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Recover git state after .git was lost

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uvos
2021-06-08 14:59:23 +02:00
parent d4d7418cb2
commit 5e3c26e763
29 changed files with 1610 additions and 1065 deletions
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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#pragma once
#include<argp.h>
#include<string>
struct Config
{
char** commandsFiles = NULL;
std::string output = "";
std::string norm = "";
std::string bg = "";
bool harris = false;
float minSize = 7;
unsigned int size = 50;
bool verbose = false;
bool quiet = false;
bool interactive = false;
bool simpleStich = false;
};
const char *argp_program_version = "0.2";
const char *argp_program_bug_address = "<carl@uvos.xyz>";
static char doc[] = "Program to determine the lubricant thikness on a curved surface";
static char args_doc[] = "";
static struct argp_option options[] =
{
{"verbose", 'v', 0, 0, "Enable verbose logging" },
{"quiet", 'q', 0, 0, "Disable info messages" },
{"bg", 'b', "File Name", 0, "background image file" },
{"normalize", 'n', "File Name", 0, "image to use as a normalization source" },
{"min-size", 's', "Value", 0, "Smallest feature accepted as a corner" },
{"size", 'x', "Value", 0, "Output cell size" },
{"harris", 'r', 0, 0, "Use harris to detect points" },
{"output", 'o', "File Name", 0, "output file name" },
{"interactive", 'i', 0, 0, "interactivly process multiple commands" },
{"simpe-stich", 'a', 0, 0, "Use non blending sticher" },
{ 0 }
};
error_t parse_opt (int key, char *arg, struct argp_state *state)
{
Config* config = reinterpret_cast<Config*>(state->input);
switch (key)
{
case 'v':
config->verbose = true;
break;
case 'q':
config->quiet = true;
break;
case 'b':
config->bg.assign(arg);
break;
case 'n':
config->norm.assign(arg);
break;
case 's':
config->minSize=atol(arg);
break;
case 'r':
config->harris = true;
break;
case 'x':
config->size=atol(arg);
break;
case 'a':
config->simpleStich = true;
break;
case 'i':
config->interactive = true;
break;
case 'o':
config->output.assign(arg);
break;
case ARGP_KEY_ARG:
config->commandsFiles = &state->argv[state->next-1];
state->next = state->argc;
break;
default:
return ARGP_ERR_UNKNOWN;
}
return 0;
}
static struct argp argp = { options, parse_opt, args_doc, doc };

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#include "bgremoval.h"
#include <iostream>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/bgsegm.hpp>
#include "log.h"
bool createMask(const cv::Mat& in, cv::Mat& mask, const cv::Mat& bg)
{
if(in.size != bg.size || in.type() != bg.type())
{
Log(Log::ERROR)<<"input image and backgournd image size and type needs to be the same";
return false;
}
cv::Ptr<cv::BackgroundSubtractorMOG2> bgremv = cv::createBackgroundSubtractorMOG2(2,10,false);
bgremv->apply(bg, mask, 1);
bgremv->apply(in, mask, 0);
cv::GaussianBlur(mask,mask,cv::Size(49,49), 15);
cv::threshold(mask, mask, 70, 255, cv::THRESH_BINARY);
return true;
}

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#pragma once
#include <opencv2/core/ocl.hpp>
bool createMask(const cv::Mat& in, cv::Mat& mask, const cv::Mat& bg);

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#include "charuco.h"
#include <opencv2/aruco/charuco.hpp>
#include <opencv2/highgui.hpp>
static constexpr unsigned int X_BOARD_SIZE = 18;
static constexpr unsigned int Y_BOARD_SIZE = 10;
void createCharucoBoard(unsigned int size, const std::string& fileName)
{
cv::Ptr<cv::aruco::CharucoBoard> board =
cv::aruco::CharucoBoard::create(X_BOARD_SIZE, Y_BOARD_SIZE, 0.03f, 0.02f,
cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_250 ));
cv::Mat charucoImage;
board->draw(cv::Size((size*18)/10, size), charucoImage, 0, 1);
cv::imwrite(fileName, charucoImage);
}
std::vector<DetectedPoint> detectCharucoPoints(cv::Mat image, bool verbose)
{
cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(X_BOARD_SIZE, Y_BOARD_SIZE, 0.03f, 0.02f,
cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_250 ));
cv::Ptr<cv::aruco::DetectorParameters> params = cv::aruco::DetectorParameters::create();
params->adaptiveThreshWinSizeMin = 3;
params->adaptiveThreshWinSizeMax = 41;
params->adaptiveThreshWinSizeStep = 4;
params->perspectiveRemovePixelPerCell = 16;
params->perspectiveRemoveIgnoredMarginPerCell = 0.1;
params->polygonalApproxAccuracyRate = 0.05;
params->perspectiveRemoveIgnoredMarginPerCell = 0.1;
params->aprilTagMinClusterPixels = 3;
std::vector<int> arucoIds;
std::vector<std::vector<cv::Point2f> > arucoCorners;
cv::aruco::detectMarkers(image, board->dictionary, arucoCorners, arucoIds, params);
if(verbose)
{
cv::Mat debugImage;
image.copyTo(debugImage);
cv::aruco::drawDetectedMarkers(debugImage, arucoCorners, arucoIds);
cv::imshow( "Viewer", debugImage );
cv::waitKey(0);
}
if (arucoIds.size() > 0)
{
std::vector<cv::Point2f> charucoCorners;
std::vector<int> charucoIds;
cv::aruco::interpolateCornersCharuco(arucoCorners, arucoIds, image, board, charucoCorners,
charucoIds, cv::noArray(), cv::noArray(), 0);
if(verbose)
{
cv::Mat debugImage;
image.copyTo(debugImage);
cv::aruco::drawDetectedCornersCharuco(debugImage, charucoCorners, charucoIds, cv::Scalar(0, 255, 0));
cv::imshow("Viewer", debugImage);
cv::waitKey(0);
}
std::vector<DetectedPoint> detections;
for(size_t i = 0; i < charucoIds.size(); ++i)
{
cv::Point2i coordiante(charucoIds[i] % (X_BOARD_SIZE-1), (Y_BOARD_SIZE-2) - charucoIds[i]/(X_BOARD_SIZE-1));
detections.push_back(DetectedPoint(charucoCorners[i], coordiante));
}
return detections;
}
return std::vector<DetectedPoint>();
}

