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Merge remote-tracking branch 'origin/master' into merge-2.4

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This commit is contained in:
Roman Donchenko
2014-08-01 15:01:41 +04:00
parent a3bde36c84 345b69d5f7
commit 983e75e5de
450 changed files with 11579 additions and 13407 deletions
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samples/MacOSX/FaceTracker/FaceTracker-Info.plist
-20
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@@ -1,20 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple Computer//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
<key>CFBundleDevelopmentRegion</key>
<string>English</string>
<key>CFBundleExecutable</key>
<string>${EXECUTABLE_NAME}</string>
<key>CFBundleIdentifier</key>
<string>de.rwth-aachen.ient.FaceTracker</string>
<key>CFBundleInfoDictionaryVersion</key>
<string>6.0</string>
<key>CFBundlePackageType</key>
<string>APPL</string>
<key>CFBundleSignature</key>
<string>????</string>
<key>CFBundleVersion</key>
<string>1.0</string>
</dict>
</plist>
samples/MacOSX/FaceTracker/FaceTracker.cpp
-86
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@@ -1,86 +0,0 @@
#include <OpenCV/OpenCV.h>
#include <cassert>
#include <iostream>
const char * WINDOW_NAME = "Face Tracker";
const CFIndex CASCADE_NAME_LEN = 2048;
char CASCADE_NAME[CASCADE_NAME_LEN] = "~/opencv/data/haarcascades/haarcascade_frontalface_alt2.xml";
using namespace std;
int main (int argc, char * const argv[])
{
const int scale = 2;
// locate haar cascade from inside application bundle
// (this is the mac way to package application resources)
CFBundleRef mainBundle = CFBundleGetMainBundle ();
assert (mainBundle);
CFURLRef cascade_url = CFBundleCopyResourceURL (mainBundle, CFSTR("haarcascade_frontalface_alt2"), CFSTR("xml"), NULL);
assert (cascade_url);
Boolean got_it = CFURLGetFileSystemRepresentation (cascade_url, true,
reinterpret_cast<UInt8 *>(CASCADE_NAME), CASCADE_NAME_LEN);
if (! got_it)
abort ();
// create all necessary instances
cvNamedWindow (WINDOW_NAME, CV_WINDOW_AUTOSIZE);
CvCapture * camera = cvCreateCameraCapture (CV_CAP_ANY);
CvHaarClassifierCascade* cascade = (CvHaarClassifierCascade*) cvLoad (CASCADE_NAME, 0, 0, 0);
CvMemStorage* storage = cvCreateMemStorage(0);
assert (storage);
// you do own an iSight, don't you ?!?
if (! camera)
abort ();
// did we load the cascade?!?
if (! cascade)
abort ();
// get an initial frame and duplicate it for later work
IplImage * current_frame = cvQueryFrame (camera);
IplImage * draw_image = cvCreateImage(cvSize (current_frame->width, current_frame->height), IPL_DEPTH_8U, 3);
IplImage * gray_image = cvCreateImage(cvSize (current_frame->width, current_frame->height), IPL_DEPTH_8U, 1);
IplImage * small_image = cvCreateImage(cvSize (current_frame->width / scale, current_frame->height / scale), IPL_DEPTH_8U, 1);
assert (current_frame && gray_image && draw_image);
// as long as there are images ...
while (current_frame = cvQueryFrame (camera))
{
// convert to gray and downsize
cvCvtColor (current_frame, gray_image, CV_BGR2GRAY);
cvResize (gray_image, small_image, CV_INTER_LINEAR);
// detect faces
CvSeq* faces = cvHaarDetectObjects (small_image, cascade, storage,
1.1, 2, CV_HAAR_DO_CANNY_PRUNING,
cvSize (30, 30));
// draw faces
cvFlip (current_frame, draw_image, 1);
for (int i = 0; i < (faces ? faces->total : 0); i++)
{
CvRect* r = (CvRect*) cvGetSeqElem (faces, i);
CvPoint center;
int radius;
center.x = cvRound((small_image->width - r->width*0.5 - r->x) *scale);
center.y = cvRound((r->y + r->height*0.5)*scale);
radius = cvRound((r->width + r->height)*0.25*scale);
cvCircle (draw_image, center, radius, CV_RGB(0,255,0), 3, 8, 0 );
}
// just show the image
cvShowImage (WINDOW_NAME, draw_image);
// wait a tenth of a second for keypress and window drawing
int key = cvWaitKey (100);
if (key == 'q' || key == 'Q')
break;
}
// be nice and return no error
return 0;
}
samples/MacOSX/FaceTracker/FaceTracker.xcodeproj/project.pbxproj
-262
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@@ -1,262 +0,0 @@
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samples/MacOSX/FaceTracker/README.txt
-35
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@@ -1,35 +0,0 @@
FaceTracker/REAME.txt
2007-05-24, Mark Asbach <asbach@ient.rwth-aachen.de>
Objective:
This document is intended to get you up and running with an OpenCV Framework on Mac OS X
Building the OpenCV.framework:
In the main directory of the opencv distribution, you will find a shell script called
'make_frameworks.sh' that does all of the typical unixy './configure && make' stuff required
to build a universal binary framework. Invoke this script from Terminal.app, wait some minutes
and you are done.
OpenCV is a Private Framework:
On Mac OS X the concept of Framework bundles is meant to simplify distribution of shared libraries,
accompanying headers and documentation. There are however to subtly different 'flavours' of
Frameworks: public and private ones. The public frameworks get installed into the Frameworks
diretories in /Library, /System/Library or ~/Library and are meant to be shared amongst
applications. The private frameworks are only distributed as parts of an Application Bundle.
This makes it easier to deploy applications because they bring their own framework invisibly to
the user. No installation of the framework is necessary and different applications can bring
different versions of the same framework without any conflict.
Since OpenCV is still a moving target, it seems best to avoid any installation and versioning issues
for an end user. The OpenCV framework that currently comes with this demo application therefore
is a Private Framework.
Use it for targets that result in an Application Bundle:
Since it is a Private Framework, it must be copied to the Frameworks/ directory of an Application
Bundle, which means, it is useless for plain unix console applications. You should create a Carbon
or a Cocoa application target in XCode for your projects. Then add the OpenCV.framework just like
in this demo and add a Copy Files build phase to your target. Let that phase copy to the Framework
directory and drop the OpenCV.framework on the build phase (again just like in this demo code).
