svmmarkers.cpp

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

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      of conditions and the following disclaimer in the documentation and/or other materials
      provided with the distribution.

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WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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********************************/

#include "svmmarkers.h"
#include <iostream>
#include <vector>
#include <math.h>
#include <string>
#include <fstream>
#include <opencv2/core/core.hpp>

#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/ml/ml.hpp>
#include <iostream>

using namespace std;

namespace aruco {
namespace impl{
class SVMMarkers  {
    float _minFeatureValue, _maxFeatureValue; // image range for svm classification
    int _patchSize, _dictSize; // marker pathSize (total features = pathSize^2) and dictionary size (number of markers)
    bool _rotateMarkers; // interchange rotation 1 and 3 ??
#ifdef OPENCV_VERSION_3
    cv::Ptr<cv::ml::SVM>  _model;
#else
    cv::Ptr<CvSVM>  _model  ;
#endif
public:
    SVMMarkers(){
        // static variables from SVMMarkers. Need to be here to avoid linking errors
        _minFeatureValue = -1;
        _maxFeatureValue = 1;
        _patchSize = 10;
        _dictSize = -1;
        _rotateMarkers = true;

    }


    int getBestInputSize(){return _patchSize;}
    bool load(string path)throw (cv::Exception){
    if (path.empty())return false;


#ifdef OPENCV_VERSION_3
    _model= cv::ml::StatModel::load<cv::ml::SVM>(path);
     _patchSize=sqrt(_model->getSupportVectors().size().width);

#else
    _model=new CvSVM;
    _model->load(path.c_str());
    _patchSize=sqrt(_model->get_var_count());

#endif
        //read in the file the number of classes
        ifstream svmfile(path.c_str());
        if (!svmfile)return false;
        _dictSize=-1;
        while(!svmfile.eof()){
            std::string str;
            std::getline(svmfile,str);
            if (str.find("class_count:")!=std::string::npos){
                stringstream sstr;sstr<<str;
                string cc;
                int  nclasses;
                sstr>>cc>>nclasses;
                _dictSize=(nclasses-1)/4;
            }
        }
        if (_dictSize==-1)return false;

        return true;
    }






    bool  detect(const cv::Mat &in, int &mid,int &nRotations) {


        // convert to gray
        assert(in.rows == in.cols);
        cv::Mat grey;
        if (in.type() == CV_8UC1)
            grey = in;
        else
            cv::cvtColor(in, grey, CV_BGR2GRAY);

        // resize to svm path size
        cv::Mat greyResized;
        if(grey.cols != _patchSize)
            cv::resize(grey, greyResized, cv::Size(_patchSize, _patchSize) );
        else
            greyResized = grey;

        // normalize image range
        cv::Mat greyResizedNormalized;
        cv::normalize(greyResized, greyResizedNormalized, _minFeatureValue, _maxFeatureValue, cv::NORM_MINMAX, CV_32FC1);

        // rearrange data in a row
        cv::Mat dataRow;
        dataRow = greyResizedNormalized.reshape(1,1);

        // predict id with svm
#ifdef OPENCV_VERSION_3
        int predict_id = (int)_model->predict(dataRow);
#else
        int predict_id = (int)_model->predict(dataRow, true);
#endif

        // get rotation of marker
        nRotations = predict_id%4;
        // if _rotateMarkers, interchange rotation 1 and 3
        if(_rotateMarkers)
            if(nRotations==1 || nRotations==3) nRotations = nRotations==1?3:1;

        // if dictSize is known (dictSize!=-1), and the marker id is equal to the number of markers * 4
        // then it is the invalid marker class
        if(_dictSize!=-1 && predict_id==_dictSize*4) return false;
        // else, divide by 4 to obtain the final marker id
        mid= predict_id/4;
        return true;

    }

};

}
SVMMarkers::SVMMarkers(){
    _impl=new impl::SVMMarkers;
}

bool SVMMarkers::load(string path)throw (cv::Exception){
    return _impl->load(path);
}

bool SVMMarkers::detect(const cv::Mat &in, int &marker_id, int &nRotations) { return _impl->detect(in,marker_id,nRotations);}
int SVMMarkers::getBestInputSize(){return _impl->getBestInputSize();}

}