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Pipeline.cpp
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Pipeline.cpp
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#include <string.h>
#include <math.h>
#include <fstream>
#include <iostream>
#include <stdexcept>
#include "FireLog.h"
#include "FireSight.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "jansson.h"
#include "jo_util.hpp"
#include "MatUtil.hpp"
#include "version.h"
#include "Sharpness.h"
using namespace cv;
using namespace std;
using namespace firesight;
StageData::StageData(string stageName) {
LOGTRACE1("StageData constructor %s", stageName.c_str());
}
StageData::~StageData() {
LOGTRACE("StageData destructor");
}
bool Pipeline::stageOK(const char *fmt, const char *errMsg, json_t *pStage, json_t *pStageModel) {
if (errMsg && *errMsg) {
char *pStageJson = json_dumps(pStage, JSON_COMPACT|JSON_PRESERVE_ORDER);
LOGERROR2(fmt, pStageJson, errMsg);
free(pStageJson);
json_object_set(pStageModel, "error", json_string(errMsg));
return false;
}
if (logLevel >= FIRELOG_TRACE) {
char *pStageJson = json_dumps(pStage, 0);
//char *pModelJson = json_dumps(pStageModel, 0);
//LOGTRACE2(fmt, pStageJson, pModelJson);
LOGTRACE2(fmt, pStageJson, "");
//free(pModelJson);
free(pStageJson);
}
return true;
}
bool Pipeline::apply_model(json_t *pStage, json_t *pStageModel, Model &model) {
json_t *pModel = json_object_get(pStage, "model");
const char *errMsg = NULL;
if (!errMsg) {
if (!json_is_object(pModel)) {
errMsg = "Expected JSON object for stage model";
}
}
if (!errMsg && pModel) {
const char * pKey;
json_t *pValue;
json_object_foreach(pModel, pKey, pValue) {
json_object_set(pStageModel, pKey, pValue);
}
}
return stageOK("apply_model(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_FireSight(json_t *pStage, json_t *pStageModel, Model &model) {
json_t *pFireSight = json_object();
const char *errMsg = NULL;
char version[100];
snprintf(version, sizeof(version), "%d.%d.%d", VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH);
json_object_set(pFireSight, "version", json_string(version));
json_object_set(pFireSight, "url", json_string("https://github.com/firepick1/FireSight"));
snprintf(version, sizeof(version), "%d.%d.%d", CV_MAJOR_VERSION, CV_MINOR_VERSION, CV_SUBMINOR_VERSION);
json_object_set(pFireSight, "opencv", json_string(version));
json_object_set(pStageModel, "FireSight", pFireSight);
return stageOK("apply_FireSight(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_meanStdDev(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
const char *errMsg = NULL;
Scalar mean;
Scalar stdDev;
meanStdDev(model.image, mean, stdDev);
json_t * jmean = json_array();
json_object_set(pStageModel, "mean", jmean);
json_t * jstddev = json_array();
json_object_set(pStageModel, "stdDev", jstddev);
for (int i = 0; i < 4; i++) {
json_array_append(jmean, json_real(mean[i]));
json_array_append(jstddev, json_real(stdDev[i]));
}
return stageOK("apply_meanStdDev(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_minAreaRect(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
const char *errMsg = NULL;
vector<Point> points;
int channel = jo_int(pStage, "channel", 0, model.argMap);
int minVal = jo_int(pStage, "min", 1, model.argMap);
int maxVal = jo_int(pStage, "max", 255, model.argMap);
int rows = model.image.rows;
int cols = model.image.cols;
json_t *pRects = json_array();
json_object_set(pStageModel, "rects", pRects);
const int channels = model.image.channels();
LOGTRACE1("apply_minAreaRect() channels:%d", channels);
switch(channels) {
case 1: {
for (int iRow = 0; iRow < rows; iRow++) {
for (int iCol = 0; iCol < cols; iCol++) {
uchar val = model.image.at<uchar>(iRow, iCol);
if (minVal <= val && val <= maxVal) {
points.push_back(Point(iCol, iRow));
}
}
}
break;
}
case 3: {
Mat_<Vec3b> image3b = model.image;
for (int iRow = 0; iRow < rows; iRow++) {
for (int iCol = 0; iCol < cols; iCol++) {
uchar val = image3b(iRow, iCol)[channel];
if (minVal <= val && val <= maxVal) {
points.push_back(Point(iCol, iRow));
}
}
}
break;
}
}
LOGTRACE1("apply_minAreaRect() points found: %d", (int) points.size());
json_object_set(pStageModel, "points", json_integer(points.size()));
if (points.size() > 0) {
