-//Yannick Verdie 2010
-
-//--- Please read help() below: ---
+// Yannick Verdie 2010
+// --- Please read help() below: ---
#include <iostream>
#include <vector>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/legacy/compat.hpp>
-#if defined WIN32 || defined _WIN32 || defined WINCE
- #include <windows.h>
- #undef small
- #undef min
- #undef max
- #undef abs
-#endif
-
#ifdef __APPLE__
- #include <OpenGL/gl.h>
+#include <OpenGL/gl.h>
#else
- #include <GL/gl.h>
+#include <GL/gl.h>
#endif
using namespace std;
static void help()
{
- cout << "\nThis 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"
+ 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;
+
+ " 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 10
+#define CUBE_SIZE 0.5
static void renderCube(float size)
{
glDisable( GL_LIGHTING );
}
-static void initPOSIT(std::vector<CvPoint3D32f> *modelPoints)
+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)
+ // 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)
+static void foundCorners(vector<CvPoint2D32f> * srcImagePoints, const Mat & source, Mat & grayImage)
{
cvtColor(source, grayImage, COLOR_RGB2GRAY);
- GaussianBlur(grayImage, grayImage, Size(11,11), 0, 0);
+ GaussianBlur(grayImage, grayImage, Size(11, 11), 0, 0);
normalize(grayImage, grayImage, 0, 255, NORM_MINMAX);
threshold(grayImage, grayImage, 26, 255, THRESH_BINARY_INV); //25
findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
Point p;
- vector<CvPoint2D32f> srcImagePoints_temp(4,cvPoint2D32f(0,0));
+ vector<CvPoint2D32f> srcImagePoints_temp(4, cvPoint2D32f(0, 0));
if (contours.size() == srcImagePoints_temp.size())
{
-
- for(size_t i = 0 ; i<contours.size(); i++ )
+ 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];
+ 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());
+ 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
+ // Need to keep the same order
+ // > y = 0
+ // > x = 1
+ // < x = 2
+ // < y = 3
- //get point 0;
+ // get point 0;
size_t index = 0;
- for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
- {
+ 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;
+ // get point 1;
index = 0;
- for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
- {
+ 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;
+ // get point 2;
index = 0;
- for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
- {
+ 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;
+ // get point 3;
index = 0;
- for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
- {
+ 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++ )
+ 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 << 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);
+ // 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)
+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] = 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;
+ // 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)
Mat source, grayImage;
video >> source;
- namedWindow("original", WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
+ namedWindow("Original", WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
namedWindow("POSIT", WINDOW_OPENGL | CV_WINDOW_FREERATIO);
resizeWindow("POSIT", source.cols, source.rows);
- 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);
+ 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 };
+ 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() );
+ // 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];
if (source.empty())
break;
- imshow("original", source);
+ imshow("Original", source);
- foundCorners(&srcImagePoints,source,grayImage);
- cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector );
+ foundCorners(&srcImagePoints, source, grayImage);
+ cvPOSIT(positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector);
createOpenGLMatrixFrom(OpenGLMatrix, rotation_matrix, translation_vector);
- imshow("POSIT",source);
+ updateWindow("POSIT");
if (video.get(CV_CAP_PROP_POS_AVI_RATIO) > 0.99)
video.set(CV_CAP_PROP_POS_AVI_RATIO, 0);
}
- setOpenGlDrawCallback("POSIT", 0, 0);
+ setOpenGlDrawCallback("POSIT", NULL, NULL);
destroyAllWindows();
cvReleasePOSITObject(&positObject);
- return 0;
+ delete[]rotation_matrix;
+ delete[]translation_vector;
+
+ return EXIT_SUCCESS;
}
projects / platform / upstream / opencv.git / commitdiff