converted some more samples to C++
This commit is contained in:
Vadim Pisarevsky
parent
4c160acc35
commit
f2a3e7e312
@ -1,80 +0,0 @@
|
||||
#include "opencv2/highgui/highgui.hpp"
|
||||
#include "opencv2/imgproc/imgproc_c.h"
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
IplImage* inpaint_mask = 0;
|
||||
IplImage* img0 = 0, *img = 0, *inpainted = 0;
|
||||
CvPoint prev_pt = {-1,-1};
|
||||
|
||||
void on_mouse( int event, int x, int y, int flags, void* )
|
||||
{
|
||||
if( !img )
|
||||
return;
|
||||
|
||||
if( event == CV_EVENT_LBUTTONUP || !(flags & CV_EVENT_FLAG_LBUTTON) )
|
||||
prev_pt = cvPoint(-1,-1);
|
||||
else if( event == CV_EVENT_LBUTTONDOWN )
|
||||
prev_pt = cvPoint(x,y);
|
||||
else if( event == CV_EVENT_MOUSEMOVE && (flags & CV_EVENT_FLAG_LBUTTON) )
|
||||
{
|
||||
CvPoint pt = cvPoint(x,y);
|
||||
if( prev_pt.x < 0 )
|
||||
prev_pt = pt;
|
||||
cvLine( inpaint_mask, prev_pt, pt, cvScalarAll(255), 5, 8, 0 );
|
||||
cvLine( img, prev_pt, pt, cvScalarAll(255), 5, 8, 0 );
|
||||
prev_pt = pt;
|
||||
cvShowImage( "image", img );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int main( int argc, char** argv )
|
||||
{
|
||||
char* filename = argc >= 2 ? argv[1] : (char*)"fruits.jpg";
|
||||
|
||||
if( (img0 = cvLoadImage(filename,-1)) == 0 )
|
||||
return 0;
|
||||
|
||||
printf( "Hot keys: \n"
|
||||
"\tESC - quit the program\n"
|
||||
"\tr - restore the original image\n"
|
||||
"\ti or SPACE - run inpainting algorithm\n"
|
||||
"\t\t(before running it, paint something on the image)\n" );
|
||||
|
||||
cvNamedWindow( "image", 1 );
|
||||
|
||||
img = cvCloneImage( img0 );
|
||||
inpainted = cvCloneImage( img0 );
|
||||
inpaint_mask = cvCreateImage( cvGetSize(img), 8, 1 );
|
||||
|
||||
cvZero( inpaint_mask );
|
||||
cvZero( inpainted );
|
||||
cvShowImage( "image", img );
|
||||
cvShowImage( "inpainted image", inpainted );
|
||||
cvSetMouseCallback( "image", on_mouse, 0 );
|
||||
|
||||
for(;;)
|
||||
{
|
||||
int c = cvWaitKey(0);
|
||||
|
||||
if( (char)c == 27 )
|
||||
break;
|
||||
|
||||
if( (char)c == 'r' )
|
||||
{
|
||||
cvZero( inpaint_mask );
|
||||
cvCopy( img0, img );
|
||||
cvShowImage( "image", img );
|
||||
}
|
||||
|
||||
if( (char)c == 'i' || (char)c == ' ' )
|
||||
{
|
||||
cvNamedWindow( "inpainted image", 1 );
|
||||
cvInpaint( img, inpaint_mask, inpainted, 3, CV_INPAINT_TELEA );
|
||||
cvShowImage( "inpainted image", inpainted );
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
@ -17,7 +17,6 @@ enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
|
||||
|
||||
void help()
|
||||
{
|
||||
|
||||
printf( "This is a camera calibration sample that calibrates 3 horizontally placed cameras together.\n"
|
||||
"Usage: 3calibration\n"
|
||||
" -w <board_width> # the number of inner corners per one of board dimension\n"
|
||||
@ -32,20 +31,6 @@ void help()
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners)
|
||||
{
|
||||
corners.resize(0);
|
||||
@ -56,7 +41,6 @@ static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point
|
||||
float(i*squareSize), 0));
|
||||
}
|
||||
|
||||
|
||||
static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
|
||||
vector<vector<Point2f> > imagePoints2,
|
||||
vector<vector<Point2f> > imagePoints3,
|
||||
|
||||
@ -29,16 +29,16 @@ if (BUILD_EXAMPLES)
|
||||
# ---------------------------------------------
|
||||
MACRO(MY_DEFINE_EXAMPLE name srcs)
|
||||
set(the_target "example_${name}")
|
||||
add_executable(${the_target} ${srcs})
|
||||
set_target_properties(${the_target} PROPERTIES
|
||||
OUTPUT_NAME "${name}"
|
||||
PROJECT_LABEL "(EXAMPLE) ${name}")
|
||||
add_dependencies(${the_target} opencv_core opencv_flann opencv_imgproc opencv_highgui
|
||||
opencv_ml opencv_video opencv_objdetect opencv_features2d
|
||||
opencv_calib3d opencv_legacy opencv_contrib)
|
||||
target_link_libraries(${the_target} ${OPENCV_LINKER_LIBS} opencv_core
|
||||
opencv_flann opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_objdetect
|
||||
opencv_features2d opencv_calib3d opencv_legacy opencv_contrib)
|
||||
add_executable(${the_target} ${srcs})
|
||||
set_target_properties(${the_target} PROPERTIES
|
||||
OUTPUT_NAME "${name}"
|
||||
PROJECT_LABEL "(EXAMPLE) ${name}")
|
||||
add_dependencies(${the_target} opencv_core opencv_flann opencv_imgproc opencv_highgui
|
||||
opencv_ml opencv_video opencv_objdetect opencv_features2d
|
||||
opencv_calib3d opencv_legacy opencv_contrib)
|
||||
target_link_libraries(${the_target} ${OPENCV_LINKER_LIBS} opencv_core
|
||||
opencv_flann opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_objdetect
|
||||
opencv_features2d opencv_calib3d opencv_legacy opencv_contrib)
|
||||
|
||||
if(WIN32)
|
||||
install(TARGETS ${the_target}
|
||||
|
||||
@ -1,323 +1,323 @@
|
||||
#include <iostream>
|
||||
#include <vector>
|
||||
#include <algorithm>
|
||||
#include <iterator>
|
||||
|
||||
#include <opencv2/calib3d/calib3d.hpp>
|
||||
#include <opencv2/imgproc/imgproc.hpp>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
using namespace cv;
|
||||
using namespace std;
|
||||
|
||||
namespace cv
|
||||
{
|
||||
|
||||
/* copy of class defines int tests/cv/chessboardgenerator.h */
|
||||
class ChessBoardGenerator
|
||||
{
|
||||
public:
|
||||
double sensorWidth;
|
||||
double sensorHeight;
|
||||
size_t squareEdgePointsNum;
|
||||
double min_cos;
|
||||
mutable double cov;
|
||||
Size patternSize;
|
||||
int rendererResolutionMultiplier;
|
||||
|
||||
ChessBoardGenerator(const Size& patternSize = Size(8, 6));
|
||||
Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const;
|
||||
Size cornersSize() const;
|
||||
private:
|
||||
void generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const;
|
||||
Mat generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
||||
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
|
||||
float sqWidth, float sqHeight, const vector<Point3f>& whole, vector<Point2f>& corners) const;
|
||||
void generateBasis(Point3f& pb1, Point3f& pb2) const;
|
||||
Point3f generateChessBoardCenter(const Mat& camMat, const Size& imgSize) const;
|
||||
Mat rvec, tvec;
|
||||
};
|
||||
};
|
||||
|
||||
|
||||
|
||||
const Size imgSize(800, 600);
|
||||
const Size brdSize(8, 7);
|
||||
const size_t brds_num = 20;
|
||||
|
||||
template<class T> ostream& operator<<(ostream& out, const Mat_<T>& mat)
|
||||
{
|
||||
for(int j = 0; j < mat.rows; ++j)
|
||||
for(int i = 0; i < mat.cols; ++i)
|
||||
out << mat(j, i) << " ";
|
||||
return out;
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
cout << "Initializing background...";
|
||||
Mat background(imgSize, CV_8UC3);
|
||||
randu(background, Scalar::all(32), Scalar::all(255));
|
||||
GaussianBlur(background, background, Size(5, 5), 2);
|
||||
cout << "Done" << endl;
|
||||
|
||||
cout << "Initializing chess board generator...";
|
||||
ChessBoardGenerator cbg(brdSize);
|
||||
cbg.rendererResolutionMultiplier = 4;
|
||||
cout << "Done" << endl;
|
||||
|
||||
/* camera params */
|
||||
Mat_<double> camMat(3, 3);
|
||||
camMat << 300., 0., background.cols/2., 0, 300., background.rows/2., 0., 0., 1.;
|
||||
|
||||
Mat_<double> distCoeffs(1, 5);
|
||||
distCoeffs << 1.2, 0.2, 0., 0., 0.;
|
||||
|
||||
cout << "Generating chessboards...";
|
||||
vector<Mat> boards(brds_num);
|
||||
vector<Point2f> tmp;
|
||||
for(size_t i = 0; i < brds_num; ++i)
|
||||
cout << (boards[i] = cbg(background, camMat, distCoeffs, tmp), i) << " ";
|
||||
cout << "Done" << endl;
|
||||
|
||||
vector<Point3f> chessboard3D;
|
||||
for(int j = 0; j < cbg.cornersSize().height; ++j)
|
||||
for(int i = 0; i < cbg.cornersSize().width; ++i)
|
||||
chessboard3D.push_back(Point3i(i, j, 0));
|
||||
|
||||
/* init points */
|
||||
vector< vector<Point3f> > objectPoints;
|
||||
vector< vector<Point2f> > imagePoints;
|
||||
|
||||
cout << endl << "Finding chessboards' corners...";
|
||||
for(size_t i = 0; i < brds_num; ++i)
|
||||
{
|
||||
cout << i;
|
||||
namedWindow("Current chessboard"); imshow("Current chessboard", boards[i]); waitKey(100);
|
||||
bool found = findChessboardCorners(boards[i], cbg.cornersSize(), tmp);
|
||||
if (found)
|
||||
{
|
||||
imagePoints.push_back(tmp);
|
||||
objectPoints.push_back(chessboard3D);
|
||||
cout<< "-found ";
|
||||
}
|
||||
else
|
||||
cout<< "-not-found ";
|
||||
|
||||
drawChessboardCorners(boards[i], cbg.cornersSize(), Mat(tmp), found);
|
||||
imshow("Current chessboard", boards[i]); waitKey(1000);
|
||||
}
|
||||
cout << "Done" << endl;
|
||||
cvDestroyAllWindows();
|
||||
|
||||
Mat camMat_est;
|
||||
Mat distCoeffs_est;
|
||||
vector<Mat> rvecs, tvecs;
|
||||
|
||||
cout << "Calibrating...";
|
||||
double rep_err = calibrateCamera(objectPoints, imagePoints, imgSize, camMat_est, distCoeffs_est, rvecs, tvecs);
|
||||
cout << "Done" << endl;
|
||||
|
||||
cout << endl << "Average Reprojection error: " << rep_err/brds_num/cbg.cornersSize().area() << endl;
|
||||
cout << "==================================" << endl;
|
||||
cout << "Original camera matrix:\n" << camMat << endl;
|
||||
cout << "Original distCoeffs:\n" << distCoeffs << endl;
|
||||
cout << "==================================" << endl;
|
||||
cout << "Estiamted camera matrix:\n" << (Mat_<double>&)camMat_est << endl;
|
||||
cout << "Estiamted distCoeffs:\n" << (Mat_<double>&)distCoeffs_est << endl;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
// Copy of tests/cv/src/chessboardgenerator code. Just do not want to add dependency.