RotatedRect rect = minAreaRect(points);
json_t *pRect = json_object();
json_object_set(pRect, "x", json_real(rect.center.x));
json_object_set(pRect, "y", json_real(rect.center.y));
json_object_set(pRect, "width", json_real(rect.size.width));
json_object_set(pRect, "height", json_real(rect.size.height));
json_object_set(pRect, "angle", json_real(rect.angle));
json_array_append(pRects, pRect);
}
return stageOK("apply_minAreaRect(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_warpAffine(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
const char *errMsg = NULL;
float scale = jo_float(pStage, "scale", 1, model.argMap);
float angle = jo_float(pStage, "angle", 0, model.argMap);
int dx = jo_int(pStage, "dx", (int)((scale-1)*model.image.cols/2.0+.5), model.argMap);
int dy = jo_int(pStage, "dy", (int)((scale-1)*model.image.rows/2.0+.5), model.argMap);
Point2f reflect = jo_Point2f(pStage, "reflect", Point(0,0), model.argMap);
string borderModeStr = jo_string(pStage, "borderMode", "BORDER_REPLICATE", model.argMap);
int borderMode;
if (reflect.x && reflect.y && reflect.x != reflect.y) {
errMsg = "warpAffine only handles reflections around x- or y-axes";
}
if (!errMsg) {
if (borderModeStr.compare("BORDER_CONSTANT") == 0) {
borderMode = BORDER_CONSTANT;
} else if (borderModeStr.compare("BORDER_REPLICATE") == 0) {
borderMode = BORDER_REPLICATE;
} else if (borderModeStr.compare("BORDER_REFLECT") == 0) {
borderMode = BORDER_REFLECT;
} else if (borderModeStr.compare("BORDER_REFLECT_101") == 0) {
borderMode = BORDER_REFLECT_101;
} else if (borderModeStr.compare("BORDER_REFLECT101") == 0) {
borderMode = BORDER_REFLECT101;
} else if (borderModeStr.compare("BORDER_WRAP") == 0) {
borderMode = BORDER_WRAP;
} else {
errMsg = "Expected borderMode: BORDER_CONSTANT, BORDER_REPLICATE, BORDER_REFLECT, BORDER_REFLECT_101, BORDER_WRAP";
}
}
if (scale <= 0) {
errMsg = "Expected 0<scale";
}
int width = jo_int(pStage, "width", model.image.cols, model.argMap);
int height = jo_int(pStage, "height", model.image.rows, model.argMap);
int cx = jo_int(pStage, "cx", (int)(0.5+model.image.cols/2.0), model.argMap);
int cy = jo_int(pStage, "cy", (int)(0.5+model.image.rows/2.0), model.argMap);
Scalar borderValue = jo_Scalar(pStage, "borderValue", Scalar::all(0), model.argMap);
if (!errMsg) {
Mat result;
int flags=cv::INTER_LINEAR || WARP_INVERSE_MAP;
matWarpAffine(model.image, result, Point(cx,cy), angle, scale, Point(dx,dy), Size(width,height),
borderMode, borderValue, reflect, flags);
model.image = result;
}
return stageOK("apply_warpAffine(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_warpPerspective(const char *pName, json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
string errMsg;
string borderModeStr = jo_string(pStage, "borderMode", "BORDER_REPLICATE", model.argMap);
int borderMode;
string modelName = jo_string(pStage, "model", pName, model.argMap);
vector<double> pm;
json_t *pCalibrate;
json_t *pCalibrateModel = json_object_get(model.getJson(false), modelName.c_str());
if (json_is_object(pCalibrateModel)) {
pCalibrate = json_object_get(pCalibrateModel, "calibrate");
if (!json_is_object(pCalibrate)) {
errMsg = "Expected \"calibrate\" JSON object in stage \"";
errMsg += modelName;
errMsg += "\"";
}
} else {
pCalibrate = pStage;
}
pm = jo_vectord(pCalibrate, "perspective", vector<double>(), model.argMap);
if (pm.size() == 0) {
double default_vec_d[] = {1,0,0,0,1,0,0,0,1};
vector<double> default_vecd(default_vec_d, default_vec_d + sizeof(default_vec_d) / sizeof(double) );
pm = jo_vectord(pCalibrate, "matrix", default_vecd, model.argMap);
}
Mat matrix = Mat::zeros(3, 3, CV_64F);
if (pm.size() == 9) {
for (int i=0; i<pm.size(); i++) {
matrix.at<double>(i/3, i%3) = pm[i];
}
} else {
char buf[255];
snprintf(buf, sizeof(buf), "apply_warpPerspective() invalid perspective matrix. Elements expected:9 actual:%d",
(int) pm.size());
LOGERROR1("%s", buf);
errMsg = buf;
}
if (errMsg.empty()) {
if (borderModeStr.compare("BORDER_CONSTANT") == 0) {
borderMode = BORDER_CONSTANT;
} else if (borderModeStr.compare("BORDER_REPLICATE") == 0) {
borderMode = BORDER_REPLICATE;
} else if (borderModeStr.compare("BORDER_REFLECT") == 0) {
borderMode = BORDER_REFLECT;
