Merge branch 'master' into Layer_PoempelPosition

Source/functions/AbstractionLayers/Layer1/AbstractionLayer_1.cpp

@@ -222,8 +222,6 @@ bool AbstractionLayer_1::PlaceOfPartGood(coor myCoor, uint8_t& myPart)
                  ||  (((negativePart & 0b00000011) == 0b00000000) && ((myPart &  0b00000011) == 0b00000000))  )
             )
     {
-        if(myCoor.row==18 && myCoor.col==35)
-            cout << "gud: " << std::bitset<8>(myPart) << endl;
         return true;
     }
     return false;
@@ -399,6 +397,7 @@ bool analyseParts::getImages(){
     vector<vector<Point> > contours;
     vector<Vec4i> hierarchy;
     vector<Point> corners;
+    vector<double> lens;
 
     vector<Mat> puzzleimages;
     vector<vector<Point> > contours1;
@@ -430,6 +429,8 @@ bool analyseParts::getImages(){
         }
         mask.setCorners(corners);
         mask.setTabs(analyseContour(corners,contours[0]));
+        mask.setLens(analyseLens(lens, corners));
+        mask.setMidpoint(calcMidpoint(corners));
         masks.push_back(mask);
         destroyAllWindows();
     }
@@ -448,6 +449,24 @@ Point analyseParts::findCenter(Mat img){
     return center;
 }
 
+float pitch2Points(Point one, Point two) //In Header
+{
+    float pitch=0;
+    float deltay=0;
+    float deltax = 0;
+    deltay = abs(one.y - two.y);
+    deltax = abs(one.x - two.x);
+
+    if(deltax == 0)
+        deltax = 0.1;
+
+    if(deltay == 0)
+        deltay = 0.1;
+
+    pitch = deltay/deltax;
+    return pitch;
+}
+
 vector<Point> analyseParts::findCorners(vector<Point> contour, Point center){
     int minContourPoint = 5;
     vector<vector<Point>> quad_contour;
@@ -614,136 +633,542 @@ vector<Point> analyseParts::findCorners(vector<Point> contour, Point center){
     if(DISPLAY) imshow("draw",drawing);
     return corners; 
 }
-
 unsigned char analyseParts::analyseContour(vector<Point> corners, vector<Point> contour) {
     vector<Point> contour_right;
     vector<Point> contour_top;
     vector<Point> contour_left;
     vector<Point> contour_bottom;
-    Mat drawing = createEmpty(Point(IMG_SIZE,IMG_SIZE),1);
+
     int count = 0;
     int corner0 = 0, corner1 = 0, corner2 = 0, corner3 = 0;
     for(int i = 0; i < contour.size(); i++){
+        //cout << "contour " << contour[i] << endl;
         if(contour[i] == corners[0])
             corner0 = i;
-        if(contour[i] == corners[1])
+        else if(contour[i] == corners[1])
             corner1 = i;
-        if(contour[i] == corners[2])
+        else if(contour[i] == corners[2])
             corner2 = i;
-        if(contour[i] == corners[3])
+        else if(contour[i] == corners[3])
             corner3 = i;
     }
+
     count = corner0;
     while(contour[count] != contour[corner2]){
         count++;
         count %= contour.size();
         contour_right.push_back(contour[count]);
-        circle(drawing,contour[count],3,Scalar(255,0,0),2,8);
     }
     count = corner2;
     while(contour[count] != contour[corner3]){
         count++;
         count %= contour.size();
         contour_top.push_back(contour[count]);
-        circle(drawing,contour[count],3,Scalar(0,255,0),2,8);
     }
     count = corner3;
     while(contour[count] != contour[corner1]){
         count++;
         count %= contour.size();
         contour_left.push_back(contour[count]);
-        circle(drawing,contour[count],3,Scalar(0,0,255),2,8);
     }
     count = corner1;
     while(contour[count] != contour[corner0]){
         count++;
         count %= contour.size();
         contour_bottom.push_back(contour[count]);
-        circle(drawing,contour[count],3,Scalar(255,255,255),2,8);
     }
-    float ref_right = (contour[corner0].x+contour[corner2].x)/2;
-    float ref_top = (contour[corner2].y+contour[corner3].y)/2;
-    float ref_left = (contour[corner3].x+contour[corner1].x)/2;
-    float ref_bottom = (contour[corner1].y+contour[corner0].y)/2;
 