|
||||
|
||||
|
||||
ChessBoardGenerator::ChessBoardGenerator(const Size& _patternSize) : sensorWidth(32), sensorHeight(24),
|
||||
squareEdgePointsNum(200), min_cos(sqrt(2.f)*0.5f), cov(0.5),
|
||||
patternSize(_patternSize), rendererResolutionMultiplier(4), tvec(Mat::zeros(1, 3, CV_32F))
|
||||
{
|
||||
Rodrigues(Mat::eye(3, 3, CV_32F), rvec);
|
||||
}
|
||||
|
||||
void cv::ChessBoardGenerator::generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const
|
||||
{
|
||||
Point3f step = (p2 - p1) * (1.f/squareEdgePointsNum);
|
||||
for(size_t n = 0; n < squareEdgePointsNum; ++n)
|
||||
out.push_back( p1 + step * (float)n);
|
||||
}
|
||||
|
||||
Size cv::ChessBoardGenerator::cornersSize() const
|
||||
{
|
||||
return Size(patternSize.width-1, patternSize.height-1);
|
||||
}
|
||||
|
||||
struct Mult
|
||||
{
|
||||
float m;
|
||||
Mult(int mult) : m((float)mult) {}
|
||||
Point2f operator()(const Point2f& p)const { return p * m; }
|
||||
};
|
||||
|
||||
void cv::ChessBoardGenerator::generateBasis(Point3f& pb1, Point3f& pb2) const
|
||||
{
|
||||
RNG& rng = theRNG();
|
||||
|
||||
Vec3f n;
|
||||
for(;;)
|
||||
{
|
||||
n[0] = rng.uniform(-1.f, 1.f);
|
||||
n[1] = rng.uniform(-1.f, 1.f);
|
||||
n[2] = rng.uniform(-1.f, 1.f);
|
||||
float len = (float)norm(n);
|
||||
n[0]/=len;
|
||||
n[1]/=len;
|
||||
n[2]/=len;
|
||||
|
||||
if (fabs(n[2]) > min_cos)
|
||||
break;
|
||||
}
|
||||
|
||||
Vec3f n_temp = n; n_temp[0] += 100;
|
||||
Vec3f b1 = n.cross(n_temp);
|
||||
Vec3f b2 = n.cross(b1);
|
||||
float len_b1 = (float)norm(b1);
|
||||
float len_b2 = (float)norm(b2);
|
||||
|
||||
pb1 = Point3f(b1[0]/len_b1, b1[1]/len_b1, b1[2]/len_b1);
|
||||
pb2 = Point3f(b2[0]/len_b1, b2[1]/len_b2, b2[2]/len_b2);
|
||||
}
|
||||
|
||||
Mat cv::ChessBoardGenerator::generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
||||
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
|
||||
float sqWidth, float sqHeight, const vector<Point3f>& whole,
|
||||
vector<Point2f>& corners) const
|
||||
{
|
||||
vector< vector<Point> > squares_black;
|
||||
for(int i = 0; i < patternSize.width; ++i)
|
||||
for(int j = 0; j < patternSize.height; ++j)
|
||||
if ( (i % 2 == 0 && j % 2 == 0) || (i % 2 != 0 && j % 2 != 0) )
|
||||
{
|
||||
vector<Point3f> pts_square3d;
|
||||
vector<Point2f> pts_square2d;
|
||||
|
||||
Point3f p1 = zero + (i + 0) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
|
||||
Point3f p2 = zero + (i + 1) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
|
||||
Point3f p3 = zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
|
||||
Point3f p4 = zero + (i + 0) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
|
||||
generateEdge(p1, p2, pts_square3d);
|
||||
generateEdge(p2, p3, pts_square3d);
|
||||
generateEdge(p3, p4, pts_square3d);
|
||||
generateEdge(p4, p1, pts_square3d);
|
||||
|
||||
projectPoints( Mat(pts_square3d), rvec, tvec, camMat, distCoeffs, pts_square2d);
|
||||
squares_black.resize(squares_black.size() + 1);
|
||||
vector<Point2f> temp;
|
||||
approxPolyDP(Mat(pts_square2d), temp, 1.0, true);
|
||||
transform(temp.begin(), temp.end(), back_inserter(squares_black.back()), Mult(rendererResolutionMultiplier));
|
||||
}
|
||||
|
||||
/* calculate corners */
|
||||
vector<Point3f> corners3d;
|
||||
for(int j = 0; j < patternSize.height - 1; ++j)
|
||||
for(int i = 0; i < patternSize.width - 1; ++i)
|
||||
corners3d.push_back(zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2);
|
||||
corners.clear();
|
||||
projectPoints( Mat(corners3d), rvec, tvec, camMat, distCoeffs, corners);
|
||||
|
||||
vector<Point3f> whole3d;
|
||||
vector<Point2f> whole2d;
|
||||
generateEdge(whole[0], whole[1], whole3d);
|
||||
generateEdge(whole[1], whole[2], whole3d);
|
||||
generateEdge(whole[2], whole[3], whole3d);
|
||||
generateEdge(whole[3], whole[0], whole3d);
|
||||
projectPoints( Mat(whole3d), rvec, tvec, camMat, distCoeffs, whole2d);
|
||||
vector<Point2f> temp_whole2d;
|
||||
approxPolyDP(Mat(whole2d), temp_whole2d, 1.0, true);
|
||||
|
||||
vector< vector<Point > > whole_contour(1);
|
||||
transform(temp_whole2d.begin(), temp_whole2d.end(),
|
||||
back_inserter(whole_contour.front()), Mult(rendererResolutionMultiplier));
|
||||
|
||||
Mat result;
|
||||
if (rendererResolutionMultiplier == 1)
|
||||
{
|
||||
result = bg.clone();
|
||||
drawContours(result, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
|
||||
drawContours(result, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA);
|
||||
}
|
||||
else
|
||||
{
|
||||
Mat tmp;
|
||||
resize(bg, tmp, bg.size() * rendererResolutionMultiplier);
|
||||
drawContours(tmp, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
|
||||
drawContours(tmp, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA);
|
||||
resize(tmp, result, bg.size(), 0, 0, INTER_AREA);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const
|
||||
{
|
||||
cov = min(cov, 0.8);
|
||||
double fovx, fovy, focalLen;
|
||||
Point2d principalPoint;
|
||||
double aspect;
|
||||
calibrationMatrixValues( camMat, bg.size(), sensorWidth, sensorHeight,
|
||||
fovx, fovy, focalLen, principalPoint, aspect);
|
||||
|
||||
RNG& rng = theRNG();
|
||||
|
||||
float d1 = static_cast<float>(rng.uniform(0.1, 10.0));
|
||||
float ah = static_cast<float>(rng.uniform(-fovx/2 * cov, fovx/2 * cov) * CV_PI / 180);
|
||||
float av = static_cast<float>(rng.uniform(-fovy/2 * cov, fovy/2 * cov) * CV_PI / 180);
|
||||
|
||||
Point3f p;
|
||||
p.z = cos(ah) * d1;
|
||||
p.x = sin(ah) * d1;
|
||||
p.y = p.z * tan(av);
|
||||
|
||||
Point3f pb1, pb2;
|
||||
generateBasis(pb1, pb2);
|
||||
|
||||
float cbHalfWidth = static_cast<float>(norm(p) * sin( min(fovx, fovy) * 0.5 * CV_PI / 180));
|
||||
float cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
|
||||
|
||||
vector<Point3f> pts3d(4);
|
||||
vector<Point2f> pts2d(4);
|
||||
for(;;)
|
||||
{
|
||||
pts3d[0] = p + pb1 * cbHalfWidth + cbHalfHeight * pb2;
|
||||
pts3d[1] = p + pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
||||
pts3d[2] = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
||||
pts3d[3] = p - pb1 * cbHalfWidth + cbHalfHeight * pb2;
|
||||
|
||||
/* can remake with better perf */
|
||||
projectPoints( Mat(pts3d), rvec, tvec, camMat, distCoeffs, pts2d);
|
||||
|
||||
bool inrect1 = pts2d[0].x < bg.cols && pts2d[0].y < bg.rows && pts2d[0].x > 0 && pts2d[0].y > 0;
|
||||
bool inrect2 = pts2d[1].x < bg.cols && pts2d[1].y < bg.rows && pts2d[1].x > 0 && pts2d[1].y > 0;
|
||||
bool inrect3 = pts2d[2].x < bg.cols && pts2d[2].y < bg.rows && pts2d[2].x > 0 && pts2d[2].y > 0;
|
||||
bool inrect4 = pts2d[3].x < bg.cols && pts2d[3].y < bg.rows && pts2d[3].x > 0 && pts2d[3].y > 0;
|
||||
|
||||
if ( inrect1 && inrect2 && inrect3 && inrect4)
|
||||
break;
|
||||
|
||||
cbHalfWidth*=0.8f;
|
||||
cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
|
||||
}
|
||||
|
||||
cbHalfWidth *= static_cast<float>(patternSize.width)/(patternSize.width + 1);
|
||||
cbHalfHeight *= static_cast<float>(patternSize.height)/(patternSize.height + 1);
|
||||
|
||||
Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
||||
float sqWidth = 2 * cbHalfWidth/patternSize.width;
|
||||
float sqHeight = 2 * cbHalfHeight/patternSize.height;
|
||||
|
||||
return generageChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, sqWidth, sqHeight, pts3d, corners);
|
||||
}
|
||||
|
||||
#include <iostream>
|
||||
#include <vector>
|
||||
#include <algorithm>
|
||||
#include <iterator>
|
||||
|
||||
#include <opencv2/calib3d/calib3d.hpp>
|
||||
#include <opencv2/imgproc/imgproc.hpp>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
using namespace cv;
|
||||
using namespace std;
|
||||
|
||||
namespace cv
|
||||
{
|
||||
|
||||
/* copy of class defines int tests/cv/chessboardgenerator.h */
|
||||
class ChessBoardGenerator
|
||||
{
|
||||
public:
|
||||
double sensorWidth;
|
||||
double sensorHeight;
|
||||
size_t squareEdgePointsNum;
|
||||
double min_cos;
|
||||
mutable double cov;
|
||||
Size patternSize;
|
||||
int rendererResolutionMultiplier;
|
||||
|
||||
ChessBoardGenerator(const Size& patternSize = Size(8, 6));
|
||||
Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const;
|
||||
Size cornersSize() const;
|
||||
private:
|
||||
void generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const;
|
||||
Mat generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
||||
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
|
||||
float sqWidth, float sqHeight, const vector<Point3f>& whole, vector<Point2f>& corners) const;
|
||||
void generateBasis(Point3f& pb1, Point3f& pb2) const;
|
||||
Point3f generateChessBoardCenter(const Mat& camMat, const Size& imgSize) const;
