+++ /dev/null
-#include "opencv2/highgui/highgui.hpp"
-#include "opencv2/imgproc/imgproc_c.h"
-
-int main(int argc, char** argv)
-{
- const char* filename = argc >= 2 ? argv[1] : "pic1.png";
- IplImage* src = cvLoadImage( filename, 0 );
- IplImage* dst;
- IplImage* color_dst;
- CvMemStorage* storage = cvCreateMemStorage(0);
- CvSeq* lines = 0;
- int i;
-
- if( !src )
- return -1;
-
- dst = cvCreateImage( cvGetSize(src), 8, 1 );
- color_dst = cvCreateImage( cvGetSize(src), 8, 3 );
-
- cvCanny( src, dst, 50, 200, 3 );
- cvCvtColor( dst, color_dst, CV_GRAY2BGR );
-#if 0
- lines = cvHoughLines2( dst, storage, CV_HOUGH_STANDARD, 1, CV_PI/180, 100, 0, 0 );
-
- for( i = 0; i < MIN(lines->total,100); i++ )
- {
- float* line = (float*)cvGetSeqElem(lines,i);
- float rho = line[0];
- float theta = line[1];
- CvPoint pt1, pt2;
- double a = cos(theta), b = sin(theta);
- double x0 = a*rho, y0 = b*rho;
- pt1.x = cvRound(x0 + 1000*(-b));
- pt1.y = cvRound(y0 + 1000*(a));
- pt2.x = cvRound(x0 - 1000*(-b));
- pt2.y = cvRound(y0 - 1000*(a));
- cvLine( color_dst, pt1, pt2, CV_RGB(255,0,0), 3, CV_AA, 0 );
- }
-#else
- lines = cvHoughLines2( dst, storage, CV_HOUGH_PROBABILISTIC, 1, CV_PI/180, 50, 50, 10 );
- for( i = 0; i < lines->total; i++ )
- {
- CvPoint* line = (CvPoint*)cvGetSeqElem(lines,i);
- cvLine( color_dst, line[0], line[1], CV_RGB(255,0,0), 3, CV_AA, 0 );
- }
-#endif
- cvNamedWindow( "Source", 1 );
- cvShowImage( "Source", src );
-
- cvNamedWindow( "Hough", 1 );
- cvShowImage( "Hough", color_dst );
-
- cvWaitKey(0);
-
- return 0;
-}
-
+++ /dev/null
-/*
- * stereo_match.cpp
- * calibration
- *
- * Created by Victor Eruhimov on 1/18/10.
- * Copyright 2010 Argus Corp. All rights reserved.
- *
- */
-
-#include "opencv2/calib3d/calib3d.hpp"
-#include "opencv2/imgproc/imgproc.hpp"
-#include "opencv2/highgui/highgui.hpp"
-
-#include <stdio.h>
-
-using namespace cv;
-
-void saveXYZ(const char* filename, const Mat& mat)
-{
- const double max_z = 1.0e4;
- FILE* fp = fopen(filename, "wt");
- for(int y = 0; y < mat.rows; y++)
- {
- for(int x = 0; x < mat.cols; x++)
- {
- Vec3f point = mat.at<Vec3f>(y, x);
- if(fabs(point[2] - max_z) < FLT_EPSILON || fabs(point[2]) > max_z) continue;
- fprintf(fp, "%f %f %f\n", point[0], point[1], point[2]);
- }
- }
- fclose(fp);
-}
-
-void print_help()
-{
- printf("Usage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh] [--blocksize=<block_size>]\n"
- "[--max-disparity=<max_disparity>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n"
- "[--no-display] [-o <disparity_image>] [-p <point_cloud_file>]\n");
-}
-
-int main(int argc, char** argv)
-{
- const char* algorithm_opt = "--algorithm=";
- const char* maxdisp_opt = "--max-disparity=";
- const char* blocksize_opt = "--blocksize=";
- const char* nodisplay_opt = "--no-display=";
-
- if(argc < 3)
- {
- print_help();
- return 0;
- }
- const char* img1_filename = 0;
- const char* img2_filename = 0;
- const char* intrinsic_filename = 0;
- const char* extrinsic_filename = 0;
- const char* disparity_filename = 0;
- const char* point_cloud_filename = 0;
-
- enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2 };
- int alg = STEREO_SGBM;
- int SADWindowSize = 0, numberOfDisparities = 0;
- bool no_display = false;
-
- StereoBM bm;
- StereoSGBM sgbm;
-
- for( int i = 1; i < argc; i++ )
- {
- if( argv[i][0] != '-' )
- {
- if( !img1_filename )
- img1_filename = argv[i];
- else
- img2_filename = argv[i];
