diff --git a/modules/objdetect/src/qrcode.cpp b/modules/objdetect/src/qrcode.cpp index 2bbb38fc6c..bb913fdbfe 100644 --- a/modules/objdetect/src/qrcode.cpp +++ b/modules/objdetect/src/qrcode.cpp @@ -16,7 +16,6 @@ #include #include -#include #include #include #include @@ -990,6 +989,7 @@ public: bool straightDecodingProcess(); bool curvedDecodingProcess(); protected: + double getNumModules(); bool updatePerspective(); bool versionDefinition(); bool samplingForVersion(); @@ -2251,6 +2251,91 @@ bool QRDecode::preparingCurvedQRCodes() return true; } +/** + * @param finderPattern 4 points of finder pattern markers, calculated by findPatternsVerticesPoints() + * @return true if the pattern has the correct side lengths + */ +static inline bool checkFinderPatternByAspect(const vector &finderPattern) { + if (finderPattern.size() != 4ull) + return false; + float sidesLen[4]; + for (size_t i = 0; i < finderPattern.size(); i++) { + sidesLen[i] = (sqrt(normL2Sqr(Point2f(finderPattern[i] - finderPattern[(i+1ull)%finderPattern.size()])))); + } + const float maxSide = max(max(sidesLen[0], sidesLen[1]), max(sidesLen[2], sidesLen[3])); + const float minSide = min(min(sidesLen[0], sidesLen[1]), min(sidesLen[2], sidesLen[3])); + + const float patternMaxRelativeLen = .3f; + if (1.f - minSide / maxSide > patternMaxRelativeLen) + return false; + return true; +} + +/** + * @param finderPattern - 4 points of finder pattern markers, calculated by findPatternsVerticesPoints() + * @param cornerPointsQR - 4 corner points of QR code + * @return pair first - the index in points of finderPattern closest to the corner of the QR code, + * second - the index in points of cornerPointsQR closest to the corner of finderPattern + * + * This function matches finder patterns to the corners of the QR code. Points of finder pattern calculated by + * findPatternsVerticesPoints() may be erroneous, so they are checked. + */ +static inline std::pair matchPatternPoints(const vector &finderPattern, + const vector cornerPointsQR) { + if (!checkFinderPatternByAspect(finderPattern)) + return std::make_pair(-1, -1); + + float distanceToOrig = normL2Sqr(Point2f(finderPattern[0]) - cornerPointsQR[0]); + int closestFinderPatternV = 0; + int closetOriginalV = 0; + + for (size_t i = 0ull; i < finderPattern.size(); i++) { + for (size_t j = 0ull; j < cornerPointsQR.size(); j++) { + const float tmp = normL2Sqr(Point2f(finderPattern[i]) - cornerPointsQR[j]); + if (tmp < distanceToOrig) { + distanceToOrig = tmp; + closestFinderPatternV = i; + closetOriginalV = j; + } + } + } + + // check that the distance from the QR pattern to the corners of the QR code is small + const float originalQrSide = sqrt(normL2Sqr(cornerPointsQR[0] - cornerPointsQR[1]))*0.5f + + sqrt(normL2Sqr(cornerPointsQR[0] - cornerPointsQR[3]))*0.5f; + const float maxRelativeDistance = .1f; + + if (distanceToOrig/originalQrSide > maxRelativeDistance) + return std::make_pair(-1, -1); + return std::make_pair(closestFinderPatternV, closetOriginalV); +} + +double QRDecode::getNumModules() { + vector> finderPatterns; + double numModulesX = 0., numModulesY = 0.; + bool flag = findPatternsVerticesPoints(finderPatterns); + if (flag) { + vector pattern_distance(4); + for (auto& pattern : finderPatterns) { + auto indexes = matchPatternPoints(pattern, original_points); + if (indexes == std::make_pair(-1, -1)) + return 0.; + Point2f vf[4] = {pattern[indexes.first % 4], pattern[(1+indexes.first) % 4], + pattern[(2+indexes.first) % 4], pattern[(3+indexes.first) % 4]}; + for (int i = 1; i < 4; i++) { + pattern_distance[indexes.second] += (norm(vf[i] - vf[i-1])); + } + pattern_distance[indexes.second] += norm(vf[3] - vf[0]); + pattern_distance[indexes.second] /= 4.; + } + const double moduleSizeX = (pattern_distance[0] + pattern_distance[1])/(2.