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Merged the trunk r8589:8653 - all changes related to build warnings

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This commit is contained in:
Andrey Kamaev
2012-06-15 13:04:17 +00:00
parent 73c152abc4
commit bd0e0b5800
438 changed files with 20374 additions and 19674 deletions
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246
samples/cpp/select3dobj.cpp
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@@ -29,11 +29,11 @@ const char* helphelp =
"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"
" -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"
" -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"
@@ -57,10 +57,10 @@ const char* helphelp =
" q - Exit the program\n"
"\n\n";
void help()
{
puts(helphelp);
}
// static void help()
// {
// puts(helphelp);
// }
struct MouseEvent
@@ -88,19 +88,19 @@ static bool readCameraMatrix(const string& filename,
fs["image_height"] >> calibratedImageSize.height;
fs["distortion_coefficients"] >> distCoeffs;
fs["camera_matrix"] >> cameraMatrix;
if( distCoeffs.type() != CV_64F )
distCoeffs = Mat_<double>(distCoeffs);
if( cameraMatrix.type() != CV_64F )
cameraMatrix = Mat_<double>(cameraMatrix);
return true;
}
static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners)
{
corners.resize(0);
for( int i = 0; i < boardSize.height; i++ )
for( int j = 0; j < boardSize.width; j++ )
corners.push_back(Point3f(float(j*squareSize),
@@ -119,7 +119,7 @@ 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 vector<Point3f>& box, int nobjpt, bool runExtraSegmentation)
{
@@ -128,7 +128,7 @@ static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFram
return Rect();
vector<Point3f> objpt;
vector<Point2f> imgpt;
objpt.push_back(box[0]);
if( nobjpt > 1 )
objpt.push_back(box[1]);
@@ -140,9 +140,9 @@ static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFram
if( nobjpt > 3 )
for( int i = 0; i < 4; i++ )
objpt.push_back(Point3f(objpt[i].x, objpt[i].y, box[3].z));
projectPoints(Mat(objpt), rvec, tvec, cameraMatrix, Mat(), imgpt);
if( shownFrame.data )
{
if( nobjpt == 1 )
@@ -158,7 +158,7 @@ static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFram
{
circle(shownFrame, imgpt[i], 3, Scalar(0,255,0), -1, CV_AA);
line(shownFrame, imgpt[i], imgpt[(i+1)%4], Scalar(0,255,0), 3, CV_AA);
}
}
else
for( int i = 0; i < 8; i++ )
{
@@ -167,7 +167,7 @@ static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFram
line(shownFrame, imgpt[i], imgpt[i%4], Scalar(0,255,0), 3, CV_AA);
}
}
if( nobjpt <= 2 )
return Rect();
vector<Point> hull;
@@ -175,7 +175,7 @@ static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFram
Mat selectedObjMask = Mat::zeros(frame.size(), CV_8U);
fillConvexPoly(selectedObjMask, &hull[0], (int)hull.size(), Scalar::all(255), 8, 0);
Rect roi = boundingRect(Mat(hull)) & Rect(Point(), frame.size());
if( runExtraSegmentation )
{
selectedObjMask = Scalar::all(GC_BGD);
@@ -185,7 +185,7 @@ static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFram
3, GC_INIT_WITH_RECT + GC_INIT_WITH_MASK);
bitwise_and(selectedObjMask, Scalar::all(1), selectedObjMask);
}
frame.copyTo(selectedObjFrame, selectedObjMask);
return roi;
}
@@ -197,7 +197,7 @@ static int select3DBox(const string& windowname, const string& selWinName, const
{
const float eps = 1e-3f;
MouseEvent mouse;
setMouseCallback(windowname, onMouse, &mouse);
vector<Point3f> tempobj(8);
vector<Point2f> imgpt(4), tempimg(8);
@@ -206,19 +206,19 @@ static int select3DBox(const string& windowname, const string& selWinName, const
Mat R, selectedObjMask, selectedObjFrame, shownFrame;
Rodrigues(rvec, R);
box.resize(4);
for(;;)
{
float Z = 0.f;
bool dragging = (mouse.buttonState & CV_EVENT_FLAG_LBUTTON) != 0;
int npt = nobjpt;
if( (mouse.event == CV_EVENT_LBUTTONDOWN ||
mouse.event == CV_EVENT_LBUTTONUP ||
dragging) && nobjpt < 4 )
{
Point2f m = mouse.pt;
if( nobjpt < 2 )
imgpt[npt] = m;
else
@@ -232,7 +232,7 @@ static int select3DBox(const string& windowname, const string& selWinName, const
if( norm(m - imgpt[i]) < norm(m - imgpt[nearestIdx]) )
nearestIdx = i;
}
if( npt == 2 )
{
