std::vector<TagMatch> detectTags(const cv::Mat& image) {
int residual = image.cols % IMAGE_U8_DEFAULT_ALIGNMENT;
cv::Mat img_aligned;
if (residual != 0) {
cv::copyMakeBorder(image, img_aligned, 0, 0, (IMAGE_U8_DEFAULT_ALIGNMENT - residual) / 2, (IMAGE_U8_DEFAULT_ALIGNMENT - residual) / 2, cv::BORDER_CONSTANT, 0);
} else {
img_aligned = image;
}
cv::cvtColor(img_aligned, img_aligned, CV_RGB2GRAY);
image_u8_t *image_u8 = fromCvMat(img_aligned);
std::vector<TagMatch> tags = detectTags(image_u8);
if (show_window) {
cv::cvtColor(img_aligned, img_aligned, CV_GRAY2RGB);
for (int i = 0; i < tags.size(); i++) {
cv::line(img_aligned, tags[i].p0, tags[i].p1, cv::Scalar(255,0,0), 2, CV_AA);
cv::line(img_aligned, tags[i].p1, tags[i].p2, cv::Scalar(0,255,0), 2, CV_AA);
cv::line(img_aligned, tags[i].p2, tags[i].p3, cv::Scalar(0,0,255), 2, CV_AA);
cv::line(img_aligned, tags[i].p3, tags[i].p0, cv::Scalar(0,0,255), 2, CV_AA);
Eigen::Vector3d x_axis(2,0,1);
Eigen::Vector3d y_axis(0,2,1);
Eigen::Vector3d origin(0,0,1);
Eigen::Vector3d px = tags[i].H * x_axis;
Eigen::Vector3d py = tags[i].H * y_axis;
Eigen::Vector3d o = tags[i].H * origin;
px/= px[2];
py/= py[2];
o/= o[2];
cv::line(img_aligned, cv::Point2d(o[0], o[1]), cv::Point2d(px[0], px[1]), cv::Scalar(255,0,255), 1, CV_AA);
cv::line(img_aligned, cv::Point2d(o[0], o[1]), cv::Point2d(py[0], py[1]), cv::Scalar(255,255,0), 1, CV_AA);
}
cv::imshow("detections", img_aligned);
cv::waitKey(1);
}
image_u8_destroy(image_u8);
return tags;
}
void CiSimplePose::update( ci::Surface8uRef const& surface )
{
// No image to process
if ( !surface )
return;
// Process image and get detected tags
auto detectedTags = detectTags( surface );
if ( detectedTags.size() )
{
TagEvent event;
bool previouslyUnknownTagsFound = updateTags( detectedTags );
if ( previouslyUnknownTagsFound )
mSignalTagDiscovered.emit( event );
mSignalTagUpdated.emit( event );
mIndividualTagEventDispatcher->sendIndividualEvents( detectedTags );
}
}
void CiSimplePose::getTagPoses( ci::Surface8uRef surface, ci::mat4 viewMatrix )
{
detectTags( surface );
}
