Qt sample code and some fixes

diff --git a/modules/highgui/include/opencv2/highgui/highgui.hpp b/modules/highgui/include/opencv2/highgui/highgui.hpp
index d3e7b9a..146d132 100644 (file)
--- a/modules/highgui/include/opencv2/highgui/highgui.hpp
+++ b/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);

diff --git a/samples/cpp/Qt_sample/CMakeLists.txt b/samples/cpp/Qt_sample/CMakeLists.txt
new file mode 100644 (file)
index 0000000..1967b2f
--- /dev/null
+++ b/samples/cpp/Qt_sample/CMakeLists.txt
@@ -0,0 +1,12 @@
+#http://www.cmake.org/cmake/help/cmake2.6docs.html\r
+cmake_minimum_required (VERSION 2.6)\r
+project (OpenGL_Qt_Binding) \r
+\r
+\r
+FIND_PACKAGE( OpenCV REQUIRED )\r
+find_package (OpenGL REQUIRED)\r
+\r
+\r
+ADD_EXECUTABLE(OpenGL_Qt_Binding main.cpp)\r
+TARGET_LINK_LIBRARIES(OpenGL_Qt_Binding ${OpenCV_LIBS} ${OPENGL_LIBRARIES} )\r
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cube4.avi ${CMAKE_CURRENT_BINARY_DIR}/cube4.avi COPYONLY)\r

diff --git a/samples/cpp/Qt_sample/cube4.avi b/samples/cpp/Qt_sample/cube4.avi
new file mode 100644 (file)
index 0000000..70ec42b
Binary files /dev/null and b/samples/cpp/Qt_sample/cube4.avi differ

diff --git a/samples/cpp/Qt_sample/main.cpp b/samples/cpp/Qt_sample/main.cpp
new file mode 100644 (file)
index 0000000..03780d0
--- /dev/null
+++ b/samples/cpp/Qt_sample/main.cpp
@@ -0,0 +1,256 @@
+//Yannick Verdie 2010\r
+\r
+//--- Please read me: ---\r
+\r
+//1). This demo is mainly based on work from Javier Barandiaran Martirena\r
+//See this page http://opencv.willowgarage.com/wiki/Posit.\r
+//2). This is a demo to illustrate how to use **OpenGL Callback**.\r
+//3). You need Qt binding to compile this sample with OpenGL support enabled.\r
+//4). The features' detection is very basic and could highly be improved (basic thresholding tuned for the specific video) but 2).\r
+\r
+\r
+#include <iostream>\r
+#include <vector>\r
+\r
+#include <opencv/highgui.h>\r
+#include <gl/GL.h>\r
+#include <opencv/cxcore.h>\r
+#include <opencv/cv.h>\r
+\r
+\r
+#define FOCAL_LENGTH 600\r
+#define CUBE_SIZE 10\r
+\r
+using namespace std;\r
+using namespace cv;\r
+\r
+void renderCube(float size)\r
+{\r
+       glBegin(GL_QUADS);\r
+       // Front Face\r
+       glNormal3f( 0.0f, 0.0f, 1.0f);\r
+       glVertex3f( 0.0f,  0.0f,  0.0f);\r
+       glVertex3f( size,  0.0f,  0.0f);\r
+       glVertex3f( size,  size,  0.0f);\r
+       glVertex3f( 0.0f,  size,  0.0f);\r
+       // Back Face\r
+       glNormal3f( 0.0f, 0.0f,-1.0f);\r
+       glVertex3f( 0.0f,  0.0f, size);\r
+       glVertex3f( 0.0f,  size, size);\r
+       glVertex3f( size,  size, size);\r
+       glVertex3f( size,  0.0f, size);         \r
+       // Top Face\r
+       glNormal3f( 0.0f, 1.0f, 0.0f);\r
+       glVertex3f( 0.0f,  size,  0.0f);\r
+       glVertex3f( size,  size,  0.0f);\r
+       glVertex3f( size,  size, size);\r
+       glVertex3f( 0.0f,  size, size);\r
+       // Bottom Face\r
+       glNormal3f( 0.0f,-1.0f, 0.0f);\r
+       glVertex3f( 0.0f,  0.0f,  0.0f);\r
+       glVertex3f( 0.0f,  0.0f, size);\r
+       glVertex3f( size,  0.0f, size);\r
+       glVertex3f( size,  0.0f,  0.0f);\r
+       // Right face\r
+       glNormal3f( 1.0f, 0.0f, 0.0f);\r
+       glVertex3f( size,  0.0f, 0.0f);\r
+       glVertex3f( size,  0.0f, size);\r
+       glVertex3f( size,  size, size);\r
+       glVertex3f( size,  size, 0.0f);\r
+       // Left Face\r
+       glNormal3f(-1.0f, 0.0f, 0.0f);\r
+       glVertex3f( 0.0f,  0.0f, 0.0f);\r
+       glVertex3f( 0.0f,  size, 0.0f);\r
+       glVertex3f( 0.0f,  size, size);\r
+       glVertex3f( 0.0f,  0.0f, size);\r
+       glEnd();\r
+}\r
+\r
+\r
+void on_opengl(void* param)\r
+{\r
+       //Draw the object with the estimated pose\r
