mirror of https://github.com/opencv/opencv.git
Merge pull request #2356 from SpecLad:merge-2.4
Roman Donchenko
11 years ago
committed by
OpenCV Buildbot
commit
bcf4307345
22 changed files with 476 additions and 332 deletions
@ -0,0 +1,51 @@ |
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#!/bin/sh |
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BASE_DIR=`dirname $0` |
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OPENCV_TEST_PATH=$BASE_DIR/@TEST_PATH@ |
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OPENCV_TEST_DATA_PATH=$BASE_DIR/sdk/etc/testdata/ |
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if [ $# -ne 1 ]; then |
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echo "Device architecture is not preset in command line" |
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echo "Tests are available for architectures: `ls -m ${OPENCV_TEST_PATH}`" |
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echo "Usage: $0 <target_device_arch>" |
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return 1 |
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else |
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TARGET_ARCH=$1 |
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fi |
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if [ -z `which adb` ]; then |
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echo "adb command was not found in PATH" |
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return 1 |
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fi |
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adb push $OPENCV_TEST_DATA_PATH /sdcard/opencv_testdata |
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adb shell "mkdir -p /data/local/tmp/opencv_test" |
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SUMMARY_STATUS=0 |
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for t in "$OPENCV_TEST_PATH/$TARGET_ARCH/"opencv_test_* "$OPENCV_TEST_PATH/$TARGET_ARCH/"opencv_perf_*; |
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do |
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test_name=`basename "$t"` |
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report="$test_name-`date --rfc-3339=date`.xml" |
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adb push $t /data/local/tmp/opencv_test/ |
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adb shell "export OPENCV_TEST_DATA_PATH=/sdcard/opencv_testdata && /data/local/tmp/opencv_test/$test_name --perf_min_samples=1 --perf_force_samples=1 --gtest_output=xml:/data/local/tmp/opencv_test/$report" |
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adb pull "/data/local/tmp/opencv_test/$report" $report |
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TEST_STATUS=0 |
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if [ -e $report ]; then |
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if [ `grep -c "<fail" $report` -ne 0 ]; then |
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TEST_STATUS=2 |
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fi |
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else |
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TEST_STATUS=3 |
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fi |
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if [ $TEST_STATUS -ne 0 ]; then |
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SUMMARY_STATUS=$TEST_STATUS |
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fi |
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done |
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if [ $SUMMARY_STATUS -eq 0 ]; then |
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echo "All OpenCV tests finished successfully" |
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else |
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echo "OpenCV tests finished with status $SUMMARY_STATUS" |
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fi |
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return $SUMMARY_STATUS |
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@ -1,271 +0,0 @@ |
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//Yannick Verdie 2010
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//--- Please read help() below: ---
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#include <iostream> |
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#include <vector> |
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#include <opencv2/core/core_c.h> |
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#include <opencv2/calib3d/calib3d_c.h> |
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#include <opencv2/imgproc.hpp> |
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#include <opencv2/highgui.hpp> |
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#include <opencv2/legacy/compat.hpp> |
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#if defined WIN32 || defined _WIN32 || defined WINCE |
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#include <windows.h> |
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#undef small |
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#undef min |
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#undef max |
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#undef abs |
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#endif |
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#ifdef __APPLE__ |
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#include <OpenGL/gl.h> |
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#else |
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#include <GL/gl.h> |
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#endif |
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using namespace std; |
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using namespace cv; |
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static void help() |
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{ |
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cout << "\nThis demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n" |
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" and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n" |
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"It works off of the video: cube4.avi\n" |
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"Using OpenCV version %s\n" << CV_VERSION << "\n\n" |
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" 1). This demo is mainly based on work from Javier Barandiaran Martirena\n" |
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" See this page http://code.opencv.org/projects/opencv/wiki/Posit.\n" |
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" 2). This is a demo to illustrate how to use **OpenGL Callback**.\n" |
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" 3). You need Qt binding to compile this sample with OpenGL support enabled.\n" |
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" 4). The features' detection is very basic and could highly be improved \n" |
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" (basic thresholding tuned for the specific video) but 2).\n" |
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" 5) THANKS TO Google Summer of Code 2010 for supporting this work!\n" << endl; |
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} |
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#define FOCAL_LENGTH 600 |
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#define CUBE_SIZE 10 |
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static void renderCube(float size) |
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{ |
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glBegin(GL_QUADS); |
