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Commit b2244f87 authored by Vadim Pisarevsky's avatar Vadim Pisarevsky
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improved the calibration and select3dobj samples

parent fa3c6821
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Showing with 439 additions and 310 deletions
samples/cpp/calibration.cpp
View file @ b2244f87
......@@ -9,21 +9,28 @@
using namespace cv;
using namespace std;
// example command line (for copy-n-paste):
// calibration -w 6 -h 8 -s 2 -n 10 -o camera.yml -op -oe [<list_of_views.txt>]
/* The list of views may look as following (discard the starting and ending ------ separators):
-------------------
view000.png
view001.png
#view002.png
view003.png
view010.png
one_extra_view.jpg
-------------------
that is, the file will contain 6 lines, view002.png will not be used for calibration,
other ones will be (those, in which the chessboard pattern will be found)
*/
/*
example command line (for copy-n-paste):
calibration -w 6 -h 8 -s 2 -o camera.yml -op -oe image_list.xml
where image_list.xml is the standard OpenCV XML/YAML
file consisting of the list of strings, e.g.:
<?xml version="1.0"?>
<opencv_storage>
<images>
"view000.png"
"view001.png"
<!-- view002.png -->
"view003.png"
"view010.png"
"one_extra_view.jpg"
</images>
</opencv_storage>
you can also use a video file or live camera input to calibrate the camera
*/
enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
......@@ -170,24 +177,18 @@ void saveCameraParams( const string& filename,
}
}
bool readStringList( const string& filename, vector<string>& l )
static bool readStringList( const string& filename, vector<string>& l )
{
l.resize(0);
FILE* f = fopen(filename.c_str(), "rt");
if(!f)
FileStorage fs(filename, FileStorage::READ);
if( !fs.isOpened() )
return false;
for(;;)
{
char buf[1000];
if( !fgets( buf, sizeof(buf)-2, f ))
break;
char* ptr = strchr(buf, '\n');
if( ptr ) *ptr = '\0';
if( buf[0] != '\0' && buf[0] != '#' )
l.push_back(string(buf));
}
fclose(f);
FileNode n = fs.getFirstTopLevelNode();
if( n.type() != FileNode::SEQ )
return false;
FileNodeIterator it = n.begin(), it_end = n.end();
for( ; it != it_end; ++it )
l.push_back((string)*it);
return true;
}
......@@ -347,13 +348,10 @@ int main( int argc, char** argv )
if( inputFilename )
{
capture.open(inputFilename);
if( !capture.isOpened() && !readStringList(inputFilename, imageList) )
{
fprintf( stderr, "The input file could not be opened\n" );
return -1;
}
mode = CAPTURING;
if( readStringList(inputFilename, imageList) )
mode = CAPTURING;
else
capture.open(inputFilename);
}
else
capture.open(cameraId);
......@@ -461,6 +459,8 @@ int main( int argc, char** argv )
mode = CALIBRATED;
else
mode = DETECTION;
if( !capture.isOpened() )
break;
}
}
return 0;
......