} else if (borderModeStr.compare("BORDER_REFLECT_101") == 0) {
borderMode = BORDER_REFLECT_101;
} else if (borderModeStr.compare("BORDER_REFLECT101") == 0) {
borderMode = BORDER_REFLECT101;
} else if (borderModeStr.compare("BORDER_WRAP") == 0) {
borderMode = BORDER_WRAP;
} else {
errMsg = "Expected borderMode: BORDER_CONSTANT, BORDER_REPLICATE, BORDER_REFLECT, BORDER_REFLECT_101, BORDER_WRAP";
}
}
Scalar borderValue = jo_Scalar(pStage, "borderValue", Scalar::all(0), model.argMap);
if (errMsg.empty()) {
Mat result = Mat::zeros(model.image.rows, model.image.cols, model.image.type());
warpPerspective(model.image, result, matrix, result.size(), cv::INTER_LINEAR, borderMode, borderValue );
model.image = result;
}
return stageOK("apply_warpPerspective(%s) %s", errMsg.c_str(), pStage, pStageModel);
}
bool Pipeline::apply_putText(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
string text = jo_string(pStage, "text", "FireSight", model.argMap);
Scalar color = jo_Scalar(pStage, "color", Scalar(0,255,0), model.argMap);
string fontFaceName = jo_string(pStage, "fontFace", "FONT_HERSHEY_PLAIN", model.argMap);
int thickness = jo_int(pStage, "thickness", 1, model.argMap);
int fontFace = FONT_HERSHEY_PLAIN;
bool italic = jo_bool(pStage, "italic", false, model.argMap);
double fontScale = jo_double(pStage, "fontScale", 1, model.argMap);
Point org = jo_Point(pStage, "org", Point(5,-6), model.argMap);
if (org.y < 0) {
org.y = model.image.rows + org.y;
}
const char *errMsg = NULL;
if (fontFaceName.compare("FONT_HERSHEY_SIMPLEX") == 0) {
fontFace = FONT_HERSHEY_SIMPLEX;
} else if (fontFaceName.compare("FONT_HERSHEY_PLAIN") == 0) {
fontFace = FONT_HERSHEY_PLAIN;
} else if (fontFaceName.compare("FONT_HERSHEY_COMPLEX") == 0) {
fontFace = FONT_HERSHEY_COMPLEX;
} else if (fontFaceName.compare("FONT_HERSHEY_DUPLEX") == 0) {
fontFace = FONT_HERSHEY_DUPLEX;
} else if (fontFaceName.compare("FONT_HERSHEY_TRIPLEX") == 0) {
fontFace = FONT_HERSHEY_TRIPLEX;
} else if (fontFaceName.compare("FONT_HERSHEY_COMPLEX_SMALL") == 0) {
fontFace = FONT_HERSHEY_COMPLEX_SMALL;
} else if (fontFaceName.compare("FONT_HERSHEY_SCRIPT_SIMPLEX") == 0) {
fontFace = FONT_HERSHEY_SCRIPT_SIMPLEX;
} else if (fontFaceName.compare("FONT_HERSHEY_SCRIPT_COMPLEX") == 0) {
fontFace = FONT_HERSHEY_SCRIPT_COMPLEX;
} else {
errMsg = "Unknown fontFace (default is FONT_HERSHEY_PLAIN)";
}
if (!errMsg && italic) {
fontFace |= FONT_ITALIC;
}
if (!errMsg) {
putText(model.image, text.c_str(), org, fontFace, fontScale, color, thickness);
}
return stageOK("apply_putText(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_resize(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
double fx = jo_float(pStage, "fx", 1, model.argMap);
double fy = jo_float(pStage, "fy", 1, model.argMap);
const char *errMsg = NULL;
if (fx <= 0 || fy <= 0) {
errMsg = "Expected 0<fx and 0<fy";
}
if (!errMsg) {
Mat result;
resize(model.image, result, Size(), fx, fy, INTER_AREA);
model.image = result;
}
return stageOK("apply_resize(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_stageImage(json_t *pStage, json_t *pStageModel, Model &model) {
string stageStr = jo_string(pStage, "stage", "input", model.argMap);
const char *errMsg = NULL;
if (stageStr.empty()) {
errMsg = "Expected name of stage for image";
} else {
model.image = model.imageMap[stageStr.c_str()];
if (!model.image.rows || !model.image.cols) {
model.image = model.imageMap["input"].clone();
LOGTRACE1("Could not locate stage image '%s', using input image", stageStr.c_str());
}
}
return stageOK("apply_stageImage(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_imread(json_t *pStage, json_t *pStageModel, Model &model) {
string path = jo_string(pStage, "path", "", model.argMap);
const char *errMsg = NULL;
if (path.empty()) {
errMsg = "expected path for imread";
} else {
model.image = imread(path.c_str(), CV_LOAD_IMAGE_COLOR);
if (model.image.data) {
json_object_set(pStageModel, "rows", json_integer(model.image.rows));
json_object_set(pStageModel, "cols", json_integer(model.image.cols));
} else {
LOGERROR1("imread(%s) failed", path.c_str());
errMsg = "apply_imread() failed";
}
}
return stageOK("apply_imread(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_imwrite(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