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#pragma once
#include <string>
#include <opencv2/core/ocl.hpp>
#include "detectedpoint.h"
void createCharucoBoard(unsigned int size, const std::string& fileName);
std::vector<DetectedPoint> detectCharucoPoints(cv::Mat image, bool verbose = true);

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#pragma once
class DetectedPoint
{
public:
cv::Point2f point;
cv::Point2i coordinate;
DetectedPoint(const cv::Point2f& pointI, const cv::Point2f& coordinateI):
point(pointI), coordinate(coordinateI)
{}
};

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#include "drawing.h"
#include <opencv2/viz/types.hpp>
#include <opencv2/imgproc.hpp>
void drawRows(cv::Mat& image, const std::vector< std::vector<cv::Point2f > >& rows)
{
for(size_t i = 0; i < rows.size(); ++i)
{
for(size_t y = 0; y < rows[i].size(); ++y)
{
cv::circle(image, rows[i][y], 5, cv::viz::Color(128 * (i%3), 128 * ((i+1)%3), 128 * ((i+2)%3)));
}
}
}
void drawEllipses(cv::Mat& image, const std::vector<cv::RotatedRect>& ellipses )
{
for(const auto& ellipse : ellipses)cv::ellipse(image, ellipse, cv::viz::Color(128,128,128));
}

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#pragma once
#include <opencv2/core/ocl.hpp>
void drawRows(cv::Mat& image, const std::vector< std::vector<cv::Point2f > >& rows);
void drawEllipses(cv::Mat& image, const std::vector<cv::RotatedRect>& ellipses );

