temps_reel/software/raspberry/superviseur-robot/lib/img.cpp

/*
 * Copyright (C) 2018 dimercur
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "img.h"

bool Arena::IsEmpty() {
    if ((this->arena.height==0) || (this->arena.width==0)) return true;
    else return false;
}

Img::Img(ImageMat imgMatrice) {
    this->img = imgMatrice.clone();
}

string Img::ToString() {
    return "Image size: "+to_string(this->img.cols)+"x"+to_string(this->img.rows)+" (dim="+to_string(this->img.dims)+")";
}

Img* Img::Copy() {
    return new Img(this->img);
}
    
float Img::CalculAngle(Position robot) {
    float a = robot.direction.x - robot.center.x;
    float b = robot.direction.y - robot.center.y ;
    float angle = atan2(b,a);
    return angle * 180.f/M_PI;
}

float Img::CalculAngle2(cv::Point2f pt1, cv::Point2f pt2) {
    float a = pt1.x - pt2.x;
    float b = pt1.y - pt2.y ;
    float angle = atan2(b,a);
    return angle * 180.f/M_PI;
}

#ifdef __WITH_ARUCO__ 
cv::Point2f Img::find_aruco_center(std::vector<cv::Point2f> aruco) {
    return ((aruco[0] + aruco[2])/2);
}

cv::Point2f Img::find_aruco_direction(std::vector<cv::Point2f> aruco) {
    return ((aruco[0]+aruco[1])/2);;
}

std::list<Position> Img::search_aruco(Arena monArene) {
    ImageMat imgTraitment;
    std::list<Position> positionList;
    cv::Point2f areneCoor;
    std::vector<int> ids;
    std::vector<std::vector<cv::Point2f> > corners;
    if(monArene.empty())
        imgTraitment=this->img.clone();
    else{
        imgTraitment = cropArena(monArene);
        areneCoor.x = monArene.x;
        areneCoor.y = monArene.y;
    }
    cv::detectMarkers(imgTraitment,dictionary, corners, ids);
    if(ids.size()>0){
        for(int i = 0 ; i < ids.size() ; i++){
            Position newPos;
            newPos.center = find_aruco_center(corners[i]);
            newPos.direction = find_aruco_direction(corners[i]);
            newPos.robotId = ids[i];
            if(!monArene.empty()){
                newPos.direction += areneCoor;
                newPos.center += areneCoor;
            }
            newPos.angle = calculAngle2(newPos.center, newPos.direction);
            positionList.push_back(newPos);
        }
    }
    return positionList;
}
#endif // __WITH_ARUCO__

float Img::EuclideanDistance(cv::Point2f p, cv::Point2f q) {
    cv::Point diff = p - q;
    return cv::sqrt(diff.x*diff.x + diff.y*diff.y);
}

Jpg Img::ToJpg() {
    Jpg imgJpg;
    cv::imencode(".jpg",this->img,imgJpg);
    return imgJpg;
}

//string Img::ToBase64() {
//    string imgBase64;
//    Jpg imgJpg = toJpg();
//    
//    /* faire la convertion Jpg vers base 64 */
//    return imgBase64;
//}

std::list<Position> Img::SearchRobot(Arena monArene) {

    std::list<Position> robotsFind;
    std::vector<std::vector<cv::Point2f> > contours;
    std::vector<cv::Point2f> approx;
    std::vector<cv::Vec4i> hierarchy;

    ImageMat imgTraitment;

    if(monArene.IsEmpty())
        imgTraitment=this->img.clone();
    else
        imgTraitment = CropArena(monArene);

    cvtColor(imgTraitment,imgTraitment,CV_RGB2GRAY);
    threshold(imgTraitment,imgTraitment,128,255,CV_THRESH_BINARY);
    findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point2f(0, 0));

    for(unsigned int i = 0;i < contours.size();i++)
    {
        cv::approxPolyDP(ImageMat(contours[i]), approx, cv::arcLength(ImageMat(contours[i]), true)*0.17, true);
        if(approx.size() == 3 && fabs(cv::contourArea(contours[i])) > 200 && fabs(cv::contourArea(contours[i])) < 700)
        {

            cv::Point2f a,b,c;
            cv::Point2f center;


            a = approx[0];
            b = approx[1];
            c = approx[2];


            if(!monArene.IsEmpty()) // ajout de l'offset de l'arène
            {
                a.x += monArene.arena.x;
                a.y += monArene.arena.y;
                b.x += monArene.arena.x;
                b.y += monArene.arena.y;
                c.x += monArene.arena.x;
                c.y += monArene.arena.y;
            }

            center.x = (a.x + b.x + c.x)/3;
            center.y = (a.y + b.y + c.y)/3;
            Position newPos;
            newPos.center=center;

            if(EuclideanDistance(center,b) > EuclideanDistance(center,a) && EuclideanDistance(center,b) > EuclideanDistance(center,c) )
            {

                newPos.direction=b;
                //line(img,center,b,Scalar(0,125,0),2,8,0);
            }
            else if(EuclideanDistance(center,a) > EuclideanDistance(center,c))
            {
                newPos.direction=a;
                //line(img,center,a,Scalar(0,125,0),2,8,0);

            }
            else
            {
                newPos.direction=c;
                //line(img,center,c,Scalar(0,125,0),2,8,0);
            }
            newPos.angle=CalculAngle(newPos);
            robotsFind.push_back(newPos);
        }
    }
    return robotsFind;
}

Arena Img::SearchArena() {
    std::vector<std::vector<cv::Point> > contours;
    std::vector<cv::Point> approx;
    std::vector<cv::Vec4i> hierarchy;

    ImageMat imageTrt;
    cv::cvtColor(this->img,imageTrt,CV_RGB2GRAY); // conversion en niveau de gris
    cv::threshold(imageTrt,imageTrt,128,255,CV_THRESH_BINARY); // Threshold les éléments les plus clair
    cv::Canny(imageTrt, imageTrt, 100,200,3); // detection d'angle

    findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
    for(unsigned int i = 0; i < contours.size();i++)
    {
        approxPolyDP(ImageMat(contours[i]), approx, cv::arcLength(ImageMat(contours[i]), true)*0.1, true);
        if(approx.size()==4 && fabs(cv::contourArea(contours[i])) > 100000)
        {
            Arena rectangle;
            rectangle.arena = cv::boundingRect(ImageMat(contours[i]));
            return rectangle;
        }
    }
    return Arena();
}

int Img::DrawRobot(Position robot) {
    cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0,0,255),3,8,0);
    return 0;
}

int Img::DrawAllRobots(std::list<Position> robots) {
    for(Position robot  : robots){
        cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0,0,255),3,8,0);
    }
    return robots.size();
}

int Img::DrawArena(Arena areneToDraw) {
    cv::rectangle(this->img,areneToDraw.arena.tl(),areneToDraw.arena.br(),cv::Scalar(0,0,125),2,8,0);
    return 0;
}

ImageMat Img::CropArena(Arena arene) {
    return this->img(arene.arena);
}