string path = jo_string(pStage, "path");
const char *errMsg = NULL;
if (path.empty()) {
errMsg = "Expected path for imwrite";
} else {
bool result = imwrite(path.c_str(), model.image);
json_object_set(pStageModel, "result", json_boolean(result));
}
return stageOK("apply_imwrite(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_cvtColor(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
string codeStr = jo_string(pStage, "code", "CV_BGR2GRAY", model.argMap);
int dstCn = jo_int(pStage, "dstCn", 0, model.argMap);
const char *errMsg = NULL;
int code = CV_BGR2GRAY;
if (codeStr.compare("CV_BGR2BGRA")==0) {
code = CV_BGR2BGRA;
} else if (codeStr.compare("CV_RGB2RGBA")==0) {
code = CV_RGB2RGBA;
} else if (codeStr.compare("CV_BGRA2BGR")==0) {
code = CV_BGRA2BGR;
} else if (codeStr.compare("CV_RGBA2RGB")==0) {
code = CV_RGBA2RGB;
} else if (codeStr.compare("CV_BGR2RGBA")==0) {
code = CV_BGR2RGBA;
} else if (codeStr.compare("CV_RGB2BGRA")==0) {
code = CV_RGB2BGRA;
} else if (codeStr.compare("CV_RGBA2BGR")==0) {
code = CV_RGBA2BGR;
} else if (codeStr.compare("CV_BGRA2RGB")==0) {
code = CV_BGRA2RGB;
} else if (codeStr.compare("CV_BGR2RGB")==0) {
code = CV_BGR2RGB;
} else if (codeStr.compare("CV_RGB2BGR")==0) {
code = CV_RGB2BGR;
} else if (codeStr.compare("CV_BGRA2RGBA")==0) {
code = CV_BGRA2RGBA;
} else if (codeStr.compare("CV_RGBA2BGRA")==0) {
code = CV_RGBA2BGRA;
} else if (codeStr.compare("CV_BGR2GRAY")==0) {
code = CV_BGR2GRAY;
} else if (codeStr.compare("CV_RGB2GRAY")==0) {
code = CV_RGB2GRAY;
} else if (codeStr.compare("CV_GRAY2BGR")==0) {
code = CV_GRAY2BGR;
} else if (codeStr.compare("CV_GRAY2RGB")==0) {
code = CV_GRAY2RGB;
} else if (codeStr.compare("CV_GRAY2BGRA")==0) {
code = CV_GRAY2BGRA;
} else if (codeStr.compare("CV_GRAY2RGBA")==0) {
code = CV_GRAY2RGBA;
} else if (codeStr.compare("CV_BGRA2GRAY")==0) {
code = CV_BGRA2GRAY;
} else if (codeStr.compare("CV_RGBA2GRAY")==0) {
code = CV_RGBA2GRAY;
} else if (codeStr.compare("CV_BGR2BGR565")==0) {
code = CV_BGR2BGR565;
} else if (codeStr.compare("CV_RGB2BGR565")==0) {
code = CV_RGB2BGR565;
} else if (codeStr.compare("CV_BGR5652BGR")==0) {
code = CV_BGR5652BGR;
} else if (codeStr.compare("CV_BGR5652RGB")==0) {
code = CV_BGR5652RGB;
} else if (codeStr.compare("CV_BGRA2BGR565")==0) {
code = CV_BGRA2BGR565;
} else if (codeStr.compare("CV_RGBA2BGR565")==0) {
code = CV_RGBA2BGR565;
} else if (codeStr.compare("CV_BGR5652BGRA")==0) {
code = CV_BGR5652BGRA;
} else if (codeStr.compare("CV_BGR5652RGBA")==0) {
code = CV_BGR5652RGBA;
} else if (codeStr.compare("CV_GRAY2BGR565")==0) {
code = CV_GRAY2BGR565;
} else if (codeStr.compare("CV_BGR5652GRAY")==0) {
code = CV_BGR5652GRAY;
} else if (codeStr.compare("CV_BGR2BGR555")==0) {
code = CV_BGR2BGR555;
} else if (codeStr.compare("CV_RGB2BGR555")==0) {
code = CV_RGB2BGR555;
} else if (codeStr.compare("CV_BGR5552BGR")==0) {
code = CV_BGR5552BGR;
} else if (codeStr.compare("CV_BGR5552RGB")==0) {
code = CV_BGR5552RGB;
} else if (codeStr.compare("CV_BGRA2BGR555")==0) {
code = CV_BGRA2BGR555;
} else if (codeStr.compare("CV_RGBA2BGR555")==0) {
code = CV_RGBA2BGR555;
} else if (codeStr.compare("CV_BGR5552BGRA")==0) {
code = CV_BGR5552BGRA;
} else if (codeStr.compare("CV_BGR5552RGBA")==0) {
code = CV_BGR5552RGBA;
} else if (codeStr.compare("CV_GRAY2BGR555")==0) {
code = CV_GRAY2BGR555;
} else if (codeStr.compare("CV_BGR5552GRAY")==0) {
code = CV_BGR5552GRAY;
} else if (codeStr.compare("CV_BGR2XYZ")==0) {
code = CV_BGR2XYZ;
} else if (codeStr.compare("CV_RGB2XYZ")==0) {
code = CV_RGB2XYZ;
} else if (codeStr.compare("CV_XYZ2BGR")==0) {
code = CV_XYZ2BGR;
} else if (codeStr.compare("CV_XYZ2RGB")==0) {
code = CV_XYZ2RGB;
} else if (codeStr.compare("CV_BGR2YCrCb")==0) {
code = CV_BGR2YCrCb;
} else if (codeStr.compare("CV_RGB2YCrCb")==0) {
code = CV_RGB2YCrCb;
} else if (codeStr.compare("CV_YCrCb2BGR")==0) {
code = CV_YCrCb2BGR;
} else if (codeStr.compare("CV_YCrCb2RGB")==0) {
code = CV_YCrCb2RGB;
} else if (codeStr.compare("CV_BGR2HSV")==0) {
code = CV_BGR2HSV;
} else if (codeStr.compare("CV_RGB2HSV")==0) {
code = CV_RGB2HSV;
} else if (codeStr.compare("CV_BGR2Lab")==0) {
code = CV_BGR2Lab;
