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add alignment detect
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@AleksandrPanov
AleksandrPanov committed Dec 1, 2022
1 parent 25ac77e commit 995f454
Showing 1 changed file with 115 additions and 24 deletions.
139 changes: 115 additions & 24 deletions modules/objdetect/src/qrcode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,9 @@
#include "precomp.hpp"
#include "opencv2/objdetect.hpp"
#include "opencv2/calib3d.hpp"
//#include "opencv2/highgui.hpp"
#include <opencv2/core/utils/logger.hpp>
#include <iostream>

#ifdef HAVE_QUIRC
#include "quirc.h"
Expand All @@ -18,6 +20,7 @@
#include <cmath>
#include <queue>
#include <limits>
#include <iostream>
#include <map>

namespace cv
Expand Down Expand Up @@ -988,10 +991,35 @@ class QRDecode
std::string getDecodeInformation() { return result_info; }
bool straightDecodingProcess();
bool curvedDecodingProcess();
vector<Point2f> alignment_coords;
protected:
double getNumModules();
bool updatePerspective();
Mat getH() {
//imwrite("bin_bacrode.png", bin_barcode);
CV_TRACE_FUNCTION();
const Point2f centerPt = intersectionLines(original_points[0], original_points[2],
original_points[1], original_points[3]);
if (cvIsNaN(centerPt.x) || cvIsNaN(centerPt.y))
return Mat();

const Size temporary_size(cvRound(test_perspective_size), cvRound(test_perspective_size));

vector<Point2f> perspective_points;
perspective_points.push_back(Point2f(0.f, 0.f));
perspective_points.push_back(Point2f(test_perspective_size, 0.f));

perspective_points.push_back(Point2f(test_perspective_size, test_perspective_size));
perspective_points.push_back(Point2f(0.f, test_perspective_size));

//perspective_points.push_back(Point2f(test_perspective_size * 0.5f, test_perspective_size * 0.5f));

vector<Point2f> pts = original_points;
//pts.push_back(centerPt);
return findHomography(pts, perspective_points);
}
bool updatePerspective(const Mat& H);
bool versionDefinition();
void detectAlignmnent();
bool samplingForVersion();
bool decodingProcess();
inline double pointPosition(Point2f a, Point2f b , Point2f c);
Expand Down Expand Up @@ -1020,6 +1048,7 @@ class QRDecode
const static int NUM_SIDES = 2;
Mat original, bin_barcode, no_border_intermediate, intermediate, straight, curved_to_straight, test_image;
vector<Point2f> original_points;
Mat homography;
vector<Point2f> original_curved_points;
vector<Point> qrcode_locations;
vector<std::pair<size_t, Point> > closest_points;
Expand Down Expand Up @@ -2299,6 +2328,7 @@ static inline std::pair<int, int> matchPatternPoints(const vector<Point> &finder
}
}
}
distanceToOrig = sqrt(distanceToOrig);

// check that the distance from the QR pattern to the corners of the QR code is small
const float originalQrSide = sqrt(normL2Sqr<float>(cornerPointsQR[0] - cornerPointsQR[1]))*0.5f +
Expand All @@ -2315,7 +2345,7 @@ double QRDecode::getNumModules() {
double numModulesX = 0., numModulesY = 0.;
bool flag = findPatternsVerticesPoints(finderPatterns);
if (flag) {
vector<double> pattern_distance(4);
double pattern_distance[4];
for (auto& pattern : finderPatterns) {
auto indexes = matchPatternPoints(pattern, original_points);
if (indexes == std::make_pair(-1, -1))
Expand All @@ -2336,30 +2366,28 @@ double QRDecode::getNumModules() {
return (numModulesX + numModulesY)/2.;
}

bool QRDecode::updatePerspective()
{
CV_TRACE_FUNCTION();
const Point2f centerPt = intersectionLines(original_points[0], original_points[2],
original_points[1], original_points[3]);
if (cvIsNaN(centerPt.x) || cvIsNaN(centerPt.y))
return false;

const Size temporary_size(cvRound(test_perspective_size), cvRound(test_perspective_size));

vector<Point2f> perspective_points;
perspective_points.push_back(Point2f(0.f, 0.f));
perspective_points.push_back(Point2f(test_perspective_size, 0.f));

perspective_points.push_back(Point2f(test_perspective_size, test_perspective_size));
perspective_points.push_back(Point2f(0.f, test_perspective_size));

perspective_points.push_back(Point2f(test_perspective_size * 0.5f, test_perspective_size * 0.5f));
static inline vector<int> getAlignmentCoordinates(int version) {
if (version <= 1) return {};
int intervals = (version / 7) + 1; // Number of gaps between alignment patterns
int distance = 4 * version + 4; // Distance between first and last alignment pattern
int step = lround((double)distance / (double)intervals); // Round equal spacing to nearest integer
step += step & 0b1; // Round step to next even number
vector<int> coordinates;
coordinates = {6}; // First coordinate is always 6 (can't be calculated with step)
for (int i = 1; i <= intervals; i++) {
coordinates.push_back(6 + distance - step * (intervals - i)); // Start right/bottom and go left/up by step*k
}
return coordinates;
}

vector<Point2f> pts = original_points;
pts.push_back(centerPt);