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#include <opencv2/imgproc.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/highgui.hpp>
#include "harris.h"
#include "log.h"
#include "matutils.h"
#include "drawing.h"
static float detimineXPitch(const std::vector<cv::Point2f>& row, float fuzz = 1.3f)
{
std::vector<float> xRowDists;
for(size_t i = 0; i < row.size()-1; ++i)
xRowDists.push_back(abs(row[i+1].x-row[i].x));
float xMinDist = *std::min(xRowDists.begin(), xRowDists.end());
Log(Log::DEBUG)<<__func__<<": xMinDist "<<xMinDist;
float meanXDistAccum = 0;
size_t validCount = 0;
for(size_t i = 0; i < xRowDists.size(); ++i)
{
if(xRowDists[i] < xMinDist*fuzz)
{
++validCount;
meanXDistAccum+=xRowDists[i];
}
}
return meanXDistAccum/validCount;
}
static std::vector<cv::RotatedRect> fitEllipses(std::vector< std::vector<cv::Point2f > >& rows, bool remove = true)
{
if(rows.empty()) return std::vector<cv::RotatedRect>();
std::vector<cv::RotatedRect> ellipses;
ellipses.reserve(rows.size());
for(size_t i = 0; i < rows.size(); ++i)
{
if(rows[i].size() > 4) ellipses.push_back(cv::fitEllipse(rows[i]));
else
{
rows.erase(rows.begin()+i);
i--;
}
}
return ellipses;
}
static bool sanityCheckElipses(std::vector< std::vector<cv::Point2f > >& rows, std::vector<cv::RotatedRect>& elipses)
{
if(rows.size() != elipses.size() && elipses.size() > 1) return false;
for(size_t i = 0; i < elipses.size(); ++i)
{
float angDiff = fmod(elipses[i].angle,90);
if(angDiff < 90-5 && angDiff > 5)
{
elipses.erase(elipses.begin()+i);
rows.erase(rows.begin()+i);
--i;
}
}
std::vector<float> widths;
std::vector<float> heights;
for(auto& elipse : elipses)
{
widths.push_back(elipse.size.width);
heights.push_back(elipse.size.height);
}
std::vector<size_t> outliersW;
std::vector<size_t> outliersH;
thompsonTauTest(widths, outliersW, 2);
thompsonTauTest(heights, outliersH, 2);
std::vector< std::vector<cv::Point2f > > rowsReduced;
std::vector<cv::RotatedRect> elipsesReduced;
for(size_t i = 0; i < elipses.size(); ++i)
{
bool found = false;
for(size_t j = 0; j < outliersW.size() && !found; ++j)
if(outliersW[j]==i) found = true;
for(size_t j = 0; j < outliersH.size() && !found; ++j)
if(outliersH[j]==i) found = true;
if(!found)
{
rowsReduced.push_back(rows[i]);
elipsesReduced.push_back(elipses[i]);
}
}
elipses = elipsesReduced;
rows = rowsReduced;
return true;
}
static std::vector< std::vector<cv::Point2f > > sortPointsIntoRows(std::vector<cv::Point2f>& points)
{
if(points.size() < 6) return std::vector< std::vector<cv::Point2f> >();
cv::Point2f topLeft(*getTopLeft(points));
cv::Point2f bottomRight(*getBottomRight(points));
Log(Log::DEBUG)<<"topLeft "<<topLeft.x<<' '<<topLeft.y;
Log(Log::DEBUG)<<"bottomRight "<<bottomRight.x<<' '<<bottomRight.y;
float fuzz = (bottomRight.x-topLeft.x)*0.05f;
for(size_t i = 0; i < points.size(); ++i)
{
if(points[i].x < topLeft.x-fuzz || points[i].y < topLeft.y-fuzz ||
points[i].x > bottomRight.x+fuzz || points[i].y > bottomRight.y+fuzz)
points.erase(points.begin()+i);
}
std::sort(points.begin(), points.end(), [](const cv::Point2f& a, const cv::Point2f& b){return a.y < b.y;});
double accumulator = points[0].y+points[1].y;
size_t accuCount = 2;
float sigDist = (bottomRight.y-topLeft.y) / 20;
std::vector< std::vector<cv::Point2f> > result(1);
result.back().push_back(points[0]);
result.back().push_back(points[1]);
for(size_t i = 2; i < points.size(); ++i)
{
if( points[i].y - accumulator/accuCount > sigDist )
{
if(points.size() - i - 3 < 0) break;
else
{
accumulator = points[i+1].y+points[i+2].y;
accuCount = 2;
}
result.push_back(std::vector<cv::Point2f>());
}
result.back().push_back(points[i]);
accumulator += points[i].y;
++accuCount;
}
for(auto& row : result)
std::sort(row.begin(), row.end(), [](const cv::Point2f& a, const cv::Point2f& b){return a.x < b.x;});
return result;
}
static std::vector<DetectedPoint> harrisGenerateCoordinates(std::vector<cv::Point2f>& points, bool verbose)
{
std::vector< std::vector<cv::Point2f > > rows = sortPointsIntoRows(points);
Log(Log::INFO)<<"Found "<<rows.size()<<" rows";
if(rows.size() < 2)
{
Log(Log::ERROR)<<"Error creating map, insufficant rows detected";
return std::vector<DetectedPoint>();
}
std::vector< cv::RotatedRect > ellipses = fitEllipses(rows);
Log(Log::INFO)<<"Found "<<ellipses.size()<<" ellipses. rows reduced to "<<rows.size();
if(ellipses.size() < 3)
{
Log(Log::ERROR)<<"Error creating map, insufficant ellipses detected";
return std::vector<DetectedPoint>();
}
sanityCheckElipses(rows, ellipses);
if(rows.size() < 2 || rows.size() != ellipses.size()) {
Log(Log::ERROR)<<__func__<<": rows < 2 or rows != ellipses";
return std::vector<DetectedPoint>();
}
std::vector<cv::Point2i> coordinates;
coordinates.assign(points.size(), cv::Point2i());
float meanYdist = 0;
for(size_t i = 0; i < ellipses.size()-1; ++i)
{
meanYdist += ellipses[i+1].center.y-ellipses[i].center.y;
}
meanYdist = meanYdist/ellipses.size();
float meanXdist = 0;
float xMin = std::numeric_limits<float>::max();
float xMeanMin = 0;
float xMax = std::numeric_limits<float>::min();
for(auto& row : rows)
{
meanXdist+=detimineXPitch(row);
xMeanMin+=row.front().x;
if(xMin > row.front().x )
xMin = row.front().x;
if(xMax < row.back().x)
xMax = row.back().x;
}
meanXdist/=rows.size();
Log(Log::DEBUG)<<__func__<<": meanXdist "<<meanXdist;
Log(Log::DEBUG)<<__func__<<": meanYdist "<<meanYdist;
xMeanMin = xMeanMin / rows.size();
Log(Log::DEBUG)<<__func__<<": Grid: xMin "<<xMin;
Log(Log::DEBUG)<<__func__<<": Grid: grid xMax "<<xMax;
Log(Log::DEBUG)<<__func__<<": Grid: grid xMeanMin "<<xMeanMin;
size_t xGridSize = static_cast<size_t>(std::lround(abs((xMax-xMin)/meanXdist))+1);
std::vector<DetectedPoint> dpoints;
for(size_t y = 0; y < rows.size(); ++y)
{
Log(Log::DEBUG)<<__func__<<": Proc row "<<y;
for(size_t x = 0; x < xGridSize; ++x)
{
cv::Point2f tmp(x*meanXdist+xMin, y*meanYdist);
size_t closest;
bool found = findClosest(closest, tmp,
points,
(2*meanXdist)/5, (2*meanYdist)/5);
Log(Log::DEBUG)<<__func__<<": found: "<<found<<' '<<x<<'x'<<y;
if(found)
dpoints.push_back(DetectedPoint(points[closest], cv::Point2i(x,y)));
}
}
return dpoints;
}
std::vector<DetectedPoint> harrisDetectPoints(cv::Mat& image, const cv::Mat& mask,
int blockSize, int apature, float detectorParameter,
float minSize, bool verbose)
{
cv::Mat gray;
cv::cvtColor(image, gray, cv::COLOR_BGR2GRAY);
//detect corners
cv::Mat corners;
cv::cornerHarris(gray, corners, blockSize, apature, detectorParameter);
cv::normalize(corners, corners, 0, 255, cv::NORM_MINMAX, CV_32FC1, cv::Mat());
cv::convertScaleAbs( corners, corners );
cv::threshold(corners, corners, 50, 255, cv::THRESH_BINARY);
cv::Mat cornersMasked;
if(mask.data && mask.size == corners.size) corners.copyTo(cornersMasked, mask);
else corners.copyTo(cornersMasked);
if(verbose)
{
cv::imshow( "Viewer", cornersMasked );
cv::waitKey(0);
}
//get middle of corners
cv::SimpleBlobDetector::Params blobParams;
blobParams.filterByArea = true;
blobParams.minArea = minSize;
blobParams.maxArea = 500;
blobParams.filterByColor = false;
blobParams.blobColor = 255;
blobParams.filterByInertia = false;
blobParams.filterByConvexity = false;
cv::Ptr<cv::SimpleBlobDetector> blobDetector = cv::SimpleBlobDetector::create(blobParams);
std::vector<cv::KeyPoint> keypoints;
blobDetector->detect(cornersMasked, keypoints);
std::vector<cv::Point2f> points;
cv::KeyPoint::convert(keypoints, points);
return harrisGenerateCoordinates(points, verbose);
}

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#include <opencv2/core/ocl.hpp>
#include "detectedpoint.h"
std::vector<DetectedPoint> harrisDetectPoints(cv::Mat& image, const cv::Mat& mask,
int blockSize = 5, int apature = 5, float detectorParameter = 0.01,
float minSize = 7, bool verbose = false);

