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tutorial update

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This commit is contained in:
edgarriba 2014-08-09 17:32:52 +02:00
parent 7ecad71ab0
commit d09b404178
1 changed files with 60 additions and 84 deletions
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144
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
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@ -1,5 +1,12 @@
// C++
#include <iostream>
// OpenCV
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/nonfree/features2d.hpp>
// PnP Tutorial
#include "Mesh.h"
#include "Model.h"
#include "PnPProblem.h"
@ -7,75 +14,50 @@
#include "ModelRegistration.h"
#include "Utils.h"
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/nonfree/features2d.hpp>
/** GLOBAL VARIABLES **/
/*
* Set up the images paths
*/
std::string tutorial_path = "../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/"; // path to tutorial
// COOKIES BOX [718x480]
std::string img_path = "../Data/resized_IMG_3875.JPG"; // f 55
std::string img_path = tutorial_path + "Data/resized_IMG_3875.JPG"; // image to register
std::string ply_read_path = tutorial_path + "Data/box.ply"; // object mesh
std::string write_path = tutorial_path + "Data/cookies_ORB.yml"; // output file
// COOKIES BOX MESH
std::string ply_read_path = "../Data/box.ply";
// Boolean the know if the registration it's done
bool end_registration = false;
// YAML writting path
std::string write_path = "../Data/cookies_ORB.yml";
// Intrinsic camera parameters: UVC WEBCAM
double f = 45; // focal length in mm
double sx = 22.3, sy = 14.9;
double width = 2592, height = 1944;
double params_CANON[] = { width*f/sx, // fx
height*f/sy, // fy
width/2, // cx
height/2}; // cy
void help()
{
std::cout
<< "--------------------------------------------------------------------------" << std::endl
<< "This program shows how to create your 3D textured model. " << std::endl
<< "Usage:" << std::endl
<< "./pnp_registration " << std::endl
<< "--------------------------------------------------------------------------" << std::endl
<< std::endl;
}
// Setup the points to register in the image
// In the order of the *.ply file and starting at 1
int n = 8;
int pts[] = {1, 2, 3, 4, 5, 6, 7, 8}; // 3 -> 4
// Boolean the know if the registration it's done
bool end_registration = false;
// Some basic colors
cv::Scalar red(0, 0, 255);
cv::Scalar green(0,255,0);
cv::Scalar blue(255,0,0);
cv::Scalar yellow(0,255,255);
/*
* Set up the intrinsic camera parameters: CANON
*/
double f = 45; // focal length in mm
double sx = 22.3, sy = 14.9;
double width = 2592, height = 1944;
double params_CANON[] = { width*f/sx, // fx
height*f/sy, // fy
width/2, // cx
height/2}; // cy
// Setup the points to register in the image
// In the order of the *.ply file and starting at 1
int n = 8;
int pts[] = {1, 2, 3, 4, 5, 6, 7, 8}; // 3 -> 4
/*
* Set up some basic colors
*/
cv::Scalar red(0, 0, 255);
cv::Scalar green(0,255,0);
cv::Scalar blue(255,0,0);
cv::Scalar yellow(0,255,255);
/*
* CREATE MODEL REGISTRATION OBJECT
* CREATE OBJECT MESH
* CREATE OBJECT MODEL
* CREATE PNP OBJECT
*/
ModelRegistration registration;
Model model;
Mesh mesh;
PnPProblem pnp_registration(params_CANON);
/*
* CREATE MODEL REGISTRATION OBJECT
* CREATE OBJECT MESH
* CREATE OBJECT MODEL
* CREATE PNP OBJECT
*/
ModelRegistration registration;
Model model;
Mesh mesh;
PnPProblem pnp_registration(params_CANON);
/** Functions headers **/
void help();
// Mouse events for model registration
static void onMouseModelRegistration( int event, int x, int y, int, void* )
@ -97,11 +79,7 @@ static void onMouseModelRegistration( int event, int x, int y, int, void* )
}
}
/*
* MAIN PROGRAM
*
*/
/** Main program **/
int main(int argc, char *argv[])
{
@ -118,11 +96,7 @@ int main(int argc, char *argv[])
cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);
rmatcher.setFeatureDetector(detector);
/*
* GROUND TRUTH OF THE FIRST IMAGE
*
* by the moment it is the reference image
*/
/** GROUND TRUTH OF THE FIRST IMAGE **/
// Create & Open Window
cv::namedWindow("MODEL REGISTRATION", cv::WINDOW_KEEPRATIO);
@ -183,12 +157,7 @@ int main(int argc, char *argv[])
cv::imshow("MODEL REGISTRATION", img_vis);
}
/*
*
* COMPUTE CAMERA POSE
*
*/
/** COMPUTE CAMERA POSE **/
std::cout << "COMPUTING POSE ..." << std::endl;
@ -217,12 +186,7 @@ int main(int argc, char *argv[])
cv::waitKey(0);
/*
*
* COMPUTE 3D of the image Keypoints
*
*/
/** COMPUTE 3D of the image Keypoints **/
// Containers for keypoints and descriptors of the model
std::vector<cv::KeyPoint> keypoints_model;
@ -288,3 +252,15 @@ int main(int argc, char *argv[])
std::cout << "GOODBYE" << std::endl;
}
/**********************************************************************************************************/
void help()
{
std::cout
<< "--------------------------------------------------------------------------" << std::endl
<< "This program shows how to create your 3D textured model. " << std::endl
<< "Usage:" << std::endl
<< "./cpp-tutorial-pnp_registration" << std::endl
<< "--------------------------------------------------------------------------" << std::endl
<< std::endl;
}