+       glLoadIdentity();\r
+       glScalef( 1.0f, 1.0f, -1.0f);\r
+       glMultMatrixf( (float*)param );\r
+       glEnable( GL_LIGHTING );\r
+       glEnable( GL_LIGHT0 );\r
+       glEnable( GL_BLEND );\r
+       glBlendFunc(GL_SRC_ALPHA, GL_ONE);\r
+       renderCube( CUBE_SIZE );\r
+       glDisable(GL_BLEND);\r
+       glDisable( GL_LIGHTING );\r
+}\r
+\r
+void initPOSIT(std::vector<CvPoint3D32f> *modelPoints)\r
+{\r
+       //Create the model pointss\r
+       modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, 0.0f)); //The first must be (0,0,0)\r
+       modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, CUBE_SIZE));\r
+       modelPoints->push_back(cvPoint3D32f(CUBE_SIZE, 0.0f, 0.0f));\r
+       modelPoints->push_back(cvPoint3D32f(0.0f, CUBE_SIZE, 0.0f));\r
+}\r
+\r
+void foundCorners(vector<CvPoint2D32f> *srcImagePoints,IplImage* source, IplImage* grayImage)\r
+{\r
+       cvCvtColor(source,grayImage,CV_RGB2GRAY);\r
+       cvSmooth( grayImage, grayImage,CV_GAUSSIAN,11);\r
+       cvNormalize(grayImage, grayImage, 0, 255, CV_MINMAX);\r
+       cvThreshold( grayImage, grayImage, 26, 255, CV_THRESH_BINARY_INV);//25\r
+\r
+       Mat MgrayImage = grayImage;\r
+       //For debug\r
+       //MgrayImage = MgrayImage.clone();//deep copy\r
+       vector<vector<Point> > contours;\r
+       vector<Vec4i> hierarchy;\r
+       findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);\r
+\r
+       Point p;\r
+       vector<CvPoint2D32f> srcImagePoints_temp(4,cvPoint2D32f(0,0));\r
+\r
+       if (contours.size() == srcImagePoints_temp.size())\r
+       {\r
+\r
+               for(int i = 0 ; i<contours.size(); i++ )\r
+               {\r
+\r
+                       p.x = p.y = 0;\r
+\r
+                       for(int j = 0 ; j<contours[i].size(); j++ )\r
+                               p+=contours[i][j];\r
+\r
+                       srcImagePoints_temp.at(i)=cvPoint2D32f(float(p.x)/contours[i].size(),float(p.y)/contours[i].size());\r
+               }\r
+\r
+               //Need to keep the same order\r
+               //> y = 0\r
+               //> x = 1\r
+               //< x = 2\r
+               //< y = 3\r
+\r
+               //get point 0;\r
+               int index = 0;\r
+               for(int i = 1 ; i<srcImagePoints_temp.size(); i++ )\r
+               {\r
+                       if (srcImagePoints_temp.at(i).y > srcImagePoints_temp.at(index).y)\r
+                               index = i;\r
+               }\r
+               srcImagePoints->at(0) = srcImagePoints_temp.at(index);\r
+\r
+               //get point 1;\r
+               index = 0;\r
+               for(int i = 1 ; i<srcImagePoints_temp.size(); i++ )\r
+               {\r
+                       if (srcImagePoints_temp.at(i).x > srcImagePoints_temp.at(index).x)\r
+                               index = i;\r
+               }\r
+               srcImagePoints->at(1) = srcImagePoints_temp.at(index);\r
+\r
+               //get point 2;\r
+               index = 0;\r
+               for(int i = 1 ; i<srcImagePoints_temp.size(); i++ )\r
+               {\r
+                       if (srcImagePoints_temp.at(i).x < srcImagePoints_temp.at(index).x)\r
+                               index = i;\r
+               }\r
+               srcImagePoints->at(2) = srcImagePoints_temp.at(index);\r
+\r
+               //get point 3;\r
+               index = 0;\r
+               for(int i = 1 ; i<srcImagePoints_temp.size(); i++ )\r
+               {\r
+                       if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y)\r
+                               index = i;\r
+               }\r
+               srcImagePoints->at(3) = srcImagePoints_temp.at(index);\r
