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Qt sample code and some fixes

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This commit is contained in:
Yannick Verdie 2010-08-16 16:49:24 +00:00
parent 96292b7ced
commit e65823fac2
4 changed files with 269 additions and 1 deletions
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2
modules/highgui/include/opencv2/highgui/highgui.hpp
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@ -67,7 +67,7 @@ CV_EXPORTS double getWindowProperty(const string& winname, int prop_id);//YV
//Only for Qt
//------------------------
CV_EXPORTS CvFont fontQt(const string& nameFont, int pointSize CV_DEFAULT(-1), Scalar color CV_DEFAULT(Scalar::all(0)), int weight CV_DEFAULT(CV_FONT_NORMAL), int style CV_DEFAULT(CV_STYLE_NORMAL), int spacing CV_DEFAULT(0));
CV_EXPORTS void addText( const Mat& img, const char* text, Point org, CvFont font);
CV_EXPORTS void addText( const Mat& img, const string& text, Point org, CvFont font);
CV_EXPORTS void displayOverlay(const string& winname, const string& text, int delayms);
CV_EXPORTS void displayStatusBar(const string& winname, const string& text, int delayms);

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samples/cpp/Qt_sample/CMakeLists.txt Normal file
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#http://www.cmake.org/cmake/help/cmake2.6docs.html
cmake_minimum_required (VERSION 2.6)
project (OpenGL_Qt_Binding)
FIND_PACKAGE( OpenCV REQUIRED )
find_package (OpenGL REQUIRED)
ADD_EXECUTABLE(OpenGL_Qt_Binding main.cpp)
TARGET_LINK_LIBRARIES(OpenGL_Qt_Binding ${OpenCV_LIBS} ${OPENGL_LIBRARIES} )
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cube4.avi ${CMAKE_CURRENT_BINARY_DIR}/cube4.avi COPYONLY)