} else if (codeStr.compare("CV_RGB2Lab")==0) {
code = CV_RGB2Lab;
} else if (codeStr.compare("CV_BayerBG2BGR")==0) {
code = CV_BayerBG2BGR;
} else if (codeStr.compare("CV_BayerGB2BGR")==0) {
code = CV_BayerGB2BGR;
} else if (codeStr.compare("CV_BayerRG2BGR")==0) {
code = CV_BayerRG2BGR;
} else if (codeStr.compare("CV_BayerGR2BGR")==0) {
code = CV_BayerGR2BGR;
} else if (codeStr.compare("CV_BayerBG2RGB")==0) {
code = CV_BayerBG2RGB;
} else if (codeStr.compare("CV_BayerGB2RGB")==0) {
code = CV_BayerGB2RGB;
} else if (codeStr.compare("CV_BayerRG2RGB")==0) {
code = CV_BayerRG2RGB;
} else if (codeStr.compare("CV_BayerGR2RGB")==0) {
code = CV_BayerGR2RGB;
} else if (codeStr.compare("CV_BGR2Luv")==0) {
code = CV_BGR2Luv;
} else if (codeStr.compare("CV_RGB2Luv")==0) {
code = CV_RGB2Luv;
} else if (codeStr.compare("CV_BGR2HLS")==0) {
code = CV_BGR2HLS;
} else if (codeStr.compare("CV_RGB2HLS")==0) {
code = CV_RGB2HLS;
} else if (codeStr.compare("CV_HSV2BGR")==0) {
code = CV_HSV2BGR;
} else if (codeStr.compare("CV_HSV2RGB")==0) {
code = CV_HSV2RGB;
} else if (codeStr.compare("CV_Lab2BGR")==0) {
code = CV_Lab2BGR;
} else if (codeStr.compare("CV_Lab2RGB")==0) {
code = CV_Lab2RGB;
} else if (codeStr.compare("CV_Luv2BGR")==0) {
code = CV_Luv2BGR;
} else if (codeStr.compare("CV_Luv2RGB")==0) {
code = CV_Luv2RGB;
} else if (codeStr.compare("CV_HLS2BGR")==0) {
code = CV_HLS2BGR;
} else if (codeStr.compare("CV_HLS2RGB")==0) {
code = CV_HLS2RGB;
} else if (codeStr.compare("CV_BayerBG2BGR_VNG")==0) {
code = CV_BayerBG2BGR_VNG;
} else if (codeStr.compare("CV_BayerGB2BGR_VNG")==0) {
code = CV_BayerGB2BGR_VNG;
} else if (codeStr.compare("CV_BayerRG2BGR_VNG")==0) {
code = CV_BayerRG2BGR_VNG;
} else if (codeStr.compare("CV_BayerGR2BGR_VNG")==0) {
code = CV_BayerGR2BGR_VNG;
} else if (codeStr.compare("CV_BayerBG2RGB_VNG")==0) {
code = CV_BayerBG2RGB_VNG;
} else if (codeStr.compare("CV_BayerGB2RGB_VNG")==0) {
code = CV_BayerGB2RGB_VNG;
} else if (codeStr.compare("CV_BayerRG2RGB_VNG")==0) {
code = CV_BayerRG2RGB_VNG;
} else if (codeStr.compare("CV_BayerGR2RGB_VNG")==0) {
code = CV_BayerGR2RGB_VNG;
} else if (codeStr.compare("CV_BGR2HSV_FULL")==0) {
code = CV_BGR2HSV_FULL;
} else if (codeStr.compare("CV_RGB2HSV_FULL")==0) {
code = CV_RGB2HSV_FULL;
} else if (codeStr.compare("CV_BGR2HLS_FULL")==0) {
code = CV_BGR2HLS_FULL;
} else if (codeStr.compare("CV_RGB2HLS_FULL")==0) {
code = CV_RGB2HLS_FULL;
} else if (codeStr.compare("CV_HSV2BGR_FULL")==0) {
code = CV_HSV2BGR_FULL;
} else if (codeStr.compare("CV_HSV2RGB_FULL")==0) {
code = CV_HSV2RGB_FULL;
} else if (codeStr.compare("CV_HLS2BGR_FULL")==0) {
code = CV_HLS2BGR_FULL;
} else if (codeStr.compare("CV_HLS2RGB_FULL")==0) {
code = CV_HLS2RGB_FULL;
} else if (codeStr.compare("CV_LBGR2Lab")==0) {
code = CV_LBGR2Lab;
} else if (codeStr.compare("CV_LRGB2Lab")==0) {
code = CV_LRGB2Lab;
} else if (codeStr.compare("CV_LBGR2Luv")==0) {
code = CV_LBGR2Luv;
} else if (codeStr.compare("CV_LRGB2Luv")==0) {
code = CV_LRGB2Luv;
} else if (codeStr.compare("CV_Lab2LBGR")==0) {
code = CV_Lab2LBGR;
} else if (codeStr.compare("CV_Lab2LRGB")==0) {
code = CV_Lab2LRGB;
} else if (codeStr.compare("CV_Luv2LBGR")==0) {
code = CV_Luv2LBGR;
} else if (codeStr.compare("CV_Luv2LRGB")==0) {
code = CV_Luv2LRGB;
} else if (codeStr.compare("CV_BGR2YUV")==0) {
code = CV_BGR2YUV;
} else if (codeStr.compare("CV_RGB2YUV")==0) {
code = CV_RGB2YUV;
} else if (codeStr.compare("CV_YUV2BGR")==0) {
code = CV_YUV2BGR;
} else if (codeStr.compare("CV_YUV2RGB")==0) {
code = CV_YUV2RGB;
} else if (codeStr.compare("CV_BayerBG2GRAY")==0) {
code = CV_BayerBG2GRAY;
} else if (codeStr.compare("CV_BayerGB2GRAY")==0) {
code = CV_BayerGB2GRAY;
} else if (codeStr.compare("CV_BayerRG2GRAY")==0) {
code = CV_BayerRG2GRAY;
} else if (codeStr.compare("CV_BayerGR2GRAY")==0) {
code = CV_BayerGR2GRAY;
#ifdef CV_YUV420i2RGB
} else if (codeStr.compare("CV_YUV420i2RGB")==0) {
code = CV_YUV420i2RGB;
} else if (codeStr.compare("CV_YUV420i2BGR")==0) {
code = CV_YUV420i2BGR;
#endif
} else if (codeStr.compare("CV_YUV420sp2RGB")==0) {
code = CV_YUV420sp2RGB;
} else if (codeStr.compare("CV_YUV420sp2BGR")==0) {
code = CV_YUV420sp2BGR;
} else {
errMsg = "Unknown cvtColor conversion code";
