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609 lines
21 KiB
C++
609 lines
21 KiB
C++
/*
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*
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* select3obj.cpp With a calibration chessboard on a table, mark an object in a 3D box and
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* track that object in all subsequent frames as long as the camera can see
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* the chessboard. Also segments the object using the box projection. This
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* program is useful for collecting large datasets of many views of an object
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* on a table.
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*
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*/
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#include "opencv2/core.hpp"
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#include <opencv2/core/utility.hpp>
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#include "opencv2/imgproc.hpp"
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#include "opencv2/calib3d.hpp"
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#include "opencv2/imgcodecs.hpp"
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#include "opencv2/videoio.hpp"
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#include "opencv2/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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#include <string>
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using namespace std;
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using namespace cv;
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static string helphelp(char** argv)
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{
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return string("\nThis program's purpose is to collect data sets of an object and its segmentation mask.\n")
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+ "\n"
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"It shows how to use a calibrated camera together with a calibration pattern to\n"
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"compute the homography of the plane the calibration pattern is on. It also shows grabCut\n"
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"segmentation etc.\n"
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"\n"
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+ argv[0]
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+ " -w=<board_width> -h=<board_height> [-s=<square_size>]\n"
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" -i=<camera_intrinsics_filename> -o=<output_prefix>\n"
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"\n"
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" -w=<board_width> Number of chessboard corners wide\n"
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" -h=<board_height> Number of chessboard corners width\n"
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" [-s=<square_size>] Optional measure of chessboard squares in meters\n"
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" -i=<camera_intrinsics_filename> Camera matrix .yml file from calibration.cpp\n"
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" -o=<output_prefix> Prefix the output segmentation images with this\n"
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" [video_filename/cameraId] If present, read from that video file or that ID\n"
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"\n"
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"Using a camera's intrinsics (from calibrating a camera -- see calibration.cpp) and an\n"
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"image of the object sitting on a planar surface with a calibration pattern of\n"
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"(board_width x board_height) on the surface, we draw a 3D box around the object. From\n"
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"then on, we can move a camera and as long as it sees the chessboard calibration pattern,\n"
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"it will store a mask of where the object is. We get successive images using <output_prefix>\n"
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"of the segmentation mask containing the object. This makes creating training sets easy.\n"
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"It is best if the chessboard is odd x even in dimensions to avoid ambiguous poses.\n"
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"\n"
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"The actions one can use while the program is running are:\n"
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"\n"
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" Select object as 3D box with the mouse.\n"
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" First draw one line on the plane to outline the projection of that object on the plane\n"
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" Then extend that line into a box to encompass the projection of that object onto the plane\n"
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" The use the mouse again to extend the box upwards from the plane to encase the object.\n"
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" Then use the following commands\n"
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" ESC - Reset the selection\n"
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" SPACE - Skip the frame; move to the next frame (not in video mode)\n"
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" ENTER - Confirm the selection. Grab next object in video mode.\n"
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" q - Exit the program\n"
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"\n\n";
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}
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// static void help()
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// {
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// puts(helphelp);
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// }
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struct MouseEvent
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{
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MouseEvent() { event = -1; buttonState = 0; }
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Point pt;
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int event;
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int buttonState;
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};
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static void onMouse(int event, int x, int y, int flags, void* userdata)
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{
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MouseEvent* data = (MouseEvent*)userdata;
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data->event = event;
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data->pt = Point(x,y);
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data->buttonState = flags;
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}
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static bool readCameraMatrix(const string& filename,
