void GSurface::calculateCoefficients(){
Transformation geometry(_geometry_matrix);
Transformation geometryTransposed = geometry.transpose();
Transformation coords_x(_coords_x);
_cx = (geometry * coords_x * geometryTransposed).m();
Transformation coords_y(_coords_y);
_cy = (geometry * coords_y * geometryTransposed).m();
Transformation coords_z(_coords_z);
_cz = (geometry * coords_z * geometryTransposed).m();
}
void CGraphPanel::DrawAxis(CDC* pDC, CRect& rect_to_draw)
{
int i;
if (CurrentCoordsX == NULL || CurrentCoordsY == NULL) return;
//create new set of CCoordinates
CCoordinates coords_x(rect_to_draw.left, rect_to_draw.right, CurrentCoordsX->v1(), CurrentCoordsX->v2());
CCoordinates coords_y(rect_to_draw.bottom, rect_to_draw.top, CurrentCoordsY->v1(), CurrentCoordsY->v2());
//draw axis and zero line first
CPen BlackDashPen(PS_DOT, 1, RGB(0, 0, 0));
CPen bkPen(PS_SOLID, 1, bkColor);
CPen* OldPen = (CPen*)pDC->SelectObject(&BlackDashPen);
pDC->SetBkMode( TRANSPARENT);
//horizontal
double Delta;
double* wp;
double* sp;
int count, maxexp, NMax;
NMax = hruler->GetNMax(pDC, rect_to_draw);
coords_x.DivideInterval(NMax, &maxexp, &Delta, &count, &sp, &wp);
for (i=0; i<count; i++)
{
int x = (int)sp[i];
pDC->MoveTo(x, rect_to_draw.bottom);
pDC->LineTo(x, rect_to_draw.top);
};
if (sp!=NULL) delete sp;
if (wp!=NULL) delete wp;
//vertical
NMax = vruler->GetNMax(pDC, rect_to_draw);
coords_y.DivideInterval(NMax, &maxexp, &Delta, &count, &sp, &wp);
for (i=0; i<count; i++)
{
int x = (int)sp[i];
pDC->MoveTo(rect_to_draw.right,x);
pDC->LineTo(rect_to_draw.left,x);
};
if (sp!=NULL) delete sp;
if (wp!=NULL) delete wp;
pDC->SelectObject(OldPen);
}
void CGraphPanel::DrawPoints(CDC* dc, CRect& rect_to_draw)
{
//draw all the points
SSinglePoint ssp, ssp1;
int x, y, x1, y1, grnum;
if (CurrentCoordsX == NULL || CurrentCoordsY == NULL) return;
CGraphWnd* main_wnd = get_main_graph_window();
if (main_wnd == NULL) return;
//save current state of device context
int saved_dc = dc->SaveDC();
//set new clipping region
dc->IntersectClipRect(rect_to_draw);
//create new set of CCoordinates
CCoordinates coords_x(rect_to_draw.left, rect_to_draw.right, CurrentCoordsX->v1(), CurrentCoordsX->v2());
CCoordinates coords_y(rect_to_draw.bottom, rect_to_draw.top, CurrentCoordsY->v1(), CurrentCoordsY->v2());
CGraphProps* grprop = main_wnd->GetFirstGraph(&grnum);
while (grprop!=NULL)
{
if (grprop->GetSize() ==0 || !grprop->IsVisible())
{
grprop = main_wnd->GetNextGraph(&grnum);
continue;
};
//set color
CPen* pen = grprop->GetPen();
CBrush* brush = grprop->GetBrush();
CPen* oldpen = (CPen*)dc->SelectObject(pen);
CBrush* oldbrush = (CBrush*)dc->SelectObject(brush);
grprop->GetPoint(0, &ssp);
x = (int)coords_x.WtoX(ssp.x);
y = (int)coords_y.WtoX(ssp.y);
if ((long)(m_grflags & GRAPH_SQUAREPOINTS)!=0) DrawSquarePoint(dc, x, y);
for (int i=1; i<grprop->GetSize(); i++)
{
grprop->GetPoint(i, &ssp);
x1 = (int)coords_x.WtoX(ssp.x);
y1 = (int)coords_y.WtoX(ssp.y);
if (x != x1 || y != y1)
{
if ((m_grflags & GRAPH_SQUAREPOINTS)!=0) DrawSquarePoint(dc, x1, y1);
if ((m_grflags & GRAPH_GRAPH_SCATTER) == 0)
{
dc->MoveTo(x, y);
dc->LineTo(x1, y1);
};
x = x1; y = y1;
};
};
dc->SelectObject(oldpen);
dc->SelectObject(oldbrush);
grprop->ReleasePen(pen);
grprop->ReleaseBrush(brush);
grprop = main_wnd->GetNextGraph(&grnum);
};
dc->RestoreDC(saved_dc);
}
int DetectorBarcode::Detect() {
std::cout << "DetectorBarcode::Detect()" << std::endl;
assert(this->image_.data != NULL);
bool debugstripecode = true; //@TODO MAKE SURE TO SET ME TO FALSE IN PRODUCTION
bool useAdaptiveThersholding = true;
int dpi = 400; //this works well for all scales and sizes..