}
if (dstCn < 0) {
errMsg = "expected 0<dstCn";
}
if (!errMsg) {
cvtColor(model.image, model.image, code, dstCn);
}
return stageOK("apply_cvtColor(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_points2resolution_RANSAC(json_t *pStage, json_t *pStageModel, Model &model) {
char *errMsg = NULL;
// input parameters
double thr1 = jo_double(pStage, "threshold1", 1.2, model.argMap);
double thr2 = jo_double(pStage, "threshold2", 1.2, model.argMap);
double confidence = jo_double(pStage, "confidence", (1.0-1e-12), model.argMap);
double separation = jo_double(pStage, "separation", 4.0, model.argMap); // separation [mm]
string pointsModelName = jo_string(pStage, "model", "", model.argMap);
json_t *pPointsModel = json_object_get(model.getJson(false), pointsModelName.c_str());
try {
if (pointsModelName.empty()) {
throw runtime_error("model: expected name of stage with points");
} else if (!json_is_object(pPointsModel)) {
throw runtime_error("Named stage is not in model");
}
json_t *pPoints = NULL;
do {
pPoints = json_object_get(pPointsModel, "circles");
if (json_is_array(pPoints))
break;
pPoints = json_object_get(pPointsModel, "points");
if (json_is_array(pPoints))
break;
throw runtime_error("Expected array of points (circles, ...)");
} while (0);
size_t index;
json_t *pPoint;
vector<XY> coords;
json_array_foreach(pPoints, index, pPoint) {
double x = jo_double(pPoint, "x", DBL_MAX, model.argMap);
double y = jo_double(pPoint, "y", DBL_MAX, model.argMap);
//double r = jo_double(pCircle, "radius", DBL_MAX, model.argMap);
if (x == DBL_MAX || y == DBL_MAX) {
LOGERROR("apply_points2resolution_RANSAC() x, y are required values (skipping)");
continue;
}
XY xy;
xy.x = x;
xy.y = y;
coords.push_back(xy);
}
Pt2Res pt2res;
double resolution;
try {
resolution = pt2res.getResolution(thr1, thr2, confidence, separation, coords);
json_object_set(pStageModel, "resolution", json_real(resolution));
} catch (runtime_error &e) {
errMsg = (char *) malloc(sizeof(char) * (strlen(e.what()) + 1));
strcpy(errMsg, e.what());
}
} catch (exception &e) {
errMsg = (char *) malloc(sizeof(char) * (strlen(e.what()) + 1));
strcpy(errMsg, e.what());
}
return stageOK("apply_points2resolution_RANSAC(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_crop(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
string errMsg;
int x = jo_int(pStage, "x", 0, model.argMap);
int y = jo_int(pStage, "y", 0, model.argMap);
int defaultWidth = model.image.cols ? model.image.cols-x : 64;
int defaultHeight = model.image.rows ? model.image.rows-y : 64;
int width = jo_int(pStage, "width", defaultWidth, model.argMap);
int height = jo_int(pStage, "height", defaultHeight, model.argMap);
if (errMsg.empty() && x < 0) {
errMsg = "crop() x cannot be negative";
}
if (errMsg.empty() && y < 0) {
errMsg = "crop() y cannot be negative";
}
if (errMsg.empty() && model.image.cols && x+width > model.image.cols) {
errMsg = "crop() cropped area extends beyond image right edge";
}
if (errMsg.empty() && model.image.rows && y+height > model.image.rows) {
errMsg = "crop() cropped area extends beyond image bottom edge";
}
if (logLevel >= FIRELOG_TRACE) {
char *pStageJson = json_dumps(pStage, 0);
LOGTRACE1("apply_crop(%s)", pStageJson);
free(pStageJson);
}
if (errMsg.empty()) {
model.image = model.image(Rect(x, y, width, height)).clone();
} else {
LOGERROR4("crop(%d,%d,%d,%d)", x, y, width, height);
LOGERROR2("image(%d,%d)", model.image.cols, model.image.rows);
}
return stageOK("apply_crop(%s) %s", errMsg.c_str(), pStage, pStageModel);
}
#ifdef LGPL2_1
bool Pipeline::apply_qrdecode(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
char *errMsg = NULL;
int show = jo_int(pStage, "show", 0, model.argMap);
if (logLevel >= FIRELOG_TRACE) {
char *pStageJson = json_dumps(pStage, 0);
LOGTRACE1("apply_qrdecode(%s)", pStageJson);
free(pStageJson);
}
try {
ZbarQrDecode qr;
vector<QRPayload> payload = qr.scan(model.image, show);
json_t *payload_json = json_array();
json_object_set(pStageModel, "qrdata", payload_json);
for (size_t i = 0; i < payload.size(); i++) {
json_array_append(payload_json, payload[i].as_json_t());
}
} catch (runtime_error &e) {
errMsg = (char *) malloc(sizeof(char) * (strlen(e.what())+1));
