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the new 3D object selection demo

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This commit is contained in:
Vadim Pisarevsky
2010-06-10 17:35:59 +00:00
parent 7c1eedfc61
commit ed64c5606e
2 changed files with 422 additions and 2 deletions
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9
samples/cpp/CMakeLists.txt
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@@ -29,8 +29,12 @@ if (BUILD_EXAMPLES)
MACRO(MY_DEFINE_EXAMPLE name srcs)
add_executable(${name} ${srcs})
set_target_properties(${name} PROPERTIES PROJECT_LABEL "(EXAMPLE) ${name}")
add_dependencies(${name} opencv_core opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_objdetect opencv_features2d opencv_calib3d opencv_contrib)
target_link_libraries(${name} ${OPENCV_LINKER_LIBS} opencv_core opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_objdetect opencv_features2d opencv_calib3d opencv_contrib)
add_dependencies(${name} opencv_core opencv_imgproc
opencv_highgui opencv_ml opencv_video opencv_objdetect
opencv_features2d opencv_calib3d opencv_contrib)
target_link_libraries(${name} ${OPENCV_LINKER_LIBS} opencv_core
opencv_imgproc opencv_highgui opencv_ml opencv_video
opencv_objdetect opencv_features2d opencv_calib3d opencv_contrib)
if(WIN32)
install(TARGETS ${name}
@@ -38,6 +42,7 @@ if (BUILD_EXAMPLES)
endif()
ENDMACRO(MY_DEFINE_EXAMPLE)
MY_DEFINE_EXAMPLE(select3dobj select3dobj.cpp)
MY_DEFINE_EXAMPLE(connected_components connected_components.cpp)
MY_DEFINE_EXAMPLE(contours2 contours2.cpp)
MY_DEFINE_EXAMPLE(keypoints_matching keypoints_matching.cpp)

415
samples/cpp/select3dobj.cpp Normal file
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@@ -0,0 +1,415 @@
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <ctype.h>
#include <stdio.h>
#include <stdlib.h>
using namespace cv;
static void print_help()
{
printf("Usage: select3dobj -w <board_width -h <board_height> [-s <square_size>]\n"
"\t-i <intrinsics_filename> -o <output_prefix> [video_filename/cameraId]\n");
}
struct CameraData
{
Size imageSize;
Size boardSize;
double squareSize;
Mat distCoeffs;
Mat cameraMatrix;
vector<Point3f> objPoints;
};
Point mouseLoc;
int mouseEvent = -1;
int mouseButtonState = 0;
static void onMouse(int event, int x, int y, int flags, void*)
{
mouseEvent = event;
mouseLoc = Point(x,y);
mouseButtonState = flags;
}
static bool readCameraMatrix(const string& filename, CameraData& calibrated)
{
FileStorage fs(filename, FileStorage::READ);
fs["image_width"] >> calibrated.imageSize.width;
fs["image_height"] >> calibrated.imageSize.height;
fs["board_width"] >> calibrated.boardSize.width;
fs["board_height"] >> calibrated.boardSize.height;
fs["square_size"] >> calibrated.squareSize;
fs["distortion_coefficients"] >> calibrated.distCoeffs;
if( calibrated.distCoeffs.type() != CV_64F )
calibrated.distCoeffs = Mat_<double>(calibrated.distCoeffs);
if( calibrated.cameraMatrix.type() != CV_64F )
calibrated.cameraMatrix = Mat_<double>(calibrated.cameraMatrix);
fs["camera_matrix"] >> calibrated.cameraMatrix;
calibrated.objPoints.resize(0);
for( int i = 0; i < calibrated.boardSize.height; i++ )
for( int j = 0; j < calibrated.boardSize.width; j++ )
calibrated.objPoints.push_back(
Point3f(float(j*calibrated.squareSize),
float(i*calibrated.squareSize), 0));
return true;
}
static Point3f image2plane(Point2f imgpt, const Mat& R, const Mat& tvec, const Mat& cameraMatrix, double Z)
{
Mat R1 = R.clone();
R1.col(2) = R1.col(2)*Z + tvec;
Mat_<double> v = (cameraMatrix*R1).inv()*(Mat_<double>(3,1) << imgpt.x, imgpt.y, 1);
double iw = fabs(v(2,0)) > DBL_EPSILON ? 1./v(2,0) : 0;
return Point3f(v(0,0)*iw, v(1,0)*iw, Z);
}