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// Front Face
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glNormal3f( 0.0f, 0.0f, 1.0f); |
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glVertex3f( 0.0f, 0.0f, 0.0f); |
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glVertex3f( size, 0.0f, 0.0f); |
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glVertex3f( size, size, 0.0f); |
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glVertex3f( 0.0f, size, 0.0f); |
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// Back Face
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glNormal3f( 0.0f, 0.0f,-1.0f); |
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glVertex3f( 0.0f, 0.0f, size); |
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glVertex3f( 0.0f, size, size); |
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glVertex3f( size, size, size); |
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glVertex3f( size, 0.0f, size); |
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// Top Face
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glNormal3f( 0.0f, 1.0f, 0.0f); |
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glVertex3f( 0.0f, size, 0.0f); |
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glVertex3f( size, size, 0.0f); |
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glVertex3f( size, size, size); |
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glVertex3f( 0.0f, size, size); |
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// Bottom Face
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glNormal3f( 0.0f,-1.0f, 0.0f); |
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glVertex3f( 0.0f, 0.0f, 0.0f); |
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glVertex3f( 0.0f, 0.0f, size); |
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glVertex3f( size, 0.0f, size); |
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glVertex3f( size, 0.0f, 0.0f); |
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// Right face
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glNormal3f( 1.0f, 0.0f, 0.0f); |
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glVertex3f( size, 0.0f, 0.0f); |
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glVertex3f( size, 0.0f, size); |
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glVertex3f( size, size, size); |
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glVertex3f( size, size, 0.0f); |
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// Left Face
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glNormal3f(-1.0f, 0.0f, 0.0f); |
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glVertex3f( 0.0f, 0.0f, 0.0f); |
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glVertex3f( 0.0f, size, 0.0f); |
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glVertex3f( 0.0f, size, size); |
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glVertex3f( 0.0f, 0.0f, size); |
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glEnd(); |
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} |
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static void on_opengl(void* param) |
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{ |
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//Draw the object with the estimated pose
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glLoadIdentity(); |
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glScalef( 1.0f, 1.0f, -1.0f); |
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glMultMatrixf( (float*)param ); |
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glEnable( GL_LIGHTING ); |
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glEnable( GL_LIGHT0 ); |
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glEnable( GL_BLEND ); |
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glBlendFunc(GL_SRC_ALPHA, GL_ONE); |
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renderCube( CUBE_SIZE ); |
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glDisable(GL_BLEND); |
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glDisable( GL_LIGHTING ); |
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} |
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static void initPOSIT(std::vector<CvPoint3D32f> *modelPoints) |
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{ |
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//Create the model pointss
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modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, 0.0f)); //The first must be (0,0,0)
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modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, CUBE_SIZE)); |
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modelPoints->push_back(cvPoint3D32f(CUBE_SIZE, 0.0f, 0.0f)); |
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modelPoints->push_back(cvPoint3D32f(0.0f, CUBE_SIZE, 0.0f)); |
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} |
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static void foundCorners(vector<CvPoint2D32f> *srcImagePoints, const Mat& source, Mat& grayImage) |
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{ |
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cvtColor(source, grayImage, COLOR_RGB2GRAY); |
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GaussianBlur(grayImage, grayImage, Size(11,11), 0, 0); |
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normalize(grayImage, grayImage, 0, 255, NORM_MINMAX); |
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threshold(grayImage, grayImage, 26, 255, THRESH_BINARY_INV); //25
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vector<vector<Point> > contours; |
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vector<Vec4i> hierarchy; |
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findContours(grayImage, contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_NONE); |
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Point p; |
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vector<CvPoint2D32f> srcImagePoints_temp(4,cvPoint2D32f(0,0)); |
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if (contours.size() == srcImagePoints_temp.size()) |
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{ |
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for(size_t i = 0 ; i<contours.size(); i++ ) |
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{ |
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p.x = p.y = 0; |
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for(size_t j = 0 ; j<contours[i].size(); j++ ) |
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p+=contours[i][j]; |
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srcImagePoints_temp.at(i)=cvPoint2D32f(float(p.x)/contours[i].size(),float(p.y)/contours[i].size()); |
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} |
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//Need to keep the same order
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//> y = 0
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//> x = 1
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//< x = 2
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//< y = 3
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//get point 0;
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size_t index = 0; |
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for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ ) |
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{ |
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if (srcImagePoints_temp.at(i).y > srcImagePoints_temp.at(index).y) |
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index = i; |
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} |
