add charuco point detection method
This commit is contained in:
229
unwrap.cpp
229
unwrap.cpp
@ -5,7 +5,6 @@
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#include <math.h>
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#include <vector>
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#include <algorithm>
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#include <opencv2/features2d.hpp>
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#include <iostream>
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#include "matutils.h"
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@ -29,7 +28,7 @@ static std::vector< std::vector<cv::Point2f > > sortPointsIntoRows(std::vector<c
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Log(Log::DEBUG)<<"topLeft "<<topLeft.x<<' '<<topLeft.y;
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Log(Log::DEBUG)<<"bottomRight "<<bottomRight.x<<' '<<bottomRight.y;
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float fuzz = (bottomRight.x-topLeft.x)*0.01f;
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float fuzz = (bottomRight.x-topLeft.x)*0.05f;
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for(size_t i = 0; i < points.size(); ++i)
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{
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@ -352,115 +351,145 @@ static void generateRemapMaps(const DisplacmentMap& map, cv::Mat& xMat, cv::Mat&
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Log(Log::INFO)<<__func__<<": yMat \n"<<yMat;
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}
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static std::vector<cv::Point2f> detectPoints(cv::Mat& image, const cv::Mat& mask,
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int blockSize = 5, int apature = 5, float detectorParameter = 0.01,
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float minSize = 7, bool verbose = false)
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static void generateRemapMaps(const std::vector<cv::Point2f>& points, const std::vector<cv::Point2i>& coordinates, cv::Mat& xMat, cv::Mat& yMat)
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{
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cv::Mat gray;
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cv::cvtColor(image, gray, cv::COLOR_BGR2GRAY);
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//detect corners
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cv::Mat corners;
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cv::cornerHarris(gray, corners, blockSize, apature, detectorParameter);
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cv::normalize(corners, corners, 0, 255, cv::NORM_MINMAX, CV_32FC1, cv::Mat());
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cv::convertScaleAbs( corners, corners );
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cv::threshold(corners, corners, 50, 255, cv::THRESH_BINARY);
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cv::Mat cornersMasked;
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if(mask.size == corners.size) corners.copyTo(cornersMasked, mask);
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else corners.copyTo(cornersMasked);
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if(verbose)
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if(points.size() < 6 || coordinates.size() != points.size())
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{
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cv::imshow( "Viewer", cornersMasked );
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cv::waitKey(0);
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Log(Log::ERROR)<<__func__<<": at least 6 points are needed";
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return;
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}
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//get middle of corners
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cv::SimpleBlobDetector::Params blobParams;
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blobParams.filterByArea = true;
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blobParams.minArea = minSize;
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blobParams.maxArea = 500;
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blobParams.filterByColor = false;
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blobParams.blobColor = 255;
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blobParams.filterByInertia = false;
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blobParams.filterByConvexity = false;
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cv::Ptr<cv::SimpleBlobDetector> blobDetector = cv::SimpleBlobDetector::create(blobParams);
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std::vector<cv::KeyPoint> keypoints;
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blobDetector->detect(cornersMasked, keypoints);
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int xMin = std::numeric_limits<int>::max();
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int xMax = std::numeric_limits<int>::min();
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int yMin = std::numeric_limits<int>::max();
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int yMax = std::numeric_limits<int>::min();
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std::vector<cv::Point2f> points;
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cv::KeyPoint::convert(keypoints, points);
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for(auto& point : coordinates)
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{
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Log(Log::DEBUG)<<"point: "<<point.x<<'x'<<point.y;
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if(point.x > xMax) xMax = point.x;
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else if(point.x < xMin) xMin = point.x;
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if(point.y > yMax) yMax = point.y;
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else if(point.y < yMin) yMin = point.y;
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}
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return points;
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size_t xGridSize = xMax-xMin+1;
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size_t yGridSize = yMax-yMin+1;
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xMat = cv::Mat::zeros(cv::Size(xGridSize, yGridSize), CV_32FC1);
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yMat = cv::Mat::zeros(cv::Size(xGridSize, yGridSize), CV_32FC1);
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Log(Log::DEBUG)<<"Grid: "<<xGridSize<<'x'<<yGridSize;
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for(int y = 0; y < xMat.rows; y++)
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{
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float* colx = xMat.ptr<float>(y);
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float* coly = yMat.ptr<float>(y);
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for(int x = 0; x < xMat.cols; x++)
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{
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colx[x] = -1;
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coly[x] = -1;
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for(size_t i = 0; i < coordinates.size(); ++i)
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{
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if(coordinates[i] == cv::Point2i(x+xMin,y+yMin))
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{
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colx[x] = points[i].x;
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coly[x] = points[i].y;
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break;
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}
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}
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}
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}
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Log(Log::DEBUG)<<__func__<<": xMat raw\n"<<xMat;
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removeSparseCollums(xMat);
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removeSparseCollums(yMat);
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Log(Log::DEBUG)<<__func__<<": xMat rejcted\n"<<xMat;
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fillMissing(xMat);
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Log(Log::DEBUG)<<__func__<<": xMat filled\n"<<xMat;
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interpolateMissing(xMat);
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Log(Log::DEBUG)<<__func__<<": yMat raw \n"<<yMat;
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interpolateMissing(yMat);
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Log(Log::INFO)<<__func__<<": xMat \n"<<xMat;
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Log(Log::INFO)<<__func__<<": yMat \n"<<yMat;
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}
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bool createRemapMap(cv::Mat& image, const std::string& fileName, const cv::Mat& mask,
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int blockSize, int apature, float detectorParameter, float minSize,
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bool verbose)
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bool createRemapMap(cv::Mat& image, std::vector<cv::Point2f> points, const std::vector<cv::Point2i>& coordinates,
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const std::string& fileName, bool verbose)
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{
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std::vector<cv::Point2f > points = detectPoints(image, mask, blockSize, apature, detectorParameter, minSize, verbose);
