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278 lines
8.8 KiB
C++
278 lines
8.8 KiB
C++
//Yannick Verdie 2010
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//--- Please read help() below: ---
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#include <iostream>
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#include <vector>
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#include <opencv/highgui.h>
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#if defined WIN32 || defined _WIN32 || defined WINCE
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#include <windows.h>
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#undef small
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#undef min
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#undef max
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#undef abs
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#endif
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#ifdef __APPLE__
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#include <OpenGL/gl.h>
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#else
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#include <GL/gl.h>
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#endif
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#include <opencv/cxcore.h>
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#include <opencv/cv.h>
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using namespace std;
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using namespace cv;
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static void help()
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{
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cout << "\nThis demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n"
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" and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n"
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"It works off of the video: cube4.avi\n"
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"Using OpenCV version %s\n" << CV_VERSION << "\n\n"
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" 1). This demo is mainly based on work from Javier Barandiaran Martirena\n"
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" See this page http://opencv.willowgarage.com/wiki/Posit.\n"
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" 2). This is a demo to illustrate how to use **OpenGL Callback**.\n"
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" 3). You need Qt binding to compile this sample with OpenGL support enabled.\n"
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" 4). The features' detection is very basic and could highly be improved \n"
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" (basic thresholding tuned for the specific video) but 2).\n"
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" 5) THANKS TO Google Summer of Code 2010 for supporting this work!\n" << endl;
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}
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#define FOCAL_LENGTH 600
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#define CUBE_SIZE 10
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static void renderCube(float size)
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{
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glBegin(GL_QUADS);
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// Front Face
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glNormal3f( 0.0f, 0.0f, 1.0f);
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glVertex3f( 0.0f, 0.0f, 0.0f);
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glVertex3f( size, 0.0f, 0.0f);
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glVertex3f( size, size, 0.0f);
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glVertex3f( 0.0f, size, 0.0f);
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// Back Face
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glNormal3f( 0.0f, 0.0f,-1.0f);
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glVertex3f( 0.0f, 0.0f, size);
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glVertex3f( 0.0f, size, size);
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glVertex3f( size, size, size);
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glVertex3f( size, 0.0f, size);
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// Top Face
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glNormal3f( 0.0f, 1.0f, 0.0f);
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glVertex3f( 0.0f, size, 0.0f);
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glVertex3f( size, size, 0.0f);
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glVertex3f( size, size, size);
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glVertex3f( 0.0f, size, size);
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// Bottom Face
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glNormal3f( 0.0f,-1.0f, 0.0f);
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glVertex3f( 0.0f, 0.0f, 0.0f);
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glVertex3f( 0.0f, 0.0f, size);
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glVertex3f( size, 0.0f, size);
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glVertex3f( size, 0.0f, 0.0f);
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// Right face
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glNormal3f( 1.0f, 0.0f, 0.0f);
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glVertex3f( size, 0.0f, 0.0f);
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glVertex3f( size, 0.0f, size);
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glVertex3f( size, size, size);
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glVertex3f( size, size, 0.0f);
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// Left Face
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glNormal3f(-1.0f, 0.0f, 0.0f);
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glVertex3f( 0.0f, 0.0f, 0.0f);
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glVertex3f( 0.0f, size, 0.0f);
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glVertex3f( 0.0f, size, size);
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glVertex3f( 0.0f, 0.0f, size);
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glEnd();
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}
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static void on_opengl(void* param)
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{
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//Draw the object with the estimated pose
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glLoadIdentity();
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glScalef( 1.0f, 1.0f, -1.0f);
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glMultMatrixf( (float*)param );
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glEnable( GL_LIGHTING );
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glEnable( GL_LIGHT0 );
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glEnable( GL_BLEND );
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glBlendFunc(GL_SRC_ALPHA, GL_ONE);
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renderCube( CUBE_SIZE );
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glDisable(GL_BLEND);
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glDisable( GL_LIGHTING );
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}
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static void initPOSIT(std::vector<CvPoint3D32f> *modelPoints)
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{
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//Create the model pointss
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modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, 0.0f)); //The first must be (0,0,0)
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modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, CUBE_SIZE));
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modelPoints->push_back(cvPoint3D32f(CUBE_SIZE, 0.0f, 0.0f));
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modelPoints->push_back(cvPoint3D32f(0.0f, CUBE_SIZE, 0.0f));
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}
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static void foundCorners(vector<CvPoint2D32f> *srcImagePoints,IplImage* source, IplImage* grayImage)
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{
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cvCvtColor(source,grayImage,CV_RGB2GRAY);
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cvSmooth( grayImage, grayImage,CV_GAUSSIAN,11);
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cvNormalize(grayImage, grayImage, 0, 255, CV_MINMAX);
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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
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//MgrayImage = MgrayImage.clone();//deep copy
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vector<vector<Point> > contours;
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vector<Vec4i> hierarchy;
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findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
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Point p;
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vector<CvPoint2D32f> srcImagePoints_temp(4,cvPoint2D32f(0,0));
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if (contours.size() == srcImagePoints_temp.size())
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{
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for(size_t i = 0 ; i<contours.size(); i++ )
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{
