get coordinates for the finder patterns

diff --git a/camera.cpp b/camera.cpp
index 453f7c10d6709b37e543ca51b244e4466ed69d51..986bd0a1ff1c54f2d37a71cd5f55e023a674c617 100644 (file)
--- a/camera.cpp
+++ b/camera.cpp
@@ -17,7 +17,7 @@ void retrieve_codewords(std::vector<std::vector<bool>> &symbol, std::vector<bool
 void retrieve_special_codewords(std::vector<std::vector<bool>> &symbol, std::vector<bool> &codewords, bool is_upwards, int row, int col);
 
 void apply_global_threshold(std::vector<std::vector<unsigned int>> &grid, std::vector<std::vector<bool>> &symbol);
-std::vector<std::vector<int>> get_finder_coords(std::vector<std::vector<bool>> &symbol);
+std::vector<std::vector<float>> get_finder_coords(std::vector<std::vector<bool>> &symbol);
 std::vector<bool> get_format_info(std::vector<std::vector<bool>> &symbol);
 void decode_mask(std::vector<std::vector<bool>> &symbol, std::size_t mask_pattern);
 std::vector<bool> get_codewords_from_symbol(std::vector<std::vector<bool>> &symbol);
@@ -81,7 +81,9 @@ int main(){
        apply_global_threshold(camera_input, symbol_noisy);
        print(symbol_noisy);
        
-       get_finder_coords(symbol_noisy);
+       std::vector<std::vector<float>> coords = get_finder_coords(symbol_noisy);
+       std::cout << std::endl << "coords:" << std::endl;
+       for (auto &i : coords){for (auto j:i){std::cout << j << " ";} std::cout << std::endl;} std::cout << std::endl;
        
 
        std::vector<std::vector<bool>> symbol(21, std::vector<bool>(21,0));
@@ -231,13 +233,122 @@ std::vector<int> get_finder_pattern_coords(std::vector<bool> &row){
        }
        return coords;
 }      
+
+std::vector<float> get_finder_pattern_col_coords(std::vector<bool> &row){
+       std::vector <int> values{};
+       for (std::size_t i{0}; i < row.size(); ++i){
+               if (values.size() == 0){
+                       values.push_back(1);
+               }
+               else if (row[i] == row[i-1]){
+                       values[values.size() - 1]++;
+               }
+               else {
+                       values.push_back(1);
+               }
+       }
+       //std::cout << "values ";for (auto i:values){std::cout << i << " ";}std::cout << std::endl;
        
+       std::vector<float> lengths{};
+       if (values.size() < 5){return lengths;}
+       for (std::size_t i{0}; i < values.size() - 5 + 1; ++i){
+               std::vector<int> subvec(values.begin() + i, values.begin() + i + 5);
+               //for (auto i:subvec){std::cout << i << " ";}std::cout << std::endl;
+               if (contains_ratio(subvec)){
+                       int start{0}, end{0};
+                       for (std::size_t j{0}; j < i + 5 - 1; ++j){
+                               if (j < i){
+                                       start += values[j];
+                               }
+                               end += values[j];
+                       }
+                       //std::cout << "col coords: " << start << " " << end << std::endl;
+                       lengths.push_back((end + start) / 2.0);
+               }
+       }
+       return lengths;
+}      
+
 
-std::vector<std::vector<int>> get_finder_coords(std::vector<std::vector<bool>> &symbol){
-       std::vector<std::vector<int>> coords(3, std::vector<int>(2,0));
+bool in_vec(std::vector<std::size_t> &vec, std::size_t val){
+       for (auto i: vec){
+               if (val == i){
+                       return true;
+               }
+       }
+       return false;
+}
+
+std::vector<std::vector<float>> get_finder_coords(std::vector<std::vector<bool>> &symbol){
+       std::vector<std::vector<float>> coords(3, std::vector<float>(2,0));
+       std::vector<std::size_t> seen{};
        for (std::size_t row{0}; row < symbol.size(); ++row){
-               std::vector<int> c = get_finder_pattern_coords(symbol[row]);
-               for (auto i : c){std::cout << i << " ";}std::cout <<std::endl;
+               if (in_vec(seen, row)){continue;}
+               std::vector<int> col_coords = get_finder_pattern_coords(symbol[row]);
+               if (col_coords.size() == 2){
+                       std::vector<int> a(2,0), b(2,0), c(2,0), d(2,0);
+                       a = {static_cast<int>(row), col_coords[0]};
+                       b = {static_cast<int>(row), col_coords[0]};
+                       c = {static_cast<int>(row), col_coords[1]};
+                       d = {static_cast<int>(row), col_coords[1]};
+                       //for (auto i : col_coords){std::cout << i << " ";}std::cout <<std::endl;
+                       seen.push_back(row);
+                       for (std::size_t j{row}; j < symbol.size();++j){
+                               std::vector<int> future_c = get_finder_pattern_coords(symbol[j]);
+                               seen.push_back(j);
+                               if (future_c.size() == 2){
+                                       b[0] = static_cast<int>(j);
+                                       b[1] = future_c[0];
+                                       d[0] = static_cast<int>(j);
+                                       d[1] = future_c[1];
+                               }
+                               else if (future_c.size() == 1){
+                                       if (future_c[0] > col_coords[0] + 6){
+                                               d[0] = static_cast<int>(j);
+                                               d[1] = future_c[0];
+                                       }
+                                       else{
+                                               b[0] = static_cast<int>(j);
+                                               b[1] = future_c[0];
+                                       }
+                               }
+                               else{
+                                       break;
+                               }
+                       }
+                       //std::cout << "UPPER LEFT: " << b[0] << "," << b[1] << " " << a[0] << "," << a[1] << std::endl;
+                       coords[0][0] = (b[0] + a[0]) / 2.0; 
+
+                       std::vector<float> col_coords = get_finder_pattern_col_coords(symbol[static_cast<int>(coords[0][0])]);
+                       coords[0][1] = col_coords[0];
+
+
+                       coords[1][0] = (d[0] + c[0]) / 2.0; 
+                       coords[1][1] = col_coords[1];
+               }
+               else if(col_coords.size() == 1){
+                       std::vector<int> a(2,0), b(2,0);
+                       a = {static_cast<int>(row), col_coords[0]};
+                       b = {static_cast<int>(row), col_coords[0]};
+                       //for (auto i : col_coords){std::cout << i << " ";}std::cout <<std::endl;
+                       seen.push_back(row);
+                       for (std::size_t j{row}; j < symbol.size();++j){
+                               std::vector<int> future_c = get_finder_pattern_coords(symbol[j]);
+                               seen.push_back(j);
+                               if (future_c.size() == 1){
+                                       b[0] = static_cast<int>(j);
+                                       b[1] = future_c[0];
+                               }
+                               else{
+                                       break;
+                               }
+                       }
+                       //std::cout << "LOWER LEFT: " << b[0] << "," << b[1] << " " << a[0] << "," << a[1] << std::endl;
+                       coords[2][0] = (b[0] + a[0]) / 2.0;
+                       std::vector<float> col_coord = get_finder_pattern_col_coords(symbol[static_cast<int>(coords[0][0])]);
+                       coords[2][1] = col_coord[0]; 
+               }
+                       
        }
 
        return coords;