+\r
+               Mat Msource = source;\r
+               stringstream ss;\r
+               for(int i = 0 ; i<srcImagePoints_temp.size(); i++ )\r
+               {\r
+                       ss<<i;\r
+                       circle(Msource,srcImagePoints->at(i),5,CV_RGB(255,0,0));\r
+                       putText( Msource, ss.str(), srcImagePoints->at(i),CV_FONT_HERSHEY_SIMPLEX,1,CV_RGB(255,0,0));\r
+                       ss.str("");\r
+\r
+                       //new coordinate system in the middle of the frame and reversed (camera coordinate system)\r
+                       srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x-source->width/2,source->height/2-srcImagePoints_temp.at(i).y);\r
+               }\r
+       }\r
+\r
+}\r
+\r
+void createOpenGLMatrixFrom(float *posePOSIT,const CvMatr32f &rotationMatrix, const CvVect32f &translationVector)\r
+{\r
+\r
+\r
+       //coordinate system returned is relative to the first 3D input point    \r
+       for (int f=0; f<3; f++)\r
+       {\r
+               for (int c=0; c<3; c++)\r
+               {\r
+                       posePOSIT[c*4+f] = rotationMatrix[f*3+c];       //transposed\r
+               }\r
+       }       \r
+       posePOSIT[3] = 0.0;\r
+       posePOSIT[7] = 0.0;     \r
+       posePOSIT[11] = 0.0;\r
+       posePOSIT[12] = translationVector[0];\r
+       posePOSIT[13] = translationVector[1]; \r
+       posePOSIT[14] = translationVector[2];\r
+       posePOSIT[15] = 1.0;    \r
+}\r
+\r
+int main(int argc, char *argv[])\r
+{\r
+       CvCapture* video = cvCaptureFromFile("cube4.avi");\r
+       CV_Assert(video);\r
+\r
+       IplImage* source = cvCreateImage(cvGetSize(cvQueryFrame(video)),8,3);\r
+       IplImage* grayImage = cvCreateImage(cvGetSize(cvQueryFrame(video)),8,1);\r
+\r
+       cvNamedWindow("original",CV_WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);\r
+       cvNamedWindow("POSIT",CV_WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);\r
+       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);\r
+       //For debug\r
+       //cvNamedWindow("tempGray",CV_WINDOW_AUTOSIZE);\r
+       float OpenGLMatrix[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};\r
+       cvCreateOpenGLCallback("POSIT",on_opengl,OpenGLMatrix);\r
+\r
+       vector<CvPoint3D32f> modelPoints;\r
+       initPOSIT(&modelPoints);\r
+\r
+       //Create the POSIT object with the model points\r
+       CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size() );\r
+\r
+       CvMatr32f rotation_matrix = new float[9];\r
+       CvVect32f translation_vector = new float[3];    \r
+       CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1.0e-4f);\r
+\r
+       vector<CvPoint2D32f> srcImagePoints(4,cvPoint2D32f(0,0));\r
+\r
+\r
+       while(cvWaitKey(33) != 27)\r
+       {\r
+               source=cvQueryFrame(video);\r
+               cvShowImage("original",source);\r
+\r
+               foundCorners(&srcImagePoints,source,grayImage);\r
+               cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector );\r
+               createOpenGLMatrixFrom(OpenGLMatrix,rotation_matrix,translation_vector);\r
+\r
+               cvShowImage("POSIT",source);\r
+               //For debug\r
+               //cvShowImage("tempGray",grayImage);\r
+\r
+               if (cvGetCaptureProperty(video,CV_CAP_PROP_POS_AVI_RATIO)>0.99)\r
+                       cvSetCaptureProperty(video,CV_CAP_PROP_POS_AVI_RATIO,0);\r
+       }\r
+\r
+       cvDestroyAllWindows();\r
+       cvReleaseImage(&grayImage);\r
+       cvReleaseCapture(&video);\r
+       cvReleasePOSITObject(&positObject);\r
+\r
+       return 0;\r
+}
\ No newline at end of file