projectivetransform

#include "opencv2/features2d/features2d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "chilitags/chilitags.hpp"

#include <iostream>

using namespace std;
using namespace cv;

int scaleImage(Mat input, Mat &output);

char window_name1[] = "Unprocessed Image";
char window_name2[] = "Processed Image";



int main( int argc, char** argv )
{
    /// Load the source image
    // Simple parsing of the parameters related to the image acquisition
    int xRes = 1280;
    int yRes = 1024;
    int cameraIndex = 0;
    if (argc > 2) {
        xRes = std::atoi(argv[1]);
        yRes = std::atoi(argv[2]);
    }
    if (argc > 3) {
        cameraIndex = std::atoi(argv[3]);
    }

    // The source of input images
    cv::VideoCapture capture(cameraIndex);
    if (!capture.isOpened())
    {
        std::cerr << "Unable to initialise video capture." << std::endl;
        return 1;
    }
#ifdef OPENCV3
    capture.set(cv::CAP_PROP_FRAME_WIDTH, xRes);
    capture.set(cv::CAP_PROP_FRAME_HEIGHT, yRes);
#else
    capture.set(CV_CAP_PROP_FRAME_WIDTH, xRes);
    capture.set(CV_CAP_PROP_FRAME_HEIGHT, yRes);
#endif
    cv::Mat inputImage;

    // The tag detection happens in the Chilitags class.
    chilitags::Chilitags chilitags;

    cv::namedWindow("DisplayChilitags");
    // Main loop, exiting when 'q is pressed'
    for (; 'q' != (char) cv::waitKey(1); ) {

        // Capture a new image.
        capture.read(inputImage);
		Mat out;
		scaleImage(inputImage,out);
        imshow("LiveTrack", out);
	}

    waitKey();
    return 0;
}

Point2f getPos(int fidnum,int cornum) {
	Size fiddist = Size(1235,790); //image size 1135, 690
	Size fidsize = Size(100,100);
	//taking the lower right of the top left fiducial as (0,0)
	float fidx = (fidnum==1 || fidnum==2)*fiddist.width;
	float fidy = (fidnum==2 || fidnum==3)*fiddist.height;
	float cornerx = (cornum==0 || cornum == 3)*-fidsize.width;
	float cornery = (cornum==0 || cornum == 1)*fidsize.height;
	return Point2f(fidx+cornerx,fidy+cornery);
}

int scaleImage(Mat input, Mat &output) {
	//So far, A4 sheet will be tags 8,9,10,11 [OFFSET = 2]
	int offset; //A4 = 2
	int tagCount = 0;
	Mat_<Point2f> mats[4];
	int exists[4] = {0,0,0,0};
	
    for (const auto &tag : chilitags::Chilitags().find(input)) {
		tagCount+=1;
        int id = tag.first;
		offset = id/4;
		id = (id-8)/2;
        Mat_<Point2f> corners(tag.second);
		mats[id] = corners;
		exists[id] = 1;
    }
	if (tagCount==0) {
		output = input.clone();
		cout << "FUCK IT ALL" << endl;
		return -1;
	}
		
	//first quality points vs second quality points.
	int numpts = 0;
	Point2f src_p[4];
	Point2f dst_p[4];
	for (int i = 0; i<4; i++) {
		//hunt for first quality pts
		if (exists[i]) {
			
			src_p[numpts]=mats[i](2); //lower right point
			dst_p[numpts]=getPos(i,2);
			numpts+=1;
		}
	}
	int curFid = 0;
	while (numpts!=4) { //loop over each fiducial
		if (exists[curFid]) {
			for (int i = 0;i<4;i==1?i++:i+=2) {
				//loop over the non-primary points [everything but 2]
				src_p[numpts]=mats[curFid](i);
				dst_p[numpts]=getPos(curFid,i);
				numpts+=1;
				if (numpts==4) {
					break;
				}
			}
		}
		curFid+=1;
	}
	
	for (int i = 0; i<4; i++) {
		cout << i << " -- " << src_p[i].x << " -- " << src_p[i].y << endl;
	}
	Mat trans = getPerspectiveTransform(src_p,dst_p);
	int myradius=5;
	
	warpPerspective(input,output,trans,Size(1135.0f,690.0f));
	
	return offset;	
	
}