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Mat& cameraMatrix, Mat& distCoeffs,
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Size& calibratedImageSize )
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{
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FileStorage fs(filename, FileStorage::READ);
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fs["image_width"] >> calibratedImageSize.width;
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fs["image_height"] >> calibratedImageSize.height;
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fs["distortion_coefficients"] >> distCoeffs;
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fs["camera_matrix"] >> cameraMatrix;
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if( distCoeffs.type() != CV_64F )
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distCoeffs = Mat_<double>(distCoeffs);
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if( cameraMatrix.type() != CV_64F )
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cameraMatrix = Mat_<double>(cameraMatrix);
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return true;
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}
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static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners)
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{
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corners.resize(0);
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for( int i = 0; i < boardSize.height; i++ )
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for( int j = 0; j < boardSize.width; j++ )
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corners.push_back(Point3f(float(j*squareSize),
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float(i*squareSize), 0));
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}
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static Point3f image2plane(Point2f imgpt, const Mat& R, const Mat& tvec,
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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((float)(v(0,0)*iw), (float)(v(1,0)*iw), (float)Z);
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}
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static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFrame,
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const Mat& cameraMatrix, const Mat& rvec, const Mat& tvec,
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const vector<Point3f>& box, int nobjpt, bool runExtraSegmentation)
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{
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selectedObjFrame = Mat::zeros(frame.size(), frame.type());
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if( nobjpt == 0 )
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return Rect();
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vector<Point3f> objpt;
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vector<Point2f> imgpt;
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objpt.push_back(box[0]);
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if( nobjpt > 1 )
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objpt.push_back(box[1]);
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if( nobjpt > 2 )
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{
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objpt.push_back(box[2]);
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objpt.push_back(objpt[2] - objpt[1] + objpt[0]);
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}
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if( nobjpt > 3 )
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for( int i = 0; i < 4; i++ )
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objpt.push_back(Point3f(objpt[i].x, objpt[i].y, box[3].z));
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projectPoints(Mat(objpt), rvec, tvec, cameraMatrix, Mat(), imgpt);
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if( !shownFrame.empty() )
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{
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if( nobjpt == 1 )
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circle(shownFrame, imgpt[0], 3, Scalar(0,255,0), -1, LINE_AA);
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else if( nobjpt == 2 )
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{
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circle(shownFrame, imgpt[0], 3, Scalar(0,255,0), -1, LINE_AA);
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circle(shownFrame, imgpt[1], 3, Scalar(0,255,0), -1, LINE_AA);
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line(shownFrame, imgpt[0], imgpt[1], Scalar(0,255,0), 3, LINE_AA);
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}
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else if( nobjpt == 3 )
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for( int i = 0; i < 4; i++ )
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{
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circle(shownFrame, imgpt[i], 3, Scalar(0,255,0), -1, LINE_AA);
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line(shownFrame, imgpt[i], imgpt[(i+1)%4], Scalar(0,255,0), 3, LINE_AA);
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}
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else
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for( int i = 0; i < 8; i++ )
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{
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circle(shownFrame, imgpt[i], 3, Scalar(0,255,0), -1, LINE_AA);
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line(shownFrame, imgpt[i], imgpt[(i+1)%4 + (i/4)*4], Scalar(0,255,0), 3, LINE_AA);
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line(shownFrame, imgpt[i], imgpt[i%4], Scalar(0,255,0), 3, LINE_AA);
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}
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}
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if( nobjpt <= 2 )
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return Rect();
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vector<Point> hull;
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convexHull(Mat_<Point>(Mat(imgpt)), hull);
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Mat selectedObjMask = Mat::zeros(frame.size(), CV_8U);
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fillConvexPoly(selectedObjMask, &hull[0], (int)hull.size(), Scalar::all(255), 8, 0);
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Rect roi = boundingRect(Mat(hull)) & Rect(Point(), frame.size());
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if( runExtraSegmentation )
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{
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selectedObjMask = Scalar::all(GC_BGD);
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fillConvexPoly(selectedObjMask, &hull[0], (int)hull.size(), Scalar::all(GC_PR_FGD), 8, 0);
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Mat bgdModel, fgdModel;
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grabCut(frame, selectedObjMask, roi, bgdModel, fgdModel,
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3, GC_INIT_WITH_RECT + GC_INIT_WITH_MASK);