|
||||
Mat rvec, tvec;
|
||||
};
|
||||
};
|
||||
|
||||
|
||||
|
||||
const Size imgSize(800, 600);
|
||||
const Size brdSize(8, 7);
|
||||
const size_t brds_num = 20;
|
||||
|
||||
template<class T> ostream& operator<<(ostream& out, const Mat_<T>& mat)
|
||||
{
|
||||
for(int j = 0; j < mat.rows; ++j)
|
||||
for(int i = 0; i < mat.cols; ++i)
|
||||
out << mat(j, i) << " ";
|
||||
return out;
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
cout << "Initializing background...";
|
||||
Mat background(imgSize, CV_8UC3);
|
||||
randu(background, Scalar::all(32), Scalar::all(255));
|
||||
GaussianBlur(background, background, Size(5, 5), 2);
|
||||
cout << "Done" << endl;
|
||||
|
||||
cout << "Initializing chess board generator...";
|
||||
ChessBoardGenerator cbg(brdSize);
|
||||
cbg.rendererResolutionMultiplier = 4;
|
||||
cout << "Done" << endl;
|
||||
|
||||
/* camera params */
|
||||
Mat_<double> camMat(3, 3);
|
||||
camMat << 300., 0., background.cols/2., 0, 300., background.rows/2., 0., 0., 1.;
|
||||
|
||||
Mat_<double> distCoeffs(1, 5);
|
||||
distCoeffs << 1.2, 0.2, 0., 0., 0.;
|
||||
|
||||
cout << "Generating chessboards...";
|
||||
vector<Mat> boards(brds_num);
|
||||
vector<Point2f> tmp;
|
||||
for(size_t i = 0; i < brds_num; ++i)
|
||||
cout << (boards[i] = cbg(background, camMat, distCoeffs, tmp), i) << " ";
|
||||
cout << "Done" << endl;
|
||||
|
||||
vector<Point3f> chessboard3D;
|
||||
for(int j = 0; j < cbg.cornersSize().height; ++j)
|
||||
for(int i = 0; i < cbg.cornersSize().width; ++i)
|
||||
chessboard3D.push_back(Point3i(i, j, 0));
|
||||
|
||||
/* init points */
|
||||
vector< vector<Point3f> > objectPoints;
|
||||
vector< vector<Point2f> > imagePoints;
|
||||
|
||||
cout << endl << "Finding chessboards' corners...";
|
||||
for(size_t i = 0; i < brds_num; ++i)
|
||||
{
|
||||
cout << i;
|
||||
namedWindow("Current chessboard"); imshow("Current chessboard", boards[i]); waitKey(100);
|
||||
bool found = findChessboardCorners(boards[i], cbg.cornersSize(), tmp);
|
||||
if (found)
|
||||
{
|
||||
imagePoints.push_back(tmp);
|
||||
objectPoints.push_back(chessboard3D);
|
||||
cout<< "-found ";
|
||||
}
|
||||
else
|
||||
cout<< "-not-found ";
|
||||
|
||||
drawChessboardCorners(boards[i], cbg.cornersSize(), Mat(tmp), found);
|
||||
imshow("Current chessboard", boards[i]); waitKey(1000);
|
||||
}
|
||||
cout << "Done" << endl;
|
||||
cvDestroyAllWindows();
|
||||
|
||||
Mat camMat_est;
|
||||
Mat distCoeffs_est;
|
||||
vector<Mat> rvecs, tvecs;
|
||||
|
||||
cout << "Calibrating...";
|
||||
double rep_err = calibrateCamera(objectPoints, imagePoints, imgSize, camMat_est, distCoeffs_est, rvecs, tvecs);
|
||||
cout << "Done" << endl;
|
||||
|
||||
cout << endl << "Average Reprojection error: " << rep_err/brds_num/cbg.cornersSize().area() << endl;
|
||||
cout << "==================================" << endl;
|
||||
cout << "Original camera matrix:\n" << camMat << endl;
|
||||
cout << "Original distCoeffs:\n" << distCoeffs << endl;
|
||||
cout << "==================================" << endl;
|
||||
cout << "Estiamted camera matrix:\n" << (Mat_<double>&)camMat_est << endl;
|
||||
cout << "Estiamted distCoeffs:\n" << (Mat_<double>&)distCoeffs_est << endl;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
// Copy of tests/cv/src/chessboardgenerator code. Just do not want to add dependency.
|
||||
|
||||
|
||||
ChessBoardGenerator::ChessBoardGenerator(const Size& _patternSize) : sensorWidth(32), sensorHeight(24),
|
||||
squareEdgePointsNum(200), min_cos(sqrt(2.f)*0.5f), cov(0.5),
|
||||
patternSize(_patternSize), rendererResolutionMultiplier(4), tvec(Mat::zeros(1, 3, CV_32F))
|
||||
{
|
||||
Rodrigues(Mat::eye(3, 3, CV_32F), rvec);
|
||||
}
|
||||
|
||||
void cv::ChessBoardGenerator::generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const
|
||||
{
|
||||
Point3f step = (p2 - p1) * (1.f/squareEdgePointsNum);
|
||||
for(size_t n = 0; n < squareEdgePointsNum; ++n)
|
||||
out.push_back( p1 + step * (float)n);
|
||||
}
|
||||
|
||||
Size cv::ChessBoardGenerator::cornersSize() const
|
||||
{
|
||||
return Size(patternSize.width-1, patternSize.height-1);
|
||||
}
|
||||
|
||||
struct Mult
|
||||
{
|
||||
float m;
|
||||
Mult(int mult) : m((float)mult) {}
|
||||
Point2f operator()(const Point2f& p)const { return p * m; }
|
||||
};
|
||||
|
||||
void cv::ChessBoardGenerator::generateBasis(Point3f& pb1, Point3f& pb2) const
|
||||
{
|
||||
RNG& rng = theRNG();
|
||||
|
||||
Vec3f n;
|
||||
for(;;)
|
||||
{
|
||||
n[0] = rng.uniform(-1.f, 1.f);
|
||||
n[1] = rng.uniform(-1.f, 1.f);
|
||||
n[2] = rng.uniform(-1.f, 1.f);
|
||||
float len = (float)norm(n);
|
||||
n[0]/=len;
|
||||
n[1]/=len;
|
||||
n[2]/=len;
|
||||
|
||||
if (fabs(n[2]) > min_cos)
|
||||
break;
|
||||
}
|
||||
|
||||
Vec3f n_temp = n; n_temp[0] += 100;
|
||||
Vec3f b1 = n.cross(n_temp);
|
||||
Vec3f b2 = n.cross(b1);
|
||||
float len_b1 = (float)norm(b1);
|
||||
float len_b2 = (float)norm(b2);
|
||||
|
||||
pb1 = Point3f(b1[0]/len_b1, b1[1]/len_b1, b1[2]/len_b1);
|
||||
pb2 = Point3f(b2[0]/len_b1, b2[1]/len_b2, b2[2]/len_b2);
|
||||
}
|
||||
|
||||
Mat cv::ChessBoardGenerator::generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
||||
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
|
||||
float sqWidth, float sqHeight, const vector<Point3f>& whole,
|
||||
vector<Point2f>& corners) const
|
||||
{
|
||||
vector< vector<Point> > squares_black;
|
||||
for(int i = 0; i < patternSize.width; ++i)
|
||||
for(int j = 0; j < patternSize.height; ++j)
|
||||
if ( (i % 2 == 0 && j % 2 == 0) || (i % 2 != 0 && j % 2 != 0) )
|
||||
{
|
||||
vector<Point3f> pts_square3d;
|
||||
vector<Point2f> pts_square2d;
|
||||
|
||||
Point3f p1 = zero + (i + 0) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
|
||||
Point3f p2 = zero + (i + 1) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
|
||||
Point3f p3 = zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
|
||||
Point3f p4 = zero + (i + 0) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
|
||||
generateEdge(p1, p2, pts_square3d);
|
||||
generateEdge(p2, p3, pts_square3d);
|
||||
generateEdge(p3, p4, pts_square3d);
|
||||
generateEdge(p4, p1, pts_square3d);
|
||||
|
||||
projectPoints( Mat(pts_square3d), rvec, tvec, camMat, distCoeffs, pts_square2d);
|
||||
squares_black.resize(squares_black.size() + 1);
|
||||
vector<Point2f> temp;
|
||||
approxPolyDP(Mat(pts_square2d), temp, 1.0, true);
|
||||
transform(temp.begin(), temp.end(), back_inserter(squares_black.back()), Mult(rendererResolutionMultiplier));
|
||||
}
|
||||
|
||||
/* calculate corners */
|
||||
vector<Point3f> corners3d;
|
||||
for(int j = 0; j < patternSize.height - 1; ++j)
|
||||
for(int i = 0; i < patternSize.width - 1; ++i)
|
||||
corners3d.push_back(zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2);
|
||||
corners.clear();
|
||||
projectPoints( Mat(corners3d), rvec, tvec, camMat, distCoeffs, corners);
|
||||
|
||||
vector<Point3f> whole3d;
|
||||
vector<Point2f> whole2d;
|
||||
generateEdge(whole[0], whole[1], whole3d);
|
||||
generateEdge(whole[1], whole[2], whole3d);
|
||||
generateEdge(whole[2], whole[3], whole3d);
|
||||
generateEdge(whole[3], whole[0], whole3d);
|
||||
projectPoints( Mat(whole3d), rvec, tvec, camMat, distCoeffs, whole2d);
|
||||
vector<Point2f> temp_whole2d;
|
||||
approxPolyDP(Mat(whole2d), temp_whole2d, 1.0, true);
|
||||
|
||||
vector< vector<Point > > whole_contour(1);
|
||||
transform(temp_whole2d.begin(), temp_whole2d.end(),
|
||||
back_inserter(whole_contour.front()), Mult(rendererResolutionMultiplier));
|
||||
|
||||
Mat result;
|
||||
if (rendererResolutionMultiplier == 1)
|
||||
{
|
||||
result = bg.clone();
|
||||
drawContours(result, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
|
||||
drawContours(result, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA);
|
||||
}
|
||||
else
|
||||
{
|
||||
Mat tmp;
|
||||
resize(bg, tmp, bg.size() * rendererResolutionMultiplier);
|
||||
drawContours(tmp, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
|
||||
drawContours(tmp, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA);
|
||||
resize(tmp, result, bg.size(), 0, 0, INTER_AREA);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const
|
||||
{
|
||||
cov = min(cov, 0.8);
|
||||
double fovx, fovy, focalLen;
|
||||
Point2d principalPoint;
|
||||
double aspect;
|
||||
calibrationMatrixValues( camMat, bg.size(), sensorWidth, sensorHeight,
|
||||
fovx, fovy, focalLen, principalPoint, aspect);
|
||||
|
||||
RNG& rng = theRNG();
|
||||
|
||||
float d1 = static_cast<float>(rng.uniform(0.1, 10.0));
|
||||