+    contour_right.insert(contour_right.begin(),corners[0]);
+    contour_right.push_back(corners[2]);
+
+    contour_top.insert(contour_top.begin(),corners[2]);
+    contour_top.push_back(corners[3]);
+
+    contour_left.insert(contour_left.begin(),corners[3]);
+    contour_left.push_back(corners[1]);
+
+    contour_bottom.insert(contour_bottom.begin(),corners[1]);
+    contour_bottom.push_back(corners[0]);
+
+    /*-------------------------------------*/
+    //ecken Korrektur rechte Kontur
+    /*-------------------------------------*/
+
+    vector<Point> contour_r;
+    double laenge = 0;
+    int idx = 0, counter = 0, c = 0, d = 0;
+
+    while (counter < (contour_right.size()-1)) {
+        counter++;
+        c++;
+        laenge = sqrt((contour_right[idx].x - contour_right[idx + c].x) * (contour_right[idx].x - contour_right[idx + c].x) +
+                      (contour_right[idx].y - contour_right[idx + c].y) * (contour_right[idx].y - contour_right[idx + c].y));
+        if (laenge > 4) {
+            d++;
+            contour_r.push_back(contour_right[idx]);
+            idx = counter;
+            c = 0;
+        }
+    }
+
+    float k = 0;
+    int correct_count = 0;
+    int correct_idx = 0;
+    for(correct_count = 0; correct_count < contour_r.size()-2; correct_count++){
+
+        k = pitch2Points(contour_r[correct_count],contour_r[correct_count+1]);
+        //cout << "unten: " << k << endl;
+        if(k >= 2) {
+            correct_idx = correct_count;
+            correct_count = contour_r.size();
+        }
+        if(correct_count > 500)
+            break;
+    }
+    /*-----------------------------------*/
+    if(correct_idx > 0){
+        corners[0] = contour_r[correct_idx];
+    }
+    /*-----------------------------------*/
+    vector<Point> contour_r1;
+    laenge = 0;
+    idx = contour_right.size()-1, counter = contour_right.size()-1, c = 0, d = 0;
+
+    while (counter > 1) {
+        counter--;
+        c--;
+        laenge = sqrt((contour_right[idx].x - contour_right[idx + c].x) * (contour_right[idx].x - contour_right[idx + c].x) +
+                      (contour_right[idx].y - contour_right[idx + c].y) * (contour_right[idx].y - contour_right[idx + c].y));
+        if (laenge > 4) {
+            contour_r1.push_back(contour_right[idx]);
+            idx = counter;
+            c = 0;
+        }
+    }
+
+
+    k = 0;
+    correct_count = 0;
+    correct_idx = 0;
+    for(correct_count = 0; correct_count < contour_r1.size()-2; correct_count++){
+
+        k = pitch2Points(contour_r1[correct_count],contour_r1[correct_count+1]);
+        // cout << "oben: " << k << endl;
+        if(k >= 2) {
+            correct_idx = correct_count;
+            correct_count = contour_r1.size();
+        }
+    }
+    /*-----------------------------------*/
+    if(correct_idx > 0){
+        corners[2] = contour_r1[correct_idx];
+    }
+    /*-----------------------------------*/
+
+    /*-------------------------------------*/
+    //ecken Korrektur links Kontur
+    /*-------------------------------------*/
+
+    vector<Point> contour_l;
+    laenge = 0;
+    idx = 0, counter = 0, c = 0, d = 0;
+
+    while (counter < (contour_left.size()-1)) {
+        counter++;
+        c++;
+        laenge = sqrt((contour_left[idx].x - contour_left[idx + c].x) * (contour_left[idx].x - contour_left[idx + c].x) +
+                      (contour_left[idx].y - contour_left[idx + c].y) * (contour_left[idx].y - contour_left[idx + c].y));
+        if (laenge > 4) {
+            d++;
+            contour_l.push_back(contour_left[idx]);
+            idx = counter;
+            c = 0;
+        }
+    }
+
+    k = 0;
+    correct_count = 0;
+    correct_idx = 0;
+    for(correct_count = 0; correct_count < contour_l.size()-2; correct_count++){
+
+        k = pitch2Points(contour_l[correct_count],contour_l[correct_count+1]);
+        // cout << "oben _links: " << k << endl;
+        if(k >= 2) {
+            correct_idx = correct_count;
+            correct_count = contour_l.size();
+        }
+        if(correct_count > 500)
+            break;
+    }
+    /*-----------------------------------*/
+    if(correct_idx > 0){
+        corners[3] = contour_l[correct_idx];
+    }
+    /*-----------------------------------*/
+    vector<Point> contour_l1;
+    laenge = 0;
+    idx = contour_left.size()-1, counter = contour_left.size()-1, c = 0, d = 0;
+
+    while (counter > 1) {
+        counter--;
+        c--;
+        laenge = sqrt((contour_left[idx].x - contour_left[idx + c].x) * (contour_left[idx].x - contour_left[idx + c].x) +
+                      (contour_left[idx].y - contour_left[idx + c].y) * (contour_left[idx].y - contour_left[idx + c].y));
+        if (laenge > 4) {
+            contour_l1.push_back(contour_left[idx]);
+            idx = counter;
+            c = 0;
+        }
+        if(correct_count > 500)
+            break;
+    }
+    k = 0;
+    correct_count = 0;
+    correct_idx = 0;
+    for(correct_count = 0; correct_count < contour_l1.size(); correct_count++){
+
+        k = pitch2Points(contour_l1[correct_count],contour_l1[correct_count+1]);
+        if(k >= 2) {
+            //  cout << "end _links: " << endl;
+            correct_idx = correct_count;
+            correct_count = contour_l1.size();
+        }
+        if(correct_count > 500)
+            break;
+    }
+    /*-----------------------------------*/
+    //  cout << "unten _links_correct: " << correct_idx << endl;
+    if(correct_idx > 0){
+        corners[1] = contour_l1[correct_idx];
+    }
+    /*-----------------------------------*/
+
+    /*-------------------------------------*/
+    //ecken Korrektur oben Kontur
+    /*-------------------------------------*/
+
+    vector<Point> contour_t;
+    laenge = 0;
+    idx = 0, counter = 0, c = 0, d = 0;
+
+    while (counter < (contour_top.size()-1)) {
+        counter++;
+        c++;
+        laenge = sqrt((contour_top[idx].x - contour_top[idx + c].x) * (contour_top[idx].x - contour_top[idx + c].x) +
+                      (contour_top[idx].y - contour_top[idx + c].y) * (contour_top[idx].y - contour_top[idx + c].y));
+        if (laenge > 4) {
+            d++;
+            contour_t.push_back(contour_top[idx]);
+            idx = counter;
+            c = 0;
+        }
+        if(correct_count > 500)
+            break;
+    }
+
+    k = 0;
+    correct_count = 0;
+    correct_idx = 0;
+    for(correct_count = 0; correct_count < contour_t.size()-2; correct_count++){
+
+        k = pitch2Points(contour_t[correct_count],contour_t[correct_count+1]);
+        // cout << "top _rechts: " << k << endl;
+        if(k <= 2) {
+            correct_idx = correct_count;
+            correct_count = contour_t.size();
+        }
+        if(correct_count > 500)
+            break;
+    }
+    /*-----------------------------------*/
+    if(correct_idx > 0){
+        corners[2] = contour_t[correct_idx];
