|
|
|
|
@ -19,48 +19,51 @@ |
|
|
|
|
#include <ctype.h> |
|
|
|
|
#include <stdio.h> |
|
|
|
|
#include <stdlib.h> |
|
|
|
|
#include <string> |
|
|
|
|
|
|
|
|
|
using namespace std; |
|
|
|
|
using namespace cv; |
|
|
|
|
|
|
|
|
|
const char* helphelp = |
|
|
|
|
"\nThis program's purpose is to collect data sets of an object and its segmentation mask.\n" |
|
|
|
|
"\n" |
|
|
|
|
"It shows how to use a calibrated camera together with a calibration pattern to\n" |
|
|
|
|
"compute the homography of the plane the calibration pattern is on. It also shows grabCut\n" |
|
|
|
|
"segmentation etc.\n" |
|
|
|
|
"\n" |
|
|
|
|
"select3dobj -w=<board_width> -h=<board_height> [-s=<square_size>]\n" |
|
|
|
|
" -i=<camera_intrinsics_filename> -o=<output_prefix>\n" |
|
|
|
|
"\n" |
|
|
|
|
" -w=<board_width> Number of chessboard corners wide\n" |
|
|
|
|
" -h=<board_height> Number of chessboard corners width\n" |
|
|
|
|
" [-s=<square_size>] Optional measure of chessboard squares in meters\n" |
|
|
|
|
" -i=<camera_intrinsics_filename> Camera matrix .yml file from calibration.cpp\n" |
|
|
|
|
" -o=<output_prefix> Prefix the output segmentation images with this\n" |
|
|
|
|
" [video_filename/cameraId] If present, read from that video file or that ID\n" |
|
|
|
|
"\n" |
|
|
|
|
"Using a camera's intrinsics (from calibrating a camera -- see calibration.cpp) and an\n" |
|
|
|
|
"image of the object sitting on a planar surface with a calibration pattern of\n" |
|
|
|
|
"(board_width x board_height) on the surface, we draw a 3D box around the object. From\n" |
|
|
|
|
"then on, we can move a camera and as long as it sees the chessboard calibration pattern,\n" |
|
|
|
|
"it will store a mask of where the object is. We get successive images using <output_prefix>\n" |
|
|
|
|
"of the segmentation mask containing the object. This makes creating training sets easy.\n" |
|
|
|
|
"It is best if the chessboard is odd x even in dimensions to avoid ambiguous poses.\n" |
|
|
|
|
"\n" |
|
|
|
|
"The actions one can use while the program is running are:\n" |
|
|
|
|
"\n" |
|
|
|
|
" Select object as 3D box with the mouse.\n" |
|
|
|
|
" First draw one line on the plane to outline the projection of that object on the plane\n" |
|
|
|
|
" Then extend that line into a box to encompass the projection of that object onto the plane\n" |
|
|
|
|
" The use the mouse again to extend the box upwards from the plane to encase the object.\n" |
|
|
|
|
" Then use the following commands\n" |
|
|
|
|
" ESC - Reset the selection\n" |
|
|
|
|
" SPACE - Skip the frame; move to the next frame (not in video mode)\n" |
|
|
|
|
" ENTER - Confirm the selection. Grab next object in video mode.\n" |
|
|
|
|
" q - Exit the program\n" |
|
|
|
|
"\n\n"; |
|
|
|
|
|
|
|
|
|
static string helphelp(char** argv) |
|
|
|
|
{ |
|
|
|
|
return string("\nThis program's purpose is to collect data sets of an object and its segmentation mask.\n") |
|
|
|
|
+ "\n" |
|
|
|
|
"It shows how to use a calibrated camera together with a calibration pattern to\n" |
|
|
|
|
"compute the homography of the plane the calibration pattern is on. It also shows grabCut\n" |
|
|
|
|
"segmentation etc.\n" |
|
|
|
|
"\n" |
|
|
|
|
+ argv[0] |
|
|
|
|
+ " -w=<board_width> -h=<board_height> [-s=<square_size>]\n" |
|
|
|
|
" -i=<camera_intrinsics_filename> -o=<output_prefix>\n" |
|
|
|
|
"\n" |
|
|
|
|
" -w=<board_width> Number of chessboard corners wide\n" |
|
|
|
|
" -h=<board_height> Number of chessboard corners width\n" |
|
|
|
|
" [-s=<square_size>] Optional measure of chessboard squares in meters\n" |
|
|
|
|
" -i=<camera_intrinsics_filename> Camera matrix .yml file from calibration.cpp\n" |
|
