chromaticmask.h

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

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********************************/

#ifndef CHROMATICMASK_H
#define CHROMATICMASK_H

#include <opencv2/core/core.hpp>
#include <opencv2/ml/ml.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "exports.h"
#include "board.h"
#include "boarddetector.h"
#include "cvdrawingutils.h"


class ARUCO_EXPORTS EMClassifier {
public:
  EMClassifier(unsigned int nelements=200);
  void addSample(uchar s) { _samples.push_back(s); };
  void clearSamples() { _samples.clear();  } ;
  void train();
  bool classify(uchar s) { return _inside[s]; };
  double getProb(uchar s) { return _prob[s]; };
  unsigned int numsamples() {return _samples.size();};
  void setProb(double p) { _threshProb = p; }
  
//   double probConj[256];
  
private:
  cv::EM _classifier;
  vector<uchar> _samples;
  bool _inside[256];
  double _prob[256];
  double _histogram[256];
  unsigned int _nelem;
  double _threshProb;

};


class ARUCO_EXPORTS ChromaticMask
{
public:
  
  ChromaticMask() : _cellSize(20) { _isValid=false; };
  
  void setParams(unsigned int mc, unsigned int nc, double threshProb, aruco::CameraParameters CP, aruco::BoardConfiguration BC, vector<cv::Point3f> corners);
  void setParams(unsigned int mc, unsigned int nc, double threshProb, aruco::CameraParameters CP, aruco::BoardConfiguration BC, float markersize=-1.);
  
  void calculateGridImage(const aruco::Board &board);
  
  cv::Mat getCellMap() { return _cellMap; };
  cv::Mat getMask() { return _mask; };
  
  void train(const cv::Mat& in, const aruco::Board &board);
  void classify(const cv::Mat& in, const aruco::Board &board);
  void classify2(const cv::Mat& in, const aruco::Board &board);
  void update(const cv::Mat& in);
  
  bool isValid() {return _isValid;};
  void resetMask();
  
private:
  
  double getDistance(cv::Point2d pixel, unsigned int classifier) {
    cv::Vec2b canPos = _canonicalPos.at<cv::Vec2b>(pixel.y, pixel.x)[0];
    return norm(_cellCenters[classifier] - cv::Point2f(canPos[0], canPos[1]) );
  }
  
  vector<cv::Point2f> _imgCornerPoints;  
  vector<cv::Point3f> _objCornerPoints;
  cv::Mat _perpTrans;
  vector<EMClassifier> _classifiers;
  vector<cv::Point2f> _centers;
  vector<cv::Point2f> _pixelsVector;
  vector<cv::Point2f> _cellCenters;
  vector<vector<size_t> > _cell_neighbours;
  const float _cellSize;

  
  unsigned int _mc, _nc;
  aruco::BoardDetector _BD;
  aruco::CameraParameters _CP;
  cv::Mat _canonicalPos, _cellMap, _mask,_maskAux;
  bool _isValid;
  double _threshProb;


  
};

#endif // CHROMATICMASK_H