+    }
+    /*-----------------------------------*/
+    vector<Point> contour_t1;
+    laenge = 0;
+    idx = contour_top.size()-1, counter = contour_top.size()-1, c = 0, d = 0;
+
+    while (counter > 1) {
+        counter--;
+        c--;
+        laenge = sqrt((contour_top[idx].x - contour_top[idx + c].x) * (contour_top[idx].x - contour_top[idx + c].x) +
+                      (contour_top[idx].y - contour_top[idx + c].y) * (contour_top[idx].y - contour_top[idx + c].y));
+        if (laenge > 4) {
+            contour_t1.push_back(contour_top[idx]);
+            idx = counter;
+            c = 0;
+        }
+        if(correct_count > 500)
+            break;
+    }
+    k = 0;
+    correct_idx = 0;
+    for(correct_count = 0; correct_count < contour_t1.size(); correct_count++){
+        k = pitch2Points(contour_t1[correct_count],contour_t1[correct_count+1]);
+        if(k < 2) {
+            correct_idx = correct_count;
+            correct_count = contour_t1.size();
+        }
+    }
+    /*-----------------------------------*/
+    if(correct_idx > 0){
+        corners[3] = contour_t1[correct_idx];
+    }
+    /*-------------------------------------*/
+
+    /*-------------------------------------*/
+    //ecken Korrektur unten Kontur
+    /*-------------------------------------*/
+
+    vector<Point> contour_b;
+    laenge = 0;
+    idx = 0, counter = 0, c = 0, d = 0;
+
+    while (counter < (contour_bottom.size()-1)) {
+        counter++;
+        c++;
+        laenge = sqrt((contour_bottom[idx].x - contour_bottom[idx + c].x) * (contour_bottom[idx].x - contour_bottom[idx + c].x) +
+                      (contour_bottom[idx].y - contour_bottom[idx + c].y) * (contour_bottom[idx].y - contour_bottom[idx + c].y));
+        if (laenge > 4) {
+            d++;
+            contour_b.push_back(contour_bottom[idx]);
+            idx = counter;
+            c = 0;
+        }
+        if(correct_count > 500)
+            break;
+    }
+
+    k = 0;
+    correct_count = 0;
+    correct_idx = 0;
+    for(correct_count = 0; correct_count < contour_b.size()-2; correct_count++){
+
+        k = pitch2Points(contour_b[correct_count],contour_b[correct_count+1]);
+        // cout << "bottom _rechts: " << k << endl;
+        if(k <= 2) {
+            correct_idx = correct_count;
+            correct_count = contour_b.size();
+        }
+        if(correct_count > 500)
+            break;
+    }
+    /*-----------------------------------*/
+    if(correct_idx > 0){
+        corners[1] = contour_b[correct_idx];
+    }
+    /*-----------------------------------*/
+    vector<Point> contour_b1;
+    laenge = 0;
+    idx = contour_bottom.size()-1, counter = contour_bottom.size()-1, c = 0, d = 0;
+
+    while (counter > 1) {
+        counter--;
+        c--;
+        laenge = sqrt((contour_bottom[idx].x - contour_bottom[idx + c].x) * (contour_bottom[idx].x - contour_bottom[idx + c].x) +
+                      (contour_bottom[idx].y - contour_bottom[idx + c].y) * (contour_bottom[idx].y - contour_bottom[idx + c].y));
+        if (laenge > 4) {
+            contour_b1.push_back(contour_bottom[idx]);
+            idx = counter;
+            c = 0;
+        }
+        if(correct_count > 500)
+            break;
+    }
+    k = 0;
+    correct_idx = 0;
+    for(correct_count = 0; correct_count < contour_b1.size(); correct_count++){
+        k = pitch2Points(contour_b1[correct_count],contour_b1[correct_count+1]);
+        if(k < 2) {
+            correct_idx = correct_count;
+            correct_count = contour_b1.size();
+        }
+        if(correct_count > 500)
+            break;
+    }
+    /*-----------------------------------*/
+    if(correct_idx > 0){
+        corners[0] = contour_b1[correct_idx];
+    }
+    /*-----------------------------------*/
+
+
+    /*Korrektur Contour*/
+
+    vector<Point> contour_right_new;
+    vector<Point> contour_top_new;
+    vector<Point> contour_left_new;
+    vector<Point> contour_bottom_new;
+
+    for(int i = 0; i < contour.size(); i++){
+        if(contour[i] == corners[0])
+            corner0 = i;
+        else if(contour[i] == corners[1])
+            corner1 = i;
+        else if(contour[i] == corners[2])
+            corner2 = i;
+        else if(contour[i] == corners[3])
+            corner3 = i;
+    }
+
+    count = corner0;
+    while(contour[count] != contour[corner2]){
+        count++;
+        count %= contour.size();
+        contour_right_new.push_back(contour[count]);
+    }
+    count = corner2;
+    while(contour[count] != contour[corner3]){
+        count++;
+        count %= contour.size();
+        contour_top_new.push_back(contour[count]);
+    }
+    count = corner3;
+    while(contour[count] != contour[corner1]){
+        count++;
+        count %= contour.size();
+        contour_left_new.push_back(contour[count]);
+    }
+    count = corner1;
+    while(contour[count] != contour[corner0]){
+        count++;
+        count %= contour.size();
+        contour_bottom_new.push_back(contour[count]);
+    }
+
+    contour_right_new.insert(contour_right_new.begin(),corners[0]);
+    contour_right_new.push_back(corners[2]);
+
+    contour_top_new.insert(contour_top_new.begin(),corners[2]);
+    contour_top_new.push_back(corners[3]);
+
+    contour_left_new.insert(contour_left_new.begin(),corners[3]);
+    contour_left_new.push_back(corners[1]);
+
+    contour_bottom_new.insert(contour_bottom_new.begin(),corners[1]);
+    contour_bottom_new.push_back(corners[0]);
+    /*----------------------*/
+
+    float ref_right = (corners[0].x+corners[2].x)/2;
+    float ref_top = (corners[2].y+corners[3].y)/2;
+    float ref_left = (corners[3].x+corners[1].x)/2;
+    float ref_bottom = (corners[1].y+corners[0].y)/2;
+
+    /*---------Suche Poempel Rechts---------------*/
     float max_dist = 0;
     float dist = 0;
-    int max_idx = 0;
+    int max_dist_idx = 0;
-    for(int i = 0; i < contour_right.size(); i++){
+    for(int i = 0; i < contour_right_new.size(); i++){
-        dist = abs(ref_right-contour_right[i].x);
+        dist = abs(ref_right-contour_right_new[i].x);
         if(dist > max_dist) {
             max_dist = dist;
-            max_idx = i;
+            max_dist_idx = i;
         }
     }
-
+    /*-------------------------------------*/
     unsigned char tabs = 0;
-    circle(drawing,contour_right[max_idx],10,Scalar(255,0,255),2,8);
+    int poembel_threshold = 15;
-    if (ref_right - contour_right[max_idx].x <= -20)
+    if (ref_right - contour_right_new[max_dist_idx].x <= -poembel_threshold) {
         tabs |= (2 << RIGHT);
-    if (ref_right - contour_right[max_idx].x >= 20)
+    }
+    if (ref_right - contour_right_new[max_dist_idx].x >= poembel_threshold) {
         tabs |= (1 << RIGHT);
-    if (abs(ref_right - contour_right[max_idx].x) < 20)
+    }
+    if (abs(ref_right - contour_right_new[max_dist_idx].x) < poembel_threshold) {
         tabs |= (0 << RIGHT);
+    }
 
