MasterArbeit/libuvosunwrap
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

add show image operation

Browse Source
This commit is contained in:
uvos
2021-07-05 11:26:23 +02:00
parent f3d2a19781
commit 6fa7e9eb9d
5 changed files with 70 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/argpopt.h
View File

@ -40,7 +40,7 @@ struct Config
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.\n\
Possible operations: apply create curve mkcurve mkboard";
Possible operations: apply create curve mkcurve mkboard show";
static char args_doc[] = "[OPERATION] IMAGE1 IMAGE2 ...";
static struct argp_option options[] =

29
src/main.cpp
View File

@ -42,6 +42,7 @@ enum {
APPLY_MAP,
APPLY_CURVE,
CREATE_CURVE,
SHOW_IMAGE,
EXIT
};
@ -59,6 +60,8 @@ int selectOperation(char** opt)
return CREATE_CURVE;
else if(strcmp(opt[0], "mkboard" ) == 0)
return CREATE_CHARUCO;
else if(strcmp(opt[0], "show" ) == 0)
return SHOW_IMAGE;
else if(strcmp(opt[0], "exit" ) == 0)
return EXIT;
return -1;
@ -115,13 +118,19 @@ std::vector<cv::Mat> loadImages(char** fileNames)
cv::Mat tmpImage;
const std::string str(fileNames[i]);
if(str.find(".mat") != std::string::npos)
openImageYml(fileNames[i]);
else
tmpImage = openImageImg(fileNames[i]);
{
Log(Log::DEBUG)<<__func__<<": "<<fileNames[i]<<" as YAML image";
tmpImage = openImageYml(fileNames[i]);
}
else
{
Log(Log::DEBUG)<<__func__<<": "<<fileNames[i]<<" as png image";
tmpImage = openImageImg(fileNames[i]);
}
if(tmpImage.data)
images.push_back(tmpImage);
else
Log(Log::WARN)<<"can not read image "<<i<<" from "<<fileNames[i]<<'\n';
Log(Log::WARN)<<"can not read image "<<i<<" from "<<fileNames[i];
}
return images;
}
@ -129,7 +138,7 @@ std::vector<cv::Mat> loadImages(char** fileNames)
int perfromOperation(int operation, char** fileNames, const Config& config)
{
std::vector<cv::Mat> inImages;
if(operation == CREATE_MAP || operation == APPLY_MAP || operation == APPLY_CURVE)
if(operation == CREATE_MAP || operation == APPLY_MAP || operation == APPLY_CURVE || operation == SHOW_IMAGE)
{
inImages = loadImages(fileNames);
@ -323,6 +332,16 @@ int perfromOperation(int operation, char** fileNames, const Config& config)
std::cout<<"Curve saved to "<<(!config.output.empty() ? config.output : "curve.mat")<<'\n';
}
else if(operation == SHOW_IMAGE)
{
cv::namedWindow("Show Image", cv::WINDOW_NORMAL );
for(size_t i = 0; i < inImages.size(); ++i)
{
cv::imshow("Show Image", inImages[i]);
cv::waitKey(0);
}
cv::destroyWindow("Show Image");
}
else if(operation == EXIT)
return -1;
return 0;