The resulting application bundle will be self contained and if you set compiler option correctly
(in the "Build" tab of the "Project Info" window you should find 'i386 ppc' for the architectures),
your application can just be copied to any OS 10.4 Mac and used without further installation.
samples/android/CMakeLists.txt
+2 -2
View File
@@ -19,9 +19,9 @@ add_subdirectory(native-activity)
# hello-android sample
if(HAVE_opencv_highgui)
ocv_include_modules_recurse(opencv_highgui opencv_core)
ocv_include_modules_recurse(opencv_imgcodecs opencv_videoio opencv_highgui opencv_core)
add_executable(hello-android hello-android/main.cpp)
target_link_libraries(hello-android ${OPENCV_LINKER_LIBS} opencv_highgui opencv_core)
target_link_libraries(hello-android ${OPENCV_LINKER_LIBS} opencv_imgcodecs opencv_videoio opencv_highgui opencv_core)
set_target_properties(hello-android PROPERTIES OUTPUT_NAME hello-android RUNTIME_OUTPUT_DIRECTORY "${EXECUTABLE_OUTPUT_PATH}")
add_dependencies(opencv_android_examples hello-android)
endif()
samples/android/hello-android/main.cpp
+1
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@@ -1,4 +1,5 @@
#include <opencv2/core/core.hpp>
#include <opencv2/imgcodecs/imgcodecs.hpp>
#include <opencv2/highgui/highgui.hpp>
using namespace cv;
samples/android/native-activity/CMakeLists.txt
+1 -1
View File
@@ -3,7 +3,7 @@ set(sample example-native-activity)
if(BUILD_FAT_JAVA_LIB)
set(native_deps opencv_java)
else()
set(native_deps opencv_highgui opencv_imgproc)
set(native_deps opencv_videoio opencv_imgcodecs opencv_highgui opencv_imgproc)
endif()
add_android_project(${sample} "${CMAKE_CURRENT_SOURCE_DIR}" LIBRARY_DEPS ${OpenCV_BINARY_DIR} SDK_TARGET 9 ${ANDROID_SDK_TARGET} NATIVE_DEPS ${native_deps})
samples/cpp/3calibration.cpp
+1
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@@ -4,6 +4,7 @@
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdio.h>
samples/cpp/CMakeLists.txt
+3 -2
View File
@@ -4,8 +4,9 @@
# ----------------------------------------------------------------------------
SET(OPENCV_CPP_SAMPLES_REQUIRED_DEPS opencv_core opencv_imgproc opencv_flann
opencv_highgui opencv_ml opencv_video opencv_objdetect opencv_photo opencv_nonfree
opencv_features2d opencv_calib3d opencv_stitching opencv_videostab opencv_shape)
opencv_imgcodecs opencv_videoio opencv_highgui opencv_ml opencv_video
opencv_objdetect opencv_photo opencv_nonfree opencv_features2d opencv_calib3d
opencv_stitching opencv_videostab opencv_shape)
ocv_check_dependencies(${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
samples/cpp/H1to3p.xml
Executable
+11
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@@ -0,0 +1,11 @@
<?xml version="1.0"?>
<opencv_storage>
<H13 type_id="opencv-matrix">
<rows>3</rows>
<cols>3</cols>
<dt>d</dt>
<data>
7.6285898e-01 -2.9922929e-01 2.2567123e+02
3.3443473e-01 1.0143901e+00 -7.6999973e+01
3.4663091e-04 -1.4364524e-05 1.0000000e+00 </data></H13>
</opencv_storage>
samples/cpp/bagofwords_classification.cpp
+1
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@@ -1,4 +1,5 @@
#include "opencv2/opencv_modules.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/features2d/features2d.hpp"
samples/cpp/bgfg_gmg.cpp
+1
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@@ -6,6 +6,7 @@
*/
#include "opencv2/video.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include <opencv2/core/utility.hpp>
#include <iostream>
samples/cpp/bgfg_segm.cpp
+1
View File
@@ -2,6 +2,7 @@
#include <opencv2/core/utility.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/video/background_segm.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include <stdio.h>
samples/cpp/calibration.cpp
+2
View File
@@ -2,6 +2,8 @@
#include <opencv2/core/utility.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include <cctype>
samples/cpp/camshiftdemo.cpp
+1
View File
@@ -1,6 +1,7 @@
#include <opencv2/core/utility.hpp>
#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include <iostream>
samples/cpp/cloning_demo.cpp
+1
View File
@@ -23,6 +23,7 @@
#include "opencv2/photo.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/core.hpp"
#include <iostream>
samples/cpp/cloning_gui.cpp
+1
View File
@@ -33,6 +33,7 @@
#include <signal.h>
#include "opencv2/photo.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/core.hpp"
#include <iostream>
samples/cpp/connected_components.cpp
+1
View File
@@ -1,5 +1,6 @@
#include <opencv2/core/utility.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include <iostream>
samples/cpp/create_mask.cpp
+1
View File
@@ -10,6 +10,7 @@
*/
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/core.hpp"
#include <iostream>
samples/cpp/dbt_face_detection.cpp
+1
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@@ -2,6 +2,7 @@
#include <opencv2/imgproc/imgproc.hpp> // Gaussian Blur
#include <opencv2/core/core.hpp> // Basic OpenCV structures (cv::Mat, Scalar)
#include <opencv2/videoio/videoio.hpp>
#include <opencv2/highgui/highgui.hpp> // OpenCV window I/O
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/objdetect/objdetect.hpp>
samples/cpp/demhist.cpp
+1
View File
@@ -1,5 +1,6 @@
#include "opencv2/core/utility.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include <iostream>
samples/cpp/descriptor_extractor_matcher.cpp
+1
View File
@@ -1,3 +1,4 @@
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
samples/cpp/dft.cpp
+1
View File
@@ -1,6 +1,7 @@
#include "opencv2/core.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include <stdio.h>
samples/cpp/distrans.cpp
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@@ -1,5 +1,6 @@
#include <opencv2/core/utility.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include <stdio.h>
samples/cpp/edge.cpp
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@@ -1,5 +1,6 @@
#include "opencv2/core/utility.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include <stdio.h>
samples/cpp/facedetect.cpp
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@@ -1,8 +1,11 @@
#include "opencv2/objdetect.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/videoio/videoio_c.h"
#include "opencv2/highgui/highgui_c.h"
#include <cctype>
samples/cpp/fback.cpp
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@@ -1,5 +1,6 @@
#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
samples/cpp/ffilldemo.cpp
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@@ -1,4 +1,6 @@
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
samples/cpp/fitellipse.cpp
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@@ -15,6 +15,7 @@
*
********************************************************************************/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
using namespace cv;
samples/cpp/grabcut.cpp
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@@ -1,3 +1,4 @@
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
samples/cpp/graf1.png
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samples/cpp/houghcircles.cpp
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@@ -1,3 +1,4 @@
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
samples/cpp/houghlines.cpp
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@@ -1,3 +1,4 @@
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
samples/cpp/image.cpp
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@@ -22,6 +22,7 @@ static void help()
#ifdef DEMO_MIXED_API_USE
# include <opencv2/highgui/highgui_c.h>
# include <opencv2/imgcodecs/imgcodecs_c.h>
#endif
int main( int argc, char** argv )
samples/cpp/image_alignment.cpp
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@@ -13,6 +13,7 @@
* Authors: G. Evangelidis, INRIA, Grenoble, France
* M. Asbach, Fraunhofer IAIS, St. Augustin, Germany
*/
#include <opencv2/imgcodecs.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/video.hpp>
#include <opencv2/imgproc.hpp>
samples/cpp/image_sequence.cpp
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@@ -1,4 +1,5 @@
#include <opencv2/core/core.hpp>
#include <opencv2/videoio/videoio.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iostream>
samples/cpp/imagelist_creator.cpp
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@@ -2,6 +2,7 @@
*/
#include "opencv2/core/core.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <string>
#include <iostream>
samples/cpp/inpaint.cpp
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@@ -1,3 +1,4 @@
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/photo/photo.hpp"
samples/cpp/intelperc_capture.cpp
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@@ -1,6 +1,7 @@
// testOpenCVCam.cpp : Defines the entry point for the console application.