float ah = static_cast<float>(rng.uniform(-fovx/2 * cov, fovx/2 * cov) * CV_PI / 180);
|
||||
float av = static_cast<float>(rng.uniform(-fovy/2 * cov, fovy/2 * cov) * CV_PI / 180);
|
||||
|
||||
Point3f p;
|
||||
p.z = cos(ah) * d1;
|
||||
p.x = sin(ah) * d1;
|
||||
p.y = p.z * tan(av);
|
||||
|
||||
Point3f pb1, pb2;
|
||||
generateBasis(pb1, pb2);
|
||||
|
||||
float cbHalfWidth = static_cast<float>(norm(p) * sin( min(fovx, fovy) * 0.5 * CV_PI / 180));
|
||||
float cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
|
||||
|
||||
vector<Point3f> pts3d(4);
|
||||
vector<Point2f> pts2d(4);
|
||||
for(;;)
|
||||
{
|
||||
pts3d[0] = p + pb1 * cbHalfWidth + cbHalfHeight * pb2;
|
||||
pts3d[1] = p + pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
||||
pts3d[2] = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
||||
pts3d[3] = p - pb1 * cbHalfWidth + cbHalfHeight * pb2;
|
||||
|
||||
/* can remake with better perf */
|
||||
projectPoints( Mat(pts3d), rvec, tvec, camMat, distCoeffs, pts2d);
|
||||
|
||||
bool inrect1 = pts2d[0].x < bg.cols && pts2d[0].y < bg.rows && pts2d[0].x > 0 && pts2d[0].y > 0;
|
||||
bool inrect2 = pts2d[1].x < bg.cols && pts2d[1].y < bg.rows && pts2d[1].x > 0 && pts2d[1].y > 0;
|
||||
bool inrect3 = pts2d[2].x < bg.cols && pts2d[2].y < bg.rows && pts2d[2].x > 0 && pts2d[2].y > 0;
|
||||
bool inrect4 = pts2d[3].x < bg.cols && pts2d[3].y < bg.rows && pts2d[3].x > 0 && pts2d[3].y > 0;
|
||||
|
||||
if ( inrect1 && inrect2 && inrect3 && inrect4)
|
||||
break;
|
||||
|
||||
cbHalfWidth*=0.8f;
|
||||
cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
|
||||
}
|
||||
|
||||
cbHalfWidth *= static_cast<float>(patternSize.width)/(patternSize.width + 1);
|
||||
cbHalfHeight *= static_cast<float>(patternSize.height)/(patternSize.height + 1);
|
||||
|
||||
Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
||||
float sqWidth = 2 * cbHalfWidth/patternSize.width;
|
||||
float sqHeight = 2 * cbHalfHeight/patternSize.height;
|
||||
|
||||
return generageChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, sqWidth, sqHeight, pts3d, corners);
|
||||
}
|
||||
|
||||
@ -1,24 +1,21 @@
|
||||
#include <opencv2/video/tracking.hpp>
|
||||
#include <opencv2/imgproc/imgproc.hpp>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
#include <iostream>
|
||||
#include <ctype.h>
|
||||
|
||||
IplImage *image = 0, *hsv = 0, *hue = 0, *mask = 0, *backproject = 0, *histimg = 0;
|
||||
CvHistogram *hist = 0;
|
||||
using namespace cv;
|
||||
using namespace std;
|
||||
|
||||
int backproject_mode = 0;
|
||||
int select_object = 0;
|
||||
int track_object = 0;
|
||||
int show_hist = 1;
|
||||
CvPoint origin;
|
||||
CvRect selection;
|
||||
CvRect track_window;
|
||||
CvBox2D track_box;
|
||||
CvConnectedComp track_comp;
|
||||
int hdims = 16;
|
||||
float hranges_arr[] = {0,180};
|
||||
float* hranges = hranges_arr;
|
||||
Mat image;
|
||||
|
||||
bool backprojMode = false;
|
||||
bool selectObject = false;
|
||||
int trackObject = 0;
|
||||
bool showHist = true;
|
||||
Point origin;
|
||||
Rect selection;
|
||||
int vmin = 10, vmax = 256, smin = 30;
|
||||
|
||||
void onMouse( int event, int x, int y, int flags, void* param )
|
||||
@ -27,15 +24,10 @@ void onMouse( int event, int x, int y, int flags, void* param )
|
||||
{
|
||||
selection.x = MIN(x, origin.x);
|
||||
selection.y = MIN(y, origin.y);
|
||||
selection.width = selection.x + std::abs(x - origin.x);
|
||||
selection.height = selection.y + std::abs(y - origin.y);
|
||||
selection.width = std::abs(x - origin.x);
|
||||
selection.height = std::abs(y - origin.y);
|
||||
|
||||
selection.x = MAX(selection.x, 0);
|
||||
selection.y = MAX(selection.y, 0);
|
||||
selection.width = MIN(selection.width, image.cols);
|
||||
selection.height = MIN(selection.height, image.rows);
|
||||
selection.width -= selection.x;
|
||||
selection.height -= selection.y;
|
||||
selection &= Rect(0, 0, image.cols, image.rows);
|
||||
}
|
||||
|
||||
switch( event )
|
||||
@ -53,162 +45,131 @@ void onMouse( int event, int x, int y, int flags, void* param )
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Scalar hsv2rgb( float hue )
|
||||
{
|
||||
int rgb[3], p, sector;
|
||||
static const int sectorData[][3]=
|
||||
{{0,2,1}, {1,2,0}, {1,0,2}, {2,0,1}, {2,1,0}, {0,1,2}};
|
||||
hue *= 0.033333333333333333333333333333333f;
|
||||
sector = cvFloor(hue);
|
||||
p = cvRound(255*(hue - sector));
|
||||
p ^= sector & 1 ? 255 : 0;
|
||||
|
||||
rgb[sector_data[sector][0]] = 255;
|
||||
rgb[sector_data[sector][1]] = 0;
|
||||
rgb[sector_data[sector][2]] = p;
|
||||
|
||||
return cvScalar(rgb[2], rgb[1], rgb[0],0);
|
||||
}
|
||||
|
||||
int main( int argc, char** argv )
|
||||
{
|
||||
CvCapture* capture = 0;
|
||||
VideoCapture cap;
|
||||
Rect trackWindow;
|
||||
RotatedRect trackBox;
|
||||
CvConnectedComp trackComp;
|
||||
int hsize = 16;
|
||||
float hranges[] = {0,180};
|
||||
const float* phranges = hranges;
|
||||
|
||||
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
|
||||
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
|
||||
cap.open(argc == 2 ? argv[1][0] - '0' : 0);
|
||||
else if( argc == 2 )
|
||||
capture = cvCaptureFromAVI( argv[1] );
|
||||
cap.open(argv[1]);
|
||||
|
||||
if( !capture )
|
||||
if( !cap.isOpened() )
|
||||
{
|
||||
fprintf(stderr,"Could not initialize capturing...\n");
|
||||
return -1;
|
||||
cout << "Could not initialize capturing...\n";
|
||||
return 0;
|
||||
}
|
||||
|
||||
printf( "Hot keys: \n"
|
||||
cout << "Hot keys: \n"
|
||||
"\tESC - quit the program\n"
|
||||
"\tc - stop the tracking\n"
|
||||
"\tb - switch to/from backprojection view\n"
|
||||
"\th - show/hide object histogram\n"
|
||||
"To initialize tracking, select the object with mouse\n" );
|
||||
"To initialize tracking, select the object with mouse\n";
|
||||
|
||||
cvNamedWindow( "Histogram", 1 );
|
||||
cvNamedWindow( "CamShiftDemo", 1 );
|
||||
cvSetMouseCallback( "CamShiftDemo", on_mouse, 0 );
|
||||
cvCreateTrackbar( "Vmin", "CamShiftDemo", &vmin, 256, 0 );
|
||||
cvCreateTrackbar( "Vmax", "CamShiftDemo", &vmax, 256, 0 );
|
||||
cvCreateTrackbar( "Smin", "CamShiftDemo", &smin, 256, 0 );
|
||||
namedWindow( "Histogram", 1 );
|
||||
namedWindow( "CamShift Demo", 1 );
|
||||
setMouseCallback( "CamShift Demo", onMouse, 0 );
|
||||
createTrackbar( "Vmin", "CamShift Demo", &vmin, 256, 0 );
|
||||
createTrackbar( "Vmax", "CamShift Demo", &vmax, 256, 0 );
|
||||
createTrackbar( "Smin", "CamShift Demo", &smin, 256, 0 );
|
||||
|
||||
Mat hsv, hue, mask, hist, histimg = Mat::zeros(200, 320, CV_8UC3), backproj;
|
||||
|
||||
for(;;)
|
||||
{
|
||||
IplImage* frame = 0;
|
||||
int i, bin_w, c;
|
||||
|
||||
frame = cvQueryFrame( capture );
|
||||
if( !frame )
|
||||
Mat frame;
|
||||
cap >> frame;
|
||||
if( frame.empty() )
|
||||
break;
|
||||
|
||||
if( !image )
|
||||
{
|
||||
/* allocate all the buffers */
|
||||
image = cvCreateImage( cvGetSize(frame), 8, 3 );
|
||||
image->origin = frame->origin;
|
||||
hsv = cvCreateImage( cvGetSize(frame), 8, 3 );
|
||||
hue = cvCreateImage( cvGetSize(frame), 8, 1 );
|
||||
mask = cvCreateImage( cvGetSize(frame), 8, 1 );
|
||||
backproject = cvCreateImage( cvGetSize(frame), 8, 1 );
|
||||
hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY, &hranges, 1 );
|
||||
histimg = cvCreateImage( cvSize(320,200), 8, 3 );
|
||||
cvZero( histimg );
|
||||
}
|
||||
frame.copyTo(image);
|
||||
cvtColor(image, hsv, CV_BGR2HSV);
|
||||
|
||||
cvCopy( frame, image, 0 );
|
||||
cvCvtColor( image, hsv, CV_BGR2HSV );
|
||||
|
||||
if( track_object )
|
||||
if( trackObject )
|
||||
{
|
||||
int _vmin = vmin, _vmax = vmax;
|
||||
|
||||
cvInRangeS( hsv, cvScalar(0,smin,MIN(_vmin,_vmax),0),
|
||||
cvScalar(180,256,MAX(_vmin,_vmax),0), mask );
|
||||
cvSplit( hsv, hue, 0, 0, 0 );
|
||||
inRange(hsv, Scalar(0, smin, MIN(_vmin,_vmax)),
|
||||
Scalar(180, 256, MAX(_vmin, _vmax)), mask);
|
||||
int ch[] = {0, 0};
|
||||
hue.create(hsv.size(), hsv.depth());
|
||||
mixChannels(&hsv, 1, &hue, 1, ch, 1);
|
||||
|
||||
if( track_object < 0 )
|
||||
if( trackObject < 0 )
|
||||
{
|
||||
float max_val = 0.f;
|
||||
cvSetImageROI( hue, selection );
|
||||
cvSetImageROI( mask, selection );
|
||||
cvCalcHist( &hue, hist, 0, mask );
|
||||
cvGetMinMaxHistValue( hist, 0, &max_val, 0, 0 );
|
||||
cvConvertScale( hist->bins, hist->bins, max_val ? 255. / max_val : 0., 0 );
|
||||
cvResetImageROI( hue );
|
||||
cvResetImageROI( mask );
|
||||
track_window = selection;
|
||||
track_object = 1;
|
||||
Mat roi(hue, selection), maskroi(mask, selection);
|
||||
calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
|
||||
normalize(hist, hist, 0, 255, CV_MINMAX);