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#pragma once
#include <iostream>
#include <string>
class Log
{
public:
enum Level
{
DEBUG,
INFO,
WARN,
ERROR
};
private:
bool opened = false;
Level msglevel = DEBUG;
inline std::string getLabel(Level level)
{
std::string label;
switch(level)
{
case DEBUG:
label = "DEBUG";
break;
case INFO:
label = "INFO ";
break;
case WARN:
label = "WARN ";
break;
case ERROR:
label = "ERROR";
break;
}
return label;
}
public:
inline static bool headers = false;
inline static Level level = WARN;
Log() {}
Log(Level type)
{
msglevel = type;
if(headers)
{
operator << ("["+getLabel(type)+"]");
}
}
~Log()
{
if(opened)
{
std::cout<<'\n';
}
opened = false;
}
template<class T> Log &operator<<(const T &msg)
{
if(msglevel >= level)
{
std::cout<<msg;
opened = true;
}
return *this;
}
};

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#include <iostream>
#include <opencv2/highgui.hpp>
#include <opencv2/core/ocl.hpp>
#include <fcntl.h>
#include <unistd.h>
#include <math.h>
#include <vector>
#include <string>
#include "argpopt.h"
#include "unwrap.h"
#include "bgremoval.h"
#include "normalize.h"
#include "log.h"
#include "charuco.h"
#include "harris.h"
#define IMREAD_SIZE pow(2, 20)
enum {
CREATE_CHARUCO,
CREATE_MAP,
APPLY_MAP,
EXIT
};
int selectOperation(char** opt)
{
if(!opt || !opt[0])
return -1;
else if(strcmp(opt[0], "create" ) == 0)
return CREATE_MAP;
else if(strcmp(opt[0], "apply" ) == 0)
return APPLY_MAP;
else if(strcmp(opt[0], "makeboard" ) == 0)
return CREATE_CHARUCO;
else if(strcmp(opt[0], "exit" ) == 0)
return EXIT;
return -1;
}
std::vector<cv::Mat> loadImages(char** fileNames)
{
std::vector<cv::Mat> images;
for(size_t i = 0; fileNames[i]; ++i)
{
int fd = open(fileNames[i], O_RDONLY);
if(fd < 0)
{
Log(Log::WARN)<<"could not open "<<fileNames[i]<< "ignoreing";
continue;
}
size_t pos = 0;
std::vector<char> buffer(IMREAD_SIZE);
size_t count;
while((count = read(fd, buffer.data()+pos, IMREAD_SIZE)) > 0)
{
pos+=count;
buffer.resize(pos+IMREAD_SIZE);
Log(Log::WARN)<<pos<<" "<<IMREAD_SIZE;
}
cv::Mat tmpImage = cv::imdecode(buffer, cv::IMREAD_UNCHANGED);
if(tmpImage.data)
images.push_back(tmpImage);
else
Log(Log::WARN)<<"can not read image "<<i<<" from "<<fileNames[i]<<'\n';
}
return images;
}
int perfromOperation(int operation, char** fileNames, const Config& config)
{
std::vector<cv::Mat> inImages;
if(operation == CREATE_MAP || operation == APPLY_MAP)
{
inImages = loadImages(fileNames);
if(inImages.empty())
{
Log(Log::ERROR)<<"Input images must be provided";
return -1;
}
}
if(operation == CREATE_CHARUCO)
{
std::string fileName = config.output.empty() ? "out.png" : config.output;
createCharucoBoard(config.size*14, fileName);
Log(Log::INFO)<<"Exported charuco map of size "<<config.size*14<<" to "<<fileName;
return 0;
}
else if(operation == CREATE_MAP)
{
cv::Mat mask;
if(config.verbose)
{
cv::imshow( "Viewer", inImages[0] );
cv::waitKey(0);
}
if(!config.bg.empty())
{
cv::Mat bg = cv::imread(config.bg);
if(bg.data)
{
createMask(inImages[0], mask, bg);
if(config.verbose)
{
cv::Mat masked;
inImages[0].copyTo(masked, mask);
cv::imshow( "Viewer", masked );
cv::waitKey(0);
}
}
else Log(Log::WARN)<<"can not read background image from "<<config.bg;
}
std::vector<DetectedPoint> points;
if(config.harris)
points = harrisDetectPoints(inImages[0], mask);
else
points = detectCharucoPoints(inImages[0], config.verbose);
Log(Log::INFO)<<"Found "<<points.size()<<" points";
if(points.size() < 8)
{
Log(Log::ERROR)<<"Error creating map, insufficant points detected";
return -1;
}
RemapMap map;
map.outputCellSize = 50;
createRemapMap(inImages[0], map, points, config.verbose);
saveRemapMap(map, fileNames[0]);
}
else if(operation == APPLY_MAP)
{
std::vector<RemapedImage> remapedImages;
for(size_t i = 0; i<inImages.size(); ++i)
{
Log(Log::INFO)<<"Processing image "<<i;
RemapMap map = loadRemapMap(std::string(fileNames[i])+".mat");
map.outputCellSize = config.size;
if(!map.xMat.data)
return -1;
RemapedImage norm;
if(!config.norm.empty())
{
cv::Mat tmp = cv::imread(config.norm);
if(!tmp.data)
{
Log(Log::WARN)<<"could not open normalize file " <<config.norm;
}
norm = applyRemap(tmp, map);
if(config.verbose)
{
cv::imshow("Viewer", norm.image);
cv::waitKey(0);
}
}
Log(Log::INFO)<<"Remaping image";
RemapedImage remaped = applyRemap(inImages[i], map);
Log(Log::INFO)<<"Normalizeing image";
if(norm.image.data) normalize(remaped.image, norm.image);
if(config.verbose)
{
cv::imshow( "Viewer", remaped.image );
cv::waitKey(0);
}
remapedImages.push_back(remaped);
}
cv::Mat out;
Log(Log::INFO)<<"Stiching images";
if(config.simpleStich)
out = simpleStich(remapedImages);
else
out = stich(remapedImages);
if(config.verbose)
{
cv::imshow( "Viewer", out );
cv::waitKey(0);
}
cv::imwrite(!config.output.empty() ? config.output : "out.png", out);
}
else if(operation == EXIT)
return -1;
return 0;
}
int main(int argc, char* argv[])
{
cv::ocl::setUseOpenCL(false);
Config config;
argp_parse(&argp, argc, argv, 0, 0, &config);
Log::level = config.quiet ? Log::WARN : config.verbose ? Log::DEBUG : Log::INFO;
Log(Log::INFO)<<"UVOS Optical lubricant thikness mapper "<<argp_program_version;
if(config.verbose)
{
cv::namedWindow( "Viewer", cv::WINDOW_NORMAL );
cv::resizeWindow("Viewer", 960, 500);
}
int operation = selectOperation(config.commandsFiles);
int ret = 0;
if(!config.interactive)
{
if(operation < 0)
{
Log(Log::ERROR)<<"An operation must be selected";
return -1;
}
ret = perfromOperation(operation, config.commandsFiles+1, config);
}
else
{
while(true)
{
std::cout<<"> ";
char cmdline[1024];
char** tokens = new char*[256];
char *token;
char *r = cmdline;
for(size_t i = 0; i < 256/sizeof(char*); ++i)
tokens[i] = nullptr;
std::cin.getline(cmdline, sizeof(cmdline), '\n');
for(size_t i = 0; (token = strtok_r(r, " ", &r)) && i < 256; ++i)
{
tokens[i] = new char[strlen(token)+1];
strcpy(tokens[i], token);
}
int operation = selectOperation(tokens);
if(operation < 0)
{
Log(Log::ERROR)<<"A operation must be selected";
continue;
}
if(perfromOperation(operation, tokens+1, config) < 0)
break;
for(size_t i = 0; i < 256/sizeof(char*) && tokens[i]; ++i)
delete[] tokens[i];
delete[] tokens;
}
}
if(config.verbose)
{
cv::destroyWindow("Viewer");
cv::waitKey(0);
}
return ret;
}