|
|
|
" -o=<output_prefix> Prefix the output segmentation images with this\n" |
|
|
|
|
" [video_filename/cameraId] If present, read from that video file or that ID\n" |
|
|
|
|
"\n" |
|
|
|
|
"Using a camera's intrinsics (from calibrating a camera -- see calibration.cpp) and an\n" |
|
|
|
|
"image of the object sitting on a planar surface with a calibration pattern of\n" |
|
|
|
|
"(board_width x board_height) on the surface, we draw a 3D box around the object. From\n" |
|
|
|
|
"then on, we can move a camera and as long as it sees the chessboard calibration pattern,\n" |
|
|
|
|
"it will store a mask of where the object is. We get successive images using <output_prefix>\n" |
|
|
|
|
"of the segmentation mask containing the object. This makes creating training sets easy.\n" |
|
|
|
|
"It is best if the chessboard is odd x even in dimensions to avoid ambiguous poses.\n" |
|
|
|
|
"\n" |
|
|
|
|
"The actions one can use while the program is running are:\n" |
|
|
|
|
"\n" |
|
|
|
|
" Select object as 3D box with the mouse.\n" |
|
|
|
|
" First draw one line on the plane to outline the projection of that object on the plane\n" |
|
|
|
|
" Then extend that line into a box to encompass the projection of that object onto the plane\n" |
|
|
|
|
" The use the mouse again to extend the box upwards from the plane to encase the object.\n" |
|
|
|
|
" Then use the following commands\n" |
|
|
|
|
" ESC - Reset the selection\n" |
|
|
|
|
" SPACE - Skip the frame; move to the next frame (not in video mode)\n" |
|
|
|
|
" ENTER - Confirm the selection. Grab next object in video mode.\n" |
|
|
|
|
" q - Exit the program\n" |
|
|
|
|
"\n\n"; |
|
|
|
|
} |
|
|
|
|
// static void help()
|
|
|
|
|
// {
|
|
|
|
|
// puts(helphelp);
|
|
|
|
|
@ -384,7 +387,7 @@ static bool readStringList( const string& filename, vector<string>& l ) |
|
|
|
|
|
|
|
|
|
int main(int argc, char** argv) |
|
|
|
|
{ |
|
|
|
|
const char* help = "Usage: select3dobj -w=<board_width> -h=<board_height> [-s=<square_size>]\n" |
|
|
|
|
string help = string("Usage: ") + argv[0] + " -w=<board_width> -h=<board_height> [-s=<square_size>]\n" + |
|
|
|
|
"\t-i=<intrinsics_filename> -o=<output_prefix> [video_filename/cameraId]\n"; |
|
|
|
|
const char* screen_help = |
|
|
|
|
"Actions: \n" |
|
|
|
|
@ -397,8 +400,8 @@ int main(int argc, char** argv) |
|
|
|
|
cv::CommandLineParser parser(argc, argv, "{help h||}{w||}{h||}{s|1|}{i||}{o||}{@input|0|}"); |
|
|
|
|
if (parser.has("help")) |
|
|
|
|
{ |
|
|
|
|
puts(helphelp); |
|
|
|
|
puts(help); |
|
|
|
|
puts(helphelp(argv).c_str()); |
|
|
|
|
puts(help.c_str()); |
|
|
|
|
return 0; |
|
|
|
|
} |
|
|
|
|
string intrinsicsFilename; |
|
|
|
|
@ -419,26 +422,26 @@ int main(int argc, char** argv) |
|
|
|
|
inputName = samples::findFileOrKeep(parser.get<string>("@input")); |
|
|
|
|
if (!parser.check()) |
|
|
|
|
{ |
|
|
|
|
puts(help); |
|
|
|
|
puts(help.c_str()); |
|
|
|
|
parser.printErrors(); |
|
|
|
|
return 0; |
|
|
|
|
} |
|
|
|
|
if ( boardSize.width <= 0 ) |
|
|
|
|
{ |
|
|
|
|
printf("Incorrect -w parameter (must be a positive integer)\n"); |
|
|
|
|
puts(help); |
|
|
|
|
puts(help.c_str()); |
|
|
|
|
return 0; |
|
|
|
|
} |
|
|
|
|
if ( boardSize.height <= 0 ) |
|
|
|
|
{ |
|
|
|
|
printf("Incorrect -h parameter (must be a positive integer)\n"); |
|
|
|
|
puts(help); |
|
|
|
|
puts(help.c_str()); |
|
|
|
|
return 0; |
|
|
|
|
} |
|
|
|
|
if ( squareSize <= 0 ) |
|
|
|
|
{ |
|
|
|
|
printf("Incorrect -s parameter (must be a positive real number)\n"); |
|
|
|
|
puts(help); |
|
|
|
|
puts(help.c_str()); |
|
|
|
|
return 0; |
|
|
|
|
} |
|
|
|
|
Mat cameraMatrix, distCoeffs; |
|
|
|
|
|
Alexander Alekhin
5 years ago