|
||||
|
||||
trackWindow = selection;
|
||||
trackObject = 1;
|
||||
|
||||
cvZero( histimg );
|
||||
bin_w = histimg->width / hdims;
|
||||
for( i = 0; i < hdims; i++ )
|
||||
histimg = Scalar::all(0);
|
||||
int binW = histimg.cols / hsize;
|
||||
Mat buf(1, hsize, CV_8UC3);
|
||||
for( int i = 0; i < hsize; i++ )
|
||||
buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180./hsize), 255, 255);
|
||||
cvtColor(buf, buf, CV_HSV2BGR);
|
||||
|
||||
for( int i = 0; i < hsize; i++ )
|
||||
{
|
||||
int val = cvRound( cvGetReal1D(hist->bins,i)*histimg->height/255 );
|
||||
CvScalar color = hsv2rgb(i*180.f/hdims);
|
||||
cvRectangle( histimg, cvPoint(i*bin_w,histimg->height),
|
||||
cvPoint((i+1)*bin_w,histimg->height - val),
|
||||
color, -1, 8, 0 );
|
||||
int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows/255);
|
||||
rectangle( histimg, Point(i*binW,histimg.rows),
|
||||
Point((i+1)*binW,histimg.rows - val),
|
||||
Scalar(buf.at<Vec3b>(i)), -1, 8 );
|
||||
}
|
||||
}
|
||||
|
||||
cvCalcBackProject( &hue, backproject, hist );
|
||||
cvAnd( backproject, mask, backproject, 0 );
|
||||
cvCamShift( backproject, track_window,
|
||||
cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),
|
||||
&track_comp, &track_box );
|
||||
track_window = track_comp.rect;
|
||||
calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
|
||||
backproj &= mask;
|
||||
RotatedRect trackBox = CamShift(backproj, trackWindow,
|
||||
TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ));
|
||||
trackBox.angle = 90-trackBox.angle;
|
||||
|
||||
if( backproject_mode )
|
||||
cvCvtColor( backproject, image, CV_GRAY2BGR );
|
||||
if( !image->origin )
|
||||
track_box.angle = -track_box.angle;
|
||||
cvEllipseBox( image, track_box, CV_RGB(255,0,0), 3, CV_AA, 0 );
|
||||
if( backprojMode )
|
||||
cvtColor( backproj, image, CV_GRAY2BGR );
|
||||
ellipse( image, trackBox, Scalar(0,0,255), 3, CV_AA );
|
||||
}
|
||||
|
||||
if( select_object && selection.width > 0 && selection.height > 0 )
|
||||
if( selectObject && selection.width > 0 && selection.height > 0 )
|
||||
{
|
||||
cvSetImageROI( image, selection );
|
||||
cvXorS( image, cvScalarAll(255), image, 0 );
|
||||
cvResetImageROI( image );
|
||||
Mat roi(image, selection);
|
||||
bitwise_not(roi, roi);
|
||||
}
|
||||
|
||||
cvShowImage( "CamShiftDemo", image );
|
||||
cvShowImage( "Histogram", histimg );
|
||||
imshow( "CamShift Demo", image );
|
||||
imshow( "Histogram", histimg );
|
||||
|
||||
c = cvWaitKey(10);
|
||||
if( (char) c == 27 )
|
||||
char c = (char)waitKey(10);
|
||||
if( c == 27 )
|
||||
break;
|
||||
switch( (char) c )
|
||||
switch(c)
|
||||
{
|
||||
case 'b':
|
||||
backproject_mode ^= 1;
|
||||
backprojMode = !backprojMode;
|
||||
break;
|
||||
case 'c':
|
||||
track_object = 0;
|
||||
cvZero( histimg );
|
||||
trackObject = 0;
|
||||
histimg = Scalar::all(0);
|
||||
break;
|
||||
case 'h':
|
||||
show_hist ^= 1;
|
||||
if( !show_hist )
|
||||
cvDestroyWindow( "Histogram" );
|
||||
showHist = !showHist;
|
||||
if( !showHist )
|
||||
destroyWindow( "Histogram" );
|
||||
else
|
||||
cvNamedWindow( "Histogram", 1 );
|
||||
namedWindow( "Histogram", 1 );
|
||||
break;
|
||||
default:
|
||||
;
|
||||
}
|
||||
}
|
||||
|
||||
cvReleaseCapture( &capture );
|
||||
cvDestroyWindow("CamShiftDemo");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
78
samples/cpp/inpaint.cpp
Normal file
78
samples/cpp/inpaint.cpp
Normal file
@ -0,0 +1,78 @@
|
||||
#include "opencv2/highgui/highgui.hpp"
|
||||
#include "opencv2/imgproc/imgproc.hpp"
|
||||
|
||||
#include <iostream>
|
||||
|
||||
using namespace cv;
|
||||
using namespace std;
|
||||
|
||||
Mat img, inpaintMask;
|
||||
Point prevPt(-1,-1);
|
||||
|
||||
void onMouse( int event, int x, int y, int flags, void* )
|
||||
{
|
||||
if( event == CV_EVENT_LBUTTONUP || !(flags & CV_EVENT_FLAG_LBUTTON) )
|
||||
prevPt = Point(-1,-1);
|
||||
else if( event == CV_EVENT_LBUTTONDOWN )
|
||||
prevPt = Point(x,y);
|
||||
else if( event == CV_EVENT_MOUSEMOVE && (flags & CV_EVENT_FLAG_LBUTTON) )
|
||||
{
|
||||
Point pt(x,y);
|
||||
if( prevPt.x < 0 )
|
||||
prevPt = pt;
|
||||
line( inpaintMask, prevPt, pt, Scalar::all(255), 5, 8, 0 );
|
||||
line( img, prevPt, pt, Scalar::all(255), 5, 8, 0 );
|
||||
prevPt = pt;
|
||||
imshow("image", img);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int main( int argc, char** argv )
|
||||
{
|
||||
char* filename = argc >= 2 ? argv[1] : (char*)"fruits.jpg";
|
||||
Mat img0 = imread(filename, -1);
|
||||
if(img0.empty())
|
||||
{
|
||||
cout << "Usage: inpaint <image_name>\n";
|
||||
return 0;
|
||||
}
|
||||
|
||||
cout << "Hot keys: \n"
|
||||
"\tESC - quit the program\n"
|
||||
"\tr - restore the original image\n"
|
||||
"\ti or SPACE - run inpainting algorithm\n"
|
||||
"\t\t(before running it, paint something on the image)\n";
|
||||
|
||||
namedWindow( "image", 1 );
|
||||
|
||||
img = img0.clone();
|
||||
inpaintMask = Mat::zeros(img.size(), CV_8U);
|
||||
|
||||
imshow("image", img);
|
||||
setMouseCallback( "image", onMouse, 0 );
|
||||
|
||||
for(;;)
|
||||
{
|
||||
char c = (char)waitKey();
|
||||
|
||||
if( c == 27 )
|
||||
break;
|
||||
|
||||
if( c == 'r' )
|
||||
{
|
||||
inpaintMask = Scalar::all(0);
|
||||
img0.copyTo(img);
|
||||
imshow("image", img);
|
||||
}
|
||||
|
||||
if( c == 'i' || c == ' ' )
|
||||
{
|
||||
Mat inpainted;
|
||||
inpaint(img, inpaintMask, inpainted, 3, CV_INPAINT_TELEA);
|
||||
imshow("inpainted image", inpainted);
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -1,134 +1,98 @@
|
||||
#include "opencv2/video/tracking.hpp"
|
||||
#include "opencv2/imgproc/imgproc.hpp"
|
||||
#include "opencv2/highgui/highgui.hpp"
|
||||
|
||||
#include <iostream>
|
||||
#include <ctype.h>
|
||||
#include <stdio.h>
|
||||
|
||||
IplImage *image = 0, *grey = 0, *prev_grey = 0, *pyramid = 0, *prev_pyramid = 0, *swap_temp;
|
||||
using namespace cv;
|
||||
using namespace std;
|
||||
|
||||
int win_size = 10;
|
||||
const int MAX_COUNT = 500;
|
||||
CvPoint2D32f* points[2] = {0,0}, *swap_points;
|
||||
char* status = 0;
|
||||
int count = 0;
|
||||
int need_to_init = 0;
|
||||
int night_mode = 0;
|
||||
int flags = 0;
|
||||
int add_remove_pt = 0;
|
||||
CvPoint pt;
|
||||
Point2f pt;
|
||||
bool addRemovePt = false;
|
||||
|
||||
|
||||
void on_mouse( int event, int x, int y, int flags, void* param )
|
||||
void onMouse( int event, int x, int y, int flags, void* param )
|
||||
{
|
||||
if( !image )
|
||||
return;
|
||||
|
||||
if( image->origin )
|
||||
y = image->height - y;
|
||||
|
||||
if( event == CV_EVENT_LBUTTONDOWN )
|
||||
{
|
||||
pt = cvPoint(x,y);
|
||||
add_remove_pt = 1;
|
||||
pt = Point2f((float)x,(float)y);
|
||||
addRemovePt = true;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int main( int argc, char** argv )
|
||||
{
|
||||
CvCapture* capture = 0;
|
||||
|
||||
VideoCapture cap;
|
||||
TermCriteria termcrit(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03);
|
||||
Size winSize(10,10);
|
||||
|
||||
const int MAX_COUNT = 500;
|
||||
bool needToInit = false;
|
||||
bool nightMode = false;
|
||||
|
||||
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
|
||||
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
|
||||
cap.open(argc == 2 ? argv[1][0] - '0' : 0);
|
||||
else if( argc == 2 )
|
||||
capture = cvCaptureFromAVI( argv[1] );
|
||||
cap.open(argv[1]);
|
||||
|
||||
if( !capture )
|
||||
if( !cap.isOpened() )
|
||||
{
|
||||
fprintf(stderr,"Could not initialize capturing...\n");
|
||||
return -1;
|
||||
cout << "Could not initialize capturing...\n";
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* print a welcome message, and the OpenCV version */
|
||||
printf ("Welcome to lkdemo, using OpenCV version %s (%d.%d.%d)\n",
|
||||
CV_VERSION,
|
||||
CV_MAJOR_VERSION, CV_MINOR_VERSION, CV_SUBMINOR_VERSION);
|
||||
// print a welcome message, and the OpenCV version
|
||||
cout << "Welcome to lkdemo, using OpenCV version %s\n" << CV_VERSION;
|
||||
|
||||
printf( "Hot keys: \n"
|
||||
cout << "\nHot keys: \n"
|
||||
"\tESC - quit the program\n"
|
||||
"\tr - auto-initialize tracking\n"
|
||||
"\tc - delete all the points\n"
|
||||
"\tn - switch the \"night\" mode on/off\n"
|
||||
"To add/remove a feature point click it\n" );
|
||||
"To add/remove a feature point click it\n";
|
||||
|
||||
cvNamedWindow( "LkDemo", 0 );
|
||||
cvSetMouseCallback( "LkDemo", on_mouse, 0 );
|
||||
namedWindow( "LK Demo", 1 );
|
||||
setMouseCallback( "LK Demo", onMouse, 0 );
|
||||
|
||||
Mat gray, prevGray, image;
|
||||
vector<Point2f> points[2];
|
||||
|
||||
for(;;)
|
||||
{
|
||||