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#include "matutils.h"
#include <opencv2/core/ocl.hpp>
#include <iostream>
#include <math.h>
#include <assert.h>
#include "log.h"
void sanityCheckMap(cv::Mat& mat, const float min, const float max, float minValue, float maxValue)
{
for(int y = 0; y < mat.rows; y++)
{
float* col = mat.ptr<float>(y);
for(int x = 0; x < mat.cols; ++x)
{
if(col[x] < min)
col[x] = minValue;
else if(col[x] > max)
col[x] = maxValue;
}
}
}
void thompsonTauTest(const std::vector<float>& in, std::vector<size_t>& outliers, float criticalValue)
{
float mean = 0;
size_t n = 0;
for(size_t i = 0; i < in.size(); ++i)
{
bool found = false;
for(size_t j = 0; j < outliers.size() && !found; ++j)
if(outliers[j]==i) found = true;
if(!found)
{
mean+=in[i];
++n;
}
}
mean/=n;
float sd = 0;
for(size_t i = 0; i < in.size(); ++i)
{
bool found = false;
for(size_t j = 0; j < outliers.size() && !found; ++j)
if(outliers[j]==i) found = true;
if(!found) sd+=pow(in[i]-mean,2);
}
sd = sqrt(sd/(n-1));
float rej = (criticalValue*(n-1))/(sqrt(n)*sqrt(n-2+criticalValue));
bool removed = false;
for(size_t i = 0; i < in.size() && !removed; ++i)
{
bool found = false;
for(size_t j = 0; j < outliers.size() && !found; ++j)
if(outliers[j]==i) found = true;
if(!found)
{
if(abs((in[i]-mean)/sd) > rej)
{
Log(Log::DEBUG)<<__func__<<": "<<i<<" is outlier mean: "<<mean<<" sd: "<<sd<<" n: "<<n<<'\n';
outliers.push_back(i);
removed = true;
}
}
}
if(removed) thompsonTauTest(in, outliers, criticalValue);
}
std::vector<cv::Point2f>::iterator getTopLeft(std::vector<cv::Point2f>& points)
{
return std::min_element(points.begin(), points.end(), [](const cv::Point2f& a, const cv::Point2f& b){
return sqrt(a.y*a.y+a.x*a.x) < sqrt(b.y*b.y+b.x*b.x);
});
}
std::vector<cv::Point2f>::iterator getBottomRight(std::vector<cv::Point2f>& points)
{
return std::max_element(points.begin(), points.end(), [](const cv::Point2f& a, const cv::Point2f& b){
return sqrt(a.y*a.y+a.x*a.x) < sqrt(b.y*b.y+b.x*b.x);
});
}
double distance(const cv::Point2f& a, const cv::Point2f& b)
{
return sqrt((a.y-b.y)*(a.y-b.y)+(a.x-b.x)*(a.x-b.x));
}
bool findClosest(size_t& xIndex, size_t& yIndex,
const cv::Point2f point, const std::vector< std::vector<cv::Point2f> >& array,
float xTolerance, float yTolerance)
{
size_t rowBelow = 0;
while(rowBelow < array.size() && !array[rowBelow].empty() && array[rowBelow][0].y < point.y) ++rowBelow;
if(rowBelow == array.size()) rowBelow = array.size()-1;
size_t rightAbove = 0;
size_t rightBelow = 0;
while(rightBelow < array[rowBelow].size() && array[rowBelow][rightBelow].x < point.x ) ++rightBelow;
float distRB = distance(point, array[rowBelow][rightBelow]);
float distLB = rightBelow > 0 ? distance(point, array[rowBelow][rightBelow-1]) : std::numeric_limits<float>::max();
float distRA = std::numeric_limits<float>::max();
float distLA = std::numeric_limits<float>::max();
if(rowBelow > 0)
{
while(rightAbove < array[rowBelow-1].size() && array[rowBelow-1][rightAbove].x < point.x ) ++rightAbove;
distRA = distance(point, array[rowBelow-1][rightAbove]);
if(rightAbove > 0) distLA = distance(point, array[rowBelow-1][rightAbove-1]);
}
float* min = &distRB;
if(distLB < *min) min = &distLB;
if(distRA < *min) min = &distRA;
if(distLA < *min) min = &distLA;
if(min == &distRB)
{
yIndex = rowBelow;
xIndex = rightBelow;
}
else if(min == &distLB)
{
yIndex = rowBelow;
xIndex = rightBelow-1;
}
else if(min == &distRA)
{
yIndex = rowBelow-1;
xIndex = rightBelow;
}
else if(min == &distLA)
{
yIndex = rowBelow-1;
xIndex = rightBelow-1;
}
else return false;
return abs(array[yIndex][xIndex].x - point.x) < xTolerance && abs(array[yIndex][xIndex].y - point.y) < yTolerance;
}
bool findClosest(size_t& index, const cv::Point2f point, const std::vector<cv::Point2f>& array, float xTolerance, float yTolerance)
