mirror of
https://github.com/opencv/opencv.git
synced 2024-11-25 03:30:34 +08:00
270 lines
9.0 KiB
C++
270 lines
9.0 KiB
C++
// Yannick Verdie 2010
|
|
// --- Please read help() below: ---
|
|
|
|
#include <iostream>
|
|
#include <vector>
|
|
|
|
#include <opencv2/calib3d/calib3d.hpp>
|
|
#include <opencv2/calib3d/calib3d_c.h>
|
|
#include <opencv2/core/core.hpp>
|
|
#include <opencv2/highgui/highgui.hpp>
|
|
#include <opencv2/imgproc/imgproc.hpp>
|
|
#include <opencv2/legacy/compat.hpp>
|
|
|
|
#ifdef __APPLE__
|
|
#include <OpenGL/gl.h>
|
|
#else
|
|
#include <GL/gl.h>
|
|
#endif
|
|
|
|
using namespace std;
|
|
using namespace cv;
|
|
|
|
static void help()
|
|
{
|
|
cout << "This 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 " << CV_VERSION << "\n\n"
|
|
|
|
" 1) This demo is mainly based on work from Javier Barandiaran Martirena\n"
|
|
" See this page http://code.opencv.org/projects/opencv/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 0.5
|
|
|
|
static void renderCube(float size)
|
|
{
|
|
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)
|
|
{
|
|
//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)
|
|
{
|
|
// 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, const Mat & source, Mat & grayImage)
|
|
{
|
|
cvtColor(source, grayImage, COLOR_RGB2GRAY);
|
|
GaussianBlur(grayImage, grayImage, Size(11, 11), 0, 0);
|
|
normalize(grayImage, grayImage, 0, 255, NORM_MINMAX);
|
|
threshold(grayImage, grayImage, 26, 255, THRESH_BINARY_INV); //25
|
|
|
|
Mat MgrayImage = grayImage;
|
|
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++ )
|
|
{
|
|
p.x = p.y = 0;
|
|
|
|
for (size_t j = 0 ; j < contours[i].size(); j++)
|
|
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++)
|
|
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++)
|
|
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++)
|
|
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++ )
|
|
if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y)
|
|
index = i;
|
|
srcImagePoints->at(3) = srcImagePoints_temp.at(index);
|
|
|
|
Mat Msource = source;
|
|
stringstream ss;
|
|
for (size_t i = 0; i<srcImagePoints_temp.size(); i++ )
|
|
{
|
|
ss << i;
|
|
circle(Msource, srcImagePoints->at(i), 5, Scalar(0, 0, 255));
|
|
putText(Msource, ss.str(), srcImagePoints->at(i), FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 0, 255));
|
|
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.cols / 2,
|
|
source.rows / 2 - srcImagePoints_temp.at(i).y);
|
|
}
|
|
}
|
|
}
|
|
|
|
static void createOpenGLMatrixFrom(float * posePOSIT, const CvMatr32f & rotationMatrix,
|
|
const CvVect32f & translationVector)
|
|
{
|
|
// 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] = translationVector[0];
|
|
posePOSIT[7] = translationVector[1];
|
|
posePOSIT[11] = translationVector[2];
|
|
posePOSIT[12] = 0.0f;
|
|
posePOSIT[13] = 0.0f;
|
|
posePOSIT[14] = 0.0f;
|
|
posePOSIT[15] = 1.0f;
|
|
}
|
|
|
|
int main(void)
|
|
{
|
|
help();
|
|
|
|
string fileName = "cube4.avi";
|
|
VideoCapture video(fileName);
|
|
if (!video.isOpened())
|
|
{
|
|
cerr << "Video file " << fileName << " could not be opened" << endl;
|
|
return EXIT_FAILURE;
|
|
}
|
|
|
|
Mat source, grayImage;
|
|
video >> source;
|
|
|
|
namedWindow("Original", WINDOW_AUTOSIZE | WINDOW_FREERATIO);
|
|
namedWindow("POSIT", WINDOW_OPENGL | WINDOW_FREERATIO);
|
|
resizeWindow("POSIT", source.cols, source.rows);
|
|
|
|
displayOverlay("POSIT", "We lost the 4 corners' detection quite often (the red circles disappear).\n"
|
|
"This demo is only to illustrate how to use OpenGL callback.\n"
|
|
" -- Press ESC to exit.", 10000);
|
|
|
|
float OpenGLMatrix[] = { 0, 0, 0, 0,
|
|
0, 0, 0, 0,
|
|
0, 0, 0, 0,
|
|
0, 0, 0, 0 };
|
|
setOpenGlContext("POSIT");
|
|
setOpenGlDrawCallback("POSIT", on_opengl, OpenGLMatrix);
|
|
|
|
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, 1e-4f);
|
|
vector<CvPoint2D32f> srcImagePoints(4, cvPoint2D32f(0, 0));
|
|
|
|
while (waitKey(33) != 27)
|
|
{
|
|
video >> source;
|
|
if (source.empty())
|
|
break;
|
|
|
|
imshow("Original", source);
|
|
|
|
foundCorners(&srcImagePoints, source, grayImage);
|
|
cvPOSIT(positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector);
|
|
createOpenGLMatrixFrom(OpenGLMatrix, rotation_matrix, translation_vector);
|
|
|
|
updateWindow("POSIT");
|
|
|
|
if (video.get(CAP_PROP_POS_AVI_RATIO) > 0.99)
|
|
video.set(CAP_PROP_POS_AVI_RATIO, 0);
|
|
}
|
|
|
|
setOpenGlDrawCallback("POSIT", NULL, NULL);
|
|
destroyAllWindows();
|
|
cvReleasePOSITObject(&positObject);
|
|
|
|
delete[]rotation_matrix;
|
|
delete[]translation_vector;
|
|
|
|
return EXIT_SUCCESS;
|
|
}
|