IplImage* frame = 0;
|
||||
int i, k, c;
|
||||
|
||||
frame = cvQueryFrame( capture );
|
||||
if( !frame )
|
||||
Mat frame;
|
||||
cap >> frame;
|
||||
if( frame.empty() )
|
||||
break;
|
||||
|
||||
if( !image )
|
||||
frame.copyTo(image);
|
||||
cvtColor(image, gray, CV_BGR2GRAY);
|
||||
|
||||
if( nightMode )
|
||||
image = Scalar::all(0);
|
||||
|
||||
if( needToInit )
|
||||
{
|
||||
/* allocate all the buffers */
|
||||
image = cvCreateImage( cvGetSize(frame), 8, 3 );
|
||||
image->origin = frame->origin;
|
||||
grey = cvCreateImage( cvGetSize(frame), 8, 1 );
|
||||
prev_grey = cvCreateImage( cvGetSize(frame), 8, 1 );
|
||||
pyramid = cvCreateImage( cvGetSize(frame), 8, 1 );
|
||||
prev_pyramid = cvCreateImage( cvGetSize(frame), 8, 1 );
|
||||
points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
|
||||
points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
|
||||
status = (char*)cvAlloc(MAX_COUNT);
|
||||
flags = 0;
|
||||
// automatic initialization
|
||||
goodFeaturesToTrack(gray, points[1], MAX_COUNT, 0.01, 10, Mat(), 3, 0, 0.04);
|
||||
cornerSubPix(gray, points[1], winSize, Size(-1,-1), termcrit);
|
||||
addRemovePt = false;
|
||||
}
|
||||
|
||||
cvCopy( frame, image, 0 );
|
||||
cvCvtColor( image, grey, CV_BGR2GRAY );
|
||||
|
||||
if( night_mode )
|
||||
cvZero( image );
|
||||
|
||||
if( need_to_init )
|
||||
else if( !points[0].empty() )
|
||||
{
|
||||
/* automatic initialization */
|
||||
IplImage* eig = cvCreateImage( cvGetSize(grey), 32, 1 );
|
||||
IplImage* temp = cvCreateImage( cvGetSize(grey), 32, 1 );
|
||||
double quality = 0.01;
|
||||
double min_distance = 10;
|
||||
|
||||
count = MAX_COUNT;
|
||||
cvGoodFeaturesToTrack( grey, eig, temp, points[1], &count,
|
||||
quality, min_distance, 0, 3, 0, 0.04 );
|
||||
cvFindCornerSubPix( grey, points[1], count,
|
||||
cvSize(win_size,win_size), cvSize(-1,-1),
|
||||
cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
|
||||
cvReleaseImage( &eig );
|
||||
cvReleaseImage( &temp );
|
||||
|
||||
add_remove_pt = 0;
|
||||
}
|
||||
else if( count > 0 )
|
||||
{
|
||||
cvCalcOpticalFlowPyrLK( prev_grey, grey, prev_pyramid, pyramid,
|
||||
points[0], points[1], count, cvSize(win_size,win_size), 3, status, 0,
|
||||
cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), flags );
|
||||
flags |= CV_LKFLOW_PYR_A_READY;
|
||||
for( i = k = 0; i < count; i++ )
|
||||
vector<uchar> status;
|
||||
vector<float> err;
|
||||
if(prevGray.empty())
|
||||
gray.copyTo(prevGray);
|
||||
calcOpticalFlowPyrLK(prevGray, gray, points[0], points[1], status, err, winSize,
|
||||
3, termcrit, 0);
|
||||
size_t i, k;
|
||||
for( i = k = 0; i < points[1].size(); i++ )
|
||||
{
|
||||
if( add_remove_pt )
|
||||
if( addRemovePt )
|
||||
{
|
||||
double dx = pt.x - points[1][i].x;
|
||||
double dy = pt.y - points[1][i].y;
|
||||
|
||||
if( dx*dx + dy*dy <= 25 )
|
||||
if( norm(pt - points[1][i]) <= 5 )
|
||||
{
|
||||
add_remove_pt = 0;
|
||||
addRemovePt = false;
|
||||
continue;
|
||||
}
|
||||
}
|
||||
@ -137,51 +101,44 @@ int main( int argc, char** argv )
|
||||
continue;
|
||||
|
||||
points[1][k++] = points[1][i];
|
||||
cvCircle( image, cvPointFrom32f(points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0);
|
||||
circle( image, points[1][i], 3, Scalar(0,255,0), -1, 8);
|
||||
}
|
||||
count = k;
|
||||
points[1].resize(k);
|
||||
}
|
||||
|
||||
if( add_remove_pt && count < MAX_COUNT )
|
||||
if( addRemovePt && points[1].size() < MAX_COUNT )
|
||||
{
|
||||
points[1][count++] = cvPointTo32f(pt);
|
||||
cvFindCornerSubPix( grey, points[1] + count - 1, 1,
|
||||
cvSize(win_size,win_size), cvSize(-1,-1),
|
||||
cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
|
||||
add_remove_pt = 0;
|
||||
vector<Point2f> tmp;
|
||||
tmp.push_back(pt);
|
||||
cornerSubPix( gray, tmp, winSize, cvSize(-1,-1), termcrit);
|
||||
points[1].push_back(tmp[0]);
|
||||
addRemovePt = false;
|
||||
}
|
||||
|
||||
CV_SWAP( prev_grey, grey, swap_temp );
|
||||
CV_SWAP( prev_pyramid, pyramid, swap_temp );
|
||||
CV_SWAP( points[0], points[1], swap_points );
|
||||
need_to_init = 0;
|
||||
cvShowImage( "LkDemo", image );
|
||||
needToInit = false;
|
||||
imshow("LK Demo", image);
|
||||
|
||||
c = cvWaitKey(10);
|
||||
if( (char)c == 27 )
|
||||
char c = (char)waitKey(10);
|
||||
if( c == 27 )
|
||||
break;
|
||||
switch( (char) c )
|
||||
switch( c )
|
||||
{
|
||||
case 'r':
|
||||
need_to_init = 1;
|
||||
needToInit = true;
|
||||
break;
|
||||
case 'c':
|
||||
count = 0;
|
||||
points[1].clear();
|
||||
break;
|
||||
case 'n':
|
||||
night_mode ^= 1;
|
||||
nightMode = !nightMode;
|
||||
break;
|
||||
default:
|
||||
;
|
||||
}
|
||||
|
||||
std::swap(points[1], points[0]);
|
||||
swap(prevGray, gray);
|
||||
}
|
||||
|
||||
cvReleaseCapture( &capture );
|
||||
cvDestroyWindow("LkDemo");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
#ifdef _EiC
|
||||
main(1,"lkdemo.c");
|
||||
#endif
|
||||
|
||||
@ -27,14 +27,18 @@
|
||||
|
||||
#include "opencv2/calib3d/calib3d.hpp"
|
||||
#include "opencv2/highgui/highgui.hpp"
|
||||
#include "opencv2/imgproc/imgproc_c.h"
|
||||
#include "opencv2/imgproc/imgproc.hpp"
|
||||
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <algorithm>
|
||||
#include <iostream>
|
||||
#include <iterator>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <ctype.h>
|
||||
|
||||
using namespace cv;
|
||||
using namespace std;
|
||||
|
||||
//
|
||||
@ -45,344 +49,294 @@ using namespace std;
|
||||
// rectified results along with the computed disparity images.
|
||||
//
|
||||
static void
|
||||
StereoCalib(const char* path, const char* imageList, int useUncalibrated)
|
||||
StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=true, bool showRectified=true)
|
||||
{
|
||||
CvRect roi1, roi2;
|
||||
int nx = 0, ny = 0;
|
||||
int displayCorners = 1;
|
||||
int showUndistorted = 1;
|
||||
bool isVerticalStereo = false;//OpenCV can handle left-right
|
||||
//or up-down camera arrangements
|
||||
const int maxScale = 1;
|
||||
const float squareSize = 1.f; //Set this to your actual square size
|
||||
FILE* f = fopen(imageList, "rt");
|
||||
int i, j, lr, nframes = 0, n, N = 0;
|
||||
vector<string> imageNames[2];
|
||||
vector<CvPoint3D32f> objectPoints;
|
||||
vector<CvPoint2D32f> points[2];
|
||||
vector<CvPoint2D32f> temp_points[2];
|
||||
vector<int> npoints;
|
||||
// vector<uchar> active[2];
|
||||
int is_found[2] = {0, 0};
|
||||
vector<CvPoint2D32f> temp;
|
||||
CvSize imageSize = {0,0};
|
||||
if( imagelist.size() % 2 != 0 )
|
||||
{
|
||||
cout << "Error: the image list contains odd (non-even) number of elements\n";
|
||||
return;
|
||||
}
|
||||
|
||||
bool displayCorners = true;
|
||||
const int maxScale = 2;
|
||||
const float squareSize = 1.f; // Set this to your actual square size
|
||||
// ARRAY AND VECTOR STORAGE:
|
||||
double M1[3][3], M2[3][3], D1[5], D2[5];
|
||||
double R[3][3], T[3], E[3][3], F[3][3];
|
||||
double Q[4][4];
|
||||
CvMat _M1 = cvMat(3, 3, CV_64F, M1 );
|
||||
CvMat _M2 = cvMat(3, 3, CV_64F, M2 );
|
||||
CvMat _D1 = cvMat(1, 5, CV_64F, D1 );
|
||||
CvMat _D2 = cvMat(1, 5, CV_64F, D2 );
|
||||
CvMat matR = cvMat(3, 3, CV_64F, R );
|
||||
CvMat matT = cvMat(3, 1, CV_64F, T );
|
||||
CvMat matE = cvMat(3, 3, CV_64F, E );
|
||||
CvMat matF = cvMat(3, 3, CV_64F, F );
|
||||
|
||||
CvMat matQ = cvMat(4, 4, CV_64FC1, Q);
|
||||
|
||||
char buf[1024];
|
||||
vector<vector<Point2f> > imagePoints[2];
|
||||
vector<vector<Point3f> > objectPoints;
|
||||
Size imageSize;
|
||||
|
||||
if( displayCorners )
|
||||
cvNamedWindow( "corners", 1 );
|
||||
// READ IN THE LIST OF CHESSBOARDS:
|
||||
if( !f )
|
||||
int i, j, k, nimages = (int)imagelist.size()/2;
|
||||
|
||||
imagePoints[0].resize(nimages);
|
||||
imagePoints[1].resize(nimages);
|
||||
vector<string> goodImageList;
|
||||
|
||||
for( i = j = 0; i < nimages; i++ )
|
||||
{
|
||||
fprintf(stderr, "can not open file %s\n", imageList );
|
||||
return;
|
||||
}
|
||||
|
||||
if( !fgets(buf, sizeof(buf)-3, f) || sscanf(buf, "%d%d", &nx, &ny) != 2 )
|
||||
return;
|
||||
n = nx*ny;
|
||||
temp.resize(n);
|
||||
temp_points[0].resize(n);
|
||||
temp_points[1].resize(n);
|
||||
|
||||
for(i=0;;i++)
|
||||
{
|
||||
int count = 0, result=0;
|
||||
lr = i % 2;
|
||||
vector<CvPoint2D32f>& pts = temp_points[lr];//points[lr];
|
||||
if( !fgets( buf, sizeof(buf)-3, f ))
|
||||
break;
|
||||
size_t len = strlen(buf);
|
||||
while( len > 0 && isspace(buf[len-1]))
|
||||
buf[--len] = '\0';
|
||||
if( buf[0] == '#')
|
||||
continue;
|
||||
char fullpath[1024];
|
||||
sprintf(fullpath, "%s/%s", path, buf);
|
||||
IplImage* img = cvLoadImage( fullpath, 0 );