{
float minDistance = std::numeric_limits<float>::max();
bool found;
for(size_t i = 0; i < array.size(); ++i)
{
const auto& arrayPoint = array[i];
if(abs(arrayPoint.x - point.x < xTolerance) &&
abs(arrayPoint.y - point.y < yTolerance) &&
distance(point, arrayPoint) < minDistance)
{
index = i;
found = true;
}
}
return found;
}
void interpolateMissing(cv::Mat& mat)
{
assert(mat.type() == CV_32FC1);
for(int y = 0; y < mat.rows; y++)
{
float* col = mat.ptr<float>(y);
for(int x = 0; x < mat.cols; ++x)
{
if(col[x] < 0)
{
int closestA = -1;
int closestB = -1;
int dist = std::numeric_limits<int>::max();
for(int i = 0; i < mat.cols; ++i)
{
if(i != closestA && col[i] >= 0 && abs(i-x) <= dist)
{
closestB = closestA;
closestA = i;
dist = abs(i-x);
}
}
if(closestA < 0 || closestB < 0)
{
closestA = -1;
closestB = -1;
dist = std::numeric_limits<int>::max();
for(int i = mat.cols-1; i >= 0; --i)
{
if(i != closestA && col[i] >= 0 && abs(i-x) <= dist)
{
closestB = closestA;
closestA = i;
dist = abs(i-x);
}
}
}
float slope = (col[closestB] - col[closestA])/(closestB-closestA);
col[x] = col[closestA] - (closestA-x)*slope;
}
}
}
}
void fillMissing(cv::Mat& mat)
{
assert(mat.type() == CV_32FC1);
bool finished = true;
for(int y = 0; y < mat.rows; y++)
{
float* col = mat.ptr<float>(y);
for(int x = 0; x < mat.cols; ++x)
{
if(col[x] < 0 && col[x] > -2)
{
if(y > 0 && mat.at<float>(y-1,x) >= 0)
{
col[x] = mat.at<float>(y-1,x);
finished = false;
}
else if(y < mat.rows-1 && mat.at<float>(y+1,x) >= 0)
{
col[x] = mat.at<float>(y+1,x);
finished = false;
}
if(col[x] > 0 && ((x+1 < mat.cols && col[x] > col[x+1]) || (x > 0 && col[x] < col[x-1])))
col[x] = -2;
}
}
}
if(!finished) fillMissing(mat);
}
bool findDeadSpace(const cv::Mat& mat, cv::Rect& roi)
{
assert(mat.type() == CV_32FC1);
if(mat.cols < 2 || mat.rows < 2)
return false;
float centerTop = mat.at<float>(0,mat.cols/2);
float centerLeft = mat.at<float>(mat.rows/2,0);
float centerBottom = mat.at<float>(mat.rows-1,mat.cols/2);
float centerRight = mat.at<float>(mat.rows/2,mat.cols-1);
int left = 0;
int right = mat.cols-1;
int top = 0;
int bottom = mat.rows-1;
for(; left < mat.cols && mat.at<float>(mat.rows/2,left) == centerLeft; ++left);
for(; top < mat.rows && mat.at<float>(top,mat.cols/2) == centerTop; ++top);
for(; right > left && mat.at<float>(mat.rows/2,right) == centerRight; --right);
for(; bottom > top && mat.at<float>(bottom,mat.cols/2) == centerBottom; --bottom);
roi.x=left > 0 ? left : 0;
roi.y=top > 0 ? top : 0;
roi.width = right-roi.x;
roi.height = bottom-roi.y;
if(roi.width < 0 || roi.height < 0)
return false;
Log(Log::DEBUG)<<"Reduced Roi: "<<roi;
return true;
}
bool deleteEmptyCols(cv::Mat& mat)
{
assert(mat.type() == CV_32FC1);
std::vector<size_t> cols;
cols.reserve(mat.cols);
for(int x = 0; x < mat.cols; x++)
{
bool empty = true;
for(int y = 0; y < mat.rows; y++)
{
if(mat.at<float>(x,y) > 0)
{
empty = false;
break;
}
}
if(!empty)
cols.push_back(x);
}
if(mat.cols < static_cast<long int>(cols.size()))
{
cv::Mat tmp(cv::Size(cols.size(), mat.rows), CV_32FC1);
for(auto& col : cols)
{
cv::Rect roi(cv::Point2i(col, 0), cv::Size(1, mat.rows));
mat.copyTo(tmp(roi));
}
mat.release();
mat = tmp;
return true;
}
return false;
}
void removeEmptyFrontBackCols(cv::Mat& mat)
{
assert(mat.type() == CV_32FC1);
int front = 0;
int back = 0;
for(int y = 0; y < mat.rows; ++y)
{
if(mat.at<float>(y,0) >= 0) ++front;
if(mat.at<float>(y,mat.cols-1) >= 0) ++back;
}
Log(Log::DEBUG)<<__func__<<" front: "<<front<<" back "<<back;
cv::Rect roi;
bool frontRej = (front < mat.rows/2);
bool backRej = (back < mat.rows/2);
roi.x=frontRej;
roi.y=0;
roi.width = mat.cols - backRej - frontRej;
roi.height = mat.rows;
mat = mat(roi);
if(frontRej || backRej) removeEmptyFrontBackCols(mat);
}