strcpy(errMsg, e.what());
}
return stageOK("apply_qrdecode(%s) %s", errMsg, pStage, pStageModel);
}
#endif // LGPL2_1
bool Pipeline::apply_drawRects(json_t *pStage, json_t *pStageModel, Model &model) {
const char *errMsg = NULL;
Scalar color = jo_Scalar(pStage, "color", Scalar(-1,-1,-1,255), model.argMap);
int radius = jo_int(pStage, "radius", 0, model.argMap);
int thickness = jo_int(pStage, "thickness", 2, model.argMap);
string rectsModelName = jo_string(pStage, "model", "", model.argMap);
json_t *pRectsModel = json_object_get(model.getJson(false), rectsModelName.c_str());
if (rectsModelName.empty()) {
errMsg = "model: expected name of stage with rects";
} else if (!json_is_object(pRectsModel)) {
errMsg = "Named stage is not in model";
}
json_t *pRects = NULL;
if (!errMsg) {
pRects = json_object_get(pRectsModel, "rects");
if (!json_is_array(pRects)) {
errMsg = "Expected array of rects";
}
}
if (!errMsg) {
if (model.image.channels() == 1) {
LOGTRACE("Converting grayscale image to color image");
cvtColor(model.image, model.image, CV_GRAY2BGR, 0);
}
size_t index;
json_t *pRect;
Point2f vertices[4];
int blue = (int)color[0];
int green = (int)color[1];
int red = (int)color[2];
bool changeColor = red == -1 && green == -1 && blue == -1;
json_array_foreach(pRects, index, pRect) {
int x = jo_int(pRect, "x", SHRT_MAX, model.argMap);
int y = jo_int(pRect, "y", SHRT_MAX, model.argMap);
int width = jo_int(pRect, "width", -1, model.argMap);
int height = jo_int(pRect, "height", -1, model.argMap);
float angle = jo_float(pRect, "angle", FLT_MAX, model.argMap);
Scalar rectColor = color;
if (changeColor) {
red = (index & 1) ? 0 : 255;
green = (index & 2) ? 128 : 192;
blue = (index & 1) ? 255 : 0;
rectColor = Scalar(blue, green, red, 255);
}
rectColor = jo_Scalar(pRect, "color", rectColor, model.argMap);
if (x == SHRT_MAX || y == SHRT_MAX || width == SHRT_MAX || height == SHRT_MAX) {
LOGERROR("apply_drawRects() x, y, width, height are required values");
break;
}
if (rectColor[3] != 0) { // alpha=0 implies non-display
if (angle == FLT_MAX || radius > 0) {
int r;
if (radius > 0) {
r = radius;
} else if (width > 0 && height > 0) {
r = (int)(0.5+min(width,height)/2.0);
} else {
r = 5;
}
circle(model.image, Point(x,y), r, rectColor, thickness);
} else {
RotatedRect rect(Point(x,y), Size(width, height), angle);
rect.points(vertices);
for (int i = 0; i < 4; i++) {
line(model.image, vertices[i], vertices[(i+1)%4], rectColor, thickness);
}
}
}
}
}
return stageOK("apply_drawRects(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_drawKeypoints(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
const char *errMsg = NULL;
Scalar color = jo_Scalar(pStage, "color", Scalar::all(-1), model.argMap);
int flags = jo_int(pStage, "flags", DrawMatchesFlags::DRAW_OVER_OUTIMG|DrawMatchesFlags::DRAW_RICH_KEYPOINTS, model.argMap);
string modelName = jo_string(pStage, "model", "", model.argMap);
json_t *pKeypointStage = jo_object(model.getJson(false), modelName.c_str(), model.argMap);
if (!pKeypointStage) {
string keypointStageName = jo_string(pStage, "keypointStage", "", model.argMap);
pKeypointStage = jo_object(model.getJson(false), keypointStageName.c_str(), model.argMap);
}
if (!errMsg && flags < 0 || 7 < flags) {
errMsg = "expected 0 < flags < 7";
}
if (!errMsg && !pKeypointStage) {
errMsg = "expected name of stage model";
}
vector<KeyPoint> keypoints;
if (!errMsg) {
json_t *pKeypoints = jo_object(pKeypointStage, "keypoints", model.argMap);
if (!json_is_array(pKeypoints)) {
errMsg = "keypointStage has no keypoints JSON array";
} else {
size_t index;
json_t *pKeypoint;
json_array_foreach(pKeypoints, index, pKeypoint) {
float x = jo_float(pKeypoint, "pt.x", -1, model.argMap);
float y = jo_float(pKeypoint, "pt.y", -1, model.argMap);
float size = jo_float(pKeypoint, "size", 10, model.argMap);
float angle = jo_float(pKeypoint, "angle", -1, model.argMap);
KeyPoint keypoint(x, y, size, angle);
keypoints.push_back(keypoint);
}
}
}
if (!errMsg) {
drawKeypoints(model.image, keypoints, model.image, color, flags);
}
return stageOK("apply_drawKeypoints(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_equalizeHist(json_t *pStage, json_t *pStageModel, Model &model) {
const char *errMsg = NULL;