samples/cpp/select3dobj.cpp
View file @ b2244f87
......@@ -9,60 +9,53 @@
using namespace cv;
static void print_help()
struct MouseEvent
{
printf("Usage: select3dobj -w <board_width -h <board_height> [-s <square_size>]\n"
"\t-i <intrinsics_filename> -o <output_prefix> [video_filename/cameraId]\n");
}
struct CameraData
{
Size imageSize;
Size boardSize;
double squareSize;
Mat distCoeffs;
Mat cameraMatrix;
vector<Point3f> objPoints;
MouseEvent() { event = -1; buttonState = 0; }
Point pt;
int event;
int buttonState;
};
Point mouseLoc;
int mouseEvent = -1;
int mouseButtonState = 0;
static void onMouse(int event, int x, int y, int flags, void*)
static void onMouse(int event, int x, int y, int flags, void* userdata)
{
mouseEvent = event;
mouseLoc = Point(x,y);
mouseButtonState = flags;
MouseEvent* data = (MouseEvent*)userdata;
data->event = event;
data->pt = Point(x,y);
data->buttonState = flags;
}
static bool readCameraMatrix(const string& filename, CameraData& calibrated)
static bool readCameraMatrix(const string& filename,
Mat& cameraMatrix, Mat& distCoeffs,
Size& calibratedImageSize )
{
FileStorage fs(filename, FileStorage::READ);
fs["image_width"] >> calibrated.imageSize.width;
fs["image_height"] >> calibrated.imageSize.height;
fs["board_width"] >> calibrated.boardSize.width;
fs["board_height"] >> calibrated.boardSize.height;
fs["square_size"] >> calibrated.squareSize;
fs["distortion_coefficients"] >> calibrated.distCoeffs;
if( calibrated.distCoeffs.type() != CV_64F )
calibrated.distCoeffs = Mat_<double>(calibrated.distCoeffs);
if( calibrated.cameraMatrix.type() != CV_64F )
calibrated.cameraMatrix = Mat_<double>(calibrated.cameraMatrix);
fs["camera_matrix"] >> calibrated.cameraMatrix;
fs["image_width"] >> calibratedImageSize.width;
fs["image_height"] >> calibratedImageSize.height;
fs["distortion_coefficients"] >> distCoeffs;
fs["camera_matrix"] >> cameraMatrix;
calibrated.objPoints.resize(0);
if( distCoeffs.type() != CV_64F )
distCoeffs = Mat_<double>(distCoeffs);
if( cameraMatrix.type() != CV_64F )
cameraMatrix = Mat_<double>(cameraMatrix);
for( int i = 0; i < calibrated.boardSize.height; i++ )
for( int j = 0; j < calibrated.boardSize.width; j++ )
calibrated.objPoints.push_back(
Point3f(float(j*calibrated.squareSize),
float(i*calibrated.squareSize), 0));
return true;
}
static Point3f image2plane(Point2f imgpt, const Mat& R, const Mat& tvec, const Mat& cameraMatrix, double Z)
static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners)
{
corners.resize(0);
for( int i = 0; i < boardSize.height; i++ )
for( int j = 0; j < boardSize.width; j++ )
corners.push_back(Point3f(float(j*squareSize),
float(i*squareSize), 0));
}
static Point3f image2plane(Point2f imgpt, const Mat& R, const Mat& tvec,
const Mat& cameraMatrix, double Z)
{
Mat R1 = R.clone();
R1.col(2) = R1.col(2)*Z + tvec;
......@@ -71,27 +64,271 @@ static Point3f image2plane(Point2f imgpt, const Mat& R, const Mat& tvec, const M
return Point3f(v(0,0)*iw, v(1,0)*iw, Z);
}
int main(int argc, char** argv)
static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFrame,