float dx = box[1].x - box[0].x, dy = box[1].y - box[0].y;
@@ -242,9 +242,9 @@ static int select3DBox(const string& windowname, const string& selWinName, const
}
else
tempobj[0] = Point3f(box[nearestIdx].x, box[nearestIdx].y, 1.f);
projectPoints(Mat(tempobj), rvec, tvec, cameraMatrix, Mat(), tempimg);
Point2f a = imgpt[nearestIdx], b = tempimg[0], d1 = b - a, d2 = m - a;
float n1 = (float)norm(d1), n2 = (float)norm(d2);
if( n1*n2 < eps )
@@ -256,7 +256,7 @@ static int select3DBox(const string& windowname, const string& selWinName, const
}
}
box[npt] = image2plane(imgpt[npt], R, tvec, cameraMatrix, npt<3 ? 0 : Z);
if( (npt == 0 && mouse.event == CV_EVENT_LBUTTONDOWN) ||
(npt > 0 && norm(box[npt] - box[npt-1]) > eps &&
mouse.event == CV_EVENT_LBUTTONUP) )
@@ -268,19 +268,19 @@ static int select3DBox(const string& windowname, const string& selWinName, const
box[nobjpt] = box[nobjpt-1];
}
}
// reset the event
mouse.event = -1;
//mouse.buttonState = 0;
npt++;
}
frame.copyTo(shownFrame);
extract3DBox(frame, shownFrame, selectedObjFrame,
cameraMatrix, rvec, tvec, box, npt, false);
imshow(windowname, shownFrame);
imshow(selWinName, selectedObjFrame);
int c = waitKey(30);
if( (c & 255) == 27 )
{
@@ -305,17 +305,17 @@ static bool readModelViews( const string& filename, vector<Point3f>& box,
roiList.resize(0);
poseList.resize(0);
box.resize(0);
FileStorage fs(filename, FileStorage::READ);
if( !fs.isOpened() )
return false;
fs["box"] >> box;
FileNode all = fs["views"];
if( all.type() != FileNode::SEQ )
return false;
FileNodeIterator it = all.begin(), it_end = all.end();
for(; it != it_end; ++it)
{
FileNode n = *it;
@@ -326,7 +326,7 @@ static bool readModelViews( const string& filename, vector<Point3f>& box,
poseList.push_back(Vec6f((float)np[0], (float)np[1], (float)np[2],
(float)np[3], (float)np[4], (float)np[5]));
}
return true;
}
@@ -339,25 +339,25 @@ static bool writeModelViews(const string& filename, const vector<Point3f>& box,
FileStorage fs(filename, FileStorage::WRITE);
if( !fs.isOpened() )
return false;
fs << "box" << "[:";
fs << box << "]" << "views" << "[";
size_t i, nviews = imagelist.size();
CV_Assert( nviews == roiList.size() && nviews == poseList.size() );
for( i = 0; i < nviews; i++ )
{
Rect r = roiList[i];
Vec6f p = poseList[i];
fs << "{" << "image" << imagelist[i] <<
"roi" << "[:" << r.x << r.y << r.width << r.height << "]" <<
"pose" << "[:" << p[0] << p[1] << p[2] << p[3] << p[4] << p[5] << "]" << "}";
}
fs << "]";
return true;
}
@@ -389,82 +389,82 @@ int main(int argc, char** argv)
"\tSPACE - Skip the frame; move to the next frame (not in video mode)\n"
"\tENTER - Confirm the selection. Grab next object in video mode.\n"
"\tq - Exit the program\n";
if(argc < 5)
{
puts(helphelp);
puts(helphelp);
puts(help);
return 0;
}
const char* intrinsicsFilename = 0;
const char* outprefix = 0;
const char* inputName = 0;
int cameraId = 0;
Size boardSize;
double squareSize = 1;
const char* inputName = 0;
int cameraId = 0;
Size boardSize;
double squareSize = 1;
vector<string> imageList;
for( int i = 1; i < argc; i++ )
{
if( strcmp(argv[i], "-i") == 0 )
intrinsicsFilename = argv[++i];
else if( strcmp(argv[i], "-o") == 0 )
outprefix = argv[++i];
else if( strcmp(argv[i], "-w") == 0 )
{
if(sscanf(argv[++i], "%d", &boardSize.width) != 1 || boardSize.width <= 0)
{
printf("Incorrect -w parameter (must be a positive integer)\n");
puts(help);
return 0;
}
}
else if( strcmp(argv[i], "-h") == 0 )
{
if(sscanf(argv[++i], "%d", &boardSize.height) != 1 || boardSize.height <= 0)
{
printf("Incorrect -h parameter (must be a positive integer)\n");
puts(help);
return 0;
}
}
else if( strcmp(argv[i], "-s") == 0 )
{
if(sscanf(argv[++i], "%lf", &squareSize) != 1 || squareSize <= 0)
{
printf("Incorrect -w parameter (must be a positive real number)\n");
puts(help);
return 0;
}
}
else if( argv[i][0] != '-' )
{
if( isdigit(argv[i][0]))
sscanf(argv[i], "%d", &cameraId);
else
inputName = argv[i];
}
else
{
printf("Incorrect option\n");
puts(help);
return 0;
}
intrinsicsFilename = argv[++i];
else if( strcmp(argv[i], "-o") == 0 )
outprefix = argv[++i];
else if( strcmp(argv[i], "-w") == 0 )
{