//
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
samples/cpp/laplace.cpp
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@@ -1,3 +1,4 @@
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
samples/cpp/linemod.cpp
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#include <opencv2/core.hpp>
#include <opencv2/core/utility.hpp>
#include <opencv2/imgproc/imgproc_c.h> // cvFindContours
#include <opencv2/imgproc.hpp>
#include <opencv2/objdetect.hpp>
#include <opencv2/highgui.hpp>
#include <iterator>
#include <set>
#include <cstdio>
#include <iostream>
// Function prototypes
void subtractPlane(const cv::Mat& depth, cv::Mat& mask, std::vector<CvPoint>& chain, double f);
std::vector<CvPoint> maskFromTemplate(const std::vector<cv::linemod::Template>& templates,
int num_modalities, cv::Point offset, cv::Size size,
cv::Mat& mask, cv::Mat& dst);
void templateConvexHull(const std::vector<cv::linemod::Template>& templates,
int num_modalities, cv::Point offset, cv::Size size,
cv::Mat& dst);
void drawResponse(const std::vector<cv::linemod::Template>& templates,
int num_modalities, cv::Mat& dst, cv::Point offset, int T);
cv::Mat displayQuantized(const cv::Mat& quantized);
// Copy of cv_mouse from cv_utilities
class Mouse
{
public:
static void start(const std::string& a_img_name)
{
cv::setMouseCallback(a_img_name.c_str(), Mouse::cv_on_mouse, 0);
}
static int event(void)
{
int l_event = m_event;
m_event = -1;
return l_event;
}
static int x(void)
{
return m_x;
}
static int y(void)
{
return m_y;
}
private:
static void cv_on_mouse(int a_event, int a_x, int a_y, int, void *)
{
m_event = a_event;
m_x = a_x;
m_y = a_y;
}
static int m_event;
static int m_x;
static int m_y;
};
int Mouse::m_event;
int Mouse::m_x;
int Mouse::m_y;
static void help()
{
printf("Usage: openni_demo [templates.yml]\n\n"
"Place your object on a planar, featureless surface. With the mouse,\n"
"frame it in the 'color' window and right click to learn a first template.\n"
"Then press 'l' to enter online learning mode, and move the camera around.\n"
"When the match score falls between 90-95%% the demo will add a new template.\n\n"
"Keys:\n"
"\t h -- This help page\n"
"\t l -- Toggle online learning\n"
"\t m -- Toggle printing match result\n"
"\t t -- Toggle printing timings\n"
"\t w -- Write learned templates to disk\n"
"\t [ ] -- Adjust matching threshold: '[' down, ']' up\n"
"\t q -- Quit\n\n");
}
// Adapted from cv_timer in cv_utilities
class Timer
{
public:
Timer() : start_(0), time_(0) {}
void start()
{
start_ = cv::getTickCount();
}
void stop()
{
CV_Assert(start_ != 0);
int64 end = cv::getTickCount();
time_ += end - start_;
start_ = 0;
}
double time()
{
double ret = time_ / cv::getTickFrequency();
time_ = 0;
return ret;
}
private:
int64 start_, time_;
};
// Functions to store detector and templates in single XML/YAML file
static cv::Ptr<cv::linemod::Detector> readLinemod(const std::string& filename)
{
cv::Ptr<cv::linemod::Detector> detector = cv::makePtr<cv::linemod::Detector>();
cv::FileStorage fs(filename, cv::FileStorage::READ);
detector->read(fs.root());
cv::FileNode fn = fs["classes"];
for (cv::FileNodeIterator i = fn.begin(), iend = fn.end(); i != iend; ++i)
detector->readClass(*i);
return detector;
}
static void writeLinemod(const cv::Ptr<cv::linemod::Detector>& detector, const std::string& filename)
{
cv::FileStorage fs(filename, cv::FileStorage::WRITE);
detector->write(fs);
std::vector<cv::String> ids = detector->classIds();
fs << "classes" << "[";
for (int i = 0; i < (int)ids.size(); ++i)
{
fs << "{";
detector->writeClass(ids[i], fs);
fs << "}"; // current class
}
fs << "]"; // classes
}
int main(int argc, char * argv[])
{
// Various settings and flags
bool show_match_result = true;
bool show_timings = false;
bool learn_online = false;
int num_classes = 0;
int matching_threshold = 80;
/// @todo Keys for changing these?
