path: root/tracker-aruco/include/markerdetector.h

/*****************************
Copyright 2011 Rafael Muñoz Salinas. All rights reserved.

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THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
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********************************/
#ifndef _ARUCO_MarkerDetector_H
#define _ARUCO_MarkerDetector_H
#include <opencv2/core.hpp>
#include <cstdio>
#include <iostream>
#include "cameraparameters.h"
#include "exports.h"
#include "marker.h"

namespace aruco
{
using namespace std;
/**\brief Main class for marker detection
 *
 */
class ARUCO_EXPORTS  MarkerDetector
{
  //Represent a candidate to be a maker
  class MarkerCandidate: public Marker{
  public:
    MarkerCandidate(){}
    MarkerCandidate(const Marker &M): Marker(M){}
    MarkerCandidate(const  MarkerCandidate &M): Marker(M){
      contour=M.contour;
      idx=M.idx;
    }
    MarkerCandidate & operator=(const  MarkerCandidate &M){
      *(Marker*)this = M;
      contour=M.contour;
      idx=M.idx;
      return *this;
    }

    vector<cv::Point> contour;//all the points of its contour
    int idx;//index position in the global contour list
  };
public:

    /**
     * See
     */
    MarkerDetector();

    /**
     */
    ~MarkerDetector();

    /**Detects the markers in the image passed
     *
     * If you provide information about the camera parameters and the size of the marker, then, the extrinsics of the markers are detected
     *
     * @param input input color image
     * @param detectedMarkers output vector with the markers detected
     * @param camMatrix intrinsic camera information.
     * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera distorion
     * @param markerSizeMeters size of the marker sides expressed in meters
     * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis
     */
    void detect(const cv::Mat &input,std::vector<Marker> &detectedMarkers,cv::Mat camMatrix=cv::Mat(),cv::Mat distCoeff=cv::Mat(),float markerSizeMeters=-1,bool setYPerperdicular=true) noexcept;
    /**Detects the markers in the image passed
     *
     * If you provide information about the camera parameters and the size of the marker, then, the extrinsics of the markers are detected
     *
     * @param input input color image
     * @param detectedMarkers output vector with the markers detected
     * @param camParams Camera parameters
     * @param markerSizeMeters size of the marker sides expressed in meters
     * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis
     */
    void detect(const cv::Mat &input,std::vector<Marker> &detectedMarkers, CameraParameters camParams,float markerSizeMeters=-1,bool setYPerperdicular=true) noexcept;

    /**This set the type of thresholding methods available
     */

    enum ThresholdMethods {FIXED_THRES,ADPT_THRES,CANNY};



    /**Sets the threshold method
     */
    void setThresholdMethod(ThresholdMethods m) {
        _thresMethod=m;
    }
    /**Returns the current threshold method
     */
    ThresholdMethods getThresholdMethod()const {
        return _thresMethod;
    }
    /**
     * Set the parameters of the threshold method
     * We are currently using the Adptive threshold ee opencv doc of adaptiveThreshold for more info
     *   @param param1: blockSize of the pixel neighborhood that is used to calculate a threshold value for the pixel
     *   @param param2: The constant subtracted from the mean or weighted mean
     */
    void setThresholdParams(double param1,double param2) {
        _thresParam1=param1;
        _thresParam2=param2;
    }
    /**
     * Set the parameters of the threshold method
     * We are currently using the Adptive threshold ee opencv doc of adaptiveThreshold for more info
     *   param1: blockSize of the pixel neighborhood that is used to calculate a threshold value for the pixel
     *   param2: The constant subtracted from the mean or weighted mean
     */
    void getThresholdParams(double &param1,double &param2)const {
        param1=_thresParam1;
        param2=_thresParam2;
    }


