void Frame::FindKeypoints(const cv::Mat& img)
{
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
scanimg = img;
int kPcount = 0;
zbar::ImageScanner scanner;
scanner.set_config( zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
Image qrimage(scanimg.cols, scanimg.rows, "Y800", scanimg.data, scanimg.cols* scanimg.rows);
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
if( scanner.scan(qrimage) > 0){
for(Image::SymbolIterator symbol = qrimage.symbol_begin();symbol !=
qrimage.symbol_end();
++symbol)
{
kPcount++;
for(int k = 0; k < 4; k++)if(symbol->get_location_size()==4){
keyFeature kfeature;
cv::KeyPoint kp;
kp.pt.x = (float)symbol->get_location_x(k);
kp.pt.y = (float)symbol->get_location_y(k);
kfeature.kp = kp;
kfeature.marker_id = k;
kfeature.code_id = stoi(symbol->get_data());
frameKeyFeatures.push_back(kfeature);
//std::cout << "locations are " << symbol->get_location_x(k) <<" "<<symbol->get_location_y(k)<<std::endl;
cv::Point sympos = cv::Point( symbol->get_location_x(k), symbol->get_location_y(k));
cv::circle( scanimg, sympos, 4, cv::Scalar( 0, 0, 255 ), 3, 8 );
}
std::string out = "the id of code is " + symbol->get_data();
//std::cout << out<< std::endl;
//cv::imshow("123", scanimg);
}
std::chrono::steady_clock::time_point t3 = std::chrono::steady_clock::now();
double ttrack1 = std::chrono::duration_cast<std::chrono::microseconds>(t2 - t1).count();
double ttrack2 = std::chrono::duration_cast<std::chrono::microseconds>(t3 - t2).count();
double ttrack3 = std::chrono::duration_cast<std::chrono::microseconds>(t3 - t1).count();
//std::cout <<"ttrack1 "<< ttrack1 <<"us ttrack2 "<< ttrack2 <<"us ttrack3 is "<< ttrack3 <<"us"<< std::endl;
isKeyframe = true;
}
}
/**
* This is a (modified) test program written by Michael Young
* (https://github.com/ayoungprogrammer/WebcamCodeScanner). It was modified to
* work with the Raspicam.
*/
int main(int argc, char* argv[])
{
PiCamera cam; // open the video camera no. 0
ImageScanner scanner;
scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);
namedWindow("MyVideo",CV_WINDOW_AUTOSIZE); //create a window called "MyVideo"
while (1)
{
Mat frame = cam.Snap();
Mat grey;
cvtColor(frame,grey,CV_BGR2GRAY);
int width = frame.cols;
int height = frame.rows;
uchar *raw = (uchar *)grey.data;
// wrap image data
zbar::Image image(width, height, "Y800", raw, width * height);
// scan the image for barcodes
int n = scanner.scan(image);
// extract results
for(Image::SymbolIterator symbol = image.symbol_begin();
symbol != image.symbol_end();
++symbol) {
vector<Point> vp;
// do something useful with results
cout << "decoded " << symbol->get_type_name() << " symbol \"" << symbol->get_data() << '"' <<" "<< endl;
int n = symbol->get_location_size();
for(int i=0;i<n;i++){
vp.push_back(Point(symbol->get_location_x(i),symbol->get_location_y(i)));
}
RotatedRect r = minAreaRect(vp);
Point2f pts[4];
r.points(pts);
for(int i=0;i<4;i++){
line(frame,pts[i],pts[(i+1)%4],Scalar(255,0,0),3);
}
}
imshow("MyVideo", frame); //show the frame in "MyVideo" window
if (waitKey(30) == 27) //wait for 'esc' key press for 30ms. If 'esc' key is pressed, break loop
{
cout << "esc key is pressed by user" << endl;
break;
}
}
return 0;
}
void QrTracker::track(Mat frame, int &size_x, int &size_y, string &data, Point2f &p1, Point2f &p2, Point2f &p3, Point2f &p4)
{
Mat frame_grayscale;
cvtColor(frame, frame_grayscale, COLOR_BGR2HSV);
// wrap image
int width = frame_grayscale.cols;
int height = frame_grayscale.rows;
uchar *raw = (uchar *)(frame_grayscale.data);
Image image(width, height, "Y800", raw, width * height);
//Scan the image for QRcodes
scanner.scan(image);
for (Image::SymbolIterator symbol = image.symbol_begin(); symbol != image.symbol_end(); ++symbol)
{
//Size
size_x = symbol->get_location_x(2) - symbol->get_location_x(1);
size_y = symbol->get_location_y(1) - symbol->get_location_y(0);
//Data
data = symbol->get_data().c_str();
//Points
if (symbol->get_location_size() == 4)
{
p1 = Point2f(symbol->get_location_x(0), symbol->get_location_y(0));
p2 = Point2f(symbol->get_location_x(1), symbol->get_location_y(1));
p3 = Point2f(symbol->get_location_x(2), symbol->get_location_y(2));
p4 = Point2f(symbol->get_location_x(3), symbol->get_location_y(3));
}
else
{
p1 = Point2f(-1,-1);
p2 = Point2f(-1,-1);
p3 = Point2f(-1,-1);
p4 = Point2f(-1,-1);
}
}
}
int main(int argc, char **argv) {
int cam_idx = 0;
if (argc == 2) {
cam_idx = atoi(argv[1]);
}
VideoCapture cap(cam_idx);
if (!cap.isOpened()) {
cerr << "Could not open camera." << endl;
exit(EXIT_FAILURE);
