int i=0;i<size;i++)
{
shapes->getMarkers().back().push_back( Point2f(approxCurve[i].x,approxCurve[i].y));
}
}
}
}
}
}
/// remove these elements whise corners are too close to each other
//first detect candidates
size = shapes->getMarkers().size();
if (minimalPolygonLines==4 && maximalPolygonLines == 4) {
for (unsigned int i=0;i<shapes->getMarkers().size();i++)
{
//trace a line between the first and second point.
//if the thrid point is at the right side, then the points are anti-clockwise
double dx1 = shapes->getMarkers()[i][1].x - shapes->getMarkers()[i][0].x;
double dy1 = shapes->getMarkers()[i][1].y - shapes->getMarkers()[i][0].y;
double dx2 = shapes->getMarkers()[i][2].x - shapes->getMarkers()[i][0].x;
double dy2 = shapes->getMarkers()[i][2].y - shapes->getMarkers()[i][0].y;
double o = (dx1*dy2)-(dy1*dx2);
if (o < 0.0) //if the third point is in the left side, then sort in anti-clockwise order
{
swap(shapes->getMarkers()[i][1],shapes->getMarkers()[i][3]);
}
}
}
vector<pair<int,int> > TooNearCandidates;
for (unsigned int i=0;i < size;i++)
{
// cout<<"Marker i="<<i<<MarkerCanditates[i]<<endl;
//calculate the average distance of each corner to the nearest corner of the other marker candidate
for (unsigned int j=i+1;j<size;j++)
{
unsigned int vertexCount = shapes->getMarkers()[i].size();
if (vertexCount == shapes->getMarkers()[j].size()) {
float dist=0;
for (unsigned int c=0;c<vertexCount;c++)
dist+= std::sqrt( (shapes->getMarkers()[i][c].x-shapes->getMarkers()[j][c].x)*(shapes->getMarkers()[i][c].x-shapes->getMarkers()[j][c].x)+(shapes->getMarkers()[i][c].y-shapes->getMarkers()[j][c].y)*(shapes->getMarkers()[i][c].y-shapes->getMarkers()[j][c].y));
dist/=vertexCount;
//if distance is too small
if (dist< 14) {
TooNearCandidates.push_back(pair<int,int>(i,j));
}
}
}
}
//mark for removal the element of the pair with smaller perimeter
vector<bool> toRemove (shapes->getMarkers().size(),false);
for (unsigned int i=0;i<TooNearCandidates.size();i++) {
if ( perimeter(shapes->getMarkers()[TooNearCandidates[i].first ])>perimeter(shapes->getMarkers()[ TooNearCandidates[i].second] ))
toRemove[TooNearCandidates[i].second]=true;
else toRemove[TooNearCandidates[i].first]=true;
}
//remove the invalid ones
removeElements(shapes->getMarkers(),toRemove);
return true;
}
int main()
{
struct Square mainSquare = {4,0,0};
area(&mainSquare);
perimeter(&mainSquare);
}
int triplePerimeterCmp(const void * lhs, const void * rhs) {
return perimeter(*(triple **)lhs)
- perimeter(*(triple **)rhs);
}
/*
TODO
- label_contour is called two times; only once suffices
*/
AnimalExport ImgPUInt32 *
msskl_difference(ann_img *aimg)
{
ImgPUInt32 *imcont, *immsskel, *imseed, *imperim;
puint32 *seed, *cont, *perim, *pred, *label, *msskel,
maxd1, maxd2, MaxD;
int r,c,i,j,k,qx,qy,p,q, d1,d2,
*idxlut,n;
r = aimg->label->rows;
c = aimg->label->cols;
n = r*c;
idxlut = aimg->label->lut;
imcont = label_contour(aimg->img);
imperim = perimeter(aimg->img);
immsskel = new_img_puint32(r,c);
imseed = root_map(aimg->pred);
seed = imseed->data;
cont = imcont->data;
perim = imperim->data;
msskel = immsskel->data;
pred = aimg->pred->data;
label = aimg->label->data;
MaxD = 0;
for (i=0; i<r; i++)
for (j=0; j<c; j++) {
p = index1(i,j,idxlut);
// @@@ why eliminate the contours??
if (pred[p] != (unsigned)p) {/* Eliminates the contours and
considers the side option */
maxd1 = maxd2 = 0;
for (k=0; k < 4; k++) {
qy = n4[k][0] + i;
qx = n4[k][1] + j;
if (valid_pixel(r,c,qx,qy)) {
q = index1(qy,qx,idxlut);
if (cont[seed[p]] == cont[seed[q]]) { // not a SKIZ
d2 = label[q] - label[p];
if (d2 > (int)perim[seed[p]]-d2)
d2 = (int)perim[seed[p]]-d2;
if (d2 > (int)maxd2)
maxd2 = (unsigned)d2;
} else { // a SKIZ
d1 = cont[seed[q]] - cont[seed[p]];
if (d1 > (int)maxd1)
maxd1 = (unsigned)d1;
}
}
}
if (maxd1 > 0)
msskel[p] = UINT_MAX;
else {
msskel[p] = maxd2;
if (msskel[p] > MaxD)
MaxD = msskel[p];
}
}
}
for (p=0; p < n; p++)
if (msskel[p] == UINT_MAX)
msskel[p] = MaxD + 1;
imfree_puint32(&imcont);
imfree_puint32(&imperim);
imfree_puint32(&imseed);
return immsskel;
}
//Compute continuity with brep2.