int main(int argc, char** argv)
{
const char* imgFilename = 0;//"frame.jpg";
const float eps = 1e-3f;
if(argc < 5)
{
print_help();
return 0;
}
const char* intrinsicsFilename = 0;
const char* outprefix = 0;
const char* videoFilename = 0;
int cameraId = 0;
Size boardSize;
double squareSize = 0;
bool paused = false;
vector<Point3f> objpts(4);
vector<Point2f> imgpts(4);
vector<Point2f> mousepts(4);
int nobjpt = 0;
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");
print_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");
print_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");
print_help();
return 0;
}
}
else if( argv[i][0] != '-' )
{
if( isdigit(argv[i][0]))
sscanf(argv[i], "%d", &cameraId);
else
videoFilename = argv[i];
}
else
{
printf("Incorrect option\n");
print_help();
return 0;
}
}
if( !intrinsicsFilename || !outprefix ||
boardSize.width <= 0 || boardSize.height <= 0 ||
squareSize <= 0 )
{
printf("One of required parameters are missing\n");
print_help();
return 0;
}
CameraData calibrated;
readCameraMatrix(intrinsicsFilename, calibrated);
calibrated.boardSize = boardSize;
calibrated.squareSize = squareSize;
VideoCapture cap;
if( !imgFilename )
{
if( videoFilename )
cap.open(videoFilename);
else
cap.open(0);
if( !cap.isOpened() )
{
printf("Can not initialize video capture\n");
print_help();
return 0;
}
}
const char* outbarename = 0;
{
outbarename = strrchr(outprefix, '/');
const char* tmp = strrchr(outprefix, '\\');
char cmd[1000];
sprintf(cmd, "mkdir %s", outprefix);
if( tmp && tmp > outbarename )
outbarename = tmp;
if( outbarename )
{
cmd[6 + outbarename - outprefix] = '\0';
system(cmd);
outbarename++;
}
else
outbarename = outprefix;
}
Mat frame0, frame, shownFrame, selectedObjMask, selectedObjFrame, mapxy, R, rvec, tvec;
vector<Point2f> boardCorners;
vector<Point3f> tempobj(8);
vector<Point2f> tempimg(8);
vector<Point> temphull(8);
namedWindow("Video", 1);
namedWindow("Selected Object", 1);
setMouseCallback("Video", onMouse, 0);
bool boardFound = false;
char path[1000];
sprintf(path, "%s_index.txt", outprefix);
FILE* fframes = fopen(path, "a+t");
if(!fframes)
{
printf("Can not open path for writing. Permission denied?\n");
return 0;
}
int frameIdx = 0;
for(;;)
{
bool objselected = false;
int nOutlinePt = 0;
if( !paused )
{
if( imgFilename )
{
frame0 = imread(string(imgFilename), 1);
paused = true;
}
else
cap >> frame0;
if( !frame0.data )
break;
if( !frame.data )
{
if( frame0.size() != calibrated.imageSize )
{
// adjust the camera matrix for the new resolution
calibrated.cameraMatrix.at<double>(0,0) *= frame.cols/calibrated.imageSize.width;
calibrated.cameraMatrix.at<double>(0,2) *= frame.cols/calibrated.imageSize.width;
calibrated.cameraMatrix.at<double>(1,1) *= frame.rows/calibrated.imageSize.height;
calibrated.cameraMatrix.at<double>(1,2) *= frame.rows/calibrated.imageSize.height;
calibrated.imageSize = frame0.size();
}
Mat dummy;
// initialize undistortion maps
initUndistortRectifyMap(calibrated.cameraMatrix, calibrated.distCoeffs, Mat(),
calibrated.cameraMatrix, calibrated.imageSize,
CV_32FC2, mapxy, dummy );
calibrated.distCoeffs = Mat::zeros(5, 1, CV_64F);
selectedObjMask = Mat::zeros(frame0.size(), CV_8U);
selectedObjFrame = frame0.clone();
}
remap(frame0, frame, mapxy, Mat(), INTER_LINEAR);
boardFound = findChessboardCorners(frame, calibrated.boardSize, boardCorners);
if( boardFound )
{
solvePnP(Mat(calibrated.objPoints), Mat(boardCorners), calibrated.cameraMatrix,
calibrated.distCoeffs, rvec, tvec, false);
Rodrigues(rvec, R);
}
}
frame.copyTo(shownFrame);
selectedObjFrame = Scalar::all(0);
if( boardFound )
{
float Z = 0.f;
bool dragging = (mouseButtonState & CV_EVENT_FLAG_LBUTTON) != 0;
int npt = nobjpt;