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bitwise_and(selectedObjMask, Scalar::all(1), selectedObjMask);
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}
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frame.copyTo(selectedObjFrame, selectedObjMask);
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return roi;
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}
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static int select3DBox(const string& windowname, const string& selWinName, const Mat& frame,
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const Mat& cameraMatrix, const Mat& rvec, const Mat& tvec,
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vector<Point3f>& box)
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{
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const float eps = 1e-3f;
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MouseEvent mouse;
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setMouseCallback(windowname, onMouse, &mouse);
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vector<Point3f> tempobj(8);
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vector<Point2f> imgpt(4), tempimg(8);
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vector<Point> temphull;
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int nobjpt = 0;
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Mat R, selectedObjMask, selectedObjFrame, shownFrame;
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Rodrigues(rvec, R);
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box.resize(4);
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for(;;)
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{
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float Z = 0.f;
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bool dragging = (mouse.buttonState & EVENT_FLAG_LBUTTON) != 0;
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int npt = nobjpt;
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if( (mouse.event == EVENT_LBUTTONDOWN ||
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mouse.event == EVENT_LBUTTONUP ||
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dragging) && nobjpt < 4 )
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{
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Point2f m = mouse.pt;
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if( nobjpt < 2 )
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imgpt[npt] = m;
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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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if( nobjpt == 3 )
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{
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nearestIdx = 0;
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for( int i = 1; i < npt; i++ )
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if( norm(m - imgpt[i]) < norm(m - imgpt[nearestIdx]) )
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nearestIdx = i;
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}
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if( npt == 2 )
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{
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float dx = box[1].x - box[0].x, dy = box[1].y - box[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 + box[nearestIdx].x,
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-dx*len + box[nearestIdx].y, 0.f);
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}
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else
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tempobj[0] = Point3f(box[nearestIdx].x, box[nearestIdx].y, 1.f);
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projectPoints(Mat(tempobj), rvec, tvec, cameraMatrix, Mat(), tempimg);
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Point2f a = imgpt[nearestIdx], b = tempimg[0], d1 = b - a, d2 = m - a;
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float n1 = (float)norm(d1), n2 = (float)norm(d2);
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if( n1*n2 < eps )
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imgpt[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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imgpt[npt] = d1*Z + a;
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}
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}
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box[npt] = image2plane(imgpt[npt], R, tvec, cameraMatrix, npt<3 ? 0 : Z);
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if( (npt == 0 && mouse.event == EVENT_LBUTTONDOWN) ||
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(npt > 0 && norm(box[npt] - box[npt-1]) > eps &&
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mouse.event == 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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imgpt[nobjpt] = imgpt[nobjpt-1];
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box[nobjpt] = box[nobjpt-1];
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}
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}
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// reset the event
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mouse.event = -1;
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//mouse.buttonState = 0;
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npt++;
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}
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frame.copyTo(shownFrame);
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extract3DBox(frame, shownFrame, selectedObjFrame,
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cameraMatrix, rvec, tvec, box, npt, false);
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imshow(windowname, shownFrame);
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imshow(selWinName, selectedObjFrame);
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char c = (char)waitKey(30);
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if( c == 27 )
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{
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nobjpt = 0;
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}
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if( c == 'q' || c == 'Q' || c == ' ' )
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{
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box.clear();
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return c == ' ' ? -1 : -100;
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}
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if( (c == '\r' || c == '\n') && nobjpt == 4 && box[3].z != 0 )
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return 1;
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}
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}
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static bool readModelViews( const string& filename, vector<Point3f>& box,
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vector<string>& imagelist,
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vector<Rect>& roiList, vector<Vec6f>& poseList )
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{
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imagelist.resize(0);