51
src/matutils.cpp
View File

@ -178,7 +178,7 @@ bool findClosest(size_t& index, const cv::Point2f point, const std::vector<cv::P
return found;
}
void interpolateMissing(cv::Mat& mat)
void interpolateMissingOnX(cv::Mat& mat)
{
assert(mat.type() == CV_32FC1);
@ -223,35 +223,48 @@ void interpolateMissing(cv::Mat& mat)
}
}
void fillMissing(cv::Mat& mat)
void interpolateMissingOnY(cv::Mat& mat)
{
assert(mat.type() == CV_32FC1);
bool finished = true;
for(int y = 0; y < mat.rows; y++)
for(int x = 0; x < mat.cols; ++x)
{
float* col = mat.ptr<float>(y);
for(int x = 0; x < mat.cols; ++x)
for(int y = 0; y < mat.rows; y++)
{
if(col[x] < 0 && col[x] > -2)
if(mat.at<float>(y,x) < 0)
{
if(y > 0 && mat.at<float>(y-1,x) >= 0)
int closestA = -1;
int closestB = -1;
int dist = std::numeric_limits<int>::max();
for(int i = 0; i < mat.rows; i++)
{
col[x] = mat.at<float>(y-1,x);
finished = false;
if(i != closestA && mat.at<float>(i,x) >= 0 && abs(i-y) <= dist)
{
closestB = closestA;
closestA = i;
dist = abs(i-y);
}
}
else if(y < mat.rows-1 && mat.at<float>(y+1,x) >= 0)
if(closestA < 0 || closestB < 0)
{
col[x] = mat.at<float>(y+1,x);
finished = false;
closestA = -1;
closestB = -1;
dist = std::numeric_limits<int>::max();
for(int i = mat.rows-1; i >= 0; --i)
{
if(i != closestA && mat.at<float>(i,x) >= 0 && abs(i-y) <= dist)
{
closestB = closestA;
closestA = i;
dist = abs(i-y);
}
}
}
if(col[x] > 0 && ((x+1 < mat.cols && col[x] > col[x+1]) || (x > 0 && col[x] < col[x-1])))
col[x] = -2;
float slope = (mat.at<float>(closestB,x) - mat.at<float>(closestA,x))/(closestB-closestA);
mat.at<float>(y,x) = mat.at<float>(closestA,x) - (closestA-y)*slope;
}
}
}
if(!finished)
fillMissing(mat);
}
bool findDeadSpace(const cv::Mat& mat, cv::Rect& roi)
@ -295,8 +308,8 @@ void removeSparseCols(cv::Mat& mat, float reject, bool front)
int count = 0;
for(int y = 0; y < mat.rows; ++y)
{
if(front && mat.at<float>(y,0) >= 0) ++count;
else if(mat.at<float>(y,mat.cols-1) >= 0) ++count;
if((front && mat.at<float>(y,0) >= 0) || (!front && mat.at<float>(y,mat.cols-1) >= 0))
++count;
}
cv::Rect roi;
bool rej = (count < mat.rows*reject);

4
src/matutils.h
View File

@ -37,9 +37,9 @@ bool findClosest(size_t& index, const cv::Point2f point, const std::vector<cv::P
void thompsonTauTest(const std::vector<float>& in, std::vector<size_t>& outliers, float criticalValue);
void interpolateMissing(cv::Mat& mat);
void interpolateMissingOnX(cv::Mat& mat);
void fillMissing(cv::Mat& mat);
void interpolateMissingOnY(cv::Mat& mat);
bool findDeadSpace(const cv::Mat& mat, cv::Rect& roi);

20
src/unwrap.cpp
View File

@ -66,7 +66,7 @@ static void sortIntoRemapMaps(const std::vector<DetectedPoint>& points, cv::Mat&
xMat = -1;
yMat = -1;
Log(Log::DEBUG)<<"Grid: "<<xGridSize<<'x'<<yGridSize;
Log(Log::DEBUG)<<__func__<<"Grid: "<<xGridSize<<'x'<<yGridSize;
for(int y = 0; y < xMat.rows; y++)
{
@ -103,16 +103,14 @@ bool createRemapMap(const cv::Mat& image, RemapMap& out, const std::vector<Detec
removeSparseCols(out.yMat, 0.75, true);
removeSparseCols(out.yMat, 0.75, false);
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);
interpolateMissingOnY(out.xMat);
interpolateMissingOnY(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);
interpolateMissingOnY(out.xMat);
interpolateMissingOnY(out.yMat);
sanityCheckMap(out.xMat, 0, image.cols-1, 0, image.cols-1);
sanityCheckMap(out.yMat, 0, image.rows-1, 0, image.rows-1);
@ -198,10 +196,10 @@ cv::Mat simpleStich(const std::vector<RemapedImage>& images)
if(topLeft.y > image.origin.y)
topLeft.y = 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)<<__func__<<"image: "<<image.image.rows<<'x'<<image.image.cols<<" at "<<image.origin.x<<'x'<<image.origin.y;
}
Log(Log::DEBUG)<<"outputSize: "<<outputSize;
Log(Log::DEBUG)<<__func__<<"outputSize: "<<outputSize;
cv::Mat out(outputSize, images[0].image.type(), cv::Scalar::all(0));
@ -219,9 +217,13 @@ cv::Mat simpleStich(const std::vector<RemapedImage>& images)
cv::Mat stich(std::vector<RemapedImage>& images, bool seamAdjust)
{
assert(images.size() > 0);
for(auto& image : images)
assert(image.image.type() == CV_8UC3 || image.image.type() == CV_8UC1);
Log(Log::DEBUG)<<__func__<<" got "<<images.size()<<" of type "<<images[0].image.type()<<" size "<<images[0].image.size();
for(auto& image : images)
{
if(image.image.type() == CV_8UC1)