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srcImagePoints->at(0) = srcImagePoints_temp.at(index); |
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//get point 1;
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index = 0; |
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for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ ) |
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{ |
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if (srcImagePoints_temp.at(i).x > srcImagePoints_temp.at(index).x) |
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index = i; |
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} |
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srcImagePoints->at(1) = srcImagePoints_temp.at(index); |
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//get point 2;
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index = 0; |
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for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ ) |
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{ |
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if (srcImagePoints_temp.at(i).x < srcImagePoints_temp.at(index).x) |
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index = i; |
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} |
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srcImagePoints->at(2) = srcImagePoints_temp.at(index); |
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//get point 3;
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index = 0; |
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for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ ) |
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{ |
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if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y) |
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index = i; |
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} |
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srcImagePoints->at(3) = srcImagePoints_temp.at(index); |
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Mat Msource = source; |
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stringstream ss; |
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for(size_t i = 0 ; i<srcImagePoints_temp.size(); i++ ) |
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{ |
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ss<<i; |
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circle(Msource,srcImagePoints->at(i),5,Scalar(0,0,255)); |
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putText(Msource,ss.str(),srcImagePoints->at(i),FONT_HERSHEY_SIMPLEX,1,Scalar(0,0,255)); |
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ss.str(""); |
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//new coordinate system in the middle of the frame and reversed (camera coordinate system)
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srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x-source.cols/2,source.rows/2-srcImagePoints_temp.at(i).y); |
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} |
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} |
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} |
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static void createOpenGLMatrixFrom(float *posePOSIT,const CvMatr32f &rotationMatrix, const CvVect32f &translationVector) |
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{ |
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//coordinate system returned is relative to the first 3D input point
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for (int f=0; f<3; f++) |
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{ |
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for (int c=0; c<3; c++) |
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{ |
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posePOSIT[c*4+f] = rotationMatrix[f*3+c]; //transposed
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} |
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} |
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posePOSIT[3] = 0.0; |
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posePOSIT[7] = 0.0; |
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posePOSIT[11] = 0.0; |
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posePOSIT[12] = translationVector[0]; |
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posePOSIT[13] = translationVector[1]; |
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posePOSIT[14] = translationVector[2]; |
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posePOSIT[15] = 1.0; |
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} |
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int main(void) |
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{ |
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help(); |
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VideoCapture video("cube4.avi"); |
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CV_Assert(video.isOpened()); |
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Mat source, grayImage; |
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video >> source; |
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namedWindow("original", WINDOW_AUTOSIZE | WINDOW_FREERATIO); |
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namedWindow("POSIT", WINDOW_AUTOSIZE | WINDOW_FREERATIO); |
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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); |
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float OpenGLMatrix[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
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setOpenGlDrawCallback("POSIT",on_opengl,OpenGLMatrix); |
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vector<CvPoint3D32f> modelPoints; |
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initPOSIT(&modelPoints); |
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//Create the POSIT object with the model points
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CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size() ); |
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CvMatr32f rotation_matrix = new float[9]; |
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CvVect32f translation_vector = new float[3]; |
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CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1.0e-4f); |
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vector<CvPoint2D32f> srcImagePoints(4,cvPoint2D32f(0,0)); |
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while(waitKey(33) != 27) |
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{ |
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video >> source; |
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imshow("original",source); |
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foundCorners(&srcImagePoints, source, grayImage); |
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cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector ); |
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createOpenGLMatrixFrom(OpenGLMatrix,rotation_matrix,translation_vector); |
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imshow("POSIT",source); |
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if (video.get(CAP_PROP_POS_AVI_RATIO) > 0.99) |
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video.set(CAP_PROP_POS_AVI_RATIO, 0); |
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} |
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destroyAllWindows(); |
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cvReleasePOSITObject(&positObject); |