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samples/cpp/Qt_sample/cube4.avi Normal file
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samples/cpp/Qt_sample/main.cpp Normal file
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//Yannick Verdie 2010
//--- Please read me: ---
//1). This demo is mainly based on work from Javier Barandiaran Martirena
//See this page http://opencv.willowgarage.com/wiki/Posit.
//2). This is a demo to illustrate how to use **OpenGL Callback**.
//3). You need Qt binding to compile this sample with OpenGL support enabled.
//4). The features' detection is very basic and could highly be improved (basic thresholding tuned for the specific video) but 2).
#include <iostream>
#include <vector>
#include <opencv/highgui.h>
#include <gl/GL.h>
#include <opencv/cxcore.h>
#include <opencv/cv.h>
#define FOCAL_LENGTH 600
#define CUBE_SIZE 10
using namespace std;
using namespace cv;
void renderCube(float size)
{
glBegin(GL_QUADS);
// Front Face
glNormal3f( 0.0f, 0.0f, 1.0f);
glVertex3f( 0.0f, 0.0f, 0.0f);
glVertex3f( size, 0.0f, 0.0f);
glVertex3f( size, size, 0.0f);
glVertex3f( 0.0f, size, 0.0f);
// Back Face
glNormal3f( 0.0f, 0.0f,-1.0f);
glVertex3f( 0.0f, 0.0f, size);
glVertex3f( 0.0f, size, size);
glVertex3f( size, size, size);
glVertex3f( size, 0.0f, size);
// Top Face
glNormal3f( 0.0f, 1.0f, 0.0f);
glVertex3f( 0.0f, size, 0.0f);
glVertex3f( size, size, 0.0f);
glVertex3f( size, size, size);
glVertex3f( 0.0f, size, size);
// Bottom Face
glNormal3f( 0.0f,-1.0f, 0.0f);
glVertex3f( 0.0f, 0.0f, 0.0f);
glVertex3f( 0.0f, 0.0f, size);
glVertex3f( size, 0.0f, size);
glVertex3f( size, 0.0f, 0.0f);
// Right face
glNormal3f( 1.0f, 0.0f, 0.0f);
glVertex3f( size, 0.0f, 0.0f);
glVertex3f( size, 0.0f, size);
glVertex3f( size, size, size);
glVertex3f( size, size, 0.0f);
// Left Face
glNormal3f(-1.0f, 0.0f, 0.0f);
glVertex3f( 0.0f, 0.0f, 0.0f);
glVertex3f( 0.0f, size, 0.0f);
glVertex3f( 0.0f, size, size);
glVertex3f( 0.0f, 0.0f, size);
glEnd();
}
void on_opengl(void* param)
{
//Draw the object with the estimated pose
glLoadIdentity();
glScalef( 1.0f, 1.0f, -1.0f);
glMultMatrixf( (float*)param );
glEnable( GL_LIGHTING );
glEnable( GL_LIGHT0 );
glEnable( GL_BLEND );
glBlendFunc(GL_SRC_ALPHA, GL_ONE);
renderCube( CUBE_SIZE );
glDisable(GL_BLEND);
glDisable( GL_LIGHTING );
}
void initPOSIT(std::vector<CvPoint3D32f> *modelPoints)
{
//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, CUBE_SIZE));
modelPoints->push_back(cvPoint3D32f(CUBE_SIZE, 0.0f, 0.0f));
modelPoints->push_back(cvPoint3D32f(0.0f, CUBE_SIZE, 0.0f));
}
void foundCorners(vector<CvPoint2D32f> *srcImagePoints,IplImage* source, IplImage* grayImage)
{
cvCvtColor(source,grayImage,CV_RGB2GRAY);
cvSmooth( grayImage, grayImage,CV_GAUSSIAN,11);
cvNormalize(grayImage, grayImage, 0, 255, CV_MINMAX);
cvThreshold( grayImage, grayImage, 26, 255, CV_THRESH_BINARY_INV);//25
Mat MgrayImage = grayImage;
//For debug
//MgrayImage = MgrayImage.clone();//deep copy
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
Point p;
vector<CvPoint2D32f> srcImagePoints_temp(4,cvPoint2D32f(0,0));
if (contours.size() == srcImagePoints_temp.size())
{
for(int i = 0 ; i<contours.size(); i++ )
{
p.x = p.y = 0;
for(int j = 0 ; j<contours[i].size(); j++ )
p+=contours[i][j];
srcImagePoints_temp.at(i)=cvPoint2D32f(float(p.x)/contours[i].size(),float(p.y)/contours[i].size());
}
//Need to keep the same order
//> y = 0
//> x = 1
//< x = 2
//< y = 3
//get point 0;
int index = 0;
for(int i = 1 ; i<srcImagePoints_temp.size(); i++ )
{
if (srcImagePoints_temp.at(i).y > srcImagePoints_temp.at(index).y)
index = i;
}
srcImagePoints->at(0) = srcImagePoints_temp.at(index);
//get point 1;
index = 0;
for(int i = 1 ; i<srcImagePoints_temp.size(); i++ )
{
if (srcImagePoints_temp.at(i).x > srcImagePoints_temp.at(index).x)
index = i;
}
srcImagePoints->at(1) = srcImagePoints_temp.at(index);
//get point 2;
index = 0;
for(int i = 1 ; i<srcImagePoints_temp.size(); i++ )
{
if (srcImagePoints_temp.at(i).x < srcImagePoints_temp.at(index).x)
index = i;
}
srcImagePoints->at(2) = srcImagePoints_temp.at(index);
//get point 3;
index = 0;
for(int i = 1 ; i<srcImagePoints_temp.size(); i++ )
{
if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y)
index = i;
}
srcImagePoints->at(3) = srcImagePoints_temp.at(index);
Mat Msource = source;
stringstream ss;
for(int i = 0 ; i<srcImagePoints_temp.size(); i++ )
{
ss<<i;
circle(Msource,srcImagePoints->at(i),5,CV_RGB(255,0,0));
putText( Msource, ss.str(), srcImagePoints->at(i),CV_FONT_HERSHEY_SIMPLEX,1,CV_RGB(255,0,0));
ss.str("");
//new coordinate system in the middle of the frame and reversed (camera coordinate system)
srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x-source->width/2,source->height/2-srcImagePoints_temp.at(i).y);
}
}
}
void createOpenGLMatrixFrom(float *posePOSIT,const CvMatr32f &rotationMatrix, const CvVect32f &translationVector)
{
//coordinate system returned is relative to the first 3D input point
for (int f=0; f<3; f++)
{
for (int c=0; c<3; c++)
{
posePOSIT[c*4+f] = rotationMatrix[f*3+c]; //transposed
}
}
posePOSIT[3] = 0.0;
posePOSIT[7] = 0.0;
posePOSIT[11] = 0.0;
posePOSIT[12] = translationVector[0];
posePOSIT[13] = translationVector[1];
posePOSIT[14] = translationVector[2];
posePOSIT[15] = 1.0;
}
int main(int argc, char *argv[])
{
CvCapture* video = cvCaptureFromFile("cube4.avi");
CV_Assert(video);
IplImage* source = cvCreateImage(cvGetSize(cvQueryFrame(video)),8,3);
IplImage* grayImage = cvCreateImage(cvGetSize(cvQueryFrame(video)),8,1);
cvNamedWindow("original",CV_WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
cvNamedWindow("POSIT",CV_WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
displayOverlay("POSIT", "We lost the 4 corners' detection quite often (the red circles disappear). This demo is only to illustrate how to use OpenGL callback.\n -- Press ESC to exit.", 10000);
//For debug
//cvNamedWindow("tempGray",CV_WINDOW_AUTOSIZE);
float OpenGLMatrix[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
cvCreateOpenGLCallback("POSIT",on_opengl,OpenGLMatrix);
vector<CvPoint3D32f> modelPoints;
initPOSIT(&modelPoints);
//Create the POSIT object with the model points
CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size() );
CvMatr32f rotation_matrix = new float[9];
CvVect32f translation_vector = new float[3];
CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1.0e-4f);
vector<CvPoint2D32f> srcImagePoints(4,cvPoint2D32f(0,0));
while(cvWaitKey(33) != 27)
{
source=cvQueryFrame(video);
cvShowImage("original",source);
foundCorners(&srcImagePoints,source,grayImage);
cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector );
createOpenGLMatrixFrom(OpenGLMatrix,rotation_matrix,translation_vector);
cvShowImage("POSIT",source);
//For debug
//cvShowImage("tempGray",grayImage);
if (cvGetCaptureProperty(video,CV_CAP_PROP_POS_AVI_RATIO)>0.99)
cvSetCaptureProperty(video,CV_CAP_PROP_POS_AVI_RATIO,0);
}
cvDestroyAllWindows();
cvReleaseImage(&grayImage);
cvReleaseCapture(&video);
cvReleasePOSITObject(&positObject);
return 0;
}