const std::vector<unsigned char> &chilitags::ReadBits::operator()(const cv::Mat &inputImage, const Quad &corners)
{
cv::Mat_<cv::Point2f> cornersCopy(corners);
auto roi = cv::boundingRect(cornersCopy);
// Refine can actually provide corners outside the image
roi.x = cv::max(roi.x, 0);
roi.y = cv::max(roi.y, 0);
roi.width = cv::min(roi.width, inputImage.cols-roi.x);
roi.height = cv::min(roi.height, inputImage.rows-roi.y);
cv::Point2f origin = roi.tl();
for (int i : {0,1,2,3}) cornersCopy(i) -= origin;
cv::Matx33f transformation = cv::getPerspectiveTransform(NORMALIZED_CORNERS, cornersCopy);
cv::perspectiveTransform(mSamplePoints, mTransformedSamplePoints, transformation);
cv::Mat inputRoi = inputImage(roi);
uchar* sampleData = mSamples.ptr(0);
for (auto& transformedSamplePoint : mTransformedSamplePoints) {
*sampleData++ = inputRoi.at<uchar>(transformedSamplePoint);
}
cv::threshold(mSamples, mBits, -1, 1, cv::THRESH_BINARY | cv::THRESH_OTSU);
#ifdef DEBUG_ReadBits
for (int i = 0; i < DATA_SIZE; ++i)
{
for (int j = 0; j < DATA_SIZE; ++j)
{
std::cout << (int) mBits[i*DATA_SIZE + j];
}
std::cout << "\n";
}
std::cout << std::endl;
#define ZOOM_FACTOR 10
cv::Mat debugImage = inputImage.clone();
cv::Mat tag;
cv::resize(inputRoi, tag, cv::Size(0,0), ZOOM_FACTOR, ZOOM_FACTOR, cv::INTER_NEAREST);
cv::cvtColor(tag, tag, cv::COLOR_GRAY2BGR);
for (int i = 0; i < DATA_SIZE; ++i)
{
for (int j = 0; j < DATA_SIZE; ++j)
{
cv::Point2f position = mTransformedSamplePoints[i*DATA_SIZE + j];
cv::circle(tag, position * ZOOM_FACTOR, 1,
cv::Scalar(0,255,0),2);
cv::circle(tag, position * ZOOM_FACTOR, 3,
cv::Scalar::all(mBits[i*DATA_SIZE + j]*255),2);
}
}
cv::circle(tag, *cornersCopy[0] * ZOOM_FACTOR, 3, cv::Scalar(255,0,0),2);
cv::line(tag, *cornersCopy[0]*ZOOM_FACTOR, *cornersCopy[1]*ZOOM_FACTOR,cv::Scalar(255,0,0));
cv::line(tag, *cornersCopy[1]*ZOOM_FACTOR, *cornersCopy[2]*ZOOM_FACTOR,cv::Scalar(255,0,255));
cv::line(tag, *cornersCopy[2]*ZOOM_FACTOR, *cornersCopy[3]*ZOOM_FACTOR,cv::Scalar(255,0,255));
cv::line(tag, *cornersCopy[3]*ZOOM_FACTOR, *cornersCopy[0]*ZOOM_FACTOR,cv::Scalar(255,0,255));
cv::line(tag, *cornersCopy[2]*ZOOM_FACTOR, *cornersCopy[0]*ZOOM_FACTOR,cv::Scalar(255,0,255));
cv::line(tag, *cornersCopy[3]*ZOOM_FACTOR, *cornersCopy[1]*ZOOM_FACTOR,cv::Scalar(255,0,255));
cv::line(debugImage, *cornersCopy[0]+origin, *cornersCopy[1]+origin,cv::Scalar(255,0,255));
cv::line(debugImage, *cornersCopy[1]+origin, *cornersCopy[2]+origin,cv::Scalar(255,0,255));
cv::line(debugImage, *cornersCopy[2]+origin, *cornersCopy[3]+origin,cv::Scalar(255,0,255));
cv::line(debugImage, *cornersCopy[3]+origin, *cornersCopy[0]+origin,cv::Scalar(255,0,255));
cv::imshow("ReadBits-full", debugImage);
cv::imshow("ReadBits-tag", tag);
cv::waitKey(0);
#endif
return mBits;
}
const std::vector<unsigned char>& ReadBits::operator()(const cv::Mat &inputImage, const Quad &corners)
{
static const float TAG_SIZE = 2*TAG_MARGIN+DATA_SIZE;
static const Quad NORMALIZED_CORNERS = {
0.f, 0.f,
TAG_SIZE, 0.f,
TAG_SIZE, TAG_SIZE,
0.f, TAG_SIZE
};
cv::Mat_<cv::Point2f> cornersCopy(corners);