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if(verbose) std::cout<<"Found "<<points.size()<<" points\n";
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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 false;
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}
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std::vector< std::vector<cv::Point2f > > rows = sortPointsIntoRows(points);
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if(verbose) std::cout<<"Found "<<rows.size()<<" rows\n";
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if(rows.size() < 2)
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{
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Log(Log::ERROR)<<"Error creating map, insufficant rows detected";
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return false;
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}
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std::vector< cv::RotatedRect > ellipses = fitEllipses(rows);
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if(verbose) Log(Log::INFO)<<"Found "<<ellipses.size()<<" ellipses. rows reduced to "<<rows.size();
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if(ellipses.size() < 3)
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{
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Log(Log::ERROR)<<"Error creating map, insufficant ellipses detected";
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return false;
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}
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if(verbose)
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{
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cv::Mat pointsMat = cv::Mat::zeros(image.size(), CV_8UC3);
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drawRows(pointsMat, rows);
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drawEllipses(pointsMat, ellipses);
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cv::imshow( "Viewer", pointsMat );
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cv::waitKey(0);
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}
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sanityCheckElipses(rows, ellipses);
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if(verbose)
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{
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cv::Mat pointsMat = cv::Mat::zeros(image.size(), CV_8UC3);
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drawRows(pointsMat, rows);
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drawEllipses(pointsMat, ellipses);
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cv::imshow( "Viewer", pointsMat );
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cv::waitKey(0);
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}
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DisplacmentMap dispMap = calcDisplacementMap(rows, ellipses);
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if(dispMap.destination.size() < 2)
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{
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Log(Log::ERROR)<<"Error creating map, unable to calculate destination points";
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return false;
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}
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cv::Mat dispPointsDest = cv::Mat::zeros(cv::Size(cv::Size(1000,1000)), CV_8UC3);
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drawRows(dispPointsDest, dispMap.destination);
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if(verbose)
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{
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cv::imshow( "Viewer", dispPointsDest );
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cv::waitKey(0);
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}
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cv::Mat xMat;
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cv::Mat yMat;
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generateRemapMaps(dispMap, xMat, yMat);
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if(coordinates.empty())
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{
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std::vector< std::vector<cv::Point2f > > rows = sortPointsIntoRows(points);
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Log(Log::INFO)<<"Found "<<rows.size()<<" rows";
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if(rows.size() < 2)
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{
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Log(Log::ERROR)<<"Error creating map, insufficant rows detected";
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return false;
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}
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if(verbose)
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{
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cv::Mat pointsMat = cv::Mat::zeros(image.size(), CV_8UC3);
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drawRows(pointsMat, rows);
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cv::imshow( "Viewer", pointsMat );
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cv::waitKey(0);
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}
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std::vector< cv::RotatedRect > ellipses = fitEllipses(rows);
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Log(Log::INFO)<<"Found "<<ellipses.size()<<" ellipses. rows reduced to "<<rows.size();
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if(ellipses.size() < 3)
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{
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Log(Log::ERROR)<<"Error creating map, insufficant ellipses detected";
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return false;
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}
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if(verbose)
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{
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cv::Mat pointsMat = cv::Mat::zeros(image.size(), CV_8UC3);
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drawRows(pointsMat, rows);
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drawEllipses(pointsMat, ellipses);
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cv::imshow( "Viewer", pointsMat );
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cv::waitKey(0);
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}
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sanityCheckElipses(rows, ellipses);
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if(verbose)
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{
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cv::Mat pointsMat = cv::Mat::zeros(image.size(), CV_8UC3);
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drawRows(pointsMat, rows);
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drawEllipses(pointsMat, ellipses);
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cv::imshow( "Viewer", pointsMat );
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cv::waitKey(0);
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}
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DisplacmentMap dispMap = calcDisplacementMap(rows, ellipses);
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if(dispMap.destination.size() < 2)
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{
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Log(Log::ERROR)<<"Error creating map, unable to calculate destination points";
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return false;
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}
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cv::Mat dispPointsDest = cv::Mat::zeros(cv::Size(cv::Size(1000,1000)), CV_8UC3);
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drawRows(dispPointsDest, dispMap.destination);
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if(verbose)
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{
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cv::imshow( "Viewer", dispPointsDest );
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cv::waitKey(0);
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}
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generateRemapMaps(dispMap, xMat, yMat);
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}
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else
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{
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generateRemapMaps(points, coordinates, xMat, yMat);
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}
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sanityCheckMap(xMat, 0, image.cols-1, -1, -1);
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sanityCheckMap(yMat, 0, image.rows-1, -1, -1);
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fillMissing(xMat);
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@ -525,7 +554,7 @@ void applyRemap(cv::Mat& image, cv::Mat& out, const cv::Mat& xmap, const cv::Mat
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cv::Rect roi;
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cv::Mat xMapRed;
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cv::Mat yMapRed;
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if(findDeadSpace(xMapResized, roi))
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if(!findDeadSpace(xMapResized, roi))
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{
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xMapRed = xMapResized(roi);
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yMapRed = yMapResized(roi);
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