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#pragma once
#include <opencv2/core/ocl.hpp>
#include <vector>
void sanityCheckMap(cv::Mat& mat, const float min, const float max, const float minValue, const float maxValue);
std::vector<cv::Point2f>::iterator getTopLeft(std::vector<cv::Point2f>& points);
std::vector<cv::Point2f>::iterator getBottomRight(std::vector<cv::Point2f>& points);
double distance(const cv::Point2f& a, const cv::Point2f& b);
bool findClosest(size_t& xIndex, size_t& yIndex,
const cv::Point2f point, const std::vector< std::vector<cv::Point2f> >& array,
float xTolerance, float yTolerance);
bool findClosest(size_t& index, const cv::Point2f point, const std::vector<cv::Point2f>& array, float xTolerance, float yTolerance);
void thompsonTauTest(const std::vector<float>& in, std::vector<size_t>& outliers, float criticalValue);
void interpolateMissing(cv::Mat& mat);
void fillMissing(cv::Mat& mat);
bool findDeadSpace(const cv::Mat& mat, cv::Rect& roi);
bool deleteEmptyCols(cv::Mat& mat);
void removeEmptyFrontBackCols(cv::Mat& mat);

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#pragma once
#include <opencv2/core/ocl.hpp>
#include <opencv2/imgproc.hpp>
#include <stdint.h>
inline bool normalize(cv::Mat& image, const cv::Mat& referance)
{
cv::Mat labReferance;
cv::cvtColor(referance, labReferance, cv::COLOR_BGR2Lab);
std::vector<cv::Mat> labPlanesRef(3);
cv::split(labReferance, labPlanesRef);
cv::Scalar mean = cv::mean(labPlanesRef[0]);
labPlanesRef[0].convertTo(labPlanesRef[0], CV_16SC1);
labPlanesRef[0] = labPlanesRef[0] - cv::Scalar(mean);
cv::Mat labImage;
cv::cvtColor(image, labImage, cv::COLOR_BGR2Lab);
std::vector<cv::Mat> labPlanes(3);
cv::split(labImage, labPlanes);
cv::subtract(labPlanes[0], labPlanesRef[0], labPlanes[0], cv::noArray(), CV_8UC1);
cv::merge(labPlanes, labImage);
cv::cvtColor(labImage, image, cv::COLOR_Lab2BGR);
return true;
}