|
||||
if( !img )
|
||||
for( k = 0; k < 2; k++ )
|
||||
{
|
||||
printf("Cannot read file %s\n", fullpath);
|
||||
return;
|
||||
}
|
||||
imageSize = cvGetSize(img);
|
||||
imageNames[lr].push_back(buf);
|
||||
//FIND CHESSBOARDS AND CORNERS THEREIN:
|
||||
for( int s = 1; s <= maxScale; s++ )
|
||||
{
|
||||
IplImage* timg = img;
|
||||
if( s > 1 )
|
||||
{
|
||||
timg = cvCreateImage(cvSize(img->width*s,img->height*s),
|
||||
img->depth, img->nChannels );
|
||||
cvResize( img, timg, CV_INTER_CUBIC );
|
||||
}
|
||||
result = cvFindChessboardCorners( timg, cvSize(nx, ny),
|
||||
&temp[0], &count,
|
||||
CV_CALIB_CB_ADAPTIVE_THRESH |
|
||||
CV_CALIB_CB_NORMALIZE_IMAGE);
|
||||
if( timg != img )
|
||||
cvReleaseImage( &timg );
|
||||
if( result || s == maxScale )
|
||||
for( j = 0; j < count; j++ )
|
||||
{
|
||||
temp[j].x /= s;
|
||||
temp[j].y /= s;
|
||||
}
|
||||
if( result )
|
||||
const string& filename = imagelist[i*2+k];
|
||||
Mat img = imread(filename, 0);
|
||||
if(img.empty())
|
||||
break;
|
||||
}
|
||||
if( displayCorners )
|
||||
{
|
||||
printf("%s\n", buf);
|
||||
IplImage* cimg = cvCreateImage( imageSize, 8, 3 );
|
||||
cvCvtColor( img, cimg, CV_GRAY2BGR );
|
||||
cvDrawChessboardCorners( cimg, cvSize(nx, ny), &temp[0],
|
||||
count, result );
|
||||
IplImage* cimg1 = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
|
||||
cvResize(cimg, cimg1);
|
||||
cvShowImage( "corners", cimg1 );
|
||||
cvReleaseImage( &cimg );
|
||||
cvReleaseImage( &cimg1 );
|
||||
int c = cvWaitKey(1000);
|
||||
if( c == 27 || c == 'q' || c == 'Q' ) //Allow ESC to quit
|
||||
exit(-1);
|
||||
}
|
||||
else
|
||||
putchar('.');
|
||||
//N = pts.size();
|
||||
//pts.resize(N + n, cvPoint2D32f(0,0));
|
||||
//active[lr].push_back((uchar)result);
|
||||
is_found[lr] = result > 0 ? 1 : 0;
|
||||
//assert( result != 0 );
|
||||
if( result )
|
||||
{
|
||||
//Calibration will suffer without subpixel interpolation
|
||||
cvFindCornerSubPix( img, &temp[0], count,
|
||||
cvSize(11, 11), cvSize(-1,-1),
|
||||
cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,
|
||||
30, 0.01) );
|
||||
copy( temp.begin(), temp.end(), pts.begin() );
|
||||
}
|
||||
cvReleaseImage( &img );
|
||||
|
||||
if(lr)
|
||||
{
|
||||
if(is_found[0] == 1 && is_found[1] == 1)
|
||||
if( imageSize == Size() )
|
||||
imageSize = img.size();
|
||||
else if( img.size() != imageSize )
|
||||
{
|
||||
assert(temp_points[0].size() == temp_points[1].size());
|
||||
int current_size = points[0].size();
|
||||
|
||||
points[0].resize(current_size + temp_points[0].size(), cvPoint2D32f(0.0, 0.0));
|
||||
points[1].resize(current_size + temp_points[1].size(), cvPoint2D32f(0.0, 0.0));
|
||||
|
||||
copy(temp_points[0].begin(), temp_points[0].end(), points[0].begin() + current_size);
|
||||
copy(temp_points[1].begin(), temp_points[1].end(), points[1].begin() + current_size);
|
||||
|
||||
nframes++;
|
||||
|
||||
printf("Pair successfully detected...\n");
|
||||
cout << "The image " << filename << " has the size different from the first image size. Skipping the pair\n";
|
||||
break;
|
||||
}
|
||||
|
||||
is_found[0] = 0;
|
||||
is_found[1] = 0;
|
||||
|
||||
bool found = false;
|
||||
vector<Point2f>& corners = imagePoints[k][j];
|
||||
for( int scale = 1; scale <= maxScale; scale++ )
|
||||
{
|
||||
Mat timg;
|
||||
if( scale == 1 )
|
||||
timg = img;
|
||||
else
|
||||
resize(img, timg, Size(), scale, scale);
|
||||
found = findChessboardCorners(timg, boardSize, corners,
|
||||
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE);
|
||||
if( found )
|
||||
{
|
||||
if( scale > 1 )
|
||||
{
|
||||
Mat cornersMat(corners);
|
||||
cornersMat *= 1./scale;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
if( displayCorners )
|
||||
{
|
||||
cout << filename << endl;
|
||||
Mat cimg, cimg1;
|
||||
cvtColor(img, cimg, CV_GRAY2BGR);
|
||||
drawChessboardCorners(cimg, boardSize, corners, found);
|
||||
double sf = 640./MAX(img.rows, img.cols);
|
||||
resize(cimg, cimg1, Size(), sf, sf);
|
||||
imshow("corners", cimg1);
|
||||
char c = (char)waitKey(500);
|
||||
if( c == 27 || c == 'q' || c == 'Q' ) //Allow ESC to quit
|
||||
exit(-1);
|
||||
}
|
||||
else
|
||||
putchar('.');
|
||||
if( !found )
|
||||
break;
|
||||
cornerSubPix(img, corners, Size(11,11), Size(-1,-1),
|
||||
TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,
|
||||
30, 0.01));
|
||||
}
|
||||
if( k == 2 )
|
||||
{
|
||||
goodImageList.push_back(imagelist[i*2]);
|
||||
goodImageList.push_back(imagelist[i*2+1]);
|
||||
j++;
|
||||
}
|
||||
}
|
||||
fclose(f);
|
||||
printf("\n");
|
||||
// HARVEST CHESSBOARD 3D OBJECT POINT LIST:
|
||||
objectPoints.resize(nframes*n);
|
||||
for( i = 0; i < ny; i++ )
|
||||
for( j = 0; j < nx; j++ )
|
||||
objectPoints[i*nx + j] =
|
||||
cvPoint3D32f(i*squareSize, j*squareSize, 0);
|
||||
for( i = 1; i < nframes; i++ )
|
||||
copy( objectPoints.begin(), objectPoints.begin() + n,
|
||||
objectPoints.begin() + i*n );
|
||||
npoints.resize(nframes,n);
|
||||
N = nframes*n;
|
||||
CvMat _objectPoints = cvMat(1, N, CV_32FC3, &objectPoints[0] );
|
||||
CvMat _imagePoints1 = cvMat(1, N, CV_32FC2, &points[0][0] );
|
||||
CvMat _imagePoints2 = cvMat(1, N, CV_32FC2, &points[1][0] );
|
||||
CvMat _npoints = cvMat(1, npoints.size(), CV_32S, &npoints[0] );
|
||||
cvSetIdentity(&_M1);
|
||||
cvSetIdentity(&_M2);
|
||||
cvZero(&_D1);
|
||||
cvZero(&_D2);
|
||||
cout << j << " pairs have been successfully detected.\n";
|
||||
nimages = j;
|
||||
if( nimages < 2 )
|
||||
{
|
||||
cout << "Error: too little pairs to run the calibration\n";
|
||||
return;
|
||||
}
|
||||
|
||||
// CALIBRATE THE STEREO CAMERAS
|
||||
printf("Running stereo calibration ...");
|
||||
fflush(stdout);
|
||||
cvStereoCalibrate( &_objectPoints, &_imagePoints1,
|
||||
&_imagePoints2, &_npoints,
|
||||
&_M1, &_D1, &_M2, &_D2,
|
||||
imageSize, &matR, &matT, &matE, &matF,
|
||||
cvTermCriteria(CV_TERMCRIT_ITER+
|
||||
CV_TERMCRIT_EPS, 100, 1e-5),
|
||||
CV_CALIB_FIX_ASPECT_RATIO +
|
||||
CV_CALIB_ZERO_TANGENT_DIST +
|
||||
CV_CALIB_SAME_FOCAL_LENGTH +
|
||||
CV_CALIB_FIX_K3);
|
||||
printf(" done\n");
|
||||
imagePoints[0].resize(nimages);
|
||||
imagePoints[1].resize(nimages);
|
||||
objectPoints.resize(nimages);
|
||||
|
||||
for( i = 0; i < nimages; i++ )
|
||||
{
|
||||
for( j = 0; j < boardSize.height; j++ )
|
||||
for( k = 0; k < boardSize.width; k++ )
|
||||
objectPoints[i].push_back(Point3f(j*squareSize, k*squareSize, 0));
|
||||
}
|
||||
|
||||
cout << "Running stereo calibration ...\n";
|
||||
|
||||
Mat cameraMatrix[2], distCoeffs[2];
|
||||
cameraMatrix[0] = Mat::eye(3, 3, CV_64F);
|
||||
cameraMatrix[1] = Mat::eye(3, 3, CV_64F);
|
||||
distCoeffs[0] = Mat::zeros(8, 1, CV_64F);
|
||||
distCoeffs[1] = Mat::zeros(8, 1, CV_64F);
|
||||
Mat R, T, E, F;
|
||||
|
||||
stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1],
|
||||
cameraMatrix[0], distCoeffs[0],
|
||||
cameraMatrix[1], distCoeffs[1],
|
||||
imageSize, R, T, E, F,
|
||||
TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
|
||||
CV_CALIB_FIX_ASPECT_RATIO +
|
||||
CV_CALIB_ZERO_TANGENT_DIST +
|
||||
CV_CALIB_SAME_FOCAL_LENGTH +
|
||||
CV_CALIB_FIX_K3);
|
||||
cout << "done\n";
|
||||
|
||||
// CALIBRATION QUALITY CHECK
|
||||
// because the output fundamental matrix implicitly
|
||||
// includes all the output information,
|
||||
// we can check the quality of calibration using the
|
||||
// epipolar geometry constraint: m2^t*F*m1=0
|
||||
vector<CvPoint3D32f> lines[2];
|
||||
points[0].resize(N);
|
||||
points[1].resize(N);
|
||||
_imagePoints1 = cvMat(1, N, CV_32FC2, &points[0][0] );
|
||||
_imagePoints2 = cvMat(1, N, CV_32FC2, &points[1][0] );
|
||||
lines[0].resize(N);
|
||||
lines[1].resize(N);
|
||||
CvMat _L1 = cvMat(1, N, CV_32FC3, &lines[0][0]);
|
||||
CvMat _L2 = cvMat(1, N, CV_32FC3, &lines[1][0]);
|
||||
//Always work in undistorted space
|
||||
cvUndistortPoints( &_imagePoints1, &_imagePoints1,
|
||||
&_M1, &_D1, 0, &_M1 );
|
||||
cvUndistortPoints( &_imagePoints2, &_imagePoints2,
|
||||
&_M2, &_D2, 0, &_M2 );
|
||||
cvComputeCorrespondEpilines( &_imagePoints1, 1, &matF, &_L1 );
|
||||
cvComputeCorrespondEpilines( &_imagePoints2, 2, &matF, &_L2 );
|
||||
double avgErr = 0;
|
||||
for( i = 0; i < N; i++ )
|
||||
double err = 0;
|
||||
int npoints = 0;
|
||||
vector<Vec3f> lines[2];
|
||||
for( i = 0; i < nimages; i++ )
|
||||
{
|
||||
double err = fabs(points[0][i].x*lines[1][i].x +
|
||||
points[0][i].y*lines[1][i].y + lines[1][i].z)
|
||||
+ fabs(points[1][i].x*lines[0][i].x +
|
||||
points[1][i].y*lines[0][i].y + lines[0][i].z);
|
||||
avgErr += err;
|
||||
int npt = (int)imagePoints[0][i].size();