cv::Size roi_size(200, 200);
int learning_lower_bound = 90;
int learning_upper_bound = 95;
// Timers
Timer extract_timer;
Timer match_timer;
// Initialize HighGUI
help();
cv::namedWindow("color");
cv::namedWindow("normals");
Mouse::start("color");
// Initialize LINEMOD data structures
cv::Ptr<cv::linemod::Detector> detector;
std::string filename;
if (argc == 1)
{
filename = "linemod_templates.yml";
detector = cv::linemod::getDefaultLINEMOD();
}
else
{
detector = readLinemod(argv[1]);
std::vector<cv::String> ids = detector->classIds();
num_classes = detector->numClasses();
printf("Loaded %s with %d classes and %d templates\n",
argv[1], num_classes, detector->numTemplates());
if (!ids.empty())
{
printf("Class ids:\n");
std::copy(ids.begin(), ids.end(), std::ostream_iterator<std::string>(std::cout, "\n"));
}
}
int num_modalities = (int)detector->getModalities().size();
// Open Kinect sensor
cv::VideoCapture capture( cv::CAP_OPENNI );
if (!capture.isOpened())
{
printf("Could not open OpenNI-capable sensor\n");
return -1;
}
capture.set(cv::CAP_PROP_OPENNI_REGISTRATION, 1);
double focal_length = capture.get(cv::CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH);
//printf("Focal length = %f\n", focal_length);
// Main loop
cv::Mat color, depth;
for(;;)
{
// Capture next color/depth pair
capture.grab();
capture.retrieve(depth, cv::CAP_OPENNI_DEPTH_MAP);
capture.retrieve(color, cv::CAP_OPENNI_BGR_IMAGE);
std::vector<cv::Mat> sources;
sources.push_back(color);
sources.push_back(depth);
cv::Mat display = color.clone();
if (!learn_online)
{
cv::Point mouse(Mouse::x(), Mouse::y());
int event = Mouse::event();
// Compute ROI centered on current mouse location
cv::Point roi_offset(roi_size.width / 2, roi_size.height / 2);
cv::Point pt1 = mouse - roi_offset; // top left
cv::Point pt2 = mouse + roi_offset; // bottom right
if (event == cv::EVENT_RBUTTONDOWN)
{
// Compute object mask by subtracting the plane within the ROI
std::vector<CvPoint> chain(4);
chain[0] = pt1;
chain[1] = cv::Point(pt2.x, pt1.y);
chain[2] = pt2;
chain[3] = cv::Point(pt1.x, pt2.y);
cv::Mat mask;
subtractPlane(depth, mask, chain, focal_length);
cv::imshow("mask", mask);
// Extract template
std::string class_id = cv::format("class%d", num_classes);
cv::Rect bb;
extract_timer.start();
int template_id = detector->addTemplate(sources, class_id, mask, &bb);
extract_timer.stop();
if (template_id != -1)
{
printf("*** Added template (id %d) for new object class %d***\n",
template_id, num_classes);
//printf("Extracted at (%d, %d) size %dx%d\n", bb.x, bb.y, bb.width, bb.height);
}
++num_classes;
}
// Draw ROI for display
cv::rectangle(display, pt1, pt2, CV_RGB(0,0,0), 3);
cv::rectangle(display, pt1, pt2, CV_RGB(255,255,0), 1);
}
// Perform matching
std::vector<cv::linemod::Match> matches;
std::vector<cv::String> class_ids;
std::vector<cv::Mat> quantized_images;
match_timer.start();
detector->match(sources, (float)matching_threshold, matches, class_ids, quantized_images);
match_timer.stop();
int classes_visited = 0;
std::set<std::string> visited;
for (int i = 0; (i < (int)matches.size()) && (classes_visited < num_classes); ++i)
{
cv::linemod::Match m = matches[i];
if (visited.insert(m.class_id).second)
{
++classes_visited;
if (show_match_result)
{
printf("Similarity: %5.1f%%; x: %3d; y: %3d; class: %s; template: %3d\n",
m.similarity, m.x, m.y, m.class_id.c_str(), m.template_id);
}
// Draw matching template
const std::vector<cv::linemod::Template>& templates = detector->getTemplates(m.class_id, m.template_id);
drawResponse(templates, num_modalities, display, cv::Point(m.x, m.y), detector->getT(0));
if (learn_online == true)
{
/// @todo Online learning possibly broken by new gradient feature extraction,
/// which assumes an accurate object outline.
// Compute masks based on convex hull of matched template
cv::Mat color_mask, depth_mask;
std::vector<CvPoint> chain = maskFromTemplate(templates, num_modalities,
cv::Point(m.x, m.y), color.size(),
color_mask, display);
subtractPlane(depth, depth_mask, chain, focal_length);
cv::imshow("mask", depth_mask);
// If pretty sure (but not TOO sure), add new template
if (learning_lower_bound < m.similarity && m.similarity < learning_upper_bound)
{
extract_timer.start();
int template_id = detector->addTemplate(sources, m.class_id, depth_mask);
extract_timer.stop();
if (template_id != -1)
{
printf("*** Added template (id %d) for existing object class %s***\n",
template_id, m.class_id.c_str());
}
}
}
}
}
if (show_match_result && matches.empty())
printf("No matches found...\n");
if (show_timings)
{
printf("Training: %.2fs\n", extract_timer.time());
printf("Matching: %.2fs\n", match_timer.time());
}
if (show_match_result || show_timings)
printf("------------------------------------------------------------\n");
cv::imshow("color", display);
cv::imshow("normals", quantized_images[1]);
cv::FileStorage fs;
char key = (char)cv::waitKey(10);
if( key == 'q' )
break;
switch (key)
{
case 'h':
help();