const Mat& cameraMatrix, const Mat& rvec, const Mat& tvec,
const vector<Point3f>& box, int nobjpt)
{
selectedObjFrame = Mat::zeros(frame.size(), frame.type());
if( nobjpt == 0 )
return Rect();
vector<Point3f> objpt;
vector<Point2f> imgpt;
objpt.push_back(box[0]);
if( nobjpt > 1 )
objpt.push_back(box[1]);
if( nobjpt > 2 )
{
objpt.push_back(box[2]);
objpt.push_back(objpt[2] - objpt[1] + objpt[0]);
}
if( nobjpt > 3 )
for( int i = 0; i < 4; i++ )
objpt.push_back(Point3f(objpt[i].x, objpt[i].y, box[3].z));
projectPoints(Mat(objpt), rvec, tvec, cameraMatrix, Mat(), imgpt);
if( shownFrame.data )
{
if( nobjpt == 1 )
circle(shownFrame, imgpt[0], 3, Scalar(0,255,0), -1, CV_AA);
else if( nobjpt == 2 )
{
circle(shownFrame, imgpt[0], 3, Scalar(0,255,0), -1, CV_AA);
circle(shownFrame, imgpt[1], 3, Scalar(0,255,0), -1, CV_AA);
line(shownFrame, imgpt[0], imgpt[1], Scalar(0,255,0), 3, CV_AA);
}
else if( nobjpt == 3 )
for( int i = 0; i < 4; i++ )
{
circle(shownFrame, imgpt[i], 3, Scalar(0,255,0), -1, CV_AA);
line(shownFrame, imgpt[i], imgpt[(i+1)%4], Scalar(0,255,0), 3, CV_AA);
}
else
for( int i = 0; i < 8; i++ )
{
circle(shownFrame, imgpt[i], 3, Scalar(0,255,0), -1, CV_AA);
line(shownFrame, imgpt[i], imgpt[(i+1)%4 + (i/4)*4], Scalar(0,255,0), 3, CV_AA);
line(shownFrame, imgpt[i], imgpt[i%4], Scalar(0,255,0), 3, CV_AA);
}
}
if( nobjpt <= 2 )
return Rect();
vector<Point> hull;
convexHull(Mat_<Point>(Mat(imgpt)), hull);
Mat selectedObjMask = Mat::zeros(frame.size(), CV_8U);
fillConvexPoly(selectedObjMask, &hull[0], hull.size(), Scalar::all(255), 8, 0);
frame.copyTo(selectedObjFrame, selectedObjMask);
return boundingRect(Mat(hull)) & Rect(Point(), frame.size());
}
static int select3DBox(const string& windowname, const string& selWinName, const Mat& frame,
const Mat& cameraMatrix, const Mat& rvec, const Mat& tvec,
vector<Point3f>& box)
{
const char* imgFilename = 0;//"frame.jpg";
const float eps = 1e-3f;
MouseEvent mouse;
setMouseCallback(windowname, onMouse, &mouse);
vector<Point3f> tempobj(8);
vector<Point2f> imgpt(4), tempimg(8);
vector<Point> temphull;
int nobjpt = 0;
Mat R, selectedObjMask, selectedObjFrame, shownFrame;
Rodrigues(rvec, R);
box.resize(4);
for(;;)
{
float Z = 0.f;
bool dragging = (mouse.buttonState & CV_EVENT_FLAG_LBUTTON) != 0;
int npt = nobjpt;
if( (mouse.event == CV_EVENT_LBUTTONDOWN ||
mouse.event == CV_EVENT_LBUTTONUP ||
dragging) && nobjpt < 4 )
{
Point2f m = mouse.pt;
if( nobjpt < 2 )
imgpt[npt] = m;
else
{
tempobj.resize(1);
int nearestIdx = npt-1;
if( nobjpt == 3 )
{
nearestIdx = 0;
for( int i = 1; i < npt; i++ )
if( norm(m - imgpt[i]) < norm(m - imgpt[nearestIdx]) )
nearestIdx = i;
}
if( npt == 2 )
{
float dx = box[1].x - box[0].x, dy = box[1].y - box[0].y;
float len = 1.f/std::sqrt(dx*dx+dy*dy);
tempobj[0] = Point3f(dy*len + box[nearestIdx].x,
-dx*len + box[nearestIdx].y, 0.f);
}
else
tempobj[0] = Point3f(box[nearestIdx].x, box[nearestIdx].y, 1.f);
projectPoints(Mat(tempobj), rvec, tvec, cameraMatrix, Mat(), tempimg);
Point2f a = imgpt[nearestIdx], b = tempimg[0], d1 = b - a, d2 = m - a;
float n1 = norm(d1), n2 = norm(d2);