if (!errMsg) {
equalizeHist(model.image, model.image);
}
return stageOK("apply_equalizeHist(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_blur(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
const char *errMsg = NULL;
int width = jo_int(pStage, "ksize.width", 3, model.argMap);
int height = jo_int(pStage, "ksize.height", 3, model.argMap);
int anchorx = jo_int(pStage, "anchor.x", -1, model.argMap);
int anchory = jo_int(pStage, "anchor.y", -1, model.argMap);
if (width <= 0 || height <= 0) {
errMsg = "expected 0<width and 0<height";
}
if (!errMsg) {
blur(model.image, model.image, Size(width,height));
}
return stageOK("apply_blur(%s) %s", errMsg, pStage, pStageModel);
}
static void modelKeyPoints(json_t*pStageModel, const vector<KeyPoint> &keyPoints) {
json_t *pKeyPoints = json_array();
json_object_set(pStageModel, "keypoints", pKeyPoints);
for (size_t i=0; i<keyPoints.size(); i++) {
json_t *pKeyPoint = json_object();
json_object_set(pKeyPoint, "pt.x", json_real(keyPoints[i].pt.x));
json_object_set(pKeyPoint, "pt.y", json_real(keyPoints[i].pt.y));
json_object_set(pKeyPoint, "size", json_real(keyPoints[i].size));
if (keyPoints[i].angle != -1) {
json_object_set(pKeyPoint, "angle", json_real(keyPoints[i].angle));
}
if (keyPoints[i].response != 0) {
json_object_set(pKeyPoint, "response", json_real(keyPoints[i].response));
}
json_array_append(pKeyPoints, pKeyPoint);
}
}
bool Pipeline::apply_SimpleBlobDetector(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
SimpleBlobDetector::Params params;
params.thresholdStep = jo_float(pStage, "thresholdStep", params.thresholdStep, model.argMap);
params.minThreshold = jo_float(pStage, "minThreshold", params.minThreshold, model.argMap);
params.maxThreshold = jo_float(pStage, "maxThreshold", params.maxThreshold, model.argMap);
params.minRepeatability = jo_int(pStage, "minRepeatability", params.minRepeatability, model.argMap);
params.minDistBetweenBlobs = jo_float(pStage, "minDistBetweenBlobs", params.minDistBetweenBlobs, model.argMap);
params.filterByColor = jo_bool(pStage, "filterByColor", params.filterByColor);
params.blobColor = jo_int(pStage, "blobColor", params.blobColor, model.argMap);
params.filterByArea = jo_bool(pStage, "filterByArea", params.filterByArea);
params.minArea = jo_float(pStage, "minArea", params.minArea, model.argMap);
params.maxArea = jo_float(pStage, "maxArea", params.maxArea, model.argMap);
params.filterByCircularity = jo_bool(pStage, "filterByCircularity", params.filterByCircularity);
params.minCircularity = jo_float(pStage, "minCircularity", params.minCircularity, model.argMap);
params.maxCircularity = jo_float(pStage, "maxCircularity", params.maxCircularity, model.argMap);
params.filterByInertia = jo_bool(pStage, "filterByInertia", params.filterByInertia, model.argMap);
params.minInertiaRatio = jo_float(pStage, "minInertiaRatio", params.minInertiaRatio, model.argMap);
params.maxInertiaRatio = jo_float(pStage, "maxInertiaRatio", params.maxInertiaRatio, model.argMap);
params.filterByConvexity = jo_bool(pStage, "filterByConvexity", params.filterByConvexity);
params.minConvexity = jo_float(pStage, "minConvexity", params.minConvexity, model.argMap);
params.maxConvexity = jo_float(pStage, "maxConvexity", params.maxConvexity, model.argMap);
const char *errMsg = NULL;
if (!errMsg) {
SimpleBlobDetector detector(params);
SimpleBlobDetector(params);
detector.create("SimpleBlob");
vector<cv::KeyPoint> keyPoints;
LOGTRACE("apply_SimpleBlobDetector detect()");
detector.detect(model.image, keyPoints);
modelKeyPoints(pStageModel, keyPoints);
}
return stageOK("apply_SimpleBlobDetector(%s) %s", errMsg, pStage, pStageModel);
}
bool Pipeline::apply_circle(json_t *pStage, json_t *pStageModel, Model &model) {
validateImage(model.image);
Point center = jo_Point(pStage, "center", Point(0,0), model.argMap);
int radius = jo_int(pStage, "radius", 0, model.argMap);
Scalar color = jo_Scalar(pStage, "color", Scalar::all(0), model.argMap);
int thickness = jo_int(pStage, "thickness", 1, model.argMap);
int lineType = jo_int(pStage, "lineType", 8, model.argMap);
Scalar fill = jo_Scalar(pStage, "fill", Scalar::all(-1), model.argMap);
int shift = jo_int(pStage, "shift", 0, model.argMap);