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return 0; |
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} |
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@ -0,0 +1,268 @@ |
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// Yannick Verdie 2010
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// --- Please read help() below: ---
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#include <iostream> |
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#include <vector> |
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#include <opencv2/calib3d/calib3d.hpp> |
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#include <opencv2/core/core.hpp> |
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#include <opencv2/highgui/highgui.hpp> |
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#include <opencv2/imgproc/imgproc.hpp> |
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#include <opencv2/legacy/compat.hpp> |
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#ifdef __APPLE__ |
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#include <OpenGL/gl.h> |
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#else |
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#include <GL/gl.h> |
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#endif |
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using namespace std; |
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using namespace cv; |
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static void help() |
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{ |
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cout << "This demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n" |
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"and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n" |
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"It works off of the video: cube4.avi\n" |
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"Using OpenCV version " << CV_VERSION << "\n\n" |
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|
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" 1) This demo is mainly based on work from Javier Barandiaran Martirena\n" |
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|
" See this page http://code.opencv.org/projects/opencv/wiki/Posit.\n" |
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" 2) This is a demo to illustrate how to use **OpenGL Callback**.\n" |
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" 3) You need Qt binding to compile this sample with OpenGL support enabled.\n" |
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" 4) The features' detection is very basic and could highly be improved\n" |
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" (basic thresholding tuned for the specific video) but 2).\n" |
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" 5) Thanks to Google Summer of Code 2010 for supporting this work!\n" << endl; |
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} |
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#define FOCAL_LENGTH 600 |
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#define CUBE_SIZE 0.5 |
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static void renderCube(float size) |
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{ |
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glBegin(GL_QUADS); |
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// Front Face
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glNormal3f( 0.0f, 0.0f, 1.0f); |
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glVertex3f( 0.0f, 0.0f, 0.0f); |
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glVertex3f( size, 0.0f, 0.0f); |
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glVertex3f( size, size, 0.0f); |
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glVertex3f( 0.0f, size, 0.0f); |
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// Back Face
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glNormal3f( 0.0f, 0.0f,-1.0f); |
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glVertex3f( 0.0f, 0.0f, size); |
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glVertex3f( 0.0f, size, size); |
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glVertex3f( size, size, size); |
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glVertex3f( size, 0.0f, size); |
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// Top Face
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||||||
|
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(); |
||||||
|
} |
||||||
|
|
||||||
|
static 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 ); |
||||||
|
} |
||||||
|
|
||||||
|
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)
|
||||||
|
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) |
||||||
|
{ |
||||||
|
cvtColor(source, grayImage, COLOR_RGB2GRAY); |
||||||
|
GaussianBlur(grayImage, grayImage, Size(11, 11), 0, 0); |
||||||
|
normalize(grayImage, grayImage, 0, 255, NORM_MINMAX); |
||||||
|
threshold(grayImage, grayImage, 26, 255, THRESH_BINARY_INV); //25
|
||||||
|
|
||||||
|
Mat MgrayImage = grayImage; |
||||||
|
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 (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]; |
||||||
|
|
||||||
|
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;
|
||||||
|
size_t index = 0; |
||||||
|
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;
|
||||||
|
index = 0; |
||||||
|
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;
|
||||||
|
index = 0; |
||||||
|
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;
|
||||||
|
index = 0; |
||||||
|
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++ ) |
||||||
|
{ |
||||||
|
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); |
||||||
|
} |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
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] = 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) |
||||||
|
{ |
||||||
|
help(); |
||||||
|
|
||||||
|
string fileName = "cube4.avi"; |
||||||
|
VideoCapture video(fileName); |
||||||
|
if (!video.isOpened()) |
||||||
|
{ |
||||||
|
cerr << "Video file " << fileName << " could not be opened" << endl; |
||||||
|
return EXIT_FAILURE; |
||||||
|
} |
||||||
|
|
||||||
|
Mat source, grayImage; |
||||||
|
video >> source; |
||||||
|
|
||||||
|
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).\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 }; |
||||||
|
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()); |
||||||
|
|
||||||
|
CvMatr32f rotation_matrix = new float[9]; |
||||||
|
CvVect32f translation_vector = new float[3]; |
||||||
|
CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1e-4f); |
||||||
|
vector<CvPoint2D32f> srcImagePoints(4, cvPoint2D32f(0, 0)); |
||||||
|
|
||||||
|
while (waitKey(33) != 27) |
||||||
|
{ |
||||||
|
video >> source; |
||||||
|
if (source.empty()) |
||||||
|
break; |
||||||
|
|
||||||
|
imshow("Original", source); |
||||||
|
|
||||||
|
foundCorners(&srcImagePoints, source, grayImage); |
||||||
|
cvPOSIT(positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector); |
||||||
|
createOpenGLMatrixFrom(OpenGLMatrix, rotation_matrix, translation_vector); |
||||||
|
|
||||||
|
updateWindow("POSIT"); |
||||||
|
|
||||||
|
if (video.get(CV_CAP_PROP_POS_AVI_RATIO) > 0.99) |
||||||
|
video.set(CV_CAP_PROP_POS_AVI_RATIO, 0); |
||||||
|
} |
||||||
|
|
||||||
|
setOpenGlDrawCallback("POSIT", NULL, NULL); |
||||||
|
destroyAllWindows(); |
||||||
|
cvReleasePOSITObject(&positObject); |
||||||
|
|
||||||
|
delete[]rotation_matrix; |
||||||
|
delete[]translation_vector; |
||||||
|
|
||||||
|
return EXIT_SUCCESS; |
||||||
|
} |
||||||
Loading…
Reference in new issue