if( n1*n2 < eps )
imgpt[npt] = a;
else
{
Z = d1.dot(d2)/(n1*n1);
imgpt[npt] = d1*Z + a;
}
}
box[npt] = image2plane(imgpt[npt], R, tvec, cameraMatrix, npt<3 ? 0 : Z);
if( (npt == 0 && mouse.event == CV_EVENT_LBUTTONDOWN) ||
(npt > 0 && norm(box[npt] - box[npt-1]) > eps &&
mouse.event == CV_EVENT_LBUTTONUP) )
{
nobjpt++;
if( nobjpt < 4 )
{
imgpt[nobjpt] = imgpt[nobjpt-1];
box[nobjpt] = box[nobjpt-1];
}
}
// reset the event
mouse.event = -1;
//mouse.buttonState = 0;
npt++;
}
frame.copyTo(shownFrame);
extract3DBox(frame, shownFrame, selectedObjFrame,
cameraMatrix, rvec, tvec, box, npt);
imshow(windowname, shownFrame);
imshow(selWinName, selectedObjFrame);
int c = waitKey(30);
if( (c & 255) == 27 )
{
nobjpt = 0;
}
if( c == 'q' || c == 'Q' || c == ' ' )
{
box.clear();
return c == ' ' ? -1 : -100;
}
if( c == '\r' || c == '\n' && nobjpt == 4 && box[3].z > 0 )
return 1;
}
}
static bool readModelViews( const string& filename, vector<Point3f>& box,
vector<string>& imagelist,
vector<Rect>& roiList, vector<Vec6f>& poseList )
{
imagelist.resize(0);
roiList.resize(0);
poseList.resize(0);
box.resize(0);
FileStorage fs(filename, FileStorage::READ);
if( !fs.isOpened() )
return false;
fs["box"] >> box;
FileNode all = fs["views"];
if( all.type() != FileNode::SEQ )
return false;
FileNodeIterator it = all.begin(), it_end = all.end();
for(; it != it_end; ++it)
{
FileNode n = *it;
imagelist.push_back((string)n["image"]);
FileNode nr = n["rect"];
roiList.push_back(Rect((int)nr[0], (int)nr[1], (int)nr[2], (int)nr[3]));
FileNode np = n["pose"];
poseList.push_back(Vec6f((float)np[0], (float)np[1], (float)np[2],
(float)np[3], (float)np[4], (float)np[5]));
}
return true;
}
static bool writeModelViews(const string& filename, const vector<Point3f>& box,
const vector<string>& imagelist,
const vector<Rect>& roiList,
const vector<Vec6f>& poseList)
{
FileStorage fs(filename, FileStorage::WRITE);
if( !fs.isOpened() )
return false;
fs << "box" << "[:";
fs << box << "]" << "views" << "[";
size_t i, nviews = imagelist.size();
CV_Assert( nviews == roiList.size() && nviews == poseList.size() );
for( i = 0; i < nviews; i++ )
{
Rect r = roiList[i];
Vec6f p = poseList[i];
fs << "{" << "image" << imagelist[i] <<
"roi" << "[:" << r.x << r.y << r.width << r.height << "]" <<
"pose" << "[:" << p[0] << p[1] << p[2] << p[3] << p[4] << p[5] << "]" << "}";
}
fs << "]";
return true;
}
static bool readStringList( const string& filename, vector<string>& l )
{
l.resize(0);
FileStorage fs(filename, FileStorage::READ);
if( !fs.isOpened() )
return false;
FileNode n = fs.getFirstTopLevelNode();
if( n.type() != FileNode::SEQ )
return false;
FileNodeIterator it = n.begin(), it_end = n.end();
for( ; it != it_end; ++it )
l.push_back((string)*it);
return true;
}
int main(int argc, char** argv)
{
const char* help = "Usage: select3dobj -w <board_width -h <board_height> [-s <square_size>]\n"
"\t-i <intrinsics_filename> -o <output_prefix> [video_filename/cameraId]\n";
if(argc < 5)
{
print_help();
puts(help);
return 0;
}
const char* intrinsicsFilename = 0;
const char* outprefix = 0;
