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added doxygen comments, cleaned up a little

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Pavol Debnar
2023-05-16 19:50:16 +02:00
parent c30e47c260
commit df22c0846d
2 changed files with 161 additions and 61 deletions
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178
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/highgui.hpp"
#include "opencv2/core.hpp" #include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp" #include "opencv2/imgproc.hpp"
@ -26,9 +37,10 @@ namespace fs = std::filesystem;
//sudo ln -s /usr/include/jsoncpp/json/ /usr/include/json //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 struct ComparePoints
{ {
bool operator () (const cv::Point& a, const cv::Point& b) const bool operator () (const cv::Point& a, const cv::Point& b) const
@ -37,21 +49,30 @@ struct ComparePoints
} }
} CP; } CP;
/**
* @brief class implemented as solution for the thesis providing stitching and stitching features
*
*/
class PointBase { class PointBase {
public: public:
vector <Point2d> points; //all points - points are being removed as adjacencies are found 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> doneVector; /**< points that have been successfully searched for adjacencies */
vector <Point2d> toDoVector; //points yet to be searched for adjacent points 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)] std::map<Point2d, string, ComparePoints> pathMap; /**< map for file paths - get the path of a file via pathMap[Point2d(x,y)] */
double imgWidthDeg; double imgWidthDeg; /**< image width in degress taken from file */
double imgHeightDeg; 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) int load(string path)
{ {
//std::string path = "../data/"; //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) void printPoints(int which=0)
{ {
if (which==1) // prints current points vector 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 getPath(double x, double y)
{ {
string path = pathMap[Point2d(x,y)]; string path = pathMap[Point2d(x,y)];
@ -143,8 +174,12 @@ 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() void showPointImg()
{ {
Mat img(1200, 360, CV_8UC3, Scalar(0, 0, 0)); 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) 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) Mat rotate(Mat src, double angle)
{ {
cv::Point2f center((src.cols-1)/2.0, (src.rows-1)/2.0); 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 * @brief blends using distance transform
//showImg - bool, switch to enable showing of the new roi *
* @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) 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) Mat pyramidBlend(Mat roi, Mat transformedRoi, bool showImg = false)
{ {
/*roi.convertTo(roi,CV_32F); /*roi.convertTo(roi,CV_32F);
@ -494,11 +542,10 @@ class PointBase {
/* /**
stitches images * @brief stitches images using opencv pipeline
points have to be loaded in the pointBase first * points have to be loaded in the pointBase first
uses public toDoVector, points * saves the result image in current directory
BUG: not all adjacent images are used for stitching - OpenCV evaluates them as not appropriate for stitching
*/ */
void stitchImgs() void stitchImgs()
{ {
@ -636,6 +683,11 @@ class PointBase {
/*returns minimum and maximum X and Y values from pointbase /*returns minimum and maximum X and Y values from pointbase
minX,maxX,minY,maxY 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() std::vector <double> getEdgeValues()
{ {
double minX=999; 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) void cumdump(int imgW,int imgH)
{ //sift takes too long if images are large, so we shrink them { //sift takes too long if images are large, so we shrink them
int imgWidth = imgW; 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) void patternMatchTry(int imgW,int imgH)
{ {
int imgWidth = imgW; int imgWidth = imgW;
@ -1356,7 +1430,7 @@ class PointBase {
if (qIdx==0) 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))); 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 { else {
//default ROI location and size //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) void onlineStitch(int imgW,int imgH, string path)
{ {
@ -1909,7 +1990,7 @@ class PointBase {
imshow("Location of Images", dotImage);//Showing the circle// imshow("Location of Images", dotImage);//Showing the circle//
//imshow("img",img); //imshow("img",img);
waitKey(10); waitKey(10);
imwrite("result0GIOJSDFI.png", img); imwrite("result.png", img);
qIdx++; qIdx++;
} }
//string resultName = "result" + to_string(imgIdx) +".png"; //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) void onlineStitchSIFT(int imgW,int imgH, string path)
{ {
@ -2192,7 +2280,7 @@ class PointBase {
imshow("Location of Images", dotImage);//Showing the circle// imshow("Location of Images", dotImage);//Showing the circle//
//imshow("img",img); //imshow("img",img);
waitKey(10); waitKey(10);
imwrite("result0GIOJSDFI.png", img); imwrite("result.png", img);
qIdx++; qIdx++;
} }
//string resultName = "result" + to_string(imgIdx) +".png"; //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/highgui.hpp"
#include "opencv2/core.hpp" #include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp" #include "opencv2/imgproc.hpp"
@ -37,15 +46,26 @@ int main(int argc, char** argv)
} }
*/ */
////////////////////////////////////////////////////
//offline stitching
//test pointbase load //test pointbase load
PointBase pb; 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/"); //pb.load("../data/");
//120/2022-11-15_09-35-09 //120/2022-11-15_09-35-09
//155/2022-11-15_07-18-56 //155/2022-11-15_07-18-56
//2/2022-10-13_13-33-22 //2/2022-10-13_13-33-22
//v //v
//pb.load("../1/2022-10-13_11-50-12/snapshots/"); //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 //test print all point info
//pb.printPoints(0); //pb.printPoints(0);
@ -55,24 +75,16 @@ int main(int argc, char** argv)
x: 206.5; x: 206.5;
y: 1051; y: 1051;
*/ */
cout << pb.getPath(206.500,1051.00) << '\n'; //cout << pb.getPath(206.500,1051.00) << '\n';
//pb.showPointImg(); //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"; //online stitching
//cout <<"IMG WIDTH DEG:" << pb.imgWidthDeg <<"\n"; /////////////////////////////////////////////////////
//pb.cumdump(770,605);
pb.patternMatchTry(770,605); //PointBase pb;
//pb.onlineStitchSIFT(1280,720,"online/"); //pb.onlineStitchSIFT(1280,720,"online/");
} }