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some more fixes

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This commit is contained in:
Ilya Lavrenov 2014-02-13 23:47:18 +04:00
parent 879c0196d4
commit b92a46c130
1 changed files with 78 additions and 86 deletions
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164
samples/cpp/Qt_sample/qt_opengl.cpp
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@ -1,6 +1,5 @@
//Yannick Verdie 2010 // Yannick Verdie 2010
// --- Please read help() below: ---
//--- Please read help() below: ---
#include <iostream> #include <iostream>
#include <vector> #include <vector>
@ -11,18 +10,10 @@
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/legacy/compat.hpp> #include <opencv2/legacy/compat.hpp>
#if defined WIN32 || defined _WIN32 || defined WINCE
#include <windows.h>
#undef small
#undef min
#undef max
#undef abs
#endif
#ifdef __APPLE__ #ifdef __APPLE__
#include <OpenGL/gl.h> #include <OpenGL/gl.h>
#else #else
#include <GL/gl.h> #include <GL/gl.h>
#endif #endif
using namespace std; using namespace std;
@ -30,21 +21,22 @@ using namespace cv;
static void help() static void help()
{ {
cout << "\nThis demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n" cout << "This demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n"
" and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n" "and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n"
"It works off of the video: cube4.avi\n" "It works off of the video: cube4.avi\n"
"Using OpenCV version " << CV_VERSION << "\n\n" "Using OpenCV version " << CV_VERSION << "\n\n"
" 1). This demo is mainly based on work from Javier Barandiaran Martirena\n"
" See this page http://code.opencv.org/projects/opencv/wiki/Posit.\n" " 1) This demo is mainly based on work from Javier Barandiaran Martirena\n"
" 2). This is a demo to illustrate how to use **OpenGL Callback**.\n" " See this page http://code.opencv.org/projects/opencv/wiki/Posit.\n"
" 3). You need Qt binding to compile this sample with OpenGL support enabled.\n" " 2) This is a demo to illustrate how to use **OpenGL Callback**.\n"
" 4). The features' detection is very basic and could highly be improved \n" " 3) You need Qt binding to compile this sample with OpenGL support enabled.\n"
" (basic thresholding tuned for the specific video) but 2).\n" " 4) The features' detection is very basic and could highly be improved\n"
" 5) THANKS TO Google Summer of Code 2010 for supporting this work!\n" << endl; " (basic thresholding tuned for the specific video) but 2).\n"
" 5) Thanks to Google Summer of Code 2010 for supporting this work!\n" << endl;
} }
#define FOCAL_LENGTH 600 #define FOCAL_LENGTH 600
#define CUBE_SIZE 10 #define CUBE_SIZE 0.5
static void renderCube(float size) static void renderCube(float size)
{ {
@ -103,19 +95,19 @@ static void on_opengl(void* param)
glDisable( GL_LIGHTING ); glDisable( GL_LIGHTING );
} }
static void initPOSIT(std::vector<CvPoint3D32f> *modelPoints) static void initPOSIT(std::vector<CvPoint3D32f> * modelPoints)
{ {
//Create the model pointss // Create the model pointss
modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, 0.0f)); //The first must be (0,0,0) modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, 0.0f)); // The first must be (0, 0, 0)
modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, CUBE_SIZE)); modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, CUBE_SIZE));
modelPoints->push_back(cvPoint3D32f(CUBE_SIZE, 0.0f, 0.0f)); modelPoints->push_back(cvPoint3D32f(CUBE_SIZE, 0.0f, 0.0f));
modelPoints->push_back(cvPoint3D32f(0.0f, CUBE_SIZE, 0.0f)); modelPoints->push_back(cvPoint3D32f(0.0f, CUBE_SIZE, 0.0f));
} }
static void foundCorners(vector<CvPoint2D32f> *srcImagePoints, const Mat& source, Mat& grayImage) static void foundCorners(vector<CvPoint2D32f> * srcImagePoints, const Mat & source, Mat & grayImage)
{ {
cvtColor(source, grayImage, COLOR_RGB2GRAY); cvtColor(source, grayImage, COLOR_RGB2GRAY);
