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Major fix to caltag detect pattern code (what a pain in the ass that …
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…was).
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Daniel L. Lau committed May 22, 2018
1 parent eefd7d6 commit 785b207
Showing 1 changed file with 31 additions and 17 deletions.
48 changes: 31 additions & 17 deletions laucaltagglwidget.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -663,8 +663,10 @@ void LAUCalTagGLWidget::process()

// DOWNLOAD THE RESULTING BINARY TEXTURE TO OUR MEMORY BUFFER FOR FURTHER PROCESSING
glBindTexture(GL_TEXTURE_2D, frameBufferObjectB->texture());
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glGetTexImage(GL_TEXTURE_2D, 0, GL_RED, GL_UNSIGNED_BYTE, (unsigned char *)memoryObject[0].constData());
glBindTexture(GL_TEXTURE_2D, frameBufferObjectC->texture());
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glGetTexImage(GL_TEXTURE_2D, 0, GL_RED, GL_UNSIGNED_BYTE, (unsigned char *)memoryObject[1].constData());
#ifdef QT_DEBUG
glGetTexImage(GL_TEXTURE_2D, 0, GL_RGB, GL_UNSIGNED_BYTE, (unsigned char *)debugObject.constData());
Expand Down Expand Up @@ -1221,6 +1223,9 @@ cv::Mat LAUCalTagGLWidget::detectCalTagGrid(bool *okay)
}
}
#endif
// ORGANIZE THE DETECTED SQUARES SO THEY ALL RUN THE SAME ORIENTATION
squares = organizeSquares(squares);

// DECODE THE CALTAG SQUARES
cv::vector<cv::vector<cv::Point2f>> coordinates = findPattern(inImage, squares);

Expand All @@ -1242,8 +1247,6 @@ cv::Mat LAUCalTagGLWidget::detectCalTagGrid(bool *okay)
for (unsigned int j = 0; j < 4; j++) {
// SEE IF THIS COORDINATE IS A NAN
if (qIsNaN(coordinates[i][j].x * coordinates[i][j].y) == false) {
qDebug() << squares[i][j].x << squares[i][j].y << coordinates[i][j].x << coordinates[i][j].y;

fmPoints.push_back(squares[i][j]);
toPoints.push_back(coordinates[i][j]);
}
Expand Down Expand Up @@ -1523,9 +1526,7 @@ cv::vector<cv::vector<cv::Point2f>> LAUCalTagGLWidget::findSaddles(cv::vector<cv
/****************************************************************************/
cv::vector<cv::vector<cv::Point2f>> LAUCalTagGLWidget::findPattern(cv::Mat image, cv::vector<cv::vector<cv::Point2f>> squares)
{
// ROTATE ALL SQUARES INTO A SPECIFIC ORDER
squares = organizeSquares(squares);

// CREATE OUTPUT DATA STRUCTURE
cv::vector<cv::vector<cv::Point2f>> outputSquares;

// MAKE LIST OF SQUARE SPACE COORDINATES FOR A SINGLE SQUARE
Expand Down Expand Up @@ -1635,39 +1636,39 @@ cv::vector<cv::vector<cv::Point2f>> LAUCalTagGLWidget::findPattern(cv::Mat image
hist[3]++;
validCodeCounter++;
cv::vector<cv::Point2f> square;
square.push_back(sqPoints[0] + point);
square.push_back(sqPoints[3] + point);
square.push_back(sqPoints[2] + point);
square.push_back(sqPoints[1] + point);
square.push_back(sqPoints[0] + point);
outputSquares.push_back(square);
}
} else {
hist[2]++;
validCodeCounter++;
cv::vector<cv::Point2f> square;
square.push_back(sqPoints[3] + point);
square.push_back(sqPoints[2] + point);
square.push_back(sqPoints[1] + point);
square.push_back(sqPoints[0] + point);
square.push_back(sqPoints[3] + point);
outputSquares.push_back(square);
}
} else {
hist[1]++;
validCodeCounter++;
cv::vector<cv::Point2f> square;
square.push_back(sqPoints[2] + point);
square.push_back(sqPoints[1] + point);
square.push_back(sqPoints[0] + point);
square.push_back(sqPoints[3] + point);
square.push_back(sqPoints[2] + point);
outputSquares.push_back(square);
}
} else {
hist[0]++;
cv::vector<cv::Point2f> square;
square.push_back(sqPoints[1] + point);
square.push_back(sqPoints[0] + point);
square.push_back(sqPoints[3] + point);
square.push_back(sqPoints[2] + point);
square.push_back(sqPoints[1] + point);
outputSquares.push_back(square);
}
} else {
Expand Down Expand Up @@ -1700,39 +1701,39 @@ cv::vector<cv::vector<cv::Point2f>> LAUCalTagGLWidget::findPattern(cv::Mat image
hist[3]++;
validCodeCounter++;
cv::vector<cv::Point2f> square;
square.push_back(sqPoints[2] + point);
square.push_back(sqPoints[3] + point);
square.push_back(sqPoints[0] + point);
square.push_back(sqPoints[1] + point);
square.push_back(sqPoints[2] + point);
square.push_back(sqPoints[3] + point);
outputSquares.push_back(square);
}
} else {
hist[2]++;
validCodeCounter++;
cv::vector<cv::Point2f> square;
square.push_back(sqPoints[1] + point);
square.push_back(sqPoints[2] + point);
square.push_back(sqPoints[3] + point);
square.push_back(sqPoints[0] + point);
square.push_back(sqPoints[1] + point);
square.push_back(sqPoints[2] + point);
outputSquares.push_back(square);
}
} else {
hist[1]++;
validCodeCounter++;
cv::vector<cv::Point2f> square;
square.push_back(sqPoints[0] + point);
square.push_back(sqPoints[1] + point);
square.push_back(sqPoints[2] + point);
square.push_back(sqPoints[3] + point);
square.push_back(sqPoints[0] + point);
square.push_back(sqPoints[1] + point);
outputSquares.push_back(square);
}
} else {
hist[0]++;
cv::vector<cv::Point2f> square;
square.push_back(sqPoints[3] + point);
square.push_back(sqPoints[0] + point);
square.push_back(sqPoints[1] + point);
square.push_back(sqPoints[2] + point);
square.push_back(sqPoints[3] + point);
square.push_back(sqPoints[0] + point);
outputSquares.push_back(square);
}
}
Expand Down Expand Up @@ -1783,6 +1784,19 @@ cv::vector<cv::vector<cv::Point2f>> LAUCalTagGLWidget::organizeSquares(cv::vecto
square.push_back(squares[n][indices[3]]);
outputSquares.push_back(square);
}

// PRINT OUT A REPORT ON HOW IMAGE SQUARES ARE ALIGNED AND HOW THEY GET MAPPED TO CALTAG SQUARES
QFile file(QString("/tmp/organizeReport.txt"));
if (file.open(QIODevice::WriteOnly)) {
QTextStream stream(&file);
for (unsigned int n = 0; n < squares.size(); n++) {
for (int c = 0; c < 4; c++) {
stream << QString("%1, %2, %3, %4\n").arg(squares[n][c].x).arg(squares[n][c].y).arg(outputSquares[n][c].x).arg(outputSquares[n][c].y);
}
}
file.close();
}

return (outputSquares);
}

Expand Down

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