    /**Returns a reference to the internal image thresholded. It is for visualization purposes and to adjust manually
     * the parameters
     */
    const cv::Mat & getThresholdedImage() {
        return thres;
    }
    /**Methods for corner refinement
     */
    enum CornerRefinementMethod {NONE,HARRIS,SUBPIX,LINES};
    /**
     */
    void setCornerRefinementMethod(CornerRefinementMethod method) {
        _cornerMethod=method;
    }
    /**
     */
    CornerRefinementMethod getCornerRefinementMethod()const {
        return _cornerMethod;
    }
    /**Specifies the min and max sizes of the markers as a fraction of the image size. By size we mean the maximum
     * of cols and rows.
     * @param min size of the contour to consider a possible marker as valid (0,1]
     * @param max size of the contour to consider a possible marker as valid [0,1)
     *
     */
    void setMinMaxSize(float min=0.03,float max=0.5)noexcept;

    /**reads the min and max sizes employed
     * @param min output size of the contour to consider a possible marker as valid (0,1]
     * @param max output size of the contour to consider a possible marker as valid [0,1)
     *
     */
    void getMinMaxSize(float &min,float &max){min=_minSize;max=_maxSize;}

    /**Enables/Disables erosion process that is REQUIRED for chessboard like boards.
     * By default, this property is enabled
     */
    void enableErosion(bool enable){_doErosion=enable;}

    /**
     * Specifies a value to indicate the required speed for the internal processes. If you need maximum speed (at the cost of a lower detection rate),
     * use the value 3, If you rather a more precise and slow detection, set it to 0.
     *
     * Actually, the main differences are that in highspeed mode, we employ setCornerRefinementMethod(NONE) and internally, we use a small canonical
     * image to detect the marker. In low speed mode, we use setCornerRefinementMethod(HARRIS) and a bigger size for the canonical marker image
     */
    void setDesiredSpeed(int val);
    /**
     */
    int getDesiredSpeed()const {
        return _speed;
    }

    /**
     * Allows to specify the function that identifies a marker. Therefore, you can create your own type of markers different from these
     * employed by default in the library.
     * The marker function must have the following structure:
     *
     * int myMarkerIdentifier(const cv::Mat &in,int &nRotations);
     *
     * The marker function receives the image 'in' with the region that migh contain one of your markers. These are the rectangular regions with black
     *  in the image.
     *
     * As output your marker function must indicate the following information. First, the output parameter nRotations must indicate how many times the marker
     * must be rotated clockwise 90 deg  to be in its ideal position. (The way you would see it when you print it). This is employed to know
     * always which is the corner that acts as reference system. Second, the function must return -1 if the image does not contains one of your markers, and its id otherwise.
     *
     */
    void setMakerDetectorFunction(int (* markerdetector_func)(const cv::Mat &in,int &nRotations) ) {
        markerIdDetector_ptrfunc=markerdetector_func;
    }

    /** Use an smaller version of the input image for marker detection.
     * If your marker is small enough, you can employ an smaller image to perform the detection without noticeable reduction in the precision.
     * Internally, we are performing a pyrdown operation
     *
     * @param level number of times the image size is divided by 2. Internally, we are performing a pyrdown.
     */
    void pyrDown(unsigned int level){pyrdown_level=level;}

    ///-------------------------------------------------
    /// Methods you may not need
    /// Thesde methods do the hard work. They have been set public in case you want to do customizations
    ///-------------------------------------------------

    /**
     * Thesholds the passed image with the specified method.
     */
    void thresHold(int method,const cv::Mat &grey,cv::Mat &thresImg,double param1=-1,double param2=-1)noexcept;
    /**
    * Detection of candidates to be markers, i.e., rectangles.
    * This function returns in candidates all the rectangles found in a thresolded image
    */
    void detectRectangles(const cv::Mat &thresImg,vector<std::vector<cv::Point2f> > & candidates);

    /**Returns a list candidates to be markers (rectangles), for which no valid id was found after calling detectRectangles
     */
    const vector<std::vector<cv::Point2f> > &getCandidates() {
        return _candidates;
    }

    /**Given the iput image with markers, creates an output image with it in the canonical position
     * @param in input image
     * @param out image with the marker
     * @param size of out
     * @param points 4 corners of the marker in the image in
     * @return true if the operation succeed
     */
    bool warp(cv::Mat &in,cv::Mat &out,cv::Size size, std::vector<cv::Point2f> points)noexcept;



    /** Refine MarkerCandidate Corner using LINES method
     * @param candidate candidate to refine corners
     */
    void refineCandidateLines(MarkerCandidate &candidate);