if(sscanf(argv[++i], "%d", &boardSize.width) != 1 || boardSize.width <= 0)
{
printf("Incorrect -w parameter (must be a positive integer)\n");
puts(help);
return 0;
}
}
else if( strcmp(argv[i], "-h") == 0 )
{
if(sscanf(argv[++i], "%d", &boardSize.height) != 1 || boardSize.height <= 0)
{
printf("Incorrect -h parameter (must be a positive integer)\n");
puts(help);
return 0;
}
}
else if( strcmp(argv[i], "-s") == 0 )
{
if(sscanf(argv[++i], "%lf", &squareSize) != 1 || squareSize <= 0)
{
printf("Incorrect -w parameter (must be a positive real number)\n");
puts(help);
return 0;
}
}
else if( argv[i][0] != '-' )
{
if( isdigit(argv[i][0]))
sscanf(argv[i], "%d", &cameraId);
else
inputName = argv[i];
}
else
{
printf("Incorrect option\n");
puts(help);
return 0;
}
}
if( !intrinsicsFilename || !outprefix ||
boardSize.width <= 0 || boardSize.height <= 0 )
{
printf("Some of the required parameters are missing\n");
puts(help);
return 0;
}
if( !intrinsicsFilename || !outprefix ||
boardSize.width <= 0 || boardSize.height <= 0 )
{
printf("Some of the required parameters are missing\n");
puts(help);
return 0;
}
Mat cameraMatrix, distCoeffs;
Size calibratedImageSize;
readCameraMatrix(intrinsicsFilename, cameraMatrix, distCoeffs, calibratedImageSize );
VideoCapture capture;
VideoCapture capture;
if( inputName )
{
if( !readStringList(inputName, imageList) &&
@@ -476,10 +476,10 @@ int main(int argc, char** argv)
}
else
capture.open(cameraId);
if( !capture.isOpened() && imageList.empty() )
return fprintf( stderr, "Could not initialize video capture\n" ), -2;
const char* outbarename = 0;
{
outbarename = strrchr(outprefix, '/');
@@ -498,30 +498,30 @@ int main(int argc, char** argv)
else
outbarename = outprefix;
}
Mat frame, shownFrame, selectedObjFrame, mapxy;
namedWindow("View", 1);
Mat frame, shownFrame, selectedObjFrame, mapxy;
namedWindow("View", 1);
namedWindow("Selected Object", 1);
setMouseCallback("View", onMouse, 0);
bool boardFound = false;
string indexFilename = format("%s_index.yml", outprefix);
vector<string> capturedImgList;
vector<Rect> roiList;
vector<Vec6f> poseList;
vector<Point3f> box, boardPoints;
readModelViews(indexFilename, box, capturedImgList, roiList, poseList);
calcChessboardCorners(boardSize, (float)squareSize, boardPoints);
int frameIdx = 0;
bool grabNext = !imageList.empty();
puts(screen_help);
for(int i = 0;;i++)
{
for(int i = 0;;i++)
{
Mat frame0;
if( !imageList.empty() )
{
@@ -538,7 +538,7 @@ int main(int argc, char** argv)
{
double sx = (double)frame0.cols/calibratedImageSize.width;
double sy = (double)frame0.rows/calibratedImageSize.height;
// adjust the camera matrix for the new resolution
cameraMatrix.at<double>(0,0) *= sx;
cameraMatrix.at<double>(0,2) *= sx;
@@ -554,17 +554,17 @@ int main(int argc, char** argv)
remap(frame0, frame, mapxy, Mat(), INTER_LINEAR);
vector<Point2f> foundBoardCorners;
boardFound = findChessboardCorners(frame, boardSize, foundBoardCorners);
Mat rvec, tvec;
if( boardFound )
solvePnP(Mat(boardPoints), Mat(foundBoardCorners), cameraMatrix,
distCoeffs, rvec, tvec, false);
frame.copyTo(shownFrame);
drawChessboardCorners(shownFrame, boardSize, Mat(foundBoardCorners), boardFound);
selectedObjFrame = Mat::zeros(frame.size(), frame.type());
if( boardFound && grabNext )
if( boardFound && grabNext )
{
if( box.empty() )
{
@@ -573,7 +573,7 @@ int main(int argc, char** argv)
if( code == -100 )
break;
}
if( !box.empty() )
{
Rect r = extract3DBox(frame, shownFrame, selectedObjFrame,
@@ -596,10 +596,10 @@ int main(int argc, char** argv)
break;
}
imwrite(path, selectedObjFrame(r));
capturedImgList.push_back(string(path));
roiList.push_back(r);
float p[6];
Mat RV(3, 1, CV_32F, p), TV(3, 1, CV_32F, p+3);
rvec.convertTo(RV, RV.type());
@@ -612,12 +612,12 @@ int main(int argc, char** argv)
imshow("View", shownFrame);
imshow("Selected Object", selectedObjFrame);
int c = waitKey(imageList.empty() && !box.empty() ? 30 : 300);
int c = waitKey(imageList.empty() && !box.empty() ? 30 : 300);
if( c == 'q' || c == 'Q' )
break;
if( c == '\r' || c == '\n' )
grabNext = true;
}
}
writeModelViews(indexFilename, box, capturedImgList, roiList, poseList);
return 0;