Mat H = findHomography(pts, perspective_points);
bool QRDecode::updatePerspective(const Mat& H)
{
if (H.empty())
return false;
homography = H;
Mat temp_intermediate;
const Size temporary_size(cvRound(test_perspective_size), cvRound(test_perspective_size));
warpPerspective(bin_barcode, temp_intermediate, H, temporary_size, INTER_NEAREST);
no_border_intermediate = temp_intermediate(Range(1, temp_intermediate.rows), Range(1, temp_intermediate.cols));

Expand Down Expand Up @@ -2566,6 +2594,67 @@ bool QRDecode::versionDefinition()
return true;
}

void QRDecode::detectAlignmnent() {
vector<int> alignmentMarkers = getAlignmentCoordinates(version);
if (alignmentMarkers.size() > 0) {
// create alignment image
static Mat alignment(5, 5, CV_8UC1, Scalar(0));
alignment.at<uint8_t>(1, 1) = 255;
alignment.at<uint8_t>(2, 1) = 255;
alignment.at<uint8_t>(3, 1) = 255;
alignment.at<uint8_t>(1, 3) = 255;
alignment.at<uint8_t>(2, 3) = 255;
alignment.at<uint8_t>(3, 3) = 255;
alignment.at<uint8_t>(1, 2) = 255;
alignment.at<uint8_t>(3, 2) = 255;
const float module_size = test_perspective_size / version_size;
resize(alignment, alignment, Size(cvRound(module_size * 5.f), cvRound(module_size * 5.f)), 0, 0, INTER_NEAREST);

const float module_offset = 2.f;
const float left_top = module_size * (alignmentMarkers.back() - 2.f - module_offset); // add offset
const float offset = module_size * (5 + module_offset * 2); // 5 modules in alignment marker, 4 modules in offset
//vector<Point2f> centerAlignmentMarkers{Point2f(left_top + offset / 2.f, left_top + offset / 2.f)};
Mat subImage(no_border_intermediate, Rect(left_top, left_top, offset, offset));
//imwrite("subImage.png", subImage);
Mat resTemplate = Mat::zeros(subImage.size() + Size(1, 1) - alignment.size(), CV_32FC1);
matchTemplate(subImage, alignment, resTemplate, TM_SQDIFF_NORMED);
double minVal = 0., maxVal = 0.;
Point minLoc, maxLoc, matchLoc;
minMaxLoc(resTemplate, &minVal, &maxVal, &minLoc, &maxLoc);
//std::cout << minVal << std::endl;
//imwrite("resTemplate.png", 255 * resTemplate / maxVal);
CV_LOG_INFO(NULL, "Alignment minVal: " << minVal);
if (minVal < 0.3) {
const float templateOffset = static_cast<float>(alignment.size().width)/2.f+1.f;
Point2f alignmentCoord = (Point2f(minLoc.x + left_top + templateOffset, minLoc.y + left_top + templateOffset));
alignment_coords = {alignmentCoord};
perspectiveTransform(alignment_coords, alignment_coords, homography.inv());
CV_LOG_INFO(NULL, "Alignment coords: " << alignment_coords);

//std::cout << alignment_coords << std::endl; // coeff_expansion
//imwrite("bin_bacrode.png", bin_barcode);
const double relativePos = (alignmentMarkers.back()+0.5)/version_size;
//std::cout << relativePos << std::endl; // relativePos

//imwrite("bin_bacrode.png", bin_barcode);
const Size temporary_size(cvRound(test_perspective_size), cvRound(test_perspective_size));
vector<Point2f> perspective_points;
perspective_points.push_back(Point2f(0.f, 0.f));
perspective_points.push_back(Point2f(test_perspective_size, 0.f));

perspective_points.push_back(Point2f(0.f, test_perspective_size));
Point2f tmp = Point2f(relativePos*test_perspective_size, relativePos*test_perspective_size);
perspective_points.push_back(tmp);
//imshow("test", bin_barcode);
//waitKey(0);

vector<Point2f> pts = {original_points[0], original_points[1], original_points[3], alignment_coords[0]};
Mat H = findHomography(pts, perspective_points);
updatePerspective(H);
}
}
}

bool QRDecode::samplingForVersion()
{
CV_TRACE_FUNCTION();
Expand Down Expand Up @@ -2652,8 +2741,9 @@ bool QRDecode::decodingProcess()
bool QRDecode::straightDecodingProcess()
{
#ifdef HAVE_QUIRC
if (!updatePerspective()) { return false; }
if (!updatePerspective(getH())) { return false; }
if (!versionDefinition()) { return false; }
detectAlignmnent();
if (!samplingForVersion()) { return false; }
if (!decodingProcess()) { return false; }
return true;
Expand Down Expand Up @@ -3769,6 +3859,7 @@ class ParallelDecodeProcess : public ParallelLoopBody
{
decoded_info[i] = qrdec[i].getDecodeInformation();
straight_barcode[i] = qrdec[i].getStraightBarcode();
//std::cout << qrdec[i].alignment_coords[0] * coeff_expansion << std::endl; // coeff_expansion
}
}
if (decoded_info[i].empty())
Expand Down

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