// Sometimes, the corners are refined into a concave quadrilateral
// which makes ReadBits crash
cv::Mat convexHull;
cv::convexHull(cornersCopy, convexHull, true);
if (convexHull.rows != 4) {
cornersCopy = convexHull;
cornersCopy.push_back(0.5f*(cornersCopy(0)+cornersCopy(1)));
}
auto roi = cv::boundingRect(cornersCopy);
// Refine can actually provide corners outside the image
roi.x = cv::max(roi.x, 0);
roi.y = cv::max(roi.y, 0);
roi.width = cv::min(roi.width, inputImage.cols-roi.x);
roi.height = cv::min(roi.height, inputImage.rows-roi.y);
cv::Point2f origin = roi.tl();
for (int i : {0,1,2,3}) cornersCopy(i) -= origin;
cv::Matx33f transformation = cv::getPerspectiveTransform(NORMALIZED_CORNERS, cornersCopy);
cv::perspectiveTransform(mSamplePoints, mTransformedSamplePoints, transformation);
cv::Mat inputRoi = inputImage(roi);
uchar* sampleData = mSamples.ptr(0);
for (auto& transformedSamplePoint : mTransformedSamplePoints) {
transformedSamplePoint.x = cv::max(cv::min(roi.width - 1, (int)std::round(transformedSamplePoint.x)), 0);
transformedSamplePoint.y = cv::max(cv::min(roi.height - 1, (int)std::round(transformedSamplePoint.y)), 0);
*sampleData++ = inputRoi.at<uchar>(transformedSamplePoint);
}
cv::threshold(mSamples, mBits, -1, 1, cv::THRESH_BINARY | cv::THRESH_OTSU);
#ifdef DEBUG_ReadBits
for (int i = 0; i < DATA_SIZE; ++i)
{
for (int j = 0; j < DATA_SIZE; ++j)
{
std::cout << (int) mBits[i*DATA_SIZE + j];
}
std::cout << "\n";
}
std::cout << std::endl;
#define ZOOM_FACTOR 10
cv::Mat debugImage = inputImage.clone();
cv::Mat tag;
cv::resize(inputRoi, tag, cv::Size(0,0), ZOOM_FACTOR, ZOOM_FACTOR, cv::INTER_NEAREST);
cv::cvtColor(tag, tag, cv::COLOR_GRAY2BGR);
for (int i = 0; i < DATA_SIZE; ++i)
{
for (int j = 0; j < DATA_SIZE; ++j)
{
cv::Point2f position = mTransformedSamplePoints[i*DATA_SIZE + j];
cv::circle(tag, position * ZOOM_FACTOR, 1,
cv::Scalar(0,255,0),2);
cv::circle(tag, position * ZOOM_FACTOR, 3,
cv::Scalar::all(mBits[i*DATA_SIZE + j]*255),2);
}
}
cv::circle(tag, *cornersCopy[0] * ZOOM_FACTOR, 3, cv::Scalar(255,0,0),2);
cv::line(tag, *cornersCopy[0]*ZOOM_FACTOR, *cornersCopy[1]*ZOOM_FACTOR,cv::Scalar(255,0,0));
cv::line(tag, *cornersCopy[1]*ZOOM_FACTOR, *cornersCopy[2]*ZOOM_FACTOR,cv::Scalar(255,0,255));
cv::line(tag, *cornersCopy[2]*ZOOM_FACTOR, *cornersCopy[3]*ZOOM_FACTOR,cv::Scalar(255,0,255));
cv::line(tag, *cornersCopy[3]*ZOOM_FACTOR, *cornersCopy[0]*ZOOM_FACTOR,cv::Scalar(255,0,255));
cv::line(tag, *cornersCopy[2]*ZOOM_FACTOR, *cornersCopy[0]*ZOOM_FACTOR,cv::Scalar(255,0,255));
cv::line(tag, *cornersCopy[3]*ZOOM_FACTOR, *cornersCopy[1]*ZOOM_FACTOR,cv::Scalar(255,0,255));
cv::line(debugImage, *cornersCopy[0]+origin, *cornersCopy[1]+origin,cv::Scalar(255,0,255));
cv::line(debugImage, *cornersCopy[1]+origin, *cornersCopy[2]+origin,cv::Scalar(255,0,255));
cv::line(debugImage, *cornersCopy[2]+origin, *cornersCopy[3]+origin,cv::Scalar(255,0,255));
cv::line(debugImage, *cornersCopy[3]+origin, *cornersCopy[0]+origin,cv::Scalar(255,0,255));
cv::imshow("ReadBits-full", debugImage);
cv::imshow("ReadBits-tag", tag);
cv::waitKey(0);
#endif
return mBits;
}