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p.x = p.y = 0;
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for(size_t j = 0 ; j<contours[i].size(); j++ )
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p+=contours[i][j];
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srcImagePoints_temp.at(i)=cvPoint2D32f(float(p.x)/contours[i].size(),float(p.y)/contours[i].size());
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}
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//Need to keep the same order
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//> y = 0
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//> x = 1
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//< x = 2
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//< y = 3
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//get point 0;
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size_t index = 0;
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for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
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{
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if (srcImagePoints_temp.at(i).y > srcImagePoints_temp.at(index).y)
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index = i;
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}
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srcImagePoints->at(0) = srcImagePoints_temp.at(index);
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//get point 1;
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index = 0;
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for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
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{
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if (srcImagePoints_temp.at(i).x > srcImagePoints_temp.at(index).x)
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index = i;
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}
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srcImagePoints->at(1) = srcImagePoints_temp.at(index);
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//get point 2;
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index = 0;
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for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
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{
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if (srcImagePoints_temp.at(i).x < srcImagePoints_temp.at(index).x)
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index = i;
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}
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srcImagePoints->at(2) = srcImagePoints_temp.at(index);
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//get point 3;
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index = 0;
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for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
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{
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if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y)
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index = i;
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}
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srcImagePoints->at(3) = srcImagePoints_temp.at(index);
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Mat Msource = cv::cvarrToMat(source);
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stringstream ss;
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for(size_t i = 0 ; i<srcImagePoints_temp.size(); i++ )
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{
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ss<<i;
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circle(Msource,srcImagePoints->at(i),5,CV_RGB(255,0,0));
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putText( Msource, ss.str(), srcImagePoints->at(i),CV_FONT_HERSHEY_SIMPLEX,1,CV_RGB(255,0,0));
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ss.str("");
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//new coordinate system in the middle of the frame and reversed (camera coordinate system)
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srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x-source->width/2,source->height/2-srcImagePoints_temp.at(i).y);
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}
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}
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}
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static void createOpenGLMatrixFrom(float *posePOSIT,const CvMatr32f &rotationMatrix, const CvVect32f &translationVector)
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{
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//coordinate system returned is relative to the first 3D input point
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for (int f=0; f<3; f++)
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{
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for (int c=0; c<3; c++)
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{
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posePOSIT[c*4+f] = rotationMatrix[f*3+c]; //transposed
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}
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}
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posePOSIT[3] = 0.0;
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posePOSIT[7] = 0.0;
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posePOSIT[11] = 0.0;
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posePOSIT[12] = translationVector[0];
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posePOSIT[13] = translationVector[1];
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posePOSIT[14] = translationVector[2];
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posePOSIT[15] = 1.0;
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}
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int main(void)
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{
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help();
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CvCapture* video = cvCaptureFromFile("cube4.avi");
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CV_Assert(video);
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IplImage* source = cvCreateImage(cvGetSize(cvQueryFrame(video)),8,3);
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IplImage* grayImage = cvCreateImage(cvGetSize(cvQueryFrame(video)),8,1);
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cvNamedWindow("original",CV_WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
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cvNamedWindow("POSIT",CV_WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
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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);
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//For debug
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//cvNamedWindow("tempGray",CV_WINDOW_AUTOSIZE);
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float OpenGLMatrix[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
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cvSetOpenGlDrawCallback("POSIT",on_opengl,OpenGLMatrix);
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vector<CvPoint3D32f> modelPoints;
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initPOSIT(&modelPoints);
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//Create the POSIT object with the model points
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CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size() );
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CvMatr32f rotation_matrix = new float[9];
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CvVect32f translation_vector = new float[3];
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CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1.0e-4f);
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vector<CvPoint2D32f> srcImagePoints(4,cvPoint2D32f(0,0));
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while(cvWaitKey(33) != 27)
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{
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source=cvQueryFrame(video);
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cvShowImage("original",source);
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foundCorners(&srcImagePoints,source,grayImage);
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cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector );
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createOpenGLMatrixFrom(OpenGLMatrix,rotation_matrix,translation_vector);
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cvShowImage("POSIT",source);
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//For debug
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//cvShowImage("tempGray",grayImage);
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if (cvGetCaptureProperty(video,CV_CAP_PROP_POS_AVI_RATIO)>0.99)
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cvSetCaptureProperty(video,CV_CAP_PROP_POS_AVI_RATIO,0);
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}
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cvDestroyAllWindows();
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cvReleaseImage(&grayImage);
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cvReleaseCapture(&video);
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cvReleasePOSITObject(&positObject);
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return 0;
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}
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