int MGSBRep::continuity( // Reuturn value is the continuity.
const MGSBRep& brep2, // Input second SBRep
int is_u1, // Input if u-direction of this.
int is_u2, // Input if u-direction of brep2.
int opposite, // Input if parameter direction of which2 is equal or not.
int& which1, // Outputs which perimeter(which1) of this is
int& which2, // connected to which(which2) of brep2.
// These are valid only when continuity>=0.
double& ratio // Ratio of 1st derivatives of the two surfaces will
// be returned.
// ratio= d2/d1, where d1=1st deriv of this and d2=of brep2
) const
// Function's return value is:
// -1: G(-1) continuity, i.e. two surfaces are discontinuous.
// 0: G0 continuity, i.e. two surfaces are connected,
// but tangents are discontinuous
// 1: G1 continuity, i.e. two surfaces are connected,
// and tangents are also continuous.
// 2: G2 continuity, i.e. two surfaces are connected,
// and tangents and curvatures are also continuous.
{
size_t i,j,k,i2; int incrmnt;
double ratio2; int which;
int cont, contold;
size_t dim1=sdim(), dim2=brep2.sdim();
size_t ns1,nt1, ns2,nt2;
MGLBRep p1a, p1b, p2a, p2b;
// Test if perimeter of this is continuous to perimeter brep2.
const MGKnotVector *s1,*s2,*t1,*t2;
if(is_u1){
which1=0;
s1=&knot_vector_u(); t1=&knot_vector_v();
p1a=perimeter(0); p1b=perimeter(2);
}
else{
which1=1;
s1=&knot_vector_v(); t1=&knot_vector_u();
p1a=perimeter(1); p1b=perimeter(3);
}
if(is_u2){
which2=0;
s2=&(brep2.knot_vector_u()); t2=&(brep2.knot_vector_v());
p2a=brep2.perimeter(0); p2b=brep2.perimeter(2);
}
else{
which2=1;
s2=&(brep2.knot_vector_v()); t2=&(brep2.knot_vector_u());
p2a=brep2.perimeter(1); p2b=brep2.perimeter(3);
}
ns1=(*s1).bdim(); ns2=(*s2).bdim();
nt1=(*t1).bdim(); nt2=(*t2).bdim();
cont=0;
// 1. Test if positional data of two perimeters are equal.
if(opposite){ p2a.negate(); p2b.negate();}
if (p1a.line_bcoef()==p2a.line_bcoef()){
cont=1;}
else if(p1a.line_bcoef()==p2b.line_bcoef()){
which2+=2; cont=1;}
else if(p1b.line_bcoef()==p2a.line_bcoef()){
which1+=2; cont=1;}
else if(p1b.line_bcoef()==p2b.line_bcoef()){
which1+=2; which2+=2; cont=1;}
if(cont==0) return -1;
// There exists a possibility of continuity 1.
// 2. Test if derivatives along v direction are equal.
i2=0; incrmnt=1; if(opposite) {i2=ns2-1; incrmnt=-1;}
MGBPointSeq b1(nt1,dim1), b2(nt2,dim2);
contold=0;
for(i=0; i<ns1; i++){
if(is_u1){
for(j=0; j<nt1; j++)
for(k=0; k<dim1; k++) b1(j,k)=coef(i,j,k);
}
else{
for(j=0; j<nt1; j++)
for(k=0; k<dim1; k++) b1(j,k)=coef(j,i,k);
}
if(is_u2){
for(j=0; j<nt2; j++)
for(k=0; k<dim2; k++) b2(j,k)=brep2.coef(i2,j,k);
}
else{
for(j=0; j<nt2; j++)
for(k=0; k<dim2; k++) b2(j,k)=brep2.coef(j,i2,k);
}
i2=i2+incrmnt;
MGLBRep lb1(*t1,b1), lb2(*t2, b2);
cont=lb1.continuity(lb2,which,ratio2);
if(cont<=0) return 0; //Continuity is C0.
if(contold==0) {contold=cont; ratio=ratio2;}
else{
if(!MGREqual2(ratio2,ratio)) return 0; //Continuity is C0.
else if(contold>cont) contold=cont;
}
}
return contold;
}
double QgsTriangle::inscribedRadius() const
{
return ( 2.0 * area() / perimeter() );
}
/// As used by OpenCV, return value in [0, 1] - requires contour
double circularity() const {
auto perim = perimeter();
return 4 * CV_PI * area() / (perim * perim);
}
bool Rectangle::operator>(Rectangle & rect2){
if(area()>rect2.area() && perimeter()>rect2.perimeter())
return true;
return false;
}
double Shape :: areaToPerimeter()const
{
return area()/perimeter();
}
