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src/main.cpp
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296
src/main.cpp
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/**
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* Lubricant Detecter
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* Copyright (C) 2021 Carl Klemm
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* version 3 as published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the
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* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
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* Boston, MA 02110-1301, USA.
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*/
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#include <iostream>
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#include <opencv2/highgui.hpp>
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#include <opencv2/core/ocl.hpp>
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#include <fcntl.h>
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#include <unistd.h>
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#include <math.h>
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#include <vector>
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#include <string>
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#include "argpopt.h"
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#include "unwrap.h"
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#include "bgremoval.h"
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#include "normalize.h"
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#include "log.h"
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#include "charuco.h"
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#include "harris.h"
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#define IMREAD_SIZE pow(2, 20)
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enum {
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CREATE_CHARUCO,
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CREATE_MAP,
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APPLY_MAP,
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EXIT
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};
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int selectOperation(char** opt)
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{
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if(!opt || !opt[0])
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return -1;
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else if(strcmp(opt[0], "create" ) == 0)
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return CREATE_MAP;
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else if(strcmp(opt[0], "apply" ) == 0)
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return APPLY_MAP;
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else if(strcmp(opt[0], "makeboard" ) == 0)
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return CREATE_CHARUCO;
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else if(strcmp(opt[0], "exit" ) == 0)
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return EXIT;
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return -1;
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}
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std::vector<cv::Mat> loadImages(char** fileNames)
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{
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std::vector<cv::Mat> images;
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for(size_t i = 0; fileNames[i]; ++i)
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{
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int fd = open(fileNames[i], O_RDONLY);
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if(fd < 0)
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{
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Log(Log::WARN)<<"could not open "<<fileNames[i]<< "ignoreing";
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continue;
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}
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size_t pos = 0;
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std::vector<char> buffer(IMREAD_SIZE);
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size_t count;
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while((count = read(fd, buffer.data()+pos, IMREAD_SIZE)) > 0)
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{
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pos+=count;
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buffer.resize(pos+IMREAD_SIZE);
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Log(Log::WARN)<<pos<<" "<<IMREAD_SIZE;
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}
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cv::Mat tmpImage = cv::imdecode(buffer, cv::IMREAD_UNCHANGED);
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if(tmpImage.data)
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images.push_back(tmpImage);
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else
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Log(Log::WARN)<<"can not read image "<<i<<" from "<<fileNames[i]<<'\n';
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}
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return images;
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}
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int perfromOperation(int operation, char** fileNames, const Config& config)
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{
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std::vector<cv::Mat> inImages;
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if(operation == CREATE_MAP || operation == APPLY_MAP)
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{
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inImages = loadImages(fileNames);
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if(inImages.empty())
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{
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Log(Log::ERROR)<<"Input images must be provided";
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return -1;
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}
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}
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if(operation == CREATE_CHARUCO)
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{
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std::string fileName = config.output.empty() ? "out.png" : config.output;
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createCharucoBoard(config.size*14, fileName);
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Log(Log::INFO)<<"Exported charuco map of size "<<config.size*14<<" to "<<fileName;
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return 0;
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}
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else if(operation == CREATE_MAP)
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{
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cv::Mat mask;
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if(config.verbose)
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{
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cv::imshow( "Viewer", inImages[0] );
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cv::waitKey(0);
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}
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if(!config.bg.empty())
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{
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cv::Mat bg = cv::imread(config.bg);
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if(bg.data)
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{
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createMask(inImages[0], mask, bg);
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if(config.verbose)
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{
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cv::Mat masked;
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inImages[0].copyTo(masked, mask);
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cv::imshow( "Viewer", masked );
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cv::waitKey(0);
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}
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}
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else Log(Log::WARN)<<"can not read background image from "<<config.bg;
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}
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std::vector<DetectedPoint> points;
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if(config.harris)
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points = harrisDetectPoints(inImages[0], mask);
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else
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points = detectCharucoPoints(inImages[0], config.verbose);
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Log(Log::INFO)<<"Found "<<points.size()<<" points";
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if(points.size() < 8)