Mat matImageK;
cvtColor(this->image_, matImageK, cv::COLOR_BGR2GRAY);
cv::Mat matThres;
// VARIABLES //
double bar_height_mm_min = 3.7; //[7.5mm=our NMNH c39] [10.7mm=NMNH cover c39]
double bar_height_mm_max = 20;
double bar_ar_min = 4;
double bar_ar_max = 110;
int min_characters = 5; //minimum characters in barcode string
double bar_dist_group_mm_max = 9.0; //Maximum distance between any grouped bar to be part of the bar group
// COMPUTE //
double bar_height_px_min = bar_height_mm_min/25.4*dpi;
double bar_height_px_max = bar_height_mm_max/25.4*dpi;
double bar_area_px_min = bar_height_px_min*(bar_height_px_min*1.0/bar_ar_max);
//Dont allow the area to be less than 1px row
bar_area_px_min = bar_area_px_min < bar_height_px_min ? bar_height_px_min : bar_area_px_min;
double bar_area_px_max = bar_height_px_max*(bar_height_px_max*1.0/bar_ar_min);
double bar_dist_group_px_max = bar_dist_group_mm_max/25.4*dpi;
if (useAdaptiveThersholding) {
//int AT_blocksize = dpi*0.05;
int AT_blocksize = bar_height_px_min*0.5;
int AT_iseven=AT_blocksize%2;
AT_blocksize += 1+AT_iseven; //Makes sure the blocksize is an even number
//cout << "AT_blocksize=" << AT_blocksize << endl;
adaptiveThreshold(matImageK, matThres, 255, ADAPTIVE_THRESH_MEAN_C, THRESH_BINARY, AT_blocksize, 20);
} else {
threshold(matImageK, matThres, 127, 255, THRESH_BINARY_INV);
}
if (debugstripecode) {
//cout << "dpi=" << dpi << endl;
imwrite("/Users/tzaman/Desktop/bc/matImage.tif", this->image_);
imwrite("/Users/tzaman/Desktop/bc/matThres.tif", matThres);
}
vector< vector<Point> > contours;
vector<Vec4i> hierarchy;
findContours( matThres, contours, hierarchy, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE );
//cout << "contours.size()=" << contours.size() << endl;
if (contours.size() == 0) {
string strErr = "No contours found.";
cout << strErr << endl;
return RET_NONE_FOUND;
}
//RANSAC vars
int min_inliers = (min_characters+2)*5*0.75; //+2 (start&stop), *5 (stripes per char), *0.x (margin)
double max_px_dist = (bar_height_px_min+bar_height_px_max)*0.5*0.05; //Maximum distance from RANSAC line to a point
vector<RotatedRect> stripeCandidates;
for(int i = 0; i >= 0; i = hierarchy[i][0] ) {
double cArea = contourArea( contours[i],false);
if (cArea < bar_area_px_min*0.5){
continue;
}
if (cArea > bar_area_px_max){
continue;
}
//cout << "[" << i << "]" << " cArea=" << cArea << endl;
RotatedRect rotRect= minAreaRect(contours[i]);
double ar = max(double(rotRect.size.width),double(rotRect.size.height)) / min(double(rotRect.size.width),double(rotRect.size.height));
if (ar < bar_ar_min){
continue;
}
if (ar > bar_ar_max){
continue;
}
double width = std::min(rotRect.size.width, rotRect.size.height);
double height = std::max(rotRect.size.width, rotRect.size.height);
//Check the length
if (height < bar_height_px_min){
//Stripe too small
continue;
}
if (height > bar_height_px_max ){
//Stripe too long
continue;
}
//cout << i << " rotRect: sz=" << rotRect.size << " cp=" << rotRect.center << " a=" << rotRect.angle << " ar=" << ar << endl;
Rect rCrop = boundingRect(contours[i]);
//Below parameter is dynamic, plz note
double min_area_fill=0.15;// = 0.25 ;// 0.4 means 40% of the bounding rectangle of the contour needs to be filled
//The min_area_fill threshold should be dependent on the width in pixels, because there's more noise in thinner ones
if (width<3){
min_area_fill = 0.05;
} else if (width <5){
min_area_fill = 0.10;
}
//Check if the rectangle is actually filled well
int fullarea = rCrop.area();
if ( (double(cArea)/double(fullarea)) < min_area_fill){