*7.); + const double moduleSizeY = (pattern_distance[0] + pattern_distance[3])/(2.*7.); + numModulesX = norm(original_points[1] - original_points[0])/moduleSizeX; + numModulesY = norm(original_points[3] - original_points[0])/moduleSizeY; + } + return (numModulesX + numModulesY)/2.; +} + bool QRDecode::updatePerspective() { CV_TRACE_FUNCTION(); @@ -2284,7 +2369,7 @@ bool QRDecode::updatePerspective() return true; } -inline Point computeOffset(const vector& v) +static inline Point computeOffset(const vector& v) { // compute the width/height of convex hull Rect areaBox = boundingRect(v); @@ -2298,9 +2383,80 @@ inline Point computeOffset(const vector& v) return offset; } +// QR code with version 7 or higher has a special 18 bit version number code. +// @return std::pair first - distance to estimatedVersion, second - version +/** + * @param numModules - estimated numModules + * @param estimatedVersion + * @return pair, first - Hamming distance to 18 bit code, second - closest version + * + * QR code with version 7 or higher has a special 18 bit version number code: + * https://www.thonky.com/qr-code-tutorial/format-version-information + */ +static inline std::pair getVersionByCode(double numModules, Mat qr, int estimatedVersion) { + const double moduleSize = qr.rows / numModules; + Point2d startVersionInfo1 = Point2d((numModules-8.-3.)*moduleSize, 0.); + Point2d endVersionInfo1 = Point2d((numModules-8.)*moduleSize, moduleSize*6.); + Point2d startVersionInfo2 = Point2d(0., (numModules-8.-3.)*moduleSize); + Point2d endVersionInfo2 = Point2d(moduleSize*6., (numModules-8.)*moduleSize); + Mat v1(qr, Rect2d(startVersionInfo1, endVersionInfo1)); + Mat v2(qr, Rect2d(startVersionInfo2, endVersionInfo2)); + const double thresh = 127.; + resize(v1, v1, Size(3, 6), 0., 0., INTER_AREA); + threshold(v1, v1, thresh, 255, THRESH_BINARY); + resize(v2, v2, Size(6, 3), 0., 0., INTER_AREA); + threshold(v2, v2, thresh, 255, THRESH_BINARY); + + Mat version1, version2; + // convert version1 (top right version information block) and + // version2 (bottom left version information block) to version table format + // https://www.thonky.com/qr-code-tutorial/format-version-tables + rotate((255-v1)/255, version1, ROTATE_180), rotate(((255-v2)/255).t(), version2, ROTATE_180); + + static uint8_t versionCodes[][18] = {{0,0,0,1,1,1,1,1,0,0,1,0,0,1,0,1,0,0},{0,0,1,0,0,0,0,1,0,1,1,0,1,1,1,1,0,0}, + {0,0,1,0,0,1,1,0,1,0,1,0,0,1,1,0,0,1},{0,0,1,0,1,0,0,1,0,0,1,1,0,1,0,0,1,1}, + {0,0,1,0,1,1,1,0,1,1,1,1,1,1,0,1,1,0},{0,0,1,1,0,0,0,1,1,1,0,1,1,0,0,0,1,0}, + {0,0,1,1,0,1,1,0,0,0,0,1,0,0,0,1,1,1},{0,0,1,1,1,0,0,1,1,0,0,0,0,0,1,1,0,1}, + {0,0,1,1,1,1,1,0,0,1,0,0,1,0,1,0,0,0},{0,1,0,0,0,0,1,0,1,1,0,1,1,1,1,0,0,0}, + {0,1,0,0,0,1,0,1,0,0,0,1,0,1,1,1,0,1},{0,1,0,0,1,0,1,0,1,0,0,0,0,1,0,1,1,1}, + {0,1,0,0,1,1,0,1,0,1,0,0,1,1,0,0,1,0},{0,1,0,1,0,0,1,0,0,1,1,0,1,0,0,1,1,0}, + {0,1,0,1,0,1,0,1,1,0,1,0,0,0,0,0,1,1},{0,1,0,1,1,0,1,0,0,0,1,1,0,0,1,0,0,1}, + {0,1,0,1,1,1,0,1,1,1,1,1,1,0,1,1,0,0},{0,1,1,0,0,0,1,1,1,0,1,1,0,0,0,1,0,0}, + {0,1,1,0,0,1,0,0,0,1,1,1,1,0,0,0,0,1},{0,1,1,0,1,0,1,1,1,1,1,0,1,0,1,0,1,1}, + {0,1,1,0,1,1,0,0,0,0,1,0,0,0,1,1,1,0},{0,1,1,1,0,0,1,1,0,0,0,0,0,1,1,0,1,0}, + {0,1,1,1,0,1,0,0,1,1,0,0,1,1,1,1,1,1},{0,1,1,1,1,0,1,1,0,1,0,1,1,1,0,1,0,1}, + {0,1,1,1,1,1,0,0,1,0,0,1,0,1,0,0,0,0},{1,0,0,0,0,0,1,0,0,1,1,1,0,1,0,1,0,1}, + {1,0,0,0,0,1,0,1,1,0,1,1,1,1,0,0,0,0},{1,0,0,0,1,0,1,0,0,0,1,0,1,1,1,0,1,0}, + {1,0,0,0,1,1,0,1,1,1,1,0,0,1,1,1,1,1},{1,0,0,1,0,0,1,0,1,1,0,0,0,0,1,0,1,1}, + {1,0,0,1,0,1,0,1,0,0,0,0,1,0,1,1,1,0},{1,0,0,1,1,0,1,0,1,0,0,1,1,0,0,1,0,0}, + {1,0,0,1,1,1,0,1,0,1,0,1,0,0,0,0,0,1},{1,0,1,0,0,0,1,1,0,0,0,1,1,0,1,0,0,1} + }; + double