+    /*---------Suche Poempel Oben---------------*/
     max_dist = 0;
     dist = 0;
-    max_idx = 0;
+    max_dist_idx = 0;
-    for(int i = 0; i < contour_top.size(); i++){
+    for(int i = 0; i < contour_top_new.size(); i++){
-        dist = abs(ref_top-contour_top[i].y);
+        dist = abs(ref_top -contour_top_new[i].y);
         if(dist > max_dist) {
             max_dist = dist;
-            max_idx = i;
+            max_dist_idx = i;
         }
     }
-    circle(drawing,contour_top[max_idx],10,Scalar(255,0,255),2,8);
+    /*-------------------------------------*/
-    if (ref_top - contour_top[max_idx].y <= -20)
+
+    if (ref_top - contour_top_new[max_dist_idx].y <= -poembel_threshold) {
         tabs |= (1 << TOP);
-    if (ref_top - contour_top[max_idx].y >= 20)
+    }
+    if (ref_top - contour_top_new[max_dist_idx].y >= poembel_threshold) {
         tabs |= (2 << TOP);
-    if (abs(ref_top - contour_top[max_idx].y) < 20)
+    }
+    if (abs(ref_top - contour_top_new[max_dist_idx].y) < poembel_threshold) {
         tabs |= (0 << TOP);
+    }
 