|
||||
Mat imgpt[2];
|
||||
for( k = 0; k < 2; k++ )
|
||||
{
|
||||
imgpt[k] = Mat(imagePoints[k][i]);
|
||||
undistortPoints(imgpt[k], imgpt[k], cameraMatrix[k], distCoeffs[k], Mat(), cameraMatrix[k]);
|
||||
computeCorrespondEpilines(imgpt[k], k+1, F, lines[k]);
|
||||
}
|
||||
for( j = 0; j < npt; j++ )
|
||||
{
|
||||
double errij = fabs(imagePoints[0][i][j].x*lines[1][j][0] +
|
||||
imagePoints[0][i][j].y*lines[1][j][1] + lines[1][j][2]) +
|
||||
fabs(imagePoints[1][i][j].x*lines[0][j][0] +
|
||||
imagePoints[1][i][j].y*lines[0][j][1] + lines[0][j][2]);
|
||||
err += errij;
|
||||
}
|
||||
npoints += npt;
|
||||
}
|
||||
printf( "avg err = %g\n", avgErr/(nframes*n) );
|
||||
cout << "average reprojection err = " << err/npoints << endl;
|
||||
|
||||
// save intrinsic parameters
|
||||
CvFileStorage* fstorage = cvOpenFileStorage("intrinsics.yml", NULL, CV_STORAGE_WRITE);
|
||||
cvWrite(fstorage, "M1", &_M1);
|
||||
cvWrite(fstorage, "D1", &_D1);
|
||||
cvWrite(fstorage, "M2", &_M2);
|
||||
cvWrite(fstorage, "D2", &_D2);
|
||||
cvReleaseFileStorage(&fstorage);
|
||||
FileStorage fs("intrinsics.yml", CV_STORAGE_WRITE);
|
||||
if( fs.isOpened() )
|
||||
{
|
||||
fs << "M1" << cameraMatrix[0] << "D1" << distCoeffs[0] <<
|
||||
"M2" << cameraMatrix[1] << "D2" << distCoeffs[1];
|
||||
fs.release();
|
||||
}
|
||||
else
|
||||
cout << "Error: can not save the intrinsic parameters\n";
|
||||
|
||||
Mat R1, R2, P1, P2, Q;
|
||||
Rect roi1, roi2;
|
||||
|
||||
stereoRectify(cameraMatrix[0], distCoeffs[0],
|
||||
cameraMatrix[1], distCoeffs[1],
|
||||
imageSize, R, T, R1, R2, P1, P2, Q,
|
||||
1, imageSize, &roi1, &roi2);
|
||||
|
||||
fs.open("extrinsics.yml", CV_STORAGE_WRITE);
|
||||
if( fs.isOpened() )
|
||||
{
|
||||
fs << "R" << R << "T" << T << "R1" << R1 << "R2" << R2 << "P1" << P1 << "P2" << P2 << "Q" << Q;
|
||||
fs.release();
|
||||
}
|
||||
else
|
||||
cout << "Error: can not save the intrinsic parameters\n";
|
||||
|
||||
// OpenCV can handle left-right
|
||||
// or up-down camera arrangements
|
||||
bool isVerticalStereo = fabs(P2.at<double>(1, 3)) > fabs(P2.at<double>(0, 3));
|
||||
|
||||
//COMPUTE AND DISPLAY RECTIFICATION
|
||||
if( showUndistorted )
|
||||
{
|
||||
CvMat* mx1 = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_32F );
|
||||
CvMat* my1 = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_32F );
|
||||
CvMat* mx2 = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_32F );
|
||||
CvMat* my2 = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_32F );
|
||||
CvMat* img1r = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_8U );
|
||||
CvMat* img2r = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_8U );
|
||||
CvMat* disp = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_16S );
|
||||
double R1[3][3], R2[3][3], P1[3][4], P2[3][4];
|
||||
CvMat _R1 = cvMat(3, 3, CV_64F, R1);
|
||||
CvMat _R2 = cvMat(3, 3, CV_64F, R2);
|
||||
if( !showRectified )
|
||||
return;
|
||||
|
||||
Mat rmap[2][2];
|
||||
// IF BY CALIBRATED (BOUGUET'S METHOD)
|
||||
if( useUncalibrated == 0 )
|
||||
{
|
||||
CvMat _P1 = cvMat(3, 4, CV_64F, P1);
|
||||
CvMat _P2 = cvMat(3, 4, CV_64F, P2);
|
||||
|
||||
cvStereoRectify( &_M1, &_M2, &_D1, &_D2, imageSize,
|
||||
&matR, &matT,
|
||||
&_R1, &_R2, &_P1, &_P2, &matQ,
|
||||
CV_CALIB_ZERO_DISPARITY,
|
||||
1, imageSize, &roi1, &roi2);
|
||||
|
||||
CvFileStorage* file = cvOpenFileStorage("extrinsics.yml", NULL, CV_STORAGE_WRITE);
|
||||
cvWrite(file, "R", &matR);
|
||||
cvWrite(file, "T", &matT);
|
||||
cvWrite(file, "R1", &_R1);
|
||||
cvWrite(file, "R2", &_R2);
|
||||
cvWrite(file, "P1", &_P1);
|
||||
cvWrite(file, "P2", &_P2);
|
||||
cvWrite(file, "Q", &matQ);
|
||||
cvReleaseFileStorage(&file);
|
||||
|
||||
isVerticalStereo = fabs(P2[1][3]) > fabs(P2[0][3]);
|
||||
if(!isVerticalStereo)
|
||||
roi2.x += imageSize.width;
|
||||
else
|
||||
roi2.y += imageSize.height;
|
||||
//Precompute maps for cvRemap()
|
||||
cvInitUndistortRectifyMap(&_M1,&_D1,&_R1,&_P1,mx1,my1);
|
||||
cvInitUndistortRectifyMap(&_M2,&_D2,&_R2,&_P2,mx2,my2);
|
||||
}
|
||||
//OR ELSE HARTLEY'S METHOD
|
||||
else if( useUncalibrated == 1 || useUncalibrated == 2 )
|
||||
// use intrinsic parameters of each camera, but
|
||||
// compute the rectification transformation directly
|
||||
// from the fundamental matrix
|
||||
{
|
||||
double H1[3][3], H2[3][3], iM[3][3];
|
||||
CvMat _H1 = cvMat(3, 3, CV_64F, H1);
|
||||
CvMat _H2 = cvMat(3, 3, CV_64F, H2);
|
||||
CvMat _iM = cvMat(3, 3, CV_64F, iM);
|
||||
//Just to show you could have independently used F
|
||||
if( useUncalibrated == 2 )
|
||||
cvFindFundamentalMat( &_imagePoints1,
|
||||
&_imagePoints2, &matF);
|
||||
cvStereoRectifyUncalibrated( &_imagePoints1,
|
||||
&_imagePoints2, &matF,
|
||||
imageSize,
|
||||
&_H1, &_H2, 3);
|
||||
cvInvert(&_M1, &_iM);
|
||||
cvMatMul(&_H1, &_M1, &_R1);
|
||||
cvMatMul(&_iM, &_R1, &_R1);
|
||||
cvInvert(&_M2, &_iM);
|
||||
cvMatMul(&_H2, &_M2, &_R2);
|
||||
cvMatMul(&_iM, &_R2, &_R2);
|
||||
//Precompute map for cvRemap()
|
||||
cvInitUndistortRectifyMap(&_M1,&_D1,&_R1,&_M1,mx1,my1);
|
||||
|
||||
cvInitUndistortRectifyMap(&_M2,&_D1,&_R2,&_M2,mx2,my2);
|
||||
}
|
||||
else
|
||||
assert(0);
|
||||
|
||||
|
||||
cvReleaseMat( &mx1 );
|
||||
cvReleaseMat( &my1 );
|
||||
cvReleaseMat( &mx2 );
|
||||
cvReleaseMat( &my2 );
|
||||
cvReleaseMat( &img1r );
|
||||
cvReleaseMat( &img2r );
|
||||
cvReleaseMat( &disp );
|
||||
if( !useCalibrated )
|
||||
{
|
||||
// we already computed everything
|
||||
}
|
||||
//OR ELSE HARTLEY'S METHOD
|
||||
else
|
||||
// use intrinsic parameters of each camera, but
|
||||
// compute the rectification transformation directly
|
||||
// from the fundamental matrix
|
||||
{
|
||||
vector<Point2f> allimgpt[2];
|
||||
for( k = 0; k < 2; k++ )
|
||||
{
|
||||
for( i = 0; i < nimages; i++ )
|
||||
std::copy(imagePoints[k][i].begin(), imagePoints[k][i].end(), back_inserter(allimgpt[k]));
|
||||
}
|
||||
F = findFundamentalMat(Mat(allimgpt[0]), Mat(allimgpt[1]), FM_8POINT, 0, 0);
|
||||
Mat H1, H2;
|
||||
stereoRectifyUncalibrated(Mat(allimgpt[0]), Mat(allimgpt[1]), F, imageSize, H1, H2, 3);
|
||||
|
||||
R1 = cameraMatrix[0].inv()*H1*cameraMatrix[0];
|
||||
R2 = cameraMatrix[1].inv()*H2*cameraMatrix[1];
|
||||
}
|
||||
|
||||
//Precompute maps for cv::remap()
|
||||
initUndistortRectifyMap(cameraMatrix[0], distCoeffs[0], R1, P1, imageSize, CV_16SC2, rmap[0][0], rmap[0][1]);
|
||||
initUndistortRectifyMap(cameraMatrix[1], distCoeffs[1], R2, P2, imageSize, CV_16SC2, rmap[1][0], rmap[1][1]);
|
||||
|
||||
/*for( i = 0; i < nimages; i++ )
|
||||
{
|
||||
Mat img =
|
||||
|
||||
}*/
|
||||
}
|
||||
|
||||
int main(int argc, char** argv)
|
||||
|
||||
static bool readStringList( const string& filename, vector<string>& l )
|
||||
{
|
||||
if(argc > 1 && !strcmp(argv[1], "--help"))
|
||||
{
|
||||
printf("Usage:\n ./stereo_calib <path to images> <file wtih image list>\n");
|
||||
return 0;
|
||||
}
|
||||
l.resize(0);
|
||||
FileStorage fs(filename, FileStorage::READ);
|
||||
if( !fs.isOpened() )
|
||||
return false;
|
||||
FileNode n = fs.getFirstTopLevelNode();
|
||||
if( n.type() != FileNode::SEQ )
|
||||
return false;
|
||||
FileNodeIterator it = n.begin(), it_end = n.end();
|
||||
for( ; it != it_end; ++it )
|
||||
l.push_back((string)*it);
|
||||
return true;
|
||||
}
|
||||
|
||||
StereoCalib(argc > 1 ? argv[1] : ".", argc > 2 ? argv[2] : "stereo_calib.txt", 0);
|
||||
|
||||
int print_help()
|
||||
{
|
||||
cout << "Usage:\n ./stereo_calib -w board_width -h board_height <image list XML/YML file>\n";
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
Size boardSize;
|
||||
string imagelistfn;
|
||||
|
||||
for( int i = 1; i < argc; i++ )
|
||||
{
|
||||
if( string(argv[i]) == "-w" )
|
||||
sscanf(argv[++i], "%d", &boardSize.width);
|
||||
else if( string(argv[i]) == "-h" )
|
||||
sscanf(argv[++i], "%d", &boardSize.height);
|
||||
else if( string(argv[i]) == "--help" )
|
||||
return print_help();
|
||||
else if( argv[i][0] == '-' )
|
||||
{
|
||||
cout << "invalid option " << argv[i] << endl;
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
imagelistfn = argv[i];
|
||||
}
|
||||
|
||||
if( imagelistfn == "" )
|
||||
{
|
||||
imagelistfn = "stereo_calib.xml";
|
||||
boardSize = Size(9, 6);
|
||||
}
|
||||
|
||||
vector<string> imagelist;
|
||||
bool ok = readStringList(imagelistfn, imagelist);
|
||||
|
||||
if( !ok || imagelist.empty() || boardSize.width <= 0 || boardSize.height <= 0 )
|
||||
return print_help();
|
||||
|
||||
StereoCalib(imagelist, boardSize);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user