const char* videoFilename = 0;
const char* inputName = 0;
int cameraId = 0;
Size boardSize;
double squareSize = 0;
bool paused = false;
vector<Point3f> objpts(4);
vector<Point2f> imgpts(4);
vector<Point2f> mousepts(4);
int nobjpt = 0;
double squareSize = 1;
vector<string> imageList;
for( int i = 1; i < argc; i++ )
{
......@@ -104,7 +341,7 @@ int main(int argc, char** argv)
if(sscanf(argv[++i], "%d", &boardSize.width) != 1 || boardSize.width <= 0)
{
printf("Incorrect -w parameter (must be a positive integer)\n");
print_help();
puts(help);
return 0;
}
}
......@@ -113,7 +350,7 @@ int main(int argc, char** argv)
if(sscanf(argv[++i], "%d", &boardSize.height) != 1 || boardSize.height <= 0)
{
printf("Incorrect -h parameter (must be a positive integer)\n");
print_help();
puts(help);
return 0;
}
}
......@@ -122,7 +359,7 @@ int main(int argc, char** argv)
if(sscanf(argv[++i], "%lf", &squareSize) != 1 || squareSize <= 0)
{
printf("Incorrect -w parameter (must be a positive real number)\n");
print_help();
puts(help);
return 0;
}
}
......@@ -131,45 +368,43 @@ int main(int argc, char** argv)
if( isdigit(argv[i][0]))
sscanf(argv[i], "%d", &cameraId);
else
videoFilename = argv[i];
inputName = argv[i];
}
else
{
printf("Incorrect option\n");
print_help();
puts(help);
return 0;
}
}
if( !intrinsicsFilename || !outprefix ||
boardSize.width <= 0 || boardSize.height <= 0 ||
squareSize <= 0 )
boardSize.width <= 0 || boardSize.height <= 0 )
{
printf("One of required parameters are missing\n");
print_help();
printf("Some of the required parameters are missing\n");
puts(help);
return 0;
}
CameraData calibrated;
readCameraMatrix(intrinsicsFilename, calibrated);
calibrated.boardSize = boardSize;
calibrated.squareSize = squareSize;
Mat cameraMatrix, distCoeffs;
Size calibratedImageSize;
readCameraMatrix(intrinsicsFilename, cameraMatrix, distCoeffs, calibratedImageSize );
VideoCapture cap;
if( !imgFilename )
VideoCapture capture;
if( inputName )
{
if( videoFilename )
cap.open(videoFilename);
else
cap.open(0);
if( !cap.isOpened() )
if( !readStringList(inputName, imageList) &&
!capture.open(inputName))
{
printf("Can not initialize video capture\n");
print_help();
return 0;
fprintf( stderr, "The input file could not be opened\n" );
return -1;
}
}
else
capture.open(cameraId);
if( !capture.isOpened() && imageList.empty() )
return fprintf( stderr, "Could not initialize video capture\n" ), -2;
const char* outbarename = 0;
{
......@@ -189,230 +424,124 @@ int main(int argc, char** argv)
outbarename = outprefix;
}
Mat frame0, frame, shownFrame, selectedObjMask, selectedObjFrame, mapxy, R, rvec, tvec;
vector<Point2f> boardCorners;
vector<Point3f> tempobj(8);
vector<Point2f> tempimg(8);
vector<Point> temphull(8);
Mat frame, shownFrame, selectedObjFrame, mapxy;
namedWindow("Video", 1);
namedWindow("View", 1);
namedWindow("Selected Object", 1);
setMouseCallback("Video", onMouse, 0);
setMouseCallback("View", onMouse, 0);
bool boardFound = false;
char path[1000];
sprintf(path, "%s_index.txt", outprefix);
FILE* fframes = fopen(path, "a+t");
if(!fframes)
{