continue;
}
//cout << i << " fullarea=" << fullarea << " carea=" << cArea << endl;
if (debugstripecode){
imwrite("/Users/tzaman/Desktop/seg/" + std::to_string(i) + ".tif", matImageK(rCrop));
}
stripeCandidates.push_back(rotRect);
}
if (debugstripecode){
Mat matBarcodeFull = this->image_.clone();
for (int j=0; j<stripeCandidates.size(); j++){
util::rectangle(matBarcodeFull, stripeCandidates[j], cv::Scalar(255,0,0), 2);
}
imwrite("/Users/tzaman/Desktop/bc/_candidates.tif", matBarcodeFull);
}
//cout << "stripeCandidates.size()=" << stripeCandidates.size() << endl;
if (stripeCandidates.size() < min_inliers){
string strErr = "Code 39 did not find enough bars to accurately make a code.";
cout << strErr << endl;
return RET_NONE_FOUND;
}
std::vector<Point> vecPtRectCenter = util::vecrotrect2vecpt(stripeCandidates);
std::vector<std::vector<int> > vecGroupIdxs = util::groupPoints(vecPtRectCenter, bar_dist_group_px_max, min_inliers);
//std::vector<std::vector<cv::Point> > vecGroupPts(vecGroupIdxs.size());
std::vector<std::vector<cv::RotatedRect> > vecGroupRects(vecGroupIdxs.size());
//Relate indexes to points and add to group vector
for (int i=0; i<vecGroupIdxs.size(); i++){
//vecGroupPts[i].resize(vecGroupIdxs[i].size());
vecGroupRects[i].resize(vecGroupIdxs[i].size());
for (int j=0; j<vecGroupIdxs[i].size(); j++){
//cout << i << "," << j << endl;
//vecGroupPts[i][j] = vecPtRectCenter[vecGroupIdxs[i][j]];
vecGroupRects[i][j] = stripeCandidates[vecGroupIdxs[i][j]];
}
}
//Draw all groups
//if(debugstripecode){
// for (int i=0; i<vecGroupPts.size(); i++){
// Mat matGroup = matImage.clone();
// for (int j=0; j<vecGroupPts[i].size(); j++){
// circle(matGroup, vecGroupPts[i][j], 5, Scalar(255,0,255), 1, CV_AA,0);
// }
// imwrite("/Users/tzaman/Desktop/bc/_group_" + std::to_string(i) + ".tif", matGroup);
// }
//}
//exit(-1);
//cout << "vecGroupPts.size()=" << vecGroupPts.size() << endl;
//Erase small groups
//for (int i=vecGroupPts.size()-1; i>=0; i--){
// if (vecGroupPts[i].size() < min_inliers){
// //Skipping group, too small.
// vecGroupIdxs.erase(vecGroupIdxs.begin()+i);
// vecGroupPts.erase(vecGroupPts.begin()+i);
// }
//}
//cout << "vecGroupPts.size()=" << vecGroupPts.size() << endl;
if (vecGroupIdxs.size() == 0) {
string strErr = "Code 39 failed to ransac bars in a line.";
cout << strErr << endl;
return RET_NONE_FOUND;
}
//Now cycle over the groups
vector<vector<int> > vecVecInlierIdx;
vector<Vec4f> vecLines;
vector<int> vecFromGroup; //Keeps track of which group the vecvecInlierIdx belongs to
for (int i = 0; i < vecGroupRects.size(); i++) {
Ransac(vecGroupRects[i], min_inliers, max_px_dist, vecVecInlierIdx, vecLines, this->image_);
vecFromGroup.resize(vecVecInlierIdx.size(), i);
}
if (vecLines.size() == 0) {
string strErr = "Code 39 failed to ransac bars in a line.";
cout << strErr << endl;
return RET_NONE_FOUND;
} else {
//cout << "Code39 ransac succesfull" << endl;
}
//for (int i=0; i<vecGroupIdxs.size(); i++){
// cout << "Group " << i << " (" << vecGroupIdxs[i].size() << ") : ";
// for (int j=0; j<vecGroupIdxs[i].size(); j++){
// cout << vecGroupIdxs[i][j] << " ";
// }
// cout << endl;
//}
//Convert back vecVecInlierIdx to original indices
for (int i=0; i<vecVecInlierIdx.size(); i++){
//cout << "vecVecInlierIdx[" << i << "] is from group " << vecFromGroup[i] << endl;
for (int j=0; j<vecVecInlierIdx[i].size(); j++){
//cout << " " << vecVecInlierIdx[i][j] << " -> " << vecGroupIdxs[vecFromGroup[i]][vecVecInlierIdx[i][j]] << endl;
