Qt sample code and some fixes

modules/highgui/include/opencv2/highgui/highgui.hpp

@@ -67,7 +67,7 @@ CV_EXPORTS double getWindowProperty(const string& winname, int prop_id);//YV
 //Only for Qt
 //------------------------
 CV_EXPORTS CvFont fontQt(const string& nameFont, int pointSize CV_DEFAULT(-1), Scalar color CV_DEFAULT(Scalar::all(0)), int weight CV_DEFAULT(CV_FONT_NORMAL),  int style CV_DEFAULT(CV_STYLE_NORMAL), int spacing CV_DEFAULT(0));
-CV_EXPORTS void addText( const Mat& img, const char* text, Point org, CvFont font);
+CV_EXPORTS void addText( const Mat& img, const string& text, Point org, CvFont font);
 
 CV_EXPORTS void displayOverlay(const string& winname, const string& text, int delayms);
 CV_EXPORTS void displayStatusBar(const string& winname, const string& text, int delayms);

samples/cpp/Qt_sample/CMakeLists.txt

+#http://www.cmake.org/cmake/help/cmake2.6docs.html
+cmake_minimum_required (VERSION 2.6)
+project (OpenGL_Qt_Binding) 
+
+
+FIND_PACKAGE( OpenCV REQUIRED )
+find_package (OpenGL REQUIRED)
+
+
+ADD_EXECUTABLE(OpenGL_Qt_Binding main.cpp)
+TARGET_LINK_LIBRARIES(OpenGL_Qt_Binding ${OpenCV_LIBS} ${OPENGL_LIBRARIES} )
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cube4.avi ${CMAKE_CURRENT_BINARY_DIR}/cube4.avi COPYONLY)

samples/cpp/Qt_sample/main.cpp

+//Yannick Verdie 2010
+
+//--- Please read me: ---
+
+//1). This demo is mainly based on work from Javier Barandiaran Martirena
+//See this page http://opencv.willowgarage.com/wiki/Posit.
+//2). This is a demo to illustrate how to use **OpenGL Callback**.
+//3). You need Qt binding to compile this sample with OpenGL support enabled.
+//4). The features' detection is very basic and could highly be improved (basic thresholding tuned for the specific video) but 2).
+
+
+#include <iostream>
+#include <vector>
+
+#include <opencv/highgui.h>
+#include <gl/GL.h>
+#include <opencv/cxcore.h>
+#include <opencv/cv.h>
+
+
+#define FOCAL_LENGTH 600
+#define CUBE_SIZE 10
+
+using namespace std;
+using namespace cv;
+
+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();
+}
+
+
+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 );
+}
+
+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));
+}
+
+void foundCorners(vector<CvPoint2D32f> *srcImagePoints,IplImage* source, IplImage* grayImage)
+{
+	cvCvtColor(source,grayImage,CV_RGB2GRAY);
+	cvSmooth( grayImage, grayImage,CV_GAUSSIAN,11);
+	cvNormalize(grayImage, grayImage, 0, 255, CV_MINMAX);
+	cvThreshold( grayImage, grayImage, 26, 255, CV_THRESH_BINARY_INV);//25
+
+	Mat MgrayImage = grayImage;
+	//For debug
+	//MgrayImage = MgrayImage.clone();//deep copy
+	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(int i = 0 ; i<contours.size(); i++ )
+		{
+
+			p.x = p.y = 0;
+
+			for(int 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;
+		int index = 0;
+		for(int 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(int 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(int 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(int 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(int i = 0 ; i<srcImagePoints_temp.size(); i++ )
+		{
+			ss<<i;
+			circle(Msource,srcImagePoints->at(i),5,CV_RGB(255,0,0));
+			putText( Msource, ss.str(), srcImagePoints->at(i),CV_FONT_HERSHEY_SIMPLEX,1,CV_RGB(255,0,0));
+			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->width/2,source->height/2-srcImagePoints_temp.at(i).y);
+		}
+	}
+
+}
+
+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] = 0.0;
+	posePOSIT[7] = 0.0;	
+	posePOSIT[11] = 0.0;
+	posePOSIT[12] = translationVector[0];
+	posePOSIT[13] = translationVector[1]; 
+	posePOSIT[14] = translationVector[2];
+	posePOSIT[15] = 1.0;	
+}
+
+int main(int argc, char *argv[])
+{
+	CvCapture* video = cvCaptureFromFile("cube4.avi");
+	CV_Assert(video);
+
+	IplImage* source = cvCreateImage(cvGetSize(cvQueryFrame(video)),8,3);
+	IplImage* grayImage = cvCreateImage(cvGetSize(cvQueryFrame(video)),8,1);
+
+	cvNamedWindow("original",CV_WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
+	cvNamedWindow("POSIT",CV_WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
+	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);
+	//For debug
+	//cvNamedWindow("tempGray",CV_WINDOW_AUTOSIZE);
+	float OpenGLMatrix[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	cvCreateOpenGLCallback("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, 1.0e-4f);
+
+	vector<CvPoint2D32f> srcImagePoints(4,cvPoint2D32f(0,0));
+
+
+	while(cvWaitKey(33) != 27)
+	{
+		source=cvQueryFrame(video);
+		cvShowImage("original",source);
+
+		foundCorners(&srcImagePoints,source,grayImage);
+		cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector );
+		createOpenGLMatrixFrom(OpenGLMatrix,rotation_matrix,translation_vector);
+
+		cvShowImage("POSIT",source);
+		//For debug
+		//cvShowImage("tempGray",grayImage);
+
+		if (cvGetCaptureProperty(video,CV_CAP_PROP_POS_AVI_RATIO)>0.99)
+			cvSetCaptureProperty(video,CV_CAP_PROP_POS_AVI_RATIO,0);
+	}
+
+	cvDestroyAllWindows();
+	cvReleaseImage(&grayImage);
+	cvReleaseCapture(&video);
+	cvReleasePOSITObject(&positObject);
+
+	return 0;
+}
\ No newline at end of file