printf("Can not open path for writing. Permission denied?\n");
return 0;
}
string indexFilename = format("%s_index.yml", outprefix);
vector<string> capturedImgList;
vector<Rect> roiList;
vector<Vec6f> poseList;
vector<Point3f> box, boardPoints;
readModelViews(indexFilename, box, capturedImgList, roiList, poseList);
calcChessboardCorners(boardSize, squareSize, boardPoints);
int frameIdx = 0;
bool grabNext = !imageList.empty();
for(;;)
for(int i = 0;;i++)
{
bool objselected = false;
int nOutlinePt = 0;
if( !paused )
{
if( imgFilename )
{
frame0 = imread(string(imgFilename), 1);
paused = true;
}
else
cap >> frame0;
if( !frame0.data )
break;
if( !frame.data )
{
if( frame0.size() != calibrated.imageSize )
{
// adjust the camera matrix for the new resolution
calibrated.cameraMatrix.at<double>(0,0) *= frame.cols/calibrated.imageSize.width;
calibrated.cameraMatrix.at<double>(0,2) *= frame.cols/calibrated.imageSize.width;
calibrated.cameraMatrix.at<double>(1,1) *= frame.rows/calibrated.imageSize.height;
calibrated.cameraMatrix.at<double>(1,2) *= frame.rows/calibrated.imageSize.height;
calibrated.imageSize = frame0.size();
}
Mat dummy;
// initialize undistortion maps
initUndistortRectifyMap(calibrated.cameraMatrix, calibrated.distCoeffs, Mat(),
calibrated.cameraMatrix, calibrated.imageSize,
CV_32FC2, mapxy, dummy );
calibrated.distCoeffs = Mat::zeros(5, 1, CV_64F);
selectedObjMask = Mat::zeros(frame0.size(), CV_8U);
selectedObjFrame = frame0.clone();
}
remap(frame0, frame, mapxy, Mat(), INTER_LINEAR);
boardFound = findChessboardCorners(frame, calibrated.boardSize, boardCorners);
if( boardFound )
Mat frame0;
if( !imageList.empty() )
{
if( i < (int)imageList.size() )
frame0 = imread(string(imageList[i]), 1);
}
else
capture >> frame0;
if( !frame0.data )
break;
if( !frame.data )
{
if( frame0.size() != calibratedImageSize )
{
solvePnP(Mat(calibrated.objPoints), Mat(boardCorners), calibrated.cameraMatrix,
calibrated.distCoeffs, rvec, tvec, false);
Rodrigues(rvec, R);
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);
selectedObjFrame = Scalar::all(0);
drawChessboardCorners(shownFrame, boardSize, Mat(foundBoardCorners), boardFound);
selectedObjFrame = Mat::zeros(frame.size(), frame.type());
if( boardFound )
if( boardFound && grabNext )
{
float Z = 0.f;
bool dragging = (mouseButtonState & CV_EVENT_FLAG_LBUTTON) != 0;
int npt = nobjpt;
drawChessboardCorners(shownFrame, calibrated.boardSize, Mat(boardCorners), true);
if( (mouseEvent == CV_EVENT_LBUTTONDOWN ||
mouseEvent == CV_EVENT_LBUTTONUP ||
dragging) && nobjpt < 4 )
if( box.empty() )
{
// update object box
mousepts[npt] = mouseLoc;
/*if(!paused)
imwrite("frame.jpg", frame0);*/
paused = true;
if( nobjpt < 2 )
imgpts[npt] = mousepts[npt];
else
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);
if( r.area() )
{
tempobj.resize(1);
int nearestIdx = npt-1;
/*for( int i = 1; i < npt; i++ )
if( norm(mousepts[npt] - mousepts[i]) < norm(mousepts[npt] - imgpts[nearestIdx]) )
nearestIdx = i;*/
if( npt == 2 )
{
float dx = objpts[1].x - objpts[0].x, dy = objpts[1].y - objpts[0].y;
