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spajanie_snimkov_uprava_jasu
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added doxygen comments, cleaned up a little

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Pavol Debnar 2 years ago
parent c30e47c260
commit df22c0846d
2 changed files with 161 additions and 61 deletions
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180
src/pointbase.cpp
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@ -1,3 +1,14 @@
/**
* @file pointbase.cpp
* @author Bc. Pavol Debnár
* This is the main file for the thesis implementing the pointBase class
* 2022/23
*/
#include "opencv2/highgui.hpp"
#include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
@ -26,9 +37,10 @@ namespace fs = std::filesystem;
//sudo ln -s /usr/include/jsoncpp/json/ /usr/include/json
/**
* @brief struct necessary for comparison between 2 opencv points - when using std::map ; used to sort points according to X value
*/
//struct necessary for comparison between 2 opencv points - when using std::map
//used to sort points according to X value
struct ComparePoints
{
bool operator () (const cv::Point& a, const cv::Point& b) const
@ -37,21 +49,30 @@ struct ComparePoints
}
} CP;
/**
* @brief class implemented as solution for the thesis providing stitching and stitching features
*
*/
class PointBase {
public:
vector <Point2d> points; //all points - points are being removed as adjacencies are found
vector <Point2d> doneVector; //points that have been successfully searched for adjacencies
vector <Point2d> toDoVector; //points yet to be searched for adjacent points
std::map<Point2d, string, ComparePoints> pathMap; //map for file paths - get the path of a file via pathMap[Point2d(x,y)]
vector <Point2d> points; /**< all points - points are being removed as adjacencies are found */
vector <Point2d> doneVector; /**< points that have been successfully searched for adjacencies */
vector <Point2d> toDoVector; /**< points yet to be searched for adjacent points*/
std::map<Point2d, string, ComparePoints> pathMap; /**< map for file paths - get the path of a file via pathMap[Point2d(x,y)] */
double imgWidthDeg;
double imgHeightDeg;
double imgWidthDeg; /**< image width in degress taken from file */
double imgHeightDeg; /**< image height in sensor format */
//loaded points in pointbase are sorted according to X value
/**
* @brief load the points from a database - necessary for the offline algorithm
*
* loaded points in pointbase are sorted according to X value
* @param path - location where images and their jsons are stored in string format
* @return int - 0 if success, -1 if no points were loaded
*/
int load(string path)
{
//std::string path = "../data/";
@ -97,7 +118,11 @@ class PointBase {
/**
* @brief prints the points from the database into the terminal
*
* @param which - if which is 0, the points vector is printed; 1 prints the complete contents of pathMap
*/
void printPoints(int which=0)
{
if (which==1) // prints current points vector
@ -128,7 +153,13 @@ class PointBase {
/**
* @brief returns the path of a point specified by x and y values
*
* @param x - x-value of the point
* @param y - y-value of the point
* @return string - path of the point
*/
string getPath(double x, double y)
{
string path = pathMap[Point2d(x,y)];
@ -142,9 +173,13 @@ class PointBase {
//shows the location of loaded points on an images
//useful for debugging
/**
* @brief shows the location of loaded points on an images
* useful for debugging
* images have to be loaded using the load() function
*/
void showPointImg()
{
Mat img(1200, 360, CV_8UC3, Scalar(0, 0, 0));
@ -157,9 +192,13 @@ class PointBase {
}
/*DESTRUCTIVE!! - removes found adj. points from points vector, adds them to the toBeDone vector
Searches for adjacent points to a given point
Returns either empty vector, or a vector with the found adjacent points
/**
* @brief DESTRUCTIVE!! - removes found adj. points from points vector, adds them to the toBeDone vector
* Searches for adjacent points to a given point
* Returns either empty vector, or a vector with the found adjacent points
* @param inputPoint - opencv Point2d of the searched point
* @return vector of <Point2d> - points of images which are adjacent to the inputPoint
*/
vector<Point2d> getAdjacents(Point2d inputPoint)
{
@ -224,8 +263,13 @@ class PointBase {
}
//rotation function
//https://stackoverflow.com/questions/22041699/rotate-an-image-without-cropping-in-opencv-in-c
/**
* @brief rotation function
* https://stackoverflow.com/questions/22041699/rotate-an-image-without-cropping-in-opencv-in-c
* @param src - input image
* @param angle - angle in degrees
* @return rotated image
*/
Mat rotate(Mat src, double angle)
{
cv::Point2f center((src.cols-1)/2.0, (src.rows-1)/2.0);
@ -245,10 +289,15 @@ class PointBase {
//blends using distance transform
//roi - original roi with 1 or more stitched images
//tranformedRoi - roi-sized image with the new image in the appropriate location
//showImg - bool, switch to enable showing of the new roi
/**
* @brief blends using distance transform
*
* @param roi original roi with 1 or more stitched images
* @param transformedRoi roi-sized! image with the new image in the appropriate location
* @param showImg bool, switch to enable showing of the new roi
* @return Mat - the blended image
