opencv/samples/cpp/Qt_sample/main.cpp

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2012-10-17 07:18:30 +08:00
//Yannick Verdie 2010
//--- Please read help() below: ---
#include <iostream>
#include <vector>
#include <opencv/highgui.h>
#if defined WIN32 || defined _WIN32 || defined WINCE
#include <windows.h>
#undef small
#undef min
#undef max
#undef abs
#endif
#ifdef __APPLE__
#include <OpenGL/gl.h>
#else
#include <GL/gl.h>
#endif
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#include <opencv/cxcore.h>
#include <opencv/cv.h>
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using namespace std;
using namespace cv;
static void help()
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{
cout << "\nThis demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n"
" and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n"
"It works off of the video: cube4.avi\n"
"Using OpenCV version %s\n" << CV_VERSION << "\n\n"
" 1). This demo is mainly based on work from Javier Barandiaran Martirena\n"
" See this page http://opencv.willowgarage.com/wiki/Posit.\n"
" 2). This is a demo to illustrate how to use **OpenGL Callback**.\n"
" 3). You need Qt binding to compile this sample with OpenGL support enabled.\n"
" 4). The features' detection is very basic and could highly be improved \n"
" (basic thresholding tuned for the specific video) but 2).\n"
" 5) THANKS TO Google Summer of Code 2010 for supporting this work!\n" << endl;
}
#define FOCAL_LENGTH 600
#define CUBE_SIZE 10
static void renderCube(float size)
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{
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();
}
static void on_opengl(void* param)
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{
//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 );
}
static void initPOSIT(std::vector<CvPoint3D32f> *modelPoints)
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{
//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));
}
static void foundCorners(vector<CvPoint2D32f> *srcImagePoints,IplImage* source, IplImage* grayImage)
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{
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
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Mat MgrayImage = cv::cvarrToMat(grayImage);
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//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(size_t i = 0 ; i<contours.size(); i++ )
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{
p.x = p.y = 0;
for(size_t j = 0 ; j<contours[i].size(); j++ )
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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;
size_t index = 0;
for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
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{
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(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
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{
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(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
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{
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(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
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{
if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y)
index = i;
}
srcImagePoints->at(3) = srcImagePoints_temp.at(index);
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Mat Msource = cv::cvarrToMat(source);
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stringstream ss;
for(size_t i = 0 ; i<srcImagePoints_temp.size(); i++ )
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{
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);
}
}
}
static void createOpenGLMatrixFrom(float *posePOSIT,const CvMatr32f &rotationMatrix, const CvVect32f &translationVector)
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{
//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(void)
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{
help();
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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};
cvSetOpenGlDrawCallback("POSIT",on_opengl,OpenGLMatrix);
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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;
}