+    /*---------Suche Poempel Links---------------*/
     max_dist = 0;
     dist = 0;
-    max_idx = 0;
+    max_dist_idx = 0;
-    for(int i = 0; i < contour_left.size(); i++){
+    for(int i = 0; i < contour_left_new.size(); i++){
-        dist = abs(ref_left-contour_left[i].x);
+        dist = abs(ref_left -contour_left_new[i].x);
         if(dist > max_dist) {
             max_dist = dist;
-            max_idx = i;
+            max_dist_idx = i;
         }
     }
-    circle(drawing,contour_left[max_idx],10,Scalar(255,0,255),2,8);
+    /*-------------------------------------*/
-    if (ref_left - contour_left[max_idx].x <= -20)
+    if (ref_left - contour_left_new[max_dist_idx].x <= -poembel_threshold) {
         tabs |= (1 << LEFT);
-    if (ref_left - contour_left[max_idx].x >= 20)
+    }
+    if (ref_left - contour_left_new[max_dist_idx].x >= poembel_threshold) {
         tabs |= (2 << LEFT);
-    if (abs(ref_left - contour_left[max_idx].x) < 20)
+    }
+    if (abs(ref_left - contour_left_new[max_dist_idx].x) < poembel_threshold) {
         tabs |= (0 << LEFT);
+    }
 