break;
case 'm':
// toggle printing match result
show_match_result = !show_match_result;
printf("Show match result %s\n", show_match_result ? "ON" : "OFF");
break;
case 't':
// toggle printing timings
show_timings = !show_timings;
printf("Show timings %s\n", show_timings ? "ON" : "OFF");
break;
case 'l':
// toggle online learning
learn_online = !learn_online;
printf("Online learning %s\n", learn_online ? "ON" : "OFF");
break;
case '[':
// decrement threshold
matching_threshold = std::max(matching_threshold - 1, -100);
printf("New threshold: %d\n", matching_threshold);
break;
case ']':
// increment threshold
matching_threshold = std::min(matching_threshold + 1, +100);
printf("New threshold: %d\n", matching_threshold);
break;
case 'w':
// write model to disk
writeLinemod(detector, filename);
printf("Wrote detector and templates to %s\n", filename.c_str());
break;
default:
;
}
}
return 0;
}
static void reprojectPoints(const std::vector<cv::Point3d>& proj, std::vector<cv::Point3d>& real, double f)
{
real.resize(proj.size());
double f_inv = 1.0 / f;
for (int i = 0; i < (int)proj.size(); ++i)
{
double Z = proj[i].z;
real[i].x = (proj[i].x - 320.) * (f_inv * Z);
real[i].y = (proj[i].y - 240.) * (f_inv * Z);
real[i].z = Z;
}
}
static void filterPlane(IplImage * ap_depth, std::vector<IplImage *> & a_masks, std::vector<CvPoint> & a_chain, double f)
{
const int l_num_cost_pts = 200;
float l_thres = 4;
IplImage * lp_mask = cvCreateImage(cvGetSize(ap_depth), IPL_DEPTH_8U, 1);
cvSet(lp_mask, cvRealScalar(0));
std::vector<CvPoint> l_chain_vector;
float l_chain_length = 0;
float * lp_seg_length = new float[a_chain.size()];
for (int l_i = 0; l_i < (int)a_chain.size(); ++l_i)
{
float x_diff = (float)(a_chain[(l_i + 1) % a_chain.size()].x - a_chain[l_i].x);
float y_diff = (float)(a_chain[(l_i + 1) % a_chain.size()].y - a_chain[l_i].y);
lp_seg_length[l_i] = sqrt(x_diff*x_diff + y_diff*y_diff);
l_chain_length += lp_seg_length[l_i];
}
for (int l_i = 0; l_i < (int)a_chain.size(); ++l_i)
{
if (lp_seg_length[l_i] > 0)
{
int l_cur_num = cvRound(l_num_cost_pts * lp_seg_length[l_i] / l_chain_length);
float l_cur_len = lp_seg_length[l_i] / l_cur_num;
for (int l_j = 0; l_j < l_cur_num; ++l_j)
{
float l_ratio = (l_cur_len * l_j / lp_seg_length[l_i]);
CvPoint l_pts;
l_pts.x = cvRound(l_ratio * (a_chain[(l_i + 1) % a_chain.size()].x - a_chain[l_i].x) + a_chain[l_i].x);
l_pts.y = cvRound(l_ratio * (a_chain[(l_i + 1) % a_chain.size()].y - a_chain[l_i].y) + a_chain[l_i].y);
l_chain_vector.push_back(l_pts);
}
}
}
std::vector<cv::Point3d> lp_src_3Dpts(l_chain_vector.size());
for (int l_i = 0; l_i < (int)l_chain_vector.size(); ++l_i)
{
lp_src_3Dpts[l_i].x = l_chain_vector[l_i].x;
lp_src_3Dpts[l_i].y = l_chain_vector[l_i].y;
lp_src_3Dpts[l_i].z = CV_IMAGE_ELEM(ap_depth, unsigned short, cvRound(lp_src_3Dpts[l_i].y), cvRound(lp_src_3Dpts[l_i].x));
//CV_IMAGE_ELEM(lp_mask,unsigned char,(int)lp_src_3Dpts[l_i].Y,(int)lp_src_3Dpts[l_i].X)=255;
}
//cv_show_image(lp_mask,"hallo2");
reprojectPoints(lp_src_3Dpts, lp_src_3Dpts, f);
CvMat * lp_pts = cvCreateMat((int)l_chain_vector.size(), 4, CV_32F);
CvMat * lp_v = cvCreateMat(4, 4, CV_32F);
CvMat * lp_w = cvCreateMat(4, 1, CV_32F);
for (int l_i = 0; l_i < (int)l_chain_vector.size(); ++l_i)
{
CV_MAT_ELEM(*lp_pts, float, l_i, 0) = (float)lp_src_3Dpts[l_i].x;
CV_MAT_ELEM(*lp_pts, float, l_i, 1) = (float)lp_src_3Dpts[l_i].y;
CV_MAT_ELEM(*lp_pts, float, l_i, 2) = (float)lp_src_3Dpts[l_i].z;
CV_MAT_ELEM(*lp_pts, float, l_i, 3) = 1.0f;
}
cvSVD(lp_pts, lp_w, 0, lp_v);
float l_n[4] = {CV_MAT_ELEM(*lp_v, float, 0, 3),
CV_MAT_ELEM(*lp_v, float, 1, 3),
CV_MAT_ELEM(*lp_v, float, 2, 3),
CV_MAT_ELEM(*lp_v, float, 3, 3)};
float l_norm = sqrt(l_n[0] * l_n[0] + l_n[1] * l_n[1] + l_n[2] * l_n[2]);
l_n[0] /= l_norm;
l_n[1] /= l_norm;
l_n[2] /= l_norm;
l_n[3] /= l_norm;
float l_max_dist = 0;
for (int l_i = 0; l_i < (int)l_chain_vector.size(); ++l_i)
{
float l_dist = l_n[0] * CV_MAT_ELEM(*lp_pts, float, l_i, 0) +
l_n[1] * CV_MAT_ELEM(*lp_pts, float, l_i, 1) +
l_n[2] * CV_MAT_ELEM(*lp_pts, float, l_i, 2) +
l_n[3] * CV_MAT_ELEM(*lp_pts, float, l_i, 3);
if (fabs(l_dist) > l_max_dist)
l_max_dist = l_dist;
}
//std::cerr << "plane: " << l_n[0] << ";" << l_n[1] << ";" << l_n[2] << ";" << l_n[3] << " maxdist: " << l_max_dist << " end" << std::endl;
int l_minx = ap_depth->width;
int l_miny = ap_depth->height;
int l_maxx = 0;
int l_maxy = 0;
for (int l_i = 0; l_i < (int)a_chain.size(); ++l_i)
{
l_minx = std::min(l_minx, a_chain[l_i].x);
l_miny = std::min(l_miny, a_chain[l_i].y);
l_maxx = std::max(l_maxx, a_chain[l_i].x);
l_maxy = std::max(l_maxy, a_chain[l_i].y);
}
int l_w = l_maxx - l_minx + 1;
int l_h = l_maxy - l_miny + 1;
int l_nn = (int)a_chain.size();
CvPoint * lp_chain = new CvPoint[l_nn];
for (int l_i = 0; l_i < l_nn; ++l_i)
lp_chain[l_i] = a_chain[l_i];
cvFillPoly(lp_mask, &lp_chain, &l_nn, 1, cvScalar(255, 255, 255));
delete[] lp_chain;
//cv_show_image(lp_mask,"hallo1");
