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This commit is contained in:
Vadim Pisarevsky 2010-06-14 12:21:57 +00:00
parent 365e6b7b98
commit 2d2cc3ecdf
2 changed files with 12 additions and 15 deletions
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14
samples/cpp/build3dmodel.cpp
View File

@ -270,7 +270,7 @@ static Point3f triangulatePoint(const vector<Point2f>& ps,
{ {
Mat_<double> K(cameraMatrix); Mat_<double> K(cameraMatrix);
if( ps.size() > 2 ) /*if( ps.size() > 2 )
{ {
Mat_<double> L(ps.size()*3, 4), U, evalues; Mat_<double> L(ps.size()*3, 4), U, evalues;
Mat_<double> P(3,4), Rt(3,4), Rt_part1=Rt.colRange(0,3), Rt_part2=Rt.colRange(3,4); Mat_<double> P(3,4), Rt(3,4), Rt_part1=Rt.colRange(0,3), Rt_part2=Rt.colRange(3,4);
@ -296,7 +296,7 @@ static Point3f triangulatePoint(const vector<Point2f>& ps,
double W = fabs(U(3,3)) > FLT_EPSILON ? 1./U(3,3) : 0; double W = fabs(U(3,3)) > FLT_EPSILON ? 1./U(3,3) : 0;
return Point3f((float)(U(3,0)*W), (float)(U(3,1)*W), (float)(U(3,2)*W)); return Point3f((float)(U(3,0)*W), (float)(U(3,1)*W), (float)(U(3,2)*W));
} }
else else*/
{ {
Mat_<float> iK = K.inv(); Mat_<float> iK = K.inv();
Mat_<float> R1t = Mat_<float>(Rs[0]).t(); Mat_<float> R1t = Mat_<float>(Rs[0]).t();
@ -497,18 +497,10 @@ static void build3dmodel( const Ptr<FeatureDetector>& detector,
double e1 = norm(imgpts1[0] - keypoints1[i1].pt); double e1 = norm(imgpts1[0] - keypoints1[i1].pt);
double e2 = norm(imgpts2[0] - keypoints2[i2].pt); double e2 = norm(imgpts2[0] - keypoints2[i2].pt);
if( e1 + e2 > 10 ) if( e1 + e2 > 5 )
continue; continue;
pairsFound++; pairsFound++;
//pts_k[0] = imgpts1[0];
//pts_k[1] = imgpts2[0];
//objpt = triangulatePoint(pts_k, Rs_k, ts_k, cameraMatrix);
//objpts[0] = objpt;
//projectPoints(Mat(objpts), Rs_k[0], ts_k[0], cameraMatrix, Mat(), imgpts1);
//projectPoints(Mat(objpts), Rs_k[1], ts_k[1], cameraMatrix, Mat(), imgpts2);
//double e1 = norm(imgpts1[0] - keypoints1[i1].pt);
//double e2 = norm(imgpts2[0] - keypoints2[i2].pt);
//model.points.push_back(objpt); //model.points.push_back(objpt);
pairs[Pair2i(i1+dstart[i], i2+dstart[j])] = 1; pairs[Pair2i(i1+dstart[i], i2+dstart[j])] = 1;

13
samples/cpp/select3dobj.cpp
View File

@ -67,7 +67,7 @@ static Point3f image2plane(Point2f imgpt, const Mat& R, const Mat& tvec,
static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFrame, static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFrame,
const Mat& cameraMatrix, const Mat& rvec, const Mat& tvec, const Mat& cameraMatrix, const Mat& rvec, const Mat& tvec,
const vector<Point3f>& box, int nobjpt) const vector<Point3f>& box, int nobjpt, bool runExtraSegmentation)
{ {
selectedObjFrame = Mat::zeros(frame.size(), frame.type()); selectedObjFrame = Mat::zeros(frame.size(), frame.type());
if( nobjpt == 0 ) if( nobjpt == 0 )
@ -120,8 +120,13 @@ static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFram
convexHull(Mat_<Point>(Mat(imgpt)), hull); convexHull(Mat_<Point>(Mat(imgpt)), hull);
Mat selectedObjMask = Mat::zeros(frame.size(), CV_8U); Mat selectedObjMask = Mat::zeros(frame.size(), CV_8U);
fillConvexPoly(selectedObjMask, &hull[0], hull.size(), Scalar::all(255), 8, 0); fillConvexPoly(selectedObjMask, &hull[0], hull.size(), Scalar::all(255), 8, 0);
Rect roi = boundingRect(Mat(hull)) & Rect(Point(), frame.size());
///////////////// insert GrabCut here ////////////////////
//////////////////////////////////////////////////////////
frame.copyTo(selectedObjFrame, selectedObjMask); frame.copyTo(selectedObjFrame, selectedObjMask);
return boundingRect(Mat(hull)) & Rect(Point(), frame.size()); return roi;
} }
@ -211,7 +216,7 @@ static int select3DBox(const string& windowname, const string& selWinName, const
frame.copyTo(shownFrame); frame.copyTo(shownFrame);
extract3DBox(frame, shownFrame, selectedObjFrame, extract3DBox(frame, shownFrame, selectedObjFrame,
cameraMatrix, rvec, tvec, box, npt); cameraMatrix, rvec, tvec, box, npt, false);
imshow(windowname, shownFrame); imshow(windowname, shownFrame);
imshow(selWinName, selectedObjFrame); imshow(selWinName, selectedObjFrame);
@ -500,7 +505,7 @@ int main(int argc, char** argv)
if( !box.empty() ) if( !box.empty() )
{ {
Rect r = extract3DBox(frame, shownFrame, selectedObjFrame, Rect r = extract3DBox(frame, shownFrame, selectedObjFrame,
cameraMatrix, rvec, tvec, box, 4); cameraMatrix, rvec, tvec, box, 4, true);
if( r.area() ) if( r.area() )
{ {
const int maxFrameIdx = 10000; const int maxFrameIdx = 10000;