void BlockMap::ResetConnectivity() {
for (int r = 0; r < Rows(); r++) {
for (int c = 0; c < Cols(); c++) {
Block& currBlock = m_BlockMatrix[r][c];
// Set reachable neighbors
currBlock.neighborOffsets.clear();
Vector2 lOffset(0, -1);
Vector2 rOffset(0, 1);
Vector2 tOffset(-1, 0);
Vector2 bOffset(1, 0);
if (ValidCoord(currBlock.coord + lOffset)) currBlock.neighborOffsets.insert(lOffset);
if (ValidCoord(currBlock.coord + rOffset)) currBlock.neighborOffsets.insert(rOffset);
if (ValidCoord(currBlock.coord + tOffset)) currBlock.neighborOffsets.insert(tOffset);
if (ValidCoord(currBlock.coord + bOffset)) currBlock.neighborOffsets.insert(bOffset);
}
}
}
void chilitags::FindQuads::run()
{
//TODO function too long, split it
mQuads.clear();
const cv::Mat tBinaryImage = *mBinaryImage;
#ifdef DEBUG_FindQuads
cv::RNG tRNG( 0xFFFFFFFF );
cv::Mat tDebugImage = cv::Mat::zeros(cv::Size(2*tBinaryImage.cols, tBinaryImage.rows), CV_8UC3);
#endif
mScaledCopies[0] = tBinaryImage;
for (int i = 1; i < scScaledCopiesCount; ++i) {
cv::pyrDown(mScaledCopies[i-1], mScaledCopies[i]);
}
for (int i = scScaledCopiesCount-1; i>=0; --i) //starting with the lowest definition, so the highest definition are last, and can simply override the first ones.
{
int tScale = 1 << i;
#ifdef DEBUG_FindQuads
cv::Point tOffset(tDebugImage.cols-2*mScaledCopies[i].cols,0);
cv::Size tScaledSize = mScaledCopies[i].size();
#endif
std::vector<std::vector<cv::Point> > contours;
cv::findContours(mScaledCopies[i], contours, cv::RETR_LIST, cv::CHAIN_APPROX_SIMPLE);
for (std::vector<std::vector<cv::Point> >::iterator contour = contours.begin();
contour != contours.end();
++contour)
{
double tPerimeter = std::abs(cv::arcLength(*contour, true));
double tArea = std::abs(cv::contourArea(*contour));
if (tPerimeter > Quad::scNPoints*scMinTagSize && tArea > scMinTagSize*scMinTagSize)
{
std::vector<cv::Point> tApproxContour;
cv::approxPolyDP( *contour, tApproxContour, tPerimeter*0.02, true);
std::vector<cv::Point> tNormalisedContour;
cv::convexHull(tApproxContour, tNormalisedContour, false);
if (tNormalisedContour.size() == (int) Quad::scNPoints)
{
Quad tCandidate;
tCandidate[0] = tScale*tNormalisedContour[0];
tCandidate[1] = tScale*tNormalisedContour[1];
tCandidate[2] = tScale*tNormalisedContour[2];
tCandidate[3] = tScale*tNormalisedContour[3];
IsSimilarTo tIsSimilarToCandidate(tCandidate);
std::vector<Quad>::iterator tSameQuad = std::find_if(
mQuads.begin(),
mQuads.end(),
tIsSimilarToCandidate);
if (false && tSameQuad != mQuads.end()) // TODO move to Decode
{
*tSameQuad = tCandidate;
#ifdef DEBUG_FindQuads
drawContour(tDebugImage, tNormalisedContour, cv::Scalar(0,255,255), tOffset);
#endif
}
else
{
mQuads.push_back(tCandidate);
#ifdef DEBUG_FindQuads
drawContour(tDebugImage, tNormalisedContour, cv::Scalar(0,255,0), tOffset);
#endif
}
}
#ifdef DEBUG_FindQuads
else // not quadrilaterals
{
drawContour(tDebugImage, tNormalisedContour, cv::Scalar(0,0,255), tOffset);
}
#endif
}
#ifdef DEBUG_FindQuads
else // too small
{
drawContour(tDebugImage, *contour, cv::Scalar(128,128,128), tOffset);
}
#endif
}
#ifdef DEBUG_FindQuads
cv::putText(tDebugImage, cv::format("%d", contours.size()), tOffset+cv::Point(32,32),
cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar::all(255));
#endif
}
#ifdef DEBUG_FindQuads
cv::imshow("FindQuads", tDebugImage);
cv::waitKey(0);
#endif
}