*/
Mat dtBlend(Mat roi, Mat transformedRoi, bool showImg = false)
{
@ -380,15 +429,14 @@ class PointBase {
/**
* @brief blends using image pyramids transform
*
* @param roi original roi with 1 or more stitched images
* @param transformedRoi roi-sized! image with the new image in the appropriate location
* @param showImg bool, switch to enable showing of the new roi
* @return Mat - the blended image
*/
Mat pyramidBlend(Mat roi, Mat transformedRoi, bool showImg = false)
{
/*roi.convertTo(roi,CV_32F);
@ -494,12 +542,11 @@ class PointBase {
/*
stitches images
points have to be loaded in the pointBase first
uses public toDoVector, points
BUG: not all adjacent images are used for stitching - OpenCV evaluates them as not appropriate for stitching
*/
/**
* @brief stitches images using opencv pipeline
* points have to be loaded in the pointBase first
* saves the result image in current directory
*/
void stitchImgs()
{
int imgIdx = 0;
@ -636,6 +683,11 @@ class PointBase {
/*returns minimum and maximum X and Y values from pointbase
minX,maxX,minY,maxY
*/
/**
* @brief gets the values of the top right, left and bottom right left images in pointBase
*
* @return vector, where the values are [minX,maxX,minY,maxY]
*/
std::vector <double> getEdgeValues()
{
double minX=999;
@ -661,6 +713,23 @@ class PointBase {
/**
* @brief image stitching using SIFT
* saves the source image to the current directory
*
* @param imgW source image width
* @param imgH source image height
*/
void cumdump(int imgW,int imgH)
{ //sift takes too long if images are large, so we shrink them
int imgWidth = imgW;
@ -1093,7 +1162,7 @@ class PointBase {
}
imwrite("result0GIOJSDFI.png", img);
imwrite("result.png", img);
}
@ -1218,7 +1287,12 @@ class PointBase {
/**
* @brief stitches images using pattern matching
* saves the source image to the current directory
* @param imgW width of the source images
* @param imgH height of the source images
*/
void patternMatchTry(int imgW,int imgH)
{
int imgWidth = imgW;
@ -1356,7 +1430,7 @@ class PointBase {
if (qIdx==0)
{
imgSmall.copyTo(img(cv::Rect((int)round(coords.x)*(int)(imgWidth/imgWidthDeg),(int)round(coords.y)*(int)(imgHeight/imgHeightDeg),imgSmall.cols, imgSmall.rows)));
cout<<"DINGUS WAS PLACED \n";
cout<<"IMAGE WAS PLACED \n";
}
else {
//default ROI location and size
@ -1645,7 +1719,7 @@ class PointBase {
}
imwrite("result0GIOJSDFI.png", img);
imwrite("result.png", img);
}
@ -1672,7 +1746,14 @@ class PointBase {
/**
* @brief online image stitching using pattern matching
* saves the result image to the current directory
* do not load() any database previous to using this function
* @param imgW source image width
* @param imgH source image height
* @param path path to the images
*/
void onlineStitch(int imgW,int imgH, string path)
{
@ -1909,7 +1990,7 @@ class PointBase {
imshow("Location of Images", dotImage);//Showing the circle//
//imshow("img",img);
waitKey(10);
imwrite("result0GIOJSDFI.png", img);
imwrite("result.png", img);
qIdx++;
}
//string resultName = "result" + to_string(imgIdx) +".png";
@ -1924,7 +2005,14 @@ class PointBase {
/**
* @brief online image stitching using SIFT
* saves the result image to the current directory
* do not load() any database previous to using this function
* @param imgW source image width
* @param imgH source image height
* @param path path to the images
*/
void onlineStitchSIFT(int imgW,int imgH, string path)
{
@ -2192,7 +2280,7 @@ class PointBase {
imshow("Location of Images", dotImage);//Showing the circle//
//imshow("img",img);
waitKey(10);
imwrite("result0GIOJSDFI.png", img);
imwrite("result.png", img);
qIdx++;
}
//string resultName = "result" + to_string(imgIdx) +".png";

42
src/test.cpp
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@ -1,3 +1,12 @@
/**
* @file pointbase.cpp
* @author Bc. Pavol Debnár
* This is the test file with sample usage of the pointBase class
* 2022/23
*/
#include "opencv2/highgui.hpp"
#include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
@ -37,15 +46,26 @@ int main(int argc, char** argv)
}
*/
////////////////////////////////////////////////////
//offline stitching
//test pointbase load
PointBase pb;
pb.load("../155/2022-11-15_07-18-56/snapshots/");
pb.patternMatchTry(770,605);
pb.cumdump(770,605);
/*
here are sample inputs
//pb.load("../data/");
//120/2022-11-15_09-35-09
//155/2022-11-15_07-18-56
//2/2022-10-13_13-33-22
//v
//pb.load("../1/2022-10-13_11-50-12/snapshots/");
pb.load("../155/2022-11-15_07-18-56/snapshots/");
*/
//test print all point info
//pb.printPoints(0);
@ -55,24 +75,16 @@ int main(int argc, char** argv)
x: 206.5;
y: 1051;
*/
cout << pb.getPath(206.500,1051.00) << '\n';
//cout << pb.getPath(206.500,1051.00) << '\n';
//pb.showPointImg();
/*
vector<Point2d> res = pb.getAdjacents(Point2d(75.1,3220.80));
for (Point2d p :res)
{
cout << "x: " << p.x << std::endl;
cout << "y: " << p.y << std::endl;
}
*/
//pb.stitchImgs();
//cout <<"IMG HEIGHT:" << pb.imgHeightDeg <<"\n";
//cout <<"IMG WIDTH DEG:" << pb.imgWidthDeg <<"\n";
//pb.cumdump(770,605);
pb.patternMatchTry(770,605);
/////////////////////////////////////////////////////
//online stitching
/////////////////////////////////////////////////////
//PointBase pb;
//pb.onlineStitchSIFT(1280,720,"online/");
}
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