fractalmarker.cpp

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#include "fractallabelers/fractalmarker.h"
 
#include <bitset>
 
 
namespace aruco
{
FractalMarker::FractalMarker()
{
}
 
FractalMarker::FractalMarker(int id, cv::Mat m, std::vector<cv::Point3f> corners,
                             std::vector<int> id_submarkers)
{
  this->id = id;
  this->_M = m;
  for (auto p : corners)
    push_back(p);
 
  _submarkers = id_submarkers;
  _mask = cv::Mat::ones(m.size(), CV_8UC1);
}
 
void FractalMarker::addSubFractalMarker(FractalMarker submarker)
{
  float bitSize = (at(1).x - at(0).x) / int(mat().cols + 2);
  float nsubBits = (submarker.at(1).x - submarker.at(0).x) / bitSize;
 
  int x_min = int(round(submarker[0].x / bitSize + mat().cols / 2));
  int x_max = x_min + nsubBits;
  int y_min = int(round(-submarker[0].y / bitSize + mat().cols / 2));
  int y_max = y_min + nsubBits;
 
  for (int y = y_min; y < y_max; y++)
  {
    for (int x = x_min; x < x_max; x++)
    {
      _mask.at<uchar>(y, x) = 0;
    }
  }
}
 
std::vector<cv::Point3f> FractalMarker::findInnerCorners()
{
  int nBitsSquared = int(sqrt(mat().total()));
  float bitSize = getMarkerSize() / (nBitsSquared + 2);
 
  // Set submarker pixels (=1) and add border
  cv::Mat marker;
  mat().copyTo(marker);
  marker += -1 * (mask() - 1);
  cv::Mat markerBorder;
  copyMakeBorder(marker, markerBorder, 1, 1, 1, 1, cv::BORDER_CONSTANT, 0);
 
  // Get inner corners
  std::vector<cv::Point3f> innerCorners;
  for (int y = 0; y < markerBorder.rows - 1; y++)
  {
    for (int x = 0; x < markerBorder.cols - 1; x++)
    {
      if (((markerBorder.at<uchar>(y, x) == markerBorder.at<uchar>(y + 1, x + 1)) &&
           (markerBorder.at<uchar>(y, x) != markerBorder.at<uchar>(y, x + 1) ||
            markerBorder.at<uchar>(y, x) != markerBorder.at<uchar>(y + 1, x)))
 
          ||
 
          ((markerBorder.at<uchar>(y, x + 1) == markerBorder.at<uchar>(y + 1, x)) &&
           (markerBorder.at<uchar>(y, x + 1) != markerBorder.at<uchar>(y, x) ||
            markerBorder.at<uchar>(y, x + 1) != markerBorder.at<uchar>(y + 1, x + 1))))
        innerCorners.push_back(
            cv::Point3f(x - nBitsSquared / 2.f, -(y - nBitsSquared / 2.f), 0) * bitSize);
    }
  }
  return innerCorners;
}
}  // namespace aruco