vecVecInlierIdx[i][j] = vecGroupIdxs[vecFromGroup[i]][vecVecInlierIdx[i][j]];
}
}
for (int i=0; i < vecLines.size(); i++){
int numpts = vecVecInlierIdx[i].size();
cout << "Potential barcode #" << i << " with " << numpts << " points." << endl;
//double angle=atan2(vecLines[i][1],vecLines[i][0])*180/M_PI; //For some reason it clips from [-90,90]
double angle_rad = atan2(vecLines[i][1],vecLines[i][0]); //For some reason it clips from [-90,90]
double angle_deg = angle_rad*180.0/M_PI;
//cout << " angle_deg=" << angle_deg << endl;
vector<double> bar_heights(numpts);
vector<double> bar_widths(numpts);
vector<double> coords_x(numpts);
//Loop over all found and ransac-verified stripes in this barcode
vector<cv::RotatedRect> stripesVerified(numpts);
for (int j=0; j < numpts; j++){
//cout << vecVecInlierIdx[i][j] << endl;
//cout << "checking out stripecandidate[" << vecVecInlierIdx[i][j] << "] #" << vecVecInlierIdx[i][j] << endl;
stripesVerified[j] = stripeCandidates[vecVecInlierIdx[i][j]];
double dim_smallest = min(stripesVerified[j].size.width, stripesVerified[j].size.height); //For rotation invariance
double dim_tallest = max(stripesVerified[j].size.width, stripesVerified[j].size.height); //For rotation invariance
bar_heights[j] = dim_tallest;
bar_widths[j] = dim_smallest;
//Rotate the points straight
Point2f ptRot = util::rotatePoint(stripesVerified[j].center, Point(matImageK.cols, matImageK.rows), angle_rad);
//cout << ptRot << endl;
coords_x[j] = ptRot.x;
}
double height_median = util::calcMedian(bar_heights);
double width_mean = util::calcMean(bar_widths);
//cout << "height_median=" << height_median <<" width_mean=" << width_mean << endl;
//Find the start and end position for reading
vector<size_t> coords_sorted_index;
vector<double> coords_x_sorted;
sort(coords_x, coords_x_sorted, coords_sorted_index);
//cout << coords_x_sorted[0] << " -> " << coords_x_sorted[coords_x_sorted.size()-1] << endl;
//Get extrema-stripes
Point2f pt_stripe_left = stripeCandidates[vecVecInlierIdx[i][coords_sorted_index[0]]].center;
Point2f pt_stripe_right = stripeCandidates[vecVecInlierIdx[i][coords_sorted_index[coords_sorted_index.size() - 1]]].center;
//cout << "pt_stripe_left=" << pt_stripe_left << endl;
//cout << "pt_stripe_right=" << pt_stripe_right << endl;
Point2f pt_barcode_center = (pt_stripe_left + pt_stripe_right) * 0.5;
//cout << "pt_barcode_center=" << pt_barcode_center << endl;
//Calculate width of the barcode
double barcode_width = util::pointDist(pt_stripe_left, pt_stripe_right);
//cout << "barcode_width=" << barcode_width << endl;
//Make the rotated rectangle around the barcode
cv::RotatedRect rotrect_candidate(pt_barcode_center, Size2f(barcode_width, height_median), angle_deg);
const double add_width_on_sides_before_decoding = 7.0; // this number will be multiplied by average bar width
//Add margin (of a few median widths)
rotrect_candidate.size += Size2f(width_mean * add_width_on_sides_before_decoding, 0);
const double height_retrainer_for_collapse = 0.25;
//Extract the barcode itself
cv::RotatedRect rotrect_candidate_thin = rotrect_candidate;
//Crop off some margin in thickness because we dont want to collapse the entire barcode.
if (rotrect_candidate_thin.size.width < rotrect_candidate_thin.size.height) {
rotrect_candidate_thin.size.width *= height_retrainer_for_collapse;
} else {
rotrect_candidate_thin.size.height *= height_retrainer_for_collapse;
}
openbarcode::code code_candidate;
code_candidate.rotrect = rotrect_candidate_thin;
this->code_candidates_.push_back(code_candidate);
}
return RET_SUCCESS;
}