drawChessboardCorners(shownFrame, calibrated.boardSize, Mat(boardCorners), true);
if( (mouseEvent == CV_EVENT_LBUTTONDOWN ||
mouseEvent == CV_EVENT_LBUTTONUP ||
dragging) && nobjpt < 4 )
{
// update object box
mousepts[npt] = mouseLoc;
/*if(!paused)
imwrite("frame.jpg", frame0);*/
paused = true;
if( nobjpt < 2 )
imgpts[npt] = mousepts[npt];
else
{
tempobj.resize(1);
int nearestIdx = npt-1;
/*for( int i = 1; i < npt; i++ )
if( norm(mousepts[npt] - mousepts[i]) < norm(mousepts[npt] - imgpts[nearestIdx]) )
nearestIdx = i;*/
if( npt == 2 )
{
float dx = objpts[1].x - objpts[0].x, dy = objpts[1].y - objpts[0].y;
float len = 1.f/std::sqrt(dx*dx+dy*dy);
tempobj[0] = Point3f(dy*len + objpts[nearestIdx].x, -dx*len + objpts[nearestIdx].y, 0.f);
}
else
tempobj[0] = Point3f(objpts[nearestIdx].x, objpts[nearestIdx].y, 1.f);
projectPoints(Mat(tempobj), rvec, tvec, calibrated.cameraMatrix,
calibrated.distCoeffs, tempimg);
Point2f a = mousepts[nearestIdx], b = tempimg[0],
m = mousepts[npt], d1 = b - a, d2 = m - a;
float n1 = norm(d1), n2 = norm(d2);
if( n1*n2 < eps )
imgpts[npt] = a;
else
{
Z = d1.dot(d2)/(n1*n1);
imgpts[npt] = d1*Z + a;
}
}
objpts[npt] = image2plane(imgpts[npt], R, tvec,
calibrated.cameraMatrix, npt<3 ? 0 : Z);
if( (npt == 0 && mouseEvent == CV_EVENT_LBUTTONDOWN) ||
(npt > 0 && norm(objpts[npt] - objpts[npt-1]) > eps &&
mouseEvent == CV_EVENT_LBUTTONUP) )
{
nobjpt++;
if( nobjpt < 4 )
{
imgpts[nobjpt] = imgpts[nobjpt-1];
objpts[nobjpt] = objpts[nobjpt-1];
mousepts[nobjpt] = mousepts[nobjpt-1];
}
}
mouseEvent = -1; // reset the event
}
// draw object box (or a part of it)
tempobj.resize(8);
tempobj[0] = objpts[0];
tempobj[1] = objpts[1];
tempobj[2] = objpts[2];
tempobj[3] = (objpts[2] - objpts[1]) + objpts[0];
Z = objpts[3].z;
tempobj[4] = tempobj[0] + Point3f(0,0,Z);
tempobj[5] = tempobj[1] + Point3f(0,0,Z);
tempobj[6] = tempobj[2] + Point3f(0,0,Z);
tempobj[7] = tempobj[3] + Point3f(0,0,Z);
projectPoints(Mat(tempobj), rvec, tvec, calibrated.cameraMatrix, Mat(), tempimg);
if( npt == 0 && nobjpt == 0 )
nOutlinePt = 0;
else if( npt == 0 )
{
nOutlinePt = 1;
circle(shownFrame, tempimg[0], 3, Scalar(0,255,0), -1, CV_AA);
}
else if( npt == 1 )
{
nOutlinePt = 2;
line(shownFrame, tempimg[0], tempimg[1], Scalar(0,255,0), 3, CV_AA);
circle(shownFrame, tempimg[0], 3, Scalar(0,255,0), -1, CV_AA);
circle(shownFrame, tempimg[1], 3, Scalar(0,255,0), -1, CV_AA);
}
else
{
nOutlinePt = npt == 2 ? 4 : 8;
for( int i = 0; i < nOutlinePt; i++ )
{
circle(shownFrame, tempimg[i], 3, Scalar(0,255,0), -1, CV_AA);
line(shownFrame, tempimg[i], tempimg[(i+1)%4 + (i/4)*4], Scalar(0,255,0), 3, CV_AA);
line(shownFrame, tempimg[i], tempimg[i%4], Scalar(0,255,0), 3, CV_AA);
}
}
if( nOutlinePt > 2 )
{
convexHull(Mat_<Point>(Mat(tempimg).rowRange(0,nOutlinePt)), temphull);
selectedObjMask = Scalar::all(0);
fillConvexPoly(selectedObjMask, &temphull[0], temphull.size(),
Scalar::all(255), 8, 0);
frame.copyTo(selectedObjFrame, selectedObjMask);
objselected = true;
}
}
imshow("Video", shownFrame);
imshow("Selected Object", selectedObjFrame);
int c = waitKey(30);
if( (c & 255) == 27 )
nobjpt = 0;
if( c == ' ' )
paused = !paused;
if( c == 'q' || c == 'Q' )
break;
if( (c == '\r' || c == '\n') && objselected && nOutlinePt == 8 )
{
Rect r = boundingRect(Mat(temphull));
for(;;frameIdx++)
{
sprintf(path, "%s%04d.jpg", outprefix, frameIdx);
FILE* f = fopen(path, "rb");
if( !f )
break;
fclose(f);
}
imwrite(path, selectedObjFrame(r));
fprintf(fframes, "%s%04d.jpg", outbarename, frameIdx);
for( int i = 0; i < 8; i++ )
fprintf(fframes, " (%.2f %.2f %.2f)", objpts[i].x, objpts[i].y, objpts[i].z);
fprintf(fframes, "\n");
frameIdx++;
}
}
fclose(fframes);
return 0;
}