minDist = 19.; + int bestVersion = -1; + const double penaltyFactor = 0.8; + + for (int i = 0; i < (int)(sizeof(versionCodes)/sizeof(versionCodes[0])); i++) { + Mat currVers(Size(3, 6), CV_8UC1, versionCodes[i]); + // minimum hamming distance between version = 8 + double tmp = norm(currVers, version1, NORM_HAMMING) + penaltyFactor*abs(estimatedVersion-i-7); + if (tmp < minDist) { + bestVersion = i+7; + minDist = tmp; + } + tmp = norm(currVers, version2, NORM_HAMMING) + penaltyFactor*abs(estimatedVersion-i-7); + if (tmp < minDist) { + bestVersion = i+7; + minDist = tmp; + } + } + return std::make_pair(minDist, bestVersion); +} + bool QRDecode::versionDefinition() { CV_TRACE_FUNCTION(); + CV_LOG_INFO(NULL, "QR corners: " << original_points[0] << " " << original_points[1] << " " << original_points[2] << + " " << original_points[3]); LineIterator line_iter(intermediate, Point2f(0, 0), Point2f(test_perspective_size, test_perspective_size)); Point black_point = Point(0, 0); for(int j = 0; j < line_iter.count; j++, ++line_iter) @@ -2358,11 +2514,54 @@ bool QRDecode::versionDefinition() transition_y++; } } - version = saturate_cast((std::min(transition_x, transition_y) - 1) * 0.25 - 1); - if ( !( 0 < version && version <= 40 ) ) { return false; } + + const int versionByTransition = saturate_cast((std::min(transition_x, transition_y) - 1) * 0.25 - 1); + const int numModulesByTransition = 21 + (versionByTransition - 1) * 4; + + const double numModulesByFinderPattern = getNumModules(); + const double versionByFinderPattern = (numModulesByFinderPattern - 21.) * .25 + 1.; + bool useFinderPattern = false; + const double thresholdFinderPattern = 0.2; + const double roundingError = abs(numModulesByFinderPattern - cvRound(numModulesByFinderPattern)); + if (cvRound(versionByFinderPattern) >= 1 && versionByFinderPattern <= 6 && transition_x != transition_y) { + if (roundingError < thresholdFinderPattern) + useFinderPattern = true; + } + + bool useCode = false; + int versionByCode = 7; + if (cvRound(versionByFinderPattern) >= 7 || versionByTransition >= 7) { + vector> versionAndDistances; + if (cvRound(versionByFinderPattern) >= 7) { + versionAndDistances.push_back(getVersionByCode(numModulesByFinderPattern, no_border_intermediate, + cvRound(versionByFinderPattern))); + } + if (versionByTransition >= 7) { + versionAndDistances.push_back(getVersionByCode(numModulesByTransition, no_border_intermediate, + versionByTransition)); + } + const auto& bestVersion = min(versionAndDistances.front(), versionAndDistances.back()); + double distanceByCode = bestVersion.first; + versionByCode = bestVersion.second; + if (distanceByCode < 5.) { + useCode = true; + } + } + + if (useCode) { + CV_LOG_INFO(NULL, "Version type: useCode"); + version = versionByCode; + } + else if (useFinderPattern ) { + CV_LOG_INFO(NULL, "Version type: useFinderPattern"); + version = cvRound(versionByFinderPattern); + } + else { + CV_LOG_INFO(NULL, "Version type: useTransition"); + version = versionByTransition; + } version_size = 21 + (version - 1) * 4; - CV_LOG_INFO(NULL, "QR corners: " << original_points[0] << " " << original_points[1] << " " << original_points[2] << - " " << original_points[3]); + if ( !(0 < version && version <= 40) ) { return false; } CV_LOG_INFO(NULL, "QR version: " << (int)version); return true; }