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