float len = 1.f/std::sqrt(dx*dx+dy*dy);
tempobj[0] = Point3f(dy*len + objpts[nearestIdx].x, -dx*len + objpts[nearestIdx].y, 0.f);
}
else
tempobj[0] = Point3f(objpts[nearestIdx].x, objpts[nearestIdx].y, 1.f);
projectPoints(Mat(tempobj), rvec, tvec, calibrated.cameraMatrix,
calibrated.distCoeffs, tempimg);
Point2f a = mousepts[nearestIdx], b = tempimg[0],
m = mousepts[npt], d1 = b - a, d2 = m - a;
float n1 = norm(d1), n2 = norm(d2);
if( n1*n2 < eps )
imgpts[npt] = a;
else
const int maxFrameIdx = 10000;
char path[1000];
for(;frameIdx < maxFrameIdx;frameIdx++)
{
Z = d1.dot(d2)/(n1*n1);
imgpts[npt] = d1*Z + a;
sprintf(path, "%s%04d.jpg", outprefix, frameIdx);
FILE* f = fopen(path, "rb");
if( !f )
break;
fclose(f);
}
}
objpts[npt] = image2plane(imgpts[npt], R, tvec,
calibrated.cameraMatrix, npt<3 ? 0 : Z);
if( (npt == 0 && mouseEvent == CV_EVENT_LBUTTONDOWN) ||
(npt > 0 && norm(objpts[npt] - objpts[npt-1]) > eps &&
mouseEvent == CV_EVENT_LBUTTONUP) )
{
nobjpt++;
if( nobjpt < 4 )
if( frameIdx == maxFrameIdx )
{
imgpts[nobjpt] = imgpts[nobjpt-1];
objpts[nobjpt] = objpts[nobjpt-1];
mousepts[nobjpt] = mousepts[nobjpt-1];
printf("Can not save the image as %s<...>.jpg", outprefix);
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]));
}
mouseEvent = -1; // reset the event
}
// draw object box (or a part of it)
tempobj.resize(8);
tempobj[0] = objpts[0];
tempobj[1] = objpts[1];
tempobj[2] = objpts[2];
tempobj[3] = (objpts[2] - objpts[1]) + objpts[0];
Z = objpts[3].z;
tempobj[4] = tempobj[0] + Point3f(0,0,Z);
tempobj[5] = tempobj[1] + Point3f(0,0,Z);
tempobj[6] = tempobj[2] + Point3f(0,0,Z);
tempobj[7] = tempobj[3] + Point3f(0,0,Z);
projectPoints(Mat(tempobj), rvec, tvec, calibrated.cameraMatrix,
calibrated.distCoeffs, tempimg);
if( npt == 0 && nobjpt == 0 )
nOutlinePt = 0;
else if( npt == 0 )
{
nOutlinePt = 1;
circle(shownFrame, tempimg[0], 3, Scalar(0,255,0), -1, CV_AA);
}
else if( npt == 1 )
{
nOutlinePt = 2;
line(shownFrame, tempimg[0], tempimg[1], Scalar(0,255,0), 3, CV_AA);
circle(shownFrame, tempimg[0], 3, Scalar(0,255,0), -1, CV_AA);
circle(shownFrame, tempimg[1], 3, Scalar(0,255,0), -1, CV_AA);
}
else
{
nOutlinePt = npt == 2 ? 4 : 8;
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;
}
grabNext = !imageList.empty();
}
imshow("Video", shownFrame);
imshow("View", shownFrame);
imshow("Selected Object", selectedObjFrame);
int c = waitKey(30);
if( (c & 255) == 27 )
nobjpt = 0;
if( c == ' ' )
paused = !paused;
int c = waitKey(imageList.empty() ? 30 : 300);
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&Rect(0,0,selectedObjFrame.cols,selectedObjFrame.rows)));
fprintf(fframes, "%s%04d.jpg (%.4f %.4f %.4f) (%.4f %.4f %.4f)", outbarename, frameIdx,
rvec.at<double>(0,0), rvec.at<double>(1,0), rvec.at<double>(2,0),
tvec.at<double>(0,0), tvec.at<double>(1,0), tvec.at<double>(2,0));
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++;
}
if( c == '\r' || c == '\n' )
grabNext = true;
}
fclose(fframes);
writeModelViews(indexFilename, box, capturedImgList, roiList, poseList);
return 0;
}
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