    /**DEPRECATED!!! Use the member function in CameraParameters
     *
     * Given the intrinsic camera parameters returns the GL_PROJECTION matrix for opengl.
     * PLease NOTE that when using OpenGL, it is assumed no camera distorsion! So, if it is not true, you should have
     * undistor image
     *
     * @param CamMatrix  arameters of the camera specified.
     * @param orgImgSize size of the original image
     * @param size of the image/window where to render (can be different from the real camera image). Please not that it must be related to CamMatrix
     * @param proj_matrix output projection matrix to give to opengl
     * @param gnear,gfar: visible rendering range
     * @param invert: indicates if the output projection matrix has to yield a horizontally inverted image because image data has not been stored in the order of glDrawPixels: bottom-to-top.
     */
    static void glGetProjectionMatrix( CameraParameters &  CamMatrix,cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false   )noexcept;

private:

    bool _enableCylinderWarp;
    bool warp_cylinder ( cv::Mat &in,cv::Mat &out,cv::Size size, MarkerCandidate& mc ) noexcept;
    /**
    * Detection of candidates to be markers, i.e., rectangles.
    * This function returns in candidates all the rectangles found in a thresolded image
    */
    void detectRectangles(const cv::Mat &thresImg,vector<MarkerCandidate> & candidates);
public:
    std::vector<std::vector<cv::Point>> contours;
    //Current threshold method
    ThresholdMethods _thresMethod;
    //Threshold parameters
    double _thresParam1,_thresParam2;
    //Current corner method
    CornerRefinementMethod _cornerMethod;
    //minimum and maximum size of a contour lenght
    float _minSize,_maxSize;
    //Speed control
    int _speed;
    int _markerWarpSize;
    bool _doErosion;
    //vectr of candidates to be markers. This is a vector with a set of rectangles that have no valid id
    vector<std::vector<cv::Point2f> > _candidates;
    //level of image reduction
    int pyrdown_level;
    //Images
    cv::Mat grey,thres,thres2,reduced;
    //pointer to the function that analizes a rectangular region so as to detect its internal marker
    int (* markerIdDetector_ptrfunc)(const cv::Mat &in,int &nRotations);
private:
    /**
     */
    bool isInto(cv::Mat &contour,std::vector<cv::Point2f> &b);
    /**
     */
    int perimeter(std::vector<cv::Point2f> &a);


//     //GL routines
//
//     static void argConvGLcpara2( double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert )noexcept;
//     static int  arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] )noexcept;
//     static double norm( double a, double b, double c );
//     static double dot(  double a1, double a2, double a3,
//                         double b1, double b2, double b3 );
//

    //detection of the
    void findBestCornerInRegion_harris(const cv::Mat  & grey,vector<cv::Point2f> &  Corners,int blockSize);


    // auxiliar functions to perform LINES refinement
    void interpolate2Dline( const vector< cv::Point > &inPoints, cv::Point3f &outLine);
    cv::Point2f getCrossPoint(const cv::Point3f& line1, const cv::Point3f& line2);


    /**Given a vector vinout with elements and a boolean vector indicating the lements from it to remove,
     * this function remove the elements
     * @param vinout
     * @param toRemove
     */
    template<typename T>
    void removeElements(vector<T> & vinout,const vector<bool> &toRemove)
    {
       //remove the invalid ones by setting the valid in the positions left by the invalids
      size_t indexValid=0;
      for (size_t i=0;i<toRemove.size();i++) {
        if (!toRemove[i]) {
            if (indexValid!=i) vinout[indexValid]=vinout[i];
            indexValid++;
        }
      }
      vinout.resize(indexValid);
    }

    //graphical debug
    void drawApproxCurve(cv::Mat &in,std::vector<cv::Point>  &approxCurve ,cv::Scalar color);
    void drawContour(cv::Mat &in,std::vector<cv::Point>  &contour,cv::Scalar  );
    void drawAllContours(cv::Mat input, std::vector<std::vector<cv::Point> > &contours);
    void draw(cv::Mat out,const std::vector<Marker> &markers );

};




}
#endif