GaussianBlur(grayImage, grayImage, Size(11,11), 0, 0); GaussianBlur(grayImage, grayImage, Size(11, 11), 0, 0);
normalize(grayImage, grayImage, 0, 255, NORM_MINMAX); normalize(grayImage, grayImage, 0, 255, NORM_MINMAX);
threshold(grayImage, grayImage, 26, 255, THRESH_BINARY_INV); //25 threshold(grayImage, grayImage, 26, 255, THRESH_BINARY_INV); //25
@ -125,93 +117,85 @@ static void foundCorners(vector<CvPoint2D32f> *srcImagePoints, const Mat& source
findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
Point p; Point p;
vector<CvPoint2D32f> srcImagePoints_temp(4,cvPoint2D32f(0,0)); vector<CvPoint2D32f> srcImagePoints_temp(4, cvPoint2D32f(0, 0));
if (contours.size() == srcImagePoints_temp.size()) if (contours.size() == srcImagePoints_temp.size())
{ {
for (size_t i = 0; i < contours.size(); i++ )
for(size_t i = 0 ; i<contours.size(); i++ )
{ {
p.x = p.y = 0; p.x = p.y = 0;
for(size_t j = 0 ; j<contours[i].size(); j++ ) for (size_t j = 0 ; j < contours[i].size(); j++)
p+=contours[i][j]; p += contours[i][j];
srcImagePoints_temp.at(i)=cvPoint2D32f(float(p.x)/contours[i].size(),float(p.y)/contours[i].size()); srcImagePoints_temp.at(i) = cvPoint2D32f(float(p.x) / contours[i].size(), float(p.y) / contours[i].size());
} }
//Need to keep the same order // Need to keep the same order
//> y = 0 // > y = 0
//> x = 1 // > x = 1
//< x = 2 // < x = 2
//< y = 3 // < y = 3
//get point 0; // get point 0;
size_t index = 0; size_t index = 0;
for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ ) for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
{
if (srcImagePoints_temp.at(i).y > srcImagePoints_temp.at(index).y) if (srcImagePoints_temp.at(i).y > srcImagePoints_temp.at(index).y)
index = i; index = i;
}
srcImagePoints->at(0) = srcImagePoints_temp.at(index); srcImagePoints->at(0) = srcImagePoints_temp.at(index);
//get point 1; // get point 1;
index = 0; index = 0;
for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ ) for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
{
if (srcImagePoints_temp.at(i).x > srcImagePoints_temp.at(index).x) if (srcImagePoints_temp.at(i).x > srcImagePoints_temp.at(index).x)
index = i; index = i;
}
srcImagePoints->at(1) = srcImagePoints_temp.at(index); srcImagePoints->at(1) = srcImagePoints_temp.at(index);
//get point 2; // get point 2;
index = 0; index = 0;
for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ ) for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
{
if (srcImagePoints_temp.at(i).x < srcImagePoints_temp.at(index).x) if (srcImagePoints_temp.at(i).x < srcImagePoints_temp.at(index).x)
index = i; index = i;
}
srcImagePoints->at(2) = srcImagePoints_temp.at(index); srcImagePoints->at(2) = srcImagePoints_temp.at(index);
//get point 3; // get point 3;
index = 0; index = 0;
for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ ) for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
{
if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y) if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y)
index = i; index = i;
}
srcImagePoints->at(3) = srcImagePoints_temp.at(index); srcImagePoints->at(3) = srcImagePoints_temp.at(index);
Mat Msource = source; Mat Msource = source;
stringstream ss; stringstream ss;
for(size_t i = 0 ; i<srcImagePoints_temp.size(); i++ ) for (size_t i = 0; i<srcImagePoints_temp.size(); i++ )
{ {
ss<<i; ss << i;
circle(Msource,srcImagePoints->at(i),5,Scalar(0,0,255)); circle(Msource, srcImagePoints->at(i), 5, Scalar(0, 0, 255));
putText(Msource,ss.str(),srcImagePoints->at(i),FONT_HERSHEY_SIMPLEX,1,Scalar(0,0,255)); putText(Msource, ss.str(), srcImagePoints->at(i), FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 0, 255));
ss.str(""); ss.str("");
//new coordinate system in the middle of the frame and reversed (camera coordinate system) // new coordinate system in the middle of the frame and reversed (camera coordinate system)
srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x-source.cols/2,source.rows/2-srcImagePoints_temp.at(i).y); srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x - source.cols / 2,
source.rows / 2 - srcImagePoints_temp.at(i).y);
} }
} }
} }
static void createOpenGLMatrixFrom(float *posePOSIT,const CvMatr32f &rotationMatrix, const CvVect32f &translationVector) static void createOpenGLMatrixFrom(float * posePOSIT, const CvMatr32f & rotationMatrix,
const CvVect32f & translationVector)
{ {
//coordinate system returned is relative to the first 3D input point // coordinate system returned is relative to the first 3D input point
for (int f=0; f<3; f++) for (int f = 0; f < 3; f++)
for (int c=0; c<3; c++) for (int c = 0; c < 3; c++)
posePOSIT[c*4+f] = rotationMatrix[f*3+c]; //transposed posePOSIT[c * 4 + f] = rotationMatrix[f * 3 + c]; // transposed
posePOSIT[3] = 0.0; posePOSIT[3] = translationVector[0];
posePOSIT[7] = 0.0; posePOSIT[7] = translationVector[1];
posePOSIT[11] = 0.0; posePOSIT[11] = translationVector[2];
posePOSIT[12] = translationVector[0]; posePOSIT[12] = 0.0f;
posePOSIT[13] = translationVector[1]; posePOSIT[13] = 0.0f;
posePOSIT[14] = translationVector[2]; posePOSIT[14] = 0.0f;
posePOSIT[15] = 1.0; posePOSIT[15] = 1.0f;
} }
int main(void) int main(void)
@ -229,21 +213,26 @@ int main(void)
Mat source, grayImage; Mat source, grayImage;
video >> source; video >> source;
namedWindow("original", WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO); namedWindow("Original", WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
namedWindow("POSIT", WINDOW_OPENGL | CV_WINDOW_FREERATIO); namedWindow("POSIT", WINDOW_OPENGL | CV_WINDOW_FREERATIO);
resizeWindow("POSIT", source.cols, source.rows); resizeWindow("POSIT", source.cols, source.rows);
displayOverlay("POSIT", "We lost the 4 corners' detection quite often (the red circles disappear)." displayOverlay("POSIT", "We lost the 4 corners' detection quite often (the red circles disappear).\n"
"This demo is only to illustrate how to use OpenGL callback.\n -- Press ESC to exit.", 10000); "This demo is only to illustrate how to use OpenGL callback.\n"
" -- Press ESC to exit.", 10000);
float OpenGLMatrix[] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; float OpenGLMatrix[] = { 0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 };
setOpenGlContext("POSIT");
setOpenGlDrawCallback("POSIT", on_opengl, OpenGLMatrix); setOpenGlDrawCallback("POSIT", on_opengl, OpenGLMatrix);
vector<CvPoint3D32f> modelPoints; vector<CvPoint3D32f> modelPoints;
initPOSIT(&modelPoints); initPOSIT(&modelPoints);
//Create the POSIT object with the model points // Create the POSIT object with the model points
CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size() ); CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size());
CvMatr32f rotation_matrix = new float[9]; CvMatr32f rotation_matrix = new float[9];
CvVect32f translation_vector = new float[3]; CvVect32f translation_vector = new float[3];
@ -256,21 +245,24 @@ int main(void)
if (source.empty()) if (source.empty())
break; break;
imshow("original", source); imshow("Original", source);
foundCorners(&srcImagePoints,source,grayImage); foundCorners(&srcImagePoints, source, grayImage);
cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector ); cvPOSIT(positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector);
createOpenGLMatrixFrom(OpenGLMatrix, rotation_matrix, translation_vector); createOpenGLMatrixFrom(OpenGLMatrix, rotation_matrix, translation_vector);
imshow("POSIT",source); updateWindow("POSIT");
if (video.get(CV_CAP_PROP_POS_AVI_RATIO) > 0.99) if (video.get(CV_CAP_PROP_POS_AVI_RATIO) > 0.99)
video.set(CV_CAP_PROP_POS_AVI_RATIO, 0); video.set(CV_CAP_PROP_POS_AVI_RATIO, 0);
} }
setOpenGlDrawCallback("POSIT", 0, 0); setOpenGlDrawCallback("POSIT", NULL, NULL);
destroyAllWindows(); destroyAllWindows();
cvReleasePOSITObject(&positObject); cvReleasePOSITObject(&positObject);
return 0; delete[]rotation_matrix;
delete[]translation_vector;
return EXIT_SUCCESS;
} }