+    /*---------Suche Poempel Oben---------------*/
     max_dist = 0;
     dist = 0;
-    max_idx = 0;
+    max_dist_idx = 0;
-    for(int i = 0; i < contour_bottom.size(); i++){
+    for(int i = 0; i < contour_bottom_new.size(); i++){
-        dist = abs(ref_bottom-contour_bottom[i].y);
+        dist = abs(ref_bottom -contour_bottom_new[i].y);
         if(dist > max_dist) {
             max_dist = dist;
-            max_idx = i;
+            max_dist_idx = i;
         }
     }
-    circle(drawing,contour_bottom[max_idx],10,Scalar(255,0,255),2,8);
+    /*-------------------------------------*/
-    if (ref_bottom - contour_bottom[max_idx].y <= -20)
+    if (ref_bottom - contour_bottom_new[max_dist_idx].y <= -poembel_threshold) {
         tabs |= (2 << BOTTOM);
-    if (ref_bottom - contour_bottom[max_idx].y >= 20)
+    }
+    if (ref_bottom - contour_bottom_new[max_dist_idx].y >= poembel_threshold) {
         tabs |= (1 << BOTTOM);
-    if (abs(ref_bottom - contour_bottom[max_idx].y) < 20)
+    }
+    if (abs(ref_bottom - contour_bottom_new[max_dist_idx].y) < poembel_threshold) {
         tabs |= (0 << BOTTOM);
-
+    }
-    //cout << bitset<sizeof(char) * CHAR_BIT> (tabs) <<  "b\n";
-
-    if(DISPLAY)imshow("corners",drawing);
-    if(DISPLAY)waitKey(0);
     return tabs;
 }
 
