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This commit is contained in:
Gary Bradski 2010-12-01 01:40:13 +00:00
parent 1cb87da0e6
commit 4c95848cc7
1 changed files with 46 additions and 36 deletions
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82
samples/cpp/select3dobj.cpp
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@ -1,41 +1,6 @@
/*
*
This program's purpose is to collect data sets of an object and its segmentation mask.
It shows how to use a calibrated camera together with a calibration pattern to
compute the homography of the plane the calibration pattern is on. It also shows grabCut
segmentation etc.
select3dobj -w <board_width> -h <board_height> [-s <square_size>]
-i <camera_intrinsics_filename> -o <output_prefix> [video_filename/cameraId]
-w <board_width> Number of chessboard corners wide
-h <board_height> Number of chessboard corners width
[-s <square_size>] Optional measure of chessboard squares in meters
-i <camera_intrinsics_filename> Camera matrix .yml file from calibration.cpp
-o <output_prefix> Prefix the output segmentation images with this
[video_filename/cameraId] If present, read from that video file or that ID
Using a camera's intrinsics (from calibrating a camera -- see calibration.cpp) and an
image of the object sitting on a planar surface with a calibration pattern of
(board_width x board_height) on the surface, we draw a 3D box aroung the object. From
then on, we can move a camera and as long as it sees the chessboard calibration pattern,
it will store a mask of where the object is. We get succesive images using <output_prefix>
of the segmentation mask containing the object. This makes creating training sets easy.
It is best of the chessboard is odd x even in dimensions to avoid amiguous poses.
The actions one can use while the program is running are:
Select object as 3D box with the mouse.
First draw one line on the plane to outline the projection of that object on the plane
Then extend that line into a box to encompass the projection of that object onto the plane
The use the mouse again to extend the box upwards from the plane to encase the object.
Then use the following commands
ESC - Reset the selection
SPACE - Skip the frame; move to the next frame (not in video mode)
ENTER - Confirm the selection. Grab next object in video mode.
q - Exit the program
* select3obj.cpp
*
*/
@ -50,6 +15,50 @@ The actions one can use while the program is running are:
using namespace cv;
const char* helphelp =
"\nThis program's purpose is to collect data sets of an object and its segmentation mask.\n"
"\n"
"It shows how to use a calibrated camera together with a calibration pattern to\n"
"compute the homography of the plane the calibration pattern is on. It also shows grabCut\n"
"segmentation etc.\n"
"\n"
"select3dobj -w <board_width> -h <board_height> [-s <square_size>]\n"
" -i <camera_intrinsics_filename> -o <output_prefix> [video_filename/cameraId]\n"
"\n"
" -w <board_width> Number of chessboard corners wide\n"
" -h <board_height> Number of chessboard corners width\n"
" [-s <square_size>] Optional measure of chessboard squares in meters\n"
" -i <camera_intrinsics_filename> Camera matrix .yml file from calibration.cpp\n"
" -o <output_prefix> Prefix the output segmentation images with this\n"
" [video_filename/cameraId] If present, read from that video file or that ID\n"
"\n"
"Using a camera's intrinsics (from calibrating a camera -- see calibration.cpp) and an\n"
"image of the object sitting on a planar surface with a calibration pattern of\n"
"(board_width x board_height) on the surface, we draw a 3D box aroung the object. From\n"
"then on, we can move a camera and as long as it sees the chessboard calibration pattern,\n"
"it will store a mask of where the object is. We get succesive images using <output_prefix>\n"
"of the segmentation mask containing the object. This makes creating training sets easy.\n"
"It is best of the chessboard is odd x even in dimensions to avoid amiguous poses.\n"
"\n"
"The actions one can use while the program is running are:\n"
"\n"
" Select object as 3D box with the mouse.\n"
" First draw one line on the plane to outline the projection of that object on the plane\n"
" Then extend that line into a box to encompass the projection of that object onto the plane\n"
" The use the mouse again to extend the box upwards from the plane to encase the object.\n"
" Then use the following commands\n"
" ESC - Reset the selection\n"
" SPACE - Skip the frame; move to the next frame (not in video mode)\n"
" ENTER - Confirm the selection. Grab next object in video mode.\n"
" q - Exit the program\n"
"\n\n";
void help()
{
puts(helphelp);
}
struct MouseEvent
{
MouseEvent() { event = -1; buttonState = 0; }
@ -379,6 +388,7 @@ int main(int argc, char** argv)
if(argc < 5)
{
puts(helphelp);
puts(help);
return 0;
}