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#include "unwrap.h"
#include <opencv2/highgui.hpp>
#include <opencv2/stitching/detail/seam_finders.hpp>
#include <opencv2/stitching/detail/blenders.hpp>
#include <opencv2/imgproc.hpp>
#include <math.h>
#include <vector>
#include <algorithm>
#include <iostream>
#include "matutils.h"
#include "drawing.h"
#include "log.h"
static void sortIntoRemapMaps(const std::vector<DetectedPoint>& points, cv::Mat& xMat, cv::Mat& yMat, cv::Point2i& topLeftCoordinate)
{
if(points.size() < 6)
{
Log(Log::ERROR)<<__func__<<": at least 6 points are needed";
return;
}
int xMin = std::numeric_limits<int>::max();
int xMax = std::numeric_limits<int>::min();
int yMin = std::numeric_limits<int>::max();
int yMax = std::numeric_limits<int>::min();
for(auto& point : points)
{
Log(Log::DEBUG)<<"point: "<<point.coordinate.x<<'x'<<point.coordinate.y;
if(point.coordinate.x > xMax) xMax = point.coordinate.x;
else if(point.coordinate.x < xMin) xMin = point.coordinate.x;
if(point.coordinate.y > yMax) yMax = point.coordinate.y;
else if(point.coordinate.y < yMin) yMin = point.coordinate.y;
}
topLeftCoordinate.x = xMin;
topLeftCoordinate.y = yMin;
size_t xGridSize = xMax-xMin+1;
size_t yGridSize = yMax-yMin+1;
xMat.create(cv::Size(xGridSize, yGridSize), CV_32FC1);
yMat.create(cv::Size(xGridSize, yGridSize), CV_32FC1);
xMat = -1;
yMat = -1;
Log(Log::DEBUG)<<"Grid: "<<xGridSize<<'x'<<yGridSize;
for(int y = 0; y < xMat.rows; y++)
{
float* colx = xMat.ptr<float>(y);
float* coly = yMat.ptr<float>(y);
for(int x = 0; x < xMat.cols; x++)
{
for(size_t i = 0; i < points.size(); ++i)
{
if(points[i].coordinate == cv::Point2i(x+xMin,y+yMin))
{
colx[x] = points[i].point.x;
coly[x] = points[i].point.y;
break;
}
}
}
}
}
bool createRemapMap(const cv::Mat& image, RemapMap& out, const std::vector<DetectedPoint>& points, bool verbose)
{
sortIntoRemapMaps(points, out.xMat, out.yMat, out.topLeftCoordinate);
Log(Log::DEBUG)<<__func__<<": xMat raw\n"<<out.xMat;
removeEmptyFrontBackCols(out.xMat);
removeEmptyFrontBackCols(out.yMat);
deleteEmptyCols(out.xMat);
deleteEmptyCols(out.yMat);
Log(Log::DEBUG)<<__func__<<": xMat rejcted\n"<<out.xMat;
fillMissing(out.xMat);
Log(Log::DEBUG)<<__func__<<": xMat filled\n"<<out.xMat;
interpolateMissing(out.xMat);
interpolateMissing(out.yMat);
sanityCheckMap(out.xMat, 0, image.cols-1, -1, -1);
sanityCheckMap(out.yMat, 0, image.rows-1, -1, -1);
fillMissing(out.xMat);
interpolateMissing(out.xMat);
interpolateMissing(out.yMat);
sanityCheckMap(out.xMat, 0, image.cols-1, 0, image.cols-1);
sanityCheckMap(out.yMat, 0, image.rows-1, 0, image.rows-1);
Log(Log::INFO)<<__func__<<": xMat \n"<<out.xMat;
Log(Log::INFO)<<__func__<<": yMat \n"<<out.yMat;
if(out.xMat.cols < 3 || out.xMat.rows < 3)
{
Log(Log::ERROR)<<"Error creating map, to few points with high confidence";
return false;
}
if(verbose)
{
RemapedImage remaped = applyRemap(image, out);
cv::imshow( "Viewer", remaped.image );
cv::waitKey(0);
}
return true;
}
bool saveRemapMap(const RemapMap& map, const std::string& fileName)
{
cv::FileStorage matf(fileName+".mat", cv::FileStorage::WRITE );
matf<<"xmat"<<map.xMat<<"ymat"<<map.yMat<<"origin"<<map.topLeftCoordinate;
matf.release();
Log(Log::INFO)<<"Unwrap maps saved to "<<fileName<<".mat";
return true;
}
RemapMap loadRemapMap(const std::string& fileName)
{
cv::FileStorage fs(fileName, cv::FileStorage::READ);
if (!fs.isOpened())
{
Log(Log::ERROR)<<"could not open maps file "<<fileName;
return RemapMap();
}
RemapMap map;
fs["xmat"]>>map.xMat;
fs["ymat"]>>map.yMat;
fs["origin"]>>map.topLeftCoordinate;
return map;
}
RemapedImage applyRemap(const cv::Mat& image, const RemapMap &map)
{
RemapedImage out;
cv::Mat xMapResized;
cv::Mat yMapResized;
const cv::Size outputSize(map.outputCellSize*map.xMat.cols,map.outputCellSize*map.xMat.rows);
cv::resize(map.xMat, xMapResized, outputSize, cv::INTER_LINEAR);
cv::resize(map.yMat, yMapResized, outputSize, cv::INTER_LINEAR);
cv::Rect roi;
cv::Mat xMapRed;
cv::Mat yMapRed;
if(findDeadSpace(xMapResized, roi))
{
xMapRed = xMapResized(roi);
yMapRed = yMapResized(roi);
}
else
{
xMapRed = xMapResized;
yMapRed = yMapResized;
}
cv::remap(image, out.image, xMapRed, yMapRed, cv::INTER_LINEAR);
out.origin = cv::Point2i(map.topLeftCoordinate.x*map.outputCellSize, map.topLeftCoordinate.y*map.outputCellSize);
return out;
}
cv::Mat simpleStich(const std::vector<RemapedImage>& images)
{
if(images.size() < 1)
return cv::Mat();
cv::Size outputSize(0,0);
for(auto& image : images)
{
if(outputSize.width < image.image.cols+image.origin.x)
outputSize.width = image.image.cols+image.origin.x;
if(outputSize.height < image.image.rows+image.origin.y)
outputSize.height = image.image.rows+image.origin.y;
Log(Log::DEBUG)<<"image: "<<image.image.rows<<'x'<<image.image.cols<<" at "<<image.origin.x<<'x'<<image.origin.y;
}
Log(Log::DEBUG)<<"outputSize: "<<outputSize;
cv::Mat out(outputSize, images[0].image.type(), cv::Scalar::all(0));
for(auto& image : images)
{
cv::Rect roi(image.origin, image.image.size());
image.image.copyTo(out(roi));
}
return out;
}
cv::Mat stich(const std::vector<RemapedImage>& images, bool seamAdjust)
{
std::vector<cv::Mat> masks(images.size());
std::vector<cv::Point> corners(images.size());
std::vector<cv::Size> sizes(images.size());
for (size_t i = 0; i < images.size(); i++)
{
masks[i].create(images[i].image.size(), CV_8U);
masks[i].setTo(cv::Scalar::all(255));
corners[i] = images[i].origin;
sizes[i] = images[i].image.size();
}
if(seamAdjust)
{
std::vector<cv::UMat> images32f(images.size());
std::vector<cv::UMat> masksUmat(images.size());
for (size_t i = 0; i < images.size(); i++)
{
images[i].image.convertTo(images32f[i], CV_32F);
masks[i].copyTo(masksUmat[i]);
}
cv::detail::VoronoiSeamFinder seamFinder;
seamFinder.find(images32f, corners, masksUmat);
for (size_t i = 0; i < images.size(); i++)
{
masksUmat[i].copyTo(masks[i]);
masksUmat[i].release();
images32f[i].release();
}
images32f.clear();
masksUmat.clear();
}
cv::Ptr<cv::detail::Blender> blender;
blender = cv::detail::Blender::createDefault(cv::detail::Blender::Blender::MULTI_BAND, false);
cv::detail::MultiBandBlender* mb = dynamic_cast<cv::detail::MultiBandBlender*>(blender.get());
mb->setNumBands(5);
blender->prepare(corners, sizes);
for (size_t i = 0; i < images.size(); i++)
{
blender->feed(images[i].image, masks[i], corners[i]);
}
cv::Mat result;
cv::Mat result_mask;
blender->blend(result, result_mask);
return result;
}

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/**
* Lubricant Detecter
* Copyright (C) 2021 Carl Klemm
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 3 as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#pragma once
#include <opencv2/core/ocl.hpp>
#include <string>
#include "detectedpoint.h"
struct RemapedImage
{
cv::Mat image;
cv::Point2i origin;
};
struct RemapMap
{
cv::Mat xMat;
cv::Mat yMat;
cv::Point2i topLeftCoordinate;
unsigned int outputCellSize;
};
bool saveRemapMap(const RemapMap& map, const std::string& fileName);
RemapMap loadRemapMap(const std::string& fileName);
bool createRemapMap(const cv::Mat& image, RemapMap& out, const std::vector<DetectedPoint>& points, bool verbose = false);
RemapedImage applyRemap(const cv::Mat& image, const RemapMap &map);
cv::Mat stich(const std::vector<RemapedImage>& images, bool seamAdjust = false);
cv::Mat simpleStich(const std::vector<RemapedImage>& images);