+
+vector<double> analyseParts::analyseLens(vector<double> lens, vector<Point> corners){
+    Point space = corners[3] - corners[2];
+    double dist1 = sqrt(space.x*space.x+space.y*space.y);
+    lens.push_back(dist1);
+    space = corners[2] - corners[0];
+    dist1 = sqrt(space.x*space.x+space.y*space.y);
+    lens.push_back(dist1);
+    space = corners[0] - corners[1];
+    dist1 = sqrt(space.x*space.x+space.y*space.y);
+    lens.push_back(dist1);
+    space = corners[1] - corners[3];
+    dist1 = sqrt(space.x*space.x+space.y*space.y);
+    lens.push_back(dist1);
+
+    return lens;
+}
+
+Point analyseParts::calcMidpoint(vector<Point> corners){
+    Point midpoint;
+
+    midpoint = (corners[0] + corners[1] + corners[2] + corners[3])/4;
+    return midpoint;
+}

Source/functions/AbstractionLayers/Layer1/AbstractionLayer_1.h

@@ -78,6 +78,10 @@ public:
     void setHierarchy(vector<Vec4i> hier){hierarchy = std::move(hier);}
     void setCorners(vector<Point> cor){corners = std::move(cor);}
     void setTabs(unsigned char t){tabs = t;}
+    vector<double> getLen(){return len;}
+    void setLens(vector<double> l ){len = l;}
+    Point getMidpoint(){return midpoint;}
+    void setMidpoint(Point m ){midpoint = m;}
 
     vector<Point> getCorners(){return corners;}
 
@@ -87,7 +91,9 @@ private:
     vector<vector<Point>> contour;
     vector<Vec4i> hierarchy;
     Point center;
+    vector<double> len;
     unsigned char tabs;
+    Point midpoint;
 };
 
 class analyseParts{
@@ -98,6 +104,10 @@ public:
     Point getCenter(int i){if(i>= nr_parts)return masks[nr_parts-1].getCenter(); else return masks[i].getCenter();}
     vector<Vec4i> getHierarchy(int i){if(i>= nr_parts)return masks[nr_parts-1].getHierarchy(); else return masks[i].getHierarchy();}
     unsigned char getTabs(int i){if(i>= nr_parts)return masks[nr_parts-1].getTabs(); else return masks[i].getTabs();}
+    vector<double> getLen(int i ){return masks[i].getLen();}
+    vector<double> analyseLens(vector<double>, vector<Point>);
+    Point calcMidpoint(vector<Point>);
+    Point getMidpoint(int i){return masks[i].getMidpoint();}
     Point findCenter(Mat);
     vector<Point> findCorners(vector<Point>,Point);
     unsigned char analyseContour(vector<Point>, vector<Point>);

Source/functions/AbstractionLayers/Layer3_PoempelPosition/AbstractionLayer_PoempelPosition.cpp

@@ -9,7 +9,7 @@ bool AbstractionLayer_PoempelPosition::PreProcessing(coor mySize,  const vector<
     InitialiseConstraintMatrixSize(mySize.col, mySize.row);
 
     cout << "Done" << endl;
-    return false;
+    return true;
 }
 
 //it through qualityVector and removes all that do not trigger PlaceOfPartGood
@@ -17,7 +17,7 @@ bool AbstractionLayer_PoempelPosition::EvaluateQuality (const coor constraintCoo
 {
     for(int i = 0;i<qVector.size();i++)
     {
-        float value = PlaceOfPartGood(constraintCoordinate, qVector[i].second->m_a3.SideLength));
+        float value = PlaceOfPartGood(constraintCoordinate, qVector[i].second->m_a3.SideLength);
         if(value > 0.8)//TODO find threshold
         {
             qVector[i].first=value;

Source/functions/solve/puzzleExtension.cpp

@@ -168,14 +168,14 @@ Mat Puzzle::resultImage( vector<LogEntry>& log){
     char name[100];
     for (auto it:log)
     {
-        if (it.myCoor.col == 12 && it.myCoor.row == 0)
+        if (it.myCoor.col == 27 && it.myCoor.row == 5)
         {
             ;
             // imshow("result",result);
             // waitKey(0);
         }
 
-        cout << it.PieceCollector[0].second->GetPartID() << endl;
+        //cout << it.PieceCollector[0].second->GetPartID() << endl;
 
         int imageNumber = it.PieceCollector[0].second->GetPartID();
         //cout<<"imageIndex: "<< imageNumber << endl;
@@ -186,7 +186,8 @@ Mat Puzzle::resultImage( vector<LogEntry>& log){
         copyMakeBorder(img,img,200,200,200,200,BORDER_CONSTANT,Scalar(255,255,255));
         Mat invert = Mat::ones(img.size(), CV_8UC3); // invert for rotation to work correctly
         bitwise_not ( img, invert );
-        if (it.myCoor.col == 12 && it.myCoor.row == 0)
+
+        if (it.myCoor.col == 35 && it.myCoor.row == 5)
         {
             //imshow("img",img);
             //waitKey(0);

