1 #include <opencv2/core.hpp>
2 #include <opencv2/core/utility.hpp>
3 #include <opencv2/highgui.hpp>
4 #include <opencv2/imgproc.hpp>
5 #include <opencv2/ximgproc.hpp>
6 #include <iostream>
7
8 using namespace cv;
9 using namespace std;
10
11 struct ThParameters {
12 int levelNoise;
13 int angle;
14 int scale10;
15 int origin;
16 int xg;
17 int yg;
18 bool update;
19 } ;
20
21 static vector<Point> NoisyPolygon(vector<Point> pRef, double n);
22 static void UpdateShape(int , void *r);
23 static void AddSlider(String sliderName, String windowName, int minSlider, int maxSlider, int valDefault, int *valSlider, void(*f)(int, void *), void *r);
24
main(void)25 int main(void)
26 {
27 vector<Point> ctrRef;
28 vector<Point> ctrRotate, ctrNoisy, ctrNoisyRotate, ctrNoisyRotateShift;
29 // build a shape with 5 vertex
30 ctrRef.push_back(Point(250,250)); ctrRef.push_back(Point(400, 250));
31 ctrRef.push_back(Point(400, 300)); ctrRef.push_back(Point(250, 300));ctrRef.push_back(Point(180, 270));
32 Point cg(0,0);
33 for (int i=0;i<static_cast<int>(ctrRef.size());i++)
34 cg+=ctrRef[i];
35 cg.x /= static_cast<int>(ctrRef.size());
36 cg.y /= static_cast<int>(ctrRef.size());
37 ThParameters p;
38 p.levelNoise=6;
39 p.angle=45;
40 p.scale10=5;
41 p.origin=10;
42 p.xg=150;
43 p.yg=150;
44 p.update=true;
45 namedWindow("FD Curve matching");
46 // A rotation with center at (150,150) of angle 45 degrees and a scaling of 5/10
47 AddSlider("Noise", "FD Curve matching", 0, 20, p.levelNoise, &p.levelNoise, UpdateShape, &p);
48 AddSlider("Angle", "FD Curve matching", 0, 359, p.angle, &p.angle, UpdateShape, &p);
49 AddSlider("Scale", "FD Curve matching", 5, 100, p.scale10, &p.scale10, UpdateShape, &p);
50 AddSlider("Origin%%", "FD Curve matching", 0, 100, p.origin, &p.origin, UpdateShape, &p);
51 AddSlider("Xg", "FD Curve matching", 150, 450, p.xg, &p.xg, UpdateShape, &p);
52 AddSlider("Yg", "FD Curve matching", 150, 450, p.yg, &p.yg, UpdateShape, &p);
53 int code=0;
54 double dist;
55 vector<vector<Point> > c;
56 Mat img;
57 cout << "******************** PRESS g TO MATCH CURVES *************\n";
58 do
59 {
60 code = waitKey(30);
61 if (p.update)
62 {
63 Mat r = getRotationMatrix2D(Point(p.xg, p.yg), p.angle, 10.0/ p.scale10);
64 ctrNoisy= NoisyPolygon(ctrRef,static_cast<double>(p.levelNoise));
65 cv::transform(ctrNoisy, ctrNoisyRotate, r);
66 ctrNoisyRotateShift.clear();
67 for (int i=0;i<static_cast<int>(ctrNoisy.size());i++)
68 ctrNoisyRotateShift.push_back(ctrNoisyRotate[(i+(p.origin*ctrNoisy.size())/100)% ctrNoisy.size()]);
69 // To draw contour using drawcontours
70 c.clear();
71 c.push_back(ctrRef);
72 c.push_back(ctrNoisyRotateShift);
73 p.update = false;
74 Rect rglobal;
75 for (int i = 0; i < static_cast<int>(c.size()); i++)
76 {
77 rglobal = boundingRect(c[i]) | rglobal;
78 }
79 rglobal.width += 10;
80 rglobal.height += 10;
81 img = Mat::zeros(2 * rglobal.height, 2 * rglobal.width, CV_8UC(3));
82 drawContours(img, c, 0, Scalar(255,0,0));
83 drawContours(img, c, 1, Scalar(0, 255, 0));
84 circle(img, c[0][0], 5, Scalar(255, 0, 0));
85 circle(img, c[1][0], 5, Scalar(0, 255, 0));
86 imshow("FD Curve matching", img);
87 }
88 if (code == 'd')
89 {
90 destroyWindow("FD Curve matching");
91 namedWindow("FD Curve matching");
92 // A rotation with center at (150,150) of angle 45 degrees and a scaling of 5/10
93 AddSlider("Noise", "FD Curve matching", 0, 20, p.levelNoise, &p.levelNoise, UpdateShape, &p);