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roiList.resize(0);
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poseList.resize(0);
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box.resize(0);
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FileStorage fs(filename, FileStorage::READ);
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if( !fs.isOpened() )
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return false;
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fs["box"] >> box;
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FileNode all = fs["views"];
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if( all.type() != FileNode::SEQ )
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return false;
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FileNodeIterator it = all.begin(), it_end = all.end();
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for(; it != it_end; ++it)
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{
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FileNode n = *it;
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imagelist.push_back((string)n["image"]);
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FileNode nr = n["rect"];
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roiList.push_back(Rect((int)nr[0], (int)nr[1], (int)nr[2], (int)nr[3]));
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FileNode np = n["pose"];
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poseList.push_back(Vec6f((float)np[0], (float)np[1], (float)np[2],
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(float)np[3], (float)np[4], (float)np[5]));
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}
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return true;
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}
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static bool writeModelViews(const string& filename, const vector<Point3f>& box,
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const vector<string>& imagelist,
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const vector<Rect>& roiList,
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const vector<Vec6f>& poseList)
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{
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FileStorage fs(filename, FileStorage::WRITE);
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if( !fs.isOpened() )
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return false;
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fs << "box" << "[:";
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fs << box << "]" << "views" << "[";
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size_t i, nviews = imagelist.size();
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CV_Assert( nviews == roiList.size() && nviews == poseList.size() );
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for( i = 0; i < nviews; i++ )
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{
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Rect r = roiList[i];
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Vec6f p = poseList[i];
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fs << "{" << "image" << imagelist[i] <<
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"roi" << "[:" << r.x << r.y << r.width << r.height << "]" <<
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"pose" << "[:" << p[0] << p[1] << p[2] << p[3] << p[4] << p[5] << "]" << "}";
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}
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fs << "]";
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return true;
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}
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static bool readStringList( const string& filename, vector<string>& l )
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{
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l.resize(0);
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FileStorage fs(filename, FileStorage::READ);
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if( !fs.isOpened() )
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return false;
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FileNode n = fs.getFirstTopLevelNode();
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if( n.type() != FileNode::SEQ )
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return false;
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FileNodeIterator it = n.begin(), it_end = n.end();
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for( ; it != it_end; ++it )
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l.push_back((string)*it);
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return true;
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}
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int main(int argc, char** argv)
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{
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string help = string("Usage: ") + argv[0] + " -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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const char* screen_help =
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"Actions: \n"
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"\tSelect object as 3D box with the mouse. That's it\n"
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"\tESC - Reset the selection\n"
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"\tSPACE - Skip the frame; move to the next frame (not in video mode)\n"
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"\tENTER - Confirm the selection. Grab next object in video mode.\n"
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"\tq - Exit the program\n";
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cv::CommandLineParser parser(argc, argv, "{help h||}{w||}{h||}{s|1|}{i||}{o||}{@input|0|}");
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if (parser.has("help"))
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{
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puts(helphelp(argv).c_str());
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puts(help.c_str());
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return 0;
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}
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string intrinsicsFilename;
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string outprefix = "";
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string inputName = "";
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int cameraId = 0;
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Size boardSize;
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double squareSize;
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vector<string> imageList;
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intrinsicsFilename = parser.get<string>("i");
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outprefix = parser.get<string>("o");
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boardSize.width = parser.get<int>("w");
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boardSize.height = parser.get<int>("h");
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squareSize = parser.get<double>("s");