Source/functions/solve/structure.cpp

@@ -44,7 +44,6 @@ void createNextLogElement(vector<LogEntry>& log, Puzzle& puzzleMat)
 	log.emplace_back(LogEntry(coor(0, 0)));
    	log.back().myCoor = calculateNextCoor(log, puzzleMat);
     puzzleMat.dp.DestructionOfSurrounding(log.back().myCoor);//calculate dp from surrounding
-    cout << "-----------------------" << endl;
      //get all not set pieces
     for(auto it:puzzleMat.p_myBox)
         if(!it->set)
@@ -110,16 +109,13 @@ void setsolution(vector<LogEntry>& log, Puzzle& puzzleMat)
 	//tell log entry that it is set
 	log.back().Set();
     puzzleMat.setConstraints(log.back().myCoor,log.back().PieceCollector.begin()->second);
-    cout << "set:" << log.back().myCoor.col << "," << log.back().myCoor.row << endl;
+    //cout << "set:" << log.back().myCoor.col << "," << log.back().myCoor.row << endl;
-    cout << "ID: " << log.back().PieceCollector[0].second->GetPartID() << endl;
+    //cout << "ID: " << log.back().PieceCollector[0].second->GetPartID() << endl;
-    cout << "log:" << endl;
+
-    for(auto it:log.back().PieceCollector)
-        cout << std::bitset<8>(it.second->m_a1.getConnections()) << "|" << it.second->GetPartID() << endl;
 }
 
 bool backtrack(vector<LogEntry>& log, Puzzle& puzzleMat)
 {
-    cout << "backtracking" ;
     if(log.empty())
     {
         cout << "Puzzle not solveable!" << endl;
@@ -129,39 +125,36 @@ bool backtrack(vector<LogEntry>& log, Puzzle& puzzleMat)
     //if more pieces possible, tset piece as not logged
     if((log.back().PieceCollector.size())>1)
     {
-        cout << " next piece" << endl;
+        for(int i=0;i<puzzleMat.p_myBox.size();i++)//unset puzzlepieces
-        for(int i=0;i<puzzleMat.p_myBox.size();i++)
             if(puzzleMat.p_myBox[i]->GetPartID()==log.back().PieceCollector.begin()->second->GetPartID())//sets all with partid
                 puzzleMat.p_myBox[i]->set=false;
 
+
+        //remove similar in log
         Part myPart = *log.back().PieceCollector[0].second;//tmpsaves bad part
         log.back().PieceCollector.erase(log.back().PieceCollector.begin());//removes bad part from log
         puzzleMat.removeSimilar(log.back().PieceCollector,myPart); //removes all pieces from log that are similar to bad part
         //TODO remove this when further layers are added!!!
-
+        if(log.back().PieceCollector.size()) // this checks if 'removeSimilar' has cleared entire LogElement
-
+        {
             if(log.back().PieceCollector.size()==1)
                 log.back().decreaseRandomed();
-
             setsolution(log,puzzleMat);
-
             return true;
         }
+    }
     //else remove log element and backtrack once more
-    else
-    {
-        cout << " no more pieces" << endl;
     puzzleMat.removeConstrains(log.back().myCoor); //this should remove constraints from all layers
-        if((log.back().PieceCollector.size()))
+    if((log.back().PieceCollector.size())) //unset all
         for(int i=0;i<puzzleMat.p_myBox.size();i++)
             if(puzzleMat.p_myBox[i]->GetPartID()==log.back().PieceCollector.begin()->second->GetPartID())//sets all with partid
                 puzzleMat.p_myBox[i]->set=false;
+
     log.pop_back();
     if(!backtrack(log,puzzleMat))
         return false;
     return true;
 }
-}
 
 
 //this is addon stuff that should later all be extracted into a sererate cpp as it is not core dispatcher functionality

Source/header/solve.h

@@ -44,6 +44,7 @@ public:
         createBox(); createp_box();
         if(!dp.PreProcessing({cols,rows}, nullptr))  return false;
         if(!a1.PreProcessing({cols,rows}, &p_myBox)) return false;
+        if(!a3.PreProcessing({cols,rows}, &p_myBox)) return false;
 
         return true;
     }

Source/main.cpp

@@ -17,13 +17,14 @@ int main()
 
     //puzzleMat.createRandomBox();
 
-    cout << "Solving Puzzle now...";
+    cout << "Solving Puzzle now..." << flush;
     while(next(log, puzzleMat));
 
     cout << "Done!" << endl;
-
+    cout << "Printing Puzzle now..." <<flush;
-    cout << log.size() << endl;
     puzzleMat.resultImage(log);
+
+
     puzzleMat.printPuzzle();
     return 0;
 }