94 AddSlider("Angle", "FD Curve matching", 0, 359, p.angle, &p.angle, UpdateShape, &p);
95 AddSlider("Scale", "FD Curve matching", 5, 100, p.scale10, &p.scale10, UpdateShape, &p);
96 AddSlider("Origin%%", "FD Curve matching", 0, 100, p.origin, &p.origin, UpdateShape, &p);
97 AddSlider("Xg", "FD Curve matching", 150, 450, p.xg, &p.xg, UpdateShape, &p);
98 AddSlider("Yg", "FD Curve matching", 150, 450, p.yg, &p.yg, UpdateShape, &p);
99
100 }
101 if (code == 'g')
102 {
103 ximgproc::ContourFitting fit;
104 vector<Point2f> ctrRef2d, ctrRot2d;
105 // sampling contour we want 256 points
106 ximgproc::contourSampling(ctrRef, ctrRef2d, 256); // use a mat
107 ximgproc::contourSampling(ctrNoisyRotateShift, ctrRot2d, 256); // use a vector of points
108 fit.setFDSize(16);
109 Mat t;
110 fit.estimateTransformation(ctrRot2d, ctrRef2d, t, &dist, false);
111 cout << "Transform *********\n "<<"Origin = "<< 1-t.at<double>(0,0) <<" expected "<< p.origin/100.0 <<" ("<< ctrNoisy.size()<<")\n";
112 cout << "Angle = " << t.at<double>(0, 1) * 180 / M_PI << " expected " << p.angle <<"\n";
113 cout << "Scale = " << t.at<double>(0, 2) << " expected " << p.scale10 / 10.0 << "\n";
114 Mat dst;
115 ximgproc::transformFD(ctrRot2d, t, dst, false);
116 c.push_back(dst);
117 drawContours(img, c, 2, Scalar(0,255,255));
118 circle(img, c[2][0], 5, Scalar(0, 255, 255));
119 imshow("FD Curve matching", img);
120 }
121 }
122 while (code!=27);
123
124 return 0;
125 }
126
NoisyPolygon(vector<Point> pRef,double n)127 vector<Point> NoisyPolygon(vector<Point> pRef, double n)
128 {
129 RNG rng;
130 vector<Point> c;
131 vector<Point> p = pRef;
132 vector<vector<Point> > contour;
133 for (int i = 0; i<static_cast<int>(p.size()); i++)
134 p[i] += Point(Point2d(n*rng.uniform((double)-1, (double)1), n*rng.uniform((double)-1, (double)1)));
135 if (n==0)
136 return p;
137 c.push_back(p[0]);
138 int minX = p[0].x, maxX = p[0].x, minY = p[0].y, maxY = p[0].y;
139 for (int i = 0; i <static_cast<int>(p.size()); i++)
140 {
141 int next = i + 1;
142 if (next == static_cast<int>(p.size()))
143 next = 0;
144 Point2d u = p[next] - p[i];
145 int d = static_cast<int>(norm(u));
146 double a = atan2(u.y, u.x);
147 int step = 1;
148 if (n != 0)
149 step = static_cast<int>(d / n);
150 for (int j = 1; j<d; j += max(step, 1))
151 {
152 Point pNew;
153 do
154 {
155
156 Point2d pAct = (u*j) / static_cast<double>(d);
157 double r = n*rng.uniform((double)0, (double)1);
158 double theta = a + rng.uniform(0., 2 * CV_PI);
159 pNew = Point(Point2d(r*cos(theta) + pAct.x + p[i].x, r*sin(theta) + pAct.y + p[i].y));
160 } while (pNew.x<0 || pNew.y<0);
161 if (pNew.x<minX)
162 minX = pNew.x;
163 if (pNew.x>maxX)
164 maxX = pNew.x;
165 if (pNew.y<minY)
166 minY = pNew.y;
167 if (pNew.y>maxY)
168 maxY = pNew.y;
169 c.push_back(pNew);
170 }
171 }
172 return c;
173 }
174
UpdateShape(int,void * r)175 void UpdateShape(int , void *r)
176 {
177 ((ThParameters *)r)->update = true;
178 }
179
AddSlider(String sliderName,String windowName,int minSlider,int maxSlider,int valDefault,int * valSlider,void (* f)(int,void *),void * r)180 void AddSlider(String sliderName, String windowName, int minSlider, int maxSlider, int valDefault, int *valSlider, void(*f)(int, void *), void *r)
181 {
182 createTrackbar(sliderName, windowName, valSlider, 1, f, r);
183 setTrackbarMin(sliderName, windowName, minSlider);
184 setTrackbarMax(sliderName, windowName, maxSlider);
185 setTrackbarPos(sliderName, windowName, valDefault);
186 }
187