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{
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Log(Log::ERROR)<<"Error creating map, insufficant points detected";
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return -1;
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}
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RemapMap map;
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map.outputCellSize = 50;
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createRemapMap(inImages[0], map, points, config.verbose);
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saveRemapMap(map, fileNames[0]);
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}
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else if(operation == APPLY_MAP)
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{
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std::vector<RemapedImage> remapedImages;
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for(size_t i = 0; i<inImages.size(); ++i)
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{
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Log(Log::INFO)<<"Processing image "<<i;
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RemapMap map = loadRemapMap(std::string(fileNames[i])+".mat");
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map.outputCellSize = config.size;
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if(!map.xMat.data)
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return -1;
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RemapedImage norm;
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if(!config.norm.empty())
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{
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cv::Mat tmp = cv::imread(config.norm);
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if(!tmp.data)
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{
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Log(Log::WARN)<<"could not open normalize file " <<config.norm;
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}
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norm = applyRemap(tmp, map);
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if(config.verbose)
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{
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cv::imshow("Viewer", norm.image);
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cv::waitKey(0);
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}
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}
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Log(Log::INFO)<<"Remaping image";
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RemapedImage remaped = applyRemap(inImages[i], map);
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Log(Log::INFO)<<"Normalizeing image";
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if(norm.image.data) normalize(remaped.image, norm.image);
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if(config.verbose)
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{
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cv::imshow( "Viewer", remaped.image );
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cv::waitKey(0);
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}
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remapedImages.push_back(remaped);
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}
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cv::Mat out;
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Log(Log::INFO)<<"Stiching images";
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if(config.simpleStich)
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out = simpleStich(remapedImages);
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else
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out = stich(remapedImages);
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if(config.verbose)
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{
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cv::imshow( "Viewer", out );
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cv::waitKey(0);
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}
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cv::imwrite(!config.output.empty() ? config.output : "out.png", out);
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}
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else if(operation == EXIT)
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return -1;
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return 0;
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}
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int main(int argc, char* argv[])
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{
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cv::ocl::setUseOpenCL(false);
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Config config;
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argp_parse(&argp, argc, argv, 0, 0, &config);
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Log::level = config.quiet ? Log::WARN : config.verbose ? Log::DEBUG : Log::INFO;
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Log(Log::INFO)<<"UVOS Optical lubricant thikness mapper "<<argp_program_version;
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if(config.verbose)
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{
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cv::namedWindow( "Viewer", cv::WINDOW_NORMAL );
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cv::resizeWindow("Viewer", 960, 500);
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}
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int operation = selectOperation(config.commandsFiles);
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int ret = 0;
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if(!config.interactive)
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{
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if(operation < 0)
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{
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Log(Log::ERROR)<<"An operation must be selected";
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return -1;
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}
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ret = perfromOperation(operation, config.commandsFiles+1, config);
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}
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else
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{
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while(true)
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{
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std::cout<<"> ";
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char cmdline[1024];
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char** tokens = new char*[256];
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char *token;
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char *r = cmdline;
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for(size_t i = 0; i < 256/sizeof(char*); ++i)
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tokens[i] = nullptr;
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std::cin.getline(cmdline, sizeof(cmdline), '\n');
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for(size_t i = 0; (token = strtok_r(r, " ", &r)) && i < 256; ++i)
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{
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tokens[i] = new char[strlen(token)+1];
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strcpy(tokens[i], token);
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}
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int operation = selectOperation(tokens);
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if(operation < 0)
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{
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Log(Log::ERROR)<<"A operation must be selected";
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continue;
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}
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if(perfromOperation(operation, tokens+1, config) < 0)
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break;
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for(size_t i = 0; i < 256/sizeof(char*) && tokens[i]; ++i)
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delete[] tokens[i];
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delete[] tokens;
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}
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}
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if(config.verbose)
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{
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cv::destroyWindow("Viewer");
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cv::waitKey(0);
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}
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return ret;
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}
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