}
//cap.set(CV_CAP_PROP_FRAME_WIDTH, 640);
//cap.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
namedWindow("captured", CV_WINDOW_AUTOSIZE);
// Create a zbar reader
ImageScanner scanner;
// Configure the reader
scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);
for (;;) {
// Capture an OpenCV frame
cv::Mat frame, frame_grayscale;
cap >> frame;
// Convert to grayscale
cvtColor(frame, frame_grayscale, CV_BGR2GRAY);
// Obtain image data
int width = frame_grayscale.cols;
int height = frame_grayscale.rows;
uchar *raw = (uchar *)(frame_grayscale.data);
// Wrap image data
Image image(width, height, "Y800", raw, width * height);
// Scan the image for barcodes
//int n = scanner.scan(image);
scanner.scan(image);
// Extract results
int counter = 0;
for (Image::SymbolIterator symbol = image.symbol_begin(); symbol != image.symbol_end(); ++symbol) {
time_t now;
tm *current;
now = time(0);
current = localtime(&now);
// do something useful with results
cout << "[" << current->tm_hour << ":" << current->tm_min << ":" << setw(2) << setfill('0') << current->tm_sec << "] " << counter << " "
<< "decoded " << symbol->get_type_name()
<< " symbol \"" << symbol->get_data() << '"' << endl;
//cout << "Location: (" << symbol->get_location_x(0) << "," << symbol->get_location_y(0) << ")" << endl;
//cout << "Size: " << symbol->get_location_size() << endl;
// Draw location of the symbols found
if (symbol->get_location_size() == 4) {
//rectangle(frame, Rect(symbol->get_location_x(i), symbol->get_location_y(i), 10, 10), Scalar(0, 255, 0));
line(frame, Point(symbol->get_location_x(0), symbol->get_location_y(0)), Point(symbol->get_location_x(1), symbol->get_location_y(1)), Scalar(0, 255, 0), 2, 8, 0);
line(frame, Point(symbol->get_location_x(1), symbol->get_location_y(1)), Point(symbol->get_location_x(2), symbol->get_location_y(2)), Scalar(0, 255, 0), 2, 8, 0);
line(frame, Point(symbol->get_location_x(2), symbol->get_location_y(2)), Point(symbol->get_location_x(3), symbol->get_location_y(3)), Scalar(0, 255, 0), 2, 8, 0);
line(frame, Point(symbol->get_location_x(3), symbol->get_location_y(3)), Point(symbol->get_location_x(0), symbol->get_location_y(0)), Scalar(0, 255, 0), 2, 8, 0);
}
// Get points
/*for (Symbol::PointIterator point = symbol.point_begin(); point != symbol.point_end(); ++point) {
cout << point << endl;
} */
counter++;
}
// Show captured frame, now with overlays!
imshow("captured", frame);
// clean up
image.set_data(NULL, 0);
waitKey(30);
}
return 0;
}
JNIEXPORT void JNICALL Java_com_example_qr_MainActivity_nativeDetect(
JNIEnv * jenv, jclass, jlong imageGray) {
LOGD(
"Java_org_opencv_samples_facedetect_DetectionBasedTracker_nativeDetect enter");
try {
vector<Rect> RectFaces;
// ((DetectionBasedTracker*)thiz)->process(*((Mat*)imageGray));
// ((DetectionBasedTracker*)thiz)->getObjects(RectFaces);
// vector_Rect_to_Mat(RectFaces, *((Mat*)faces));
Mat img = *((Mat*) imageGray);
Mat imgout;
cvtColor(img, imgout, CV_GRAY2RGB);
int width = img.cols;
int height = img.rows;
uchar *raw = (uchar *) img.data;
// uchar *raw = (uchar *) imageGray;
// wrap image data
Image image(width, height, "Y800", raw, width * height);
// scan the image for barcodes
ImageScanner scanner;
scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);
int n = scanner.scan(image);
// extract results
for (Image::SymbolIterator symbol = image.symbol_begin();
symbol != image.symbol_end(); ++symbol) {
vector<Point> vp;
// do something useful with results
cout << "decoded " << symbol->get_type_name() << " symbol \""
<< symbol->get_data() << '"' << " " << endl;
int n = symbol->get_location_size();
for (int i = 0; i < n; i++) {
vp.push_back(
Point(symbol->get_location_x(i),
symbol->get_location_y(i)));
}
RotatedRect r = minAreaRect(vp);
Point2f pts[4];
r.points(pts);
for (int i = 0; i < 4; i++) {
line(imgout, pts[i], pts[(i + 1) % 4], Scalar(255, 0, 0), 3);
}
cout << "Angle: " << r.angle << endl;
}
imshow("imgout.jpg", imgout);
// clean up
image.set_data(NULL, 0);
waitKey();
} catch (cv::Exception& e) {
LOGD("nativeCreateObject caught cv::Exception: %s", e.what());
jclass je = jenv->FindClass("org/opencv/core/CvException");
if (!je)
je = jenv->FindClass("java/lang/Exception");
jenv->ThrowNew(je, e.what());
} catch (...) {
LOGD("nativeDetect caught unknown exception");
jclass je = jenv->FindClass("java/lang/Exception");
jenv->ThrowNew(je,
"Unknown exception in JNI code DetectionBasedTracker.nativeDetect()");
}
LOGD(
"Java_org_opencv_samples_facedetect_DetectionBasedTracker_nativeDetect exit");
}