std::vector<cv::Point3d> lp_dst_3Dpts(l_h * l_w);
int l_ind = 0;
for (int l_r = 0; l_r < l_h; ++l_r)
{
for (int l_c = 0; l_c < l_w; ++l_c)
{
lp_dst_3Dpts[l_ind].x = l_c + l_minx;
lp_dst_3Dpts[l_ind].y = l_r + l_miny;
lp_dst_3Dpts[l_ind].z = CV_IMAGE_ELEM(ap_depth, unsigned short, l_r + l_miny, l_c + l_minx);
++l_ind;
}
}
reprojectPoints(lp_dst_3Dpts, lp_dst_3Dpts, f);
l_ind = 0;
for (int l_r = 0; l_r < l_h; ++l_r)
{
for (int l_c = 0; l_c < l_w; ++l_c)
{
float l_dist = (float)(l_n[0] * lp_dst_3Dpts[l_ind].x + l_n[1] * lp_dst_3Dpts[l_ind].y + lp_dst_3Dpts[l_ind].z * l_n[2] + l_n[3]);
++l_ind;
if (CV_IMAGE_ELEM(lp_mask, unsigned char, l_r + l_miny, l_c + l_minx) != 0)
{
if (fabs(l_dist) < std::max(l_thres, (l_max_dist * 2.0f)))
{
for (int l_p = 0; l_p < (int)a_masks.size(); ++l_p)
{
int l_col = cvRound((l_c + l_minx) / (l_p + 1.0));
int l_row = cvRound((l_r + l_miny) / (l_p + 1.0));
CV_IMAGE_ELEM(a_masks[l_p], unsigned char, l_row, l_col) = 0;
}
}
else
{
for (int l_p = 0; l_p < (int)a_masks.size(); ++l_p)
{
int l_col = cvRound((l_c + l_minx) / (l_p + 1.0));
int l_row = cvRound((l_r + l_miny) / (l_p + 1.0));
CV_IMAGE_ELEM(a_masks[l_p], unsigned char, l_row, l_col) = 255;
}
}
}
}
}
cvReleaseImage(&lp_mask);
cvReleaseMat(&lp_pts);
cvReleaseMat(&lp_w);
cvReleaseMat(&lp_v);
}
void subtractPlane(const cv::Mat& depth, cv::Mat& mask, std::vector<CvPoint>& chain, double f)
{
mask = cv::Mat::zeros(depth.size(), CV_8U);
std::vector<IplImage*> tmp;
IplImage mask_ipl = mask;
tmp.push_back(&mask_ipl);
IplImage depth_ipl = depth;
filterPlane(&depth_ipl, tmp, chain, f);
}
std::vector<CvPoint> maskFromTemplate(const std::vector<cv::linemod::Template>& templates,
int num_modalities, cv::Point offset, cv::Size size,
cv::Mat& mask, cv::Mat& dst)
{
templateConvexHull(templates, num_modalities, offset, size, mask);
const int OFFSET = 30;
cv::dilate(mask, mask, cv::Mat(), cv::Point(-1,-1), OFFSET);
CvMemStorage * lp_storage = cvCreateMemStorage(0);
CvTreeNodeIterator l_iterator;
CvSeqReader l_reader;
CvSeq * lp_contour = 0;
cv::Mat mask_copy = mask.clone();
IplImage mask_copy_ipl = mask_copy;
cvFindContours(&mask_copy_ipl, lp_storage, &lp_contour, sizeof(CvContour),
CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
std::vector<CvPoint> l_pts1; // to use as input to cv_primesensor::filter_plane
cvInitTreeNodeIterator(&l_iterator, lp_contour, 1);
while ((lp_contour = (CvSeq *)cvNextTreeNode(&l_iterator)) != 0)
{
CvPoint l_pt0;
cvStartReadSeq(lp_contour, &l_reader, 0);
CV_READ_SEQ_ELEM(l_pt0, l_reader);
l_pts1.push_back(l_pt0);
for (int i = 0; i < lp_contour->total; ++i)
{
CvPoint l_pt1;
CV_READ_SEQ_ELEM(l_pt1, l_reader);
/// @todo Really need dst at all? Can just as well do this outside
cv::line(dst, l_pt0, l_pt1, CV_RGB(0, 255, 0), 2);
l_pt0 = l_pt1;
l_pts1.push_back(l_pt0);
}
}
cvReleaseMemStorage(&lp_storage);
return l_pts1;
}
// Adapted from cv_show_angles
cv::Mat displayQuantized(const cv::Mat& quantized)
{
cv::Mat color(quantized.size(), CV_8UC3);
for (int r = 0; r < quantized.rows; ++r)
{
const uchar* quant_r = quantized.ptr(r);
cv::Vec3b* color_r = color.ptr<cv::Vec3b>(r);
for (int c = 0; c < quantized.cols; ++c)
{
cv::Vec3b& bgr = color_r[c];
switch (quant_r[c])
{
case 0: bgr[0]= 0; bgr[1]= 0; bgr[2]= 0; break;
case 1: bgr[0]= 55; bgr[1]= 55; bgr[2]= 55; break;
case 2: bgr[0]= 80; bgr[1]= 80; bgr[2]= 80; break;
case 4: bgr[0]=105; bgr[1]=105; bgr[2]=105; break;
case 8: bgr[0]=130; bgr[1]=130; bgr[2]=130; break;
case 16: bgr[0]=155; bgr[1]=155; bgr[2]=155; break;
case 32: bgr[0]=180; bgr[1]=180; bgr[2]=180; break;
case 64: bgr[0]=205; bgr[1]=205; bgr[2]=205; break;
case 128: bgr[0]=230; bgr[1]=230; bgr[2]=230; break;
case 255: bgr[0]= 0; bgr[1]= 0; bgr[2]=255; break;
default: bgr[0]= 0; bgr[1]=255; bgr[2]= 0; break;
}
}
}
return color;
}
// Adapted from cv_line_template::convex_hull
void templateConvexHull(const std::vector<cv::linemod::Template>& templates,
int num_modalities, cv::Point offset, cv::Size size,
cv::Mat& dst)
{
std::vector<cv::Point> points;
for (int m = 0; m < num_modalities; ++m)
{
for (int i = 0; i < (int)templates[m].features.size(); ++i)
{
cv::linemod::Feature f = templates[m].features[i];
points.push_back(cv::Point(f.x, f.y) + offset);
}
}
std::vector<cv::Point> hull;
cv::convexHull(points, hull);
dst = cv::Mat::zeros(size, CV_8U);
const int hull_count = (int)hull.size();
const cv::Point* hull_pts = &hull[0];
cv::fillPoly(dst, &hull_pts, &hull_count, 1, cv::Scalar(255));
}
void drawResponse(const std::vector<cv::linemod::Template>& templates,
int num_modalities, cv::Mat& dst, cv::Point offset, int T)
{
static const cv::Scalar COLORS[5] = { CV_RGB(0, 0, 255),
CV_RGB(0, 255, 0),
CV_RGB(255, 255, 0),
CV_RGB(255, 140, 0),
CV_RGB(255, 0, 0) };
for (int m = 0; m < num_modalities; ++m)
{
// NOTE: Original demo recalculated max response for each feature in the TxT
// box around it and chose the display color based on that response. Here
// the display color just depends on the modality.