- }
- else if( strncmp(argv[i], algorithm_opt, strlen(algorithm_opt)) == 0 )
- {
- char* _alg = argv[i] + strlen(algorithm_opt);
- alg = strcmp(_alg, "bm") == 0 ? STEREO_BM :
- strcmp(_alg, "sgbm") == 0 ? STEREO_SGBM :
- strcmp(_alg, "hh") == 0 ? STEREO_HH : -1;
- if( alg < 0 )
- {
- printf("Command-line parameter error: Unknown stereo algorithm\n\n");
- print_help();
- return -1;
- }
- }
- else if( strncmp(argv[i], maxdisp_opt, strlen(maxdisp_opt)) == 0 )
- {
- if( sscanf( argv[i] + strlen(maxdisp_opt), "%d", &numberOfDisparities ) != 1 ||
- numberOfDisparities < 1 || numberOfDisparities % 16 != 0 )
- {
- printf("Command-line parameter error: The max disparity (--maxdisparity=<...>) must be a positive integer divisible by 16\n");
- print_help();
- return -1;
- }
- }
- else if( strncmp(argv[i], blocksize_opt, strlen(blocksize_opt)) == 0 )
- {
- if( sscanf( argv[i] + strlen(blocksize_opt), "%d", &SADWindowSize ) != 1 ||
- SADWindowSize < 1 || SADWindowSize % 2 != 1 )
- {
- printf("Command-line parameter error: The block size (--blocksize=<...>) must be a positive odd number\n");
- return -1;
- }
- }
- else if( strcmp(argv[i], nodisplay_opt) == 0 )
- no_display = true;
- else if( strcmp(argv[i], "-i" ) == 0 )
- intrinsic_filename = argv[++i];
- else if( strcmp(argv[i], "-e" ) == 0 )
- extrinsic_filename = argv[++i];
- else if( strcmp(argv[i], "-o" ) == 0 )
- disparity_filename = argv[++i];
- else if( strcmp(argv[i], "-p" ) == 0 )
- point_cloud_filename = argv[++i];
- else
- {
- printf("Command-line parameter error: unknown option %s\n", argv[i]);
- return -1;
- }
- }
-
- if( !img1_filename || !img2_filename )
- {
- printf("Command-line parameter error: both left and right images must be specified\n");
- return -1;
- }
-
- if( (intrinsic_filename != 0) ^ (extrinsic_filename != 0) )
- {
- printf("Command-line parameter error: either both intrinsic and extrinsic parameters must be specified, or none of them (when the stereo pair is already rectified)\n");
- return -1;
- }
-
- if( extrinsic_filename == 0 && point_cloud_filename )
- {
- printf("Command-line parameter error: extrinsic and intrinsic parameters must be specified to compute the point cloud\n");
- return -1;
- }
-
- int color_mode = alg == STEREO_BM ? 0 : -1;
- Mat img1 = imread(img1_filename, color_mode);
- Mat img2 = imread(img2_filename, color_mode);
- Size img_size = img1.size();
-
- Rect roi1, roi2;
- Mat Q;
-
- if( intrinsic_filename )
- {
- // reading intrinsic parameters
- FileStorage fs(intrinsic_filename, CV_STORAGE_READ);
- if(!fs.isOpened())
- {
- printf("Failed to open file %s\n", intrinsic_filename);
- return -1;
- }
-
- Mat M1, D1, M2, D2;
- fs["M1"] >> M1;
- fs["D1"] >> D1;
- fs["M2"] >> M2;
- fs["D2"] >> D2;
-
- fs.open(extrinsic_filename, CV_STORAGE_READ);
- if(!fs.isOpened())
- {
- printf("Failed to open file %s\n", extrinsic_filename);
- return -1;
- }
-
- Mat R, T, R1, P1, R2, P2;
- fs["R"] >> R;
- fs["T"] >> T;
-
- stereoRectify( M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, -1, img_size, &roi1, &roi2 );
-
- Mat map11, map12, map21, map22;
- initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12);
- initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2, map21, map22);
-
- Mat img1r, img2r;
- remap(img1, img1r, map11, map12, INTER_LINEAR);
- remap(img2, img2r, map21, map22, INTER_LINEAR);
-
- img1 = img1r;
- img2 = img2r;
- }
-
- numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : img_size.width/8;
-
- bm.state->roi1 = roi1;
- bm.state->roi2 = roi2;
- bm.state->preFilterCap = 31;
- bm.state->SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 9;
- bm.state->minDisparity = 0;
- bm.state->numberOfDisparities = numberOfDisparities;
- bm.state->textureThreshold = 10;
- bm.state->uniquenessRatio = 15;
- bm.state->speckleWindowSize = 100;
- bm.state->speckleRange = 32;
- bm.state->disp12MaxDiff = 1;
-
- sgbm.preFilterCap = 63;
- sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;
-
- int cn = img1.channels();
-
- sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
- sgbm.P2 = 32*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
- sgbm.minDisparity = 0;
- sgbm.numberOfDisparities = numberOfDisparities;
- sgbm.uniquenessRatio = 10;
- sgbm.speckleWindowSize = bm.state->speckleWindowSize;
- sgbm.speckleRange = bm.state->speckleRange;
- sgbm.disp12MaxDiff = 1;
- sgbm.fullDP = alg == STEREO_HH;
-
- Mat disp, disp8;
- //Mat img1p, img2p, dispp;
- //copyMakeBorder(img1, img1p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
- //copyMakeBorder(img2, img2p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
-
- int64 t = getTickCount();
- if( alg == STEREO_BM )
- bm(img1, img2, disp);
- else
- sgbm(img1, img2, disp);
- t = getTickCount() - t;
- printf("Time elapsed: %fms\n", t*1000/getTickFrequency());
-
- //disp = dispp.colRange(numberOfDisparities, img1p.cols);
- disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));
- if( !no_display )
- {
- namedWindow("left", 1);
- imshow("left", img1);
- namedWindow("right", 1);
- imshow("right", img2);
- namedWindow("disparity", 0);
- imshow("disparity", disp8);
- printf("press any key to continue...");
- fflush(stdout);
- waitKey();
- printf("\n");
- }
-
- if(disparity_filename)
- imwrite(disparity_filename, disp8);
-
- if(point_cloud_filename)
- {
- printf("storing the point cloud...");
- fflush(stdout);
- Mat xyz;
- reprojectImageTo3D(disp, xyz, Q, true);
- saveXYZ(point_cloud_filename, xyz);
- printf("\n");
- }
-
- return 0;
-}
--- /dev/null
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+
+#include <iostream>
+
+using namespace cv;
+using namespace std;
+
+int main(int argc, char** argv)
+{
+ const char* filename = argc >= 2 ? argv[1] : "pic1.png";
+
+ Mat src = imread(filename, 0);
+ if(src.empty())
+ {
+ cout << "can not open " << filename << endl;
+ cout << "Usage: houghlines <image_name>" << endl;
+ }
+
+ Mat dst, cdst;
+ Canny(src, dst, 50, 200, 3);
+ cvtColor(dst, cdst, CV_GRAY2BGR);
+
+#if 0
+ vector<Vec2f> lines;
+ HoughLines(dst, lines, 1, CV_PI/180, 100, 0, 0 );
+
+ for( size_t i = 0; i < lines.size(); i++ )
+ {
+ float rho = lines[i][0], theta = lines[i][1];
+ Point pt1, pt2;
+ double a = cos(theta), b = sin(theta);
+ double x0 = a*rho, y0 = b*rho;
+ pt1.x = cvRound(x0 + 1000*(-b));
+ pt1.y = cvRound(y0 + 1000*(a));
+ pt2.x = cvRound(x0 - 1000*(-b));
+ pt2.y = cvRound(y0 - 1000*(a));
+ line( cdst, pt1, pt2, Scalar(0,0,255), 3, CV_AA);
+ }
+#else
+ vector<Vec4i> lines;
+ HoughLinesP(dst, lines, 1, CV_PI/180, 50, 50, 10 );
+ for( size_t i = 0; i < lines.size(); i++ )
+ {
+ Vec4i l = lines[i];
+ line( cdst, Point(l[0], l[1]), Point(l[2], l[3]), Scalar(0,0,255), 3, CV_AA);
+ }
+#endif
+ imshow("source", src);
+ imshow("detected lines", cdst);
+
+ waitKey();
+ return 0;
+}
+
projects / profile / ivi / opencv.git / commitdiff