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if ( parser.get<string>("@input").size() == 1 && isdigit(parser.get<string>("@input")[0]) )
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cameraId = parser.get<int>("@input");
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else
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inputName = samples::findFileOrKeep(parser.get<string>("@input"));
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if (!parser.check())
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{
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puts(help.c_str());
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parser.printErrors();
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return 0;
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}
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if ( 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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puts(help.c_str());
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return 0;
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}
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if ( 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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puts(help.c_str());
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return 0;
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}
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if ( squareSize <= 0 )
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{
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printf("Incorrect -s parameter (must be a positive real number)\n");
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puts(help.c_str());
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return 0;
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}
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Mat cameraMatrix, distCoeffs;
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Size calibratedImageSize;
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readCameraMatrix(intrinsicsFilename, cameraMatrix, distCoeffs, calibratedImageSize );
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VideoCapture capture;
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if( !inputName.empty() )
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{
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if( !readStringList(inputName, imageList) &&
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!capture.open(inputName))
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{
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fprintf( stderr, "The input file could not be opened\n" );
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return -1;
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}
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}
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else
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capture.open(cameraId);
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if( !capture.isOpened() && imageList.empty() )
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return fprintf( stderr, "Could not initialize video capture\n" ), -2;
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const char* outbarename = 0;
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{
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outbarename = strrchr(outprefix.c_str(), '/');
|
|
const char* tmp = strrchr(outprefix.c_str(), '\\');
|
|
char cmd[1000];
|
|
sprintf(cmd, "mkdir %s", outprefix.c_str());
|
|
if( tmp && tmp > outbarename )
|
|
outbarename = tmp;
|
|
if( outbarename )
|
|
{
|
|
cmd[6 + outbarename - outprefix.c_str()] = '\0';
|
|
int result = system(cmd);
|
|
CV_Assert(result == 0);
|
|
outbarename++;
|
|
}
|
|
else
|
|
outbarename = outprefix.c_str();
|
|
}
|
|
|
|
Mat frame, shownFrame, selectedObjFrame, mapxy;
|
|
|
|
namedWindow("View", 1);
|
|
namedWindow("Selected Object", 1);
|
|
setMouseCallback("View", onMouse, 0);
|
|
bool boardFound = false;
|
|
|
|
string indexFilename = format("%s_index.yml", outprefix.c_str());
|
|
|
|
vector<string> capturedImgList;
|
|
vector<Rect> roiList;
|
|
vector<Vec6f> poseList;
|
|
vector<Point3f> box, boardPoints;
|
|
|
|
readModelViews(indexFilename, box, capturedImgList, roiList, poseList);
|
|
calcChessboardCorners(boardSize, (float)squareSize, boardPoints);
|
|
int frameIdx = 0;
|
|
bool grabNext = !imageList.empty();
|
|
|
|
puts(screen_help);
|
|
|
|
for(int i = 0;;i++)
|
|
{
|
|
Mat frame0;
|
|
if( !imageList.empty() )
|
|
{
|
|
if( i < (int)imageList.size() )
|
|
frame0 = imread(string(imageList[i]), 1);
|
|
}
|
|
else
|
|
capture >> frame0;
|
|
if( frame0.empty() )
|
|
break;
|
|
if( frame.empty() )
|
|
{
|
|
if( frame0.size() != calibratedImageSize )
|
|
{
|
|
double sx = (double)frame0.cols/calibratedImageSize.width;
|
|
double sy = (double)frame0.rows/calibratedImageSize.height;
|
|
|
|
// adjust the camera matrix for the new resolution
|
|
cameraMatrix.at<double>(0,0) *= sx;
|
|
cameraMatrix.at<double>(0,2) *= sx;
|
|
cameraMatrix.at<double>(1,1) *= sy;
|
|
cameraMatrix.at<double>(1,2) *= sy;
|
|
}
|
|
Mat dummy;
|
|
initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),
|
|
cameraMatrix, frame0.size(),
|
|
CV_32FC2, mapxy, dummy );
|
|
distCoeffs = Mat::zeros(5, 1, CV_64F);
|
|
}
|
|
remap(frame0, frame, mapxy, Mat(), INTER_LINEAR);
|
|
vector<Point2f> foundBoardCorners;
|
|
boardFound = findChessboardCorners(frame, boardSize, foundBoardCorners);
|
|
|
|
Mat rvec, tvec;
|
|
if( boardFound )
|
|
solvePnP(Mat(boardPoints), Mat(foundBoardCorners), cameraMatrix,
|
|
distCoeffs, rvec, tvec, false);
|
|
|
|
frame.copyTo(shownFrame);
|
|
drawChessboardCorners(shownFrame, boardSize, Mat(foundBoardCorners), boardFound);
|
|
selectedObjFrame = Mat::zeros(frame.size(), frame.type());
|
|
|
|
if( boardFound && grabNext )
|
|
{
|
|
if( box.empty() )
|
|
{
|
|
int code = select3DBox("View", "Selected Object", frame,
|
|
cameraMatrix, rvec, tvec, box);
|
|
if( code == -100 )
|
|
break;
|
|
}
|
|
|
|
if( !box.empty() )
|
|
{
|
|
Rect r = extract3DBox(frame, shownFrame, selectedObjFrame,
|
|
cameraMatrix, rvec, tvec, box, 4, true);
|
|
if( !r.empty() )
|
|
{
|
|
const int maxFrameIdx = 10000;
|
|
char path[1000];
|
|
for(;frameIdx < maxFrameIdx;frameIdx++)
|
|
{
|
|
sprintf(path, "%s%04d.jpg", outprefix.c_str(), frameIdx);
|
|
FILE* f = fopen(path, "rb");
|
|
if( !f )
|
|
break;
|
|
fclose(f);
|
|
}
|
|
if( frameIdx == maxFrameIdx )
|
|
{
|
|
printf("Can not save the image as %s<...>.jpg", outprefix.c_str());
|
|
break;
|
|
}
|
|
imwrite(path, selectedObjFrame(r));
|
|
|
|
capturedImgList.push_back(string(path));
|
|
roiList.push_back(r);
|
|
|
|
float p[6];
|
|
Mat RV(3, 1, CV_32F, p), TV(3, 1, CV_32F, p+3);
|
|
rvec.convertTo(RV, RV.type());
|
|
tvec.convertTo(TV, TV.type());
|
|
poseList.push_back(Vec6f(p[0], p[1], p[2], p[3], p[4], p[5]));
|
|
}
|
|
}
|
|
grabNext = !imageList.empty();
|
|
}
|
|
|
|
imshow("View", shownFrame);
|
|
imshow("Selected Object", selectedObjFrame);
|
|
char c = (char)waitKey(imageList.empty() && !box.empty() ? 30 : 300);
|
|
if( c == 'q' || c == 'Q' )
|
|
break;
|
|
if( c == '\r' || c == '\n' )
|
|
grabNext = true;
|
|
}
|
|
|
|
writeModelViews(indexFilename, box, capturedImgList, roiList, poseList);
|
|
return 0;
|
|
}
|