cv::Scalar color = COLORS[m];
for (int i = 0; i < (int)templates[m].features.size(); ++i)
{
cv::linemod::Feature f = templates[m].features[i];
cv::Point pt(f.x + offset.x, f.y + offset.y);
cv::circle(dst, pt, T / 2, color);
}
}
}
samples/cpp/lkdemo.cpp
+1
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@@ -1,5 +1,6 @@
#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
samples/cpp/lsd_lines.cpp
+1
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@@ -4,6 +4,7 @@
#include "opencv2/core/core.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
using namespace std;
samples/cpp/morphology2.cpp
+1
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@@ -1,4 +1,5 @@
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
samples/cpp/motempl.cpp
+1
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@@ -1,5 +1,6 @@
#include "opencv2/video/tracking_c.h"
#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/videoio/videoio_c.h"
#include "opencv2/highgui/highgui_c.h"
#include <time.h>
#include <stdio.h>
samples/cpp/npr_demo.cpp
+1
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@@ -17,6 +17,7 @@
#include <signal.h>
#include "opencv2/photo.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/core.hpp"
#include <iostream>
samples/cpp/openni_capture.cpp
+1
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@@ -1,3 +1,4 @@
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
samples/cpp/pca.cpp
+1
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@@ -43,6 +43,7 @@
#include <sstream>
#include <opencv2/core/core.hpp>
#include "opencv2/imgcodecs.hpp"
#include <opencv2/highgui/highgui.hpp>
using namespace cv;
samples/cpp/phase_corr.cpp
+1
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@@ -1,4 +1,5 @@
#include "opencv2/core/core.hpp"
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
samples/cpp/polar_transforms.cpp
+1
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@@ -1,4 +1,5 @@
#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/videoio/videoio_c.h"
#include "opencv2/highgui/highgui_c.h"
#include <ctype.h>
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samples/cpp/segment_objects.cpp
+1
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@@ -1,4 +1,5 @@
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/video/background_segm.hpp"
#include <stdio.h>
samples/cpp/select3dobj.cpp
+2
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@@ -12,6 +12,8 @@
#include <opencv2/core/utility.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include <ctype.h>
samples/cpp/shape_example.cpp
+1
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@@ -3,6 +3,7 @@
*/
#include "opencv2/shape.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <opencv2/core/utility.hpp>
samples/cpp/shape_transformation.cpp
+1
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@@ -3,6 +3,7 @@
*/
#include "opencv2/shape.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/features2d/features2d.hpp"
samples/cpp/simpleflow_demo.cpp
+1
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@@ -1,6 +1,7 @@
#include <opencv2/core/utility.hpp>
#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include <cstdio>
samples/cpp/smiledetect.cpp
+1
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@@ -3,6 +3,7 @@
#include "opencv2/imgproc.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/videoio/videoio_c.h"
#include "opencv2/highgui/highgui_c.h"
#include <cctype>
samples/cpp/squares.cpp
+1
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@@ -4,6 +4,7 @@
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
samples/cpp/starter_imagelist.cpp
+1
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@@ -8,6 +8,7 @@
* that was generated with imagelist_creator.cpp
* easy as CV_PI right?
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
#include <vector>
samples/cpp/starter_video.cpp
+2
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@@ -11,6 +11,8 @@
* easy as CV_PI right?
*/
#include <opencv2/imgcodecs.hpp>
#include <opencv2/videoio/videoio.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iostream>
samples/cpp/stereo_calib.cpp
+1
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@@ -23,6 +23,7 @@
************************************************** */
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
samples/cpp/stereo_match.cpp
+1
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@@ -9,6 +9,7 @@
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/core/utility.hpp"
samples/cpp/stitching.cpp
+1
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@@ -42,6 +42,7 @@
#include <iostream>
#include <fstream>
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/stitching.hpp"
samples/cpp/stitching_detailed.cpp
+66 -11
View File
@@ -46,9 +46,11 @@
#include <string>
#include "opencv2/opencv_modules.hpp"
#include <opencv2/core/utility.hpp>
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/stitching/detail/autocalib.hpp"
#include "opencv2/stitching/detail/blenders.hpp"
#include "opencv2/stitching/detail/timelapsers.hpp"
#include "opencv2/stitching/detail/camera.hpp"
#include "opencv2/stitching/detail/exposure_compensate.hpp"
#include "opencv2/stitching/detail/matchers.hpp"
@@ -116,7 +118,9 @@ static void printUsage()
" --blend_strength <float>\n"
" Blending strength from [0,100] range. The default is 5.\n"
" --output <result_img>\n"
" The default is 'result.jpg'.\n";
" The default is 'result.jpg'.\n"
" --timelapse (as_is|crop) (range_width)\n"
" Output warped images separately as frames of a time lapse movie, with 'fixed_' prepended to input file names.\n";
}
@@ -140,8 +144,12 @@ int expos_comp_type = ExposureCompensator::GAIN_BLOCKS;
float match_conf = 0.3f;
string seam_find_type = "gc_color";
int blend_type = Blender::MULTI_BAND;
int timelapse_type = Timelapser::AS_IS;
float blend_strength = 5;
string result_name = "result.jpg";
bool timelapse = false;
int timelapse_range = 5;
static int parseCmdArgs(int argc, char** argv)
{
@@ -304,6 +312,24 @@ static int parseCmdArgs(int argc, char** argv)
}
i++;
}
else if (string(argv[i]) == "--timelapse")
{
timelapse = true;
if (string(argv[i + 1]) == "as_is")
timelapse_type = Timelapser::AS_IS;
else if (string(argv[i + 1]) == "crop")
timelapse_type = Timelapser::CROP;
else
{
cout << "Bad timelapse method\n";
return -1;
}
i++;
timelapse_range = atoi(argv[i + 1]);
i++;
}
else if (string(argv[i]) == "--blend_strength")
{
blend_strength = static_cast<float>(atof(argv[i + 1]));
@@ -432,9 +458,19 @@ int main(int argc, char* argv[])
t = getTickCount();
#endif
vector<MatchesInfo> pairwise_matches;
BestOf2NearestMatcher matcher(try_cuda, match_conf);
matcher(features, pairwise_matches);
matcher.collectGarbage();
if (!timelapse)
{
BestOf2NearestMatcher matcher(try_cuda, match_conf);
matcher(features, pairwise_matches);
matcher.collectGarbage();
}
else
{
BestOf2NearestRangeMatcher matcher(timelapse_range, try_cuda, match_conf);
matcher(features, pairwise_matches);
matcher.collectGarbage();
}
LOGLN("Pairwise matching, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
// Check if we should save matches graph
@@ -527,7 +563,7 @@ int main(int argc, char* argv[])
{
vector<Mat> rmats;
for (size_t i = 0; i < cameras.size(); ++i)
rmats.push_back(cameras[i].R);
rmats.push_back(cameras[i].R.clone());
waveCorrect(rmats, wave_correct);
for (size_t i = 0; i < cameras.size(); ++i)
cameras[i].R = rmats[i];
@@ -679,6 +715,7 @@ int main(int argc, char* argv[])
Mat img_warped, img_warped_s;
Mat dilated_mask, seam_mask, mask, mask_warped;
Ptr<Blender> blender;
Ptr<Timelapser> timelapser;
//double compose_seam_aspect = 1;
double compose_work_aspect = 1;
@@ -755,7 +792,7 @@ int main(int argc, char* argv[])
resize(dilated_mask, seam_mask, mask_warped.size());
mask_warped = seam_mask & mask_warped;
if (!blender)
if (!blender && !timelapse)
{
blender = Blender::createDefault(blend_type, try_cuda);
Size dst_sz = resultRoi(corners, sizes).size();
@@ -776,17 +813,35 @@ int main(int argc, char* argv[])
}
blender->prepare(corners, sizes);
}
else if (!timelapser)
{
CV_Assert(timelapse);
timelapser = Timelapser::createDefault(timelapse_type);
timelapser->initialize(corners, sizes);
}
// Blend the current image
blender->feed(img_warped_s, mask_warped, corners[img_idx]);
if (timelapse)
{
timelapser->process(img_warped_s, Mat::ones(img_warped_s.size(), CV_8UC1), corners[img_idx]);
imwrite("fixed_" + img_names[img_idx], timelapser->getDst());
}
else
{
blender->feed(img_warped_s, mask_warped, corners[img_idx]);
}
}
Mat result, result_mask;
blender->blend(result, result_mask);
if (!timelapse)
{
Mat result, result_mask;
blender->blend(result, result_mask);
LOGLN("Compositing, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
LOGLN("Compositing, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
imwrite(result_name, result);
imwrite(result_name, result);
}
LOGLN("Finished, total time: " << ((getTickCount() - app_start_time) / getTickFrequency()) << " sec");
return 0;
samples/cpp/textdetection.cpp
-127
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@@ -1,127 +0,0 @@
/*
* textdetection.cpp
*
* A demo program of the Extremal Region Filter algorithm described in
* Neumann L., Matas J.: Real-Time Scene Text Localization and Recognition, CVPR 2012
*
* Created on: Sep 23, 2013
* Author: Lluis Gomez i Bigorda <lgomez AT cvc.uab.es>
*/
#include "opencv2/opencv.hpp"
#include "opencv2/objdetect.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <vector>
#include <iostream>
#include <iomanip>
using namespace std;
using namespace cv;
void show_help_and_exit(const char *cmd);
void groups_draw(Mat &src, vector<Rect> &groups);
void er_show(vector<Mat> &channels, vector<vector<ERStat> > &regions);
int main(int argc, const char * argv[])
{
cout << endl << argv[0] << endl << endl;
cout << "Demo program of the Extremal Region Filter algorithm described in " << endl;
cout << "Neumann L., Matas J.: Real-Time Scene Text Localization and Recognition, CVPR 2012" << endl << endl;
if (argc < 2) show_help_and_exit(argv[0]);
Mat src = imread(argv[1]);
// Extract channels to be processed individually
vector<Mat> channels;
computeNMChannels(src, channels);
int cn = (int)channels.size();
// Append negative channels to detect ER- (bright regions over dark background)
for (int c = 0; c < cn-1; c++)
channels.push_back(255-channels[c]);
// Create ERFilter objects with the 1st and 2nd stage default classifiers
Ptr<ERFilter> er_filter1 = createERFilterNM1(loadClassifierNM1("trained_classifierNM1.xml"),16,0.00015f,0.13f,0.2f,true,0.1f);
Ptr<ERFilter> er_filter2 = createERFilterNM2(loadClassifierNM2("trained_classifierNM2.xml"),0.5);
vector<vector<ERStat> > regions(channels.size());
// Apply the default cascade classifier to each independent channel (could be done in parallel)
cout << "Extracting Class Specific Extremal Regions from " << (int)channels.size() << " channels ..." << endl;
cout << " (...) this may take a while (...)" << endl << endl;
for (int c=0; c<(int)channels.size(); c++)
{
er_filter1->run(channels[c], regions[c]);
er_filter2->run(channels[c], regions[c]);
}
// Detect character groups
cout << "Grouping extracted ERs ... ";
vector<Rect> groups;
erGrouping(channels, regions, "trained_classifier_erGrouping.xml", 0.5, groups);
// draw groups
groups_draw(src, groups);
imshow("grouping",src);
cout << "Done!" << endl << endl;
cout << "Press 'e' to show the extracted Extremal Regions, any other key to exit." << endl << endl;
if( waitKey (-1) == 101)
er_show(channels,regions);
// memory clean-up
er_filter1.release();
er_filter2.release();
regions.clear();
if (!groups.empty())
{
groups.clear();
}
}
// helper functions
void show_help_and_exit(const char *cmd)
{
cout << " Usage: " << cmd << " <input_image> " << endl;
cout << " Default classifier files (trained_classifierNM*.xml) must be in current directory" << endl << endl;
exit(-1);
}
void groups_draw(Mat &src, vector<Rect> &groups)
{
for (int i=(int)groups.size()-1; i>=0; i--)
{
if (src.type() == CV_8UC3)
rectangle(src,groups.at(i).tl(),groups.at(i).br(),Scalar( 0, 255, 255 ), 3, 8 );
else
rectangle(src,groups.at(i).tl(),groups.at(i).br(),Scalar( 255 ), 3, 8 );
}
}
void er_show(vector<Mat> &channels, vector<vector<ERStat> > &regions)
{
for (int c=0; c<(int)channels.size(); c++)
{
Mat dst = Mat::zeros(channels[0].rows+2,channels[0].cols+2,CV_8UC1);
for (int r=0; r<(int)regions[c].size(); r++)
{
ERStat er = regions[c][r];
if (er.parent != NULL) // deprecate the root region
{
int newMaskVal = 255;
int flags = 4 + (newMaskVal << 8) + FLOODFILL_FIXED_RANGE + FLOODFILL_MASK_ONLY;
floodFill(channels[c],dst,Point(er.pixel%channels[c].cols,er.pixel/channels[c].cols),
Scalar(255),0,Scalar(er.level),Scalar(0),flags);
}
}
char buff[10]; char *buff_ptr = buff;
sprintf(buff, "channel %d", c);
imshow(buff_ptr, dst);
}
waitKey(-1);
}
samples/cpp/tutorial_code/HighGUI/AddingImagesTrackbar.cpp
+1
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdio.h>
samples/cpp/tutorial_code/HighGUI/BasicLinearTransformsTrackbar.cpp
+1
View File
@@ -5,6 +5,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
using namespace cv;
samples/cpp/tutorial_code/HighGUI/video-input-psnr-ssim/video-input-psnr-ssim.cpp
+1
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@@ -5,6 +5,7 @@
#include <opencv2/core/core.hpp> // Basic OpenCV structures (cv::Mat, Scalar)
#include <opencv2/imgproc/imgproc.hpp> // Gaussian Blur
#include <opencv2/videoio/videoio.hpp>
#include <opencv2/highgui/highgui.hpp> // OpenCV window I/O
using namespace std;
samples/cpp/tutorial_code/HighGUI/video-write/video-write.cpp
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@@ -2,7 +2,7 @@
#include <string> // for strings
#include <opencv2/core/core.hpp> // Basic OpenCV structures (cv::Mat)
#include <opencv2/highgui/highgui.hpp> // Video write
#include <opencv2/videoio/videoio.hpp> // Video write
using namespace std;
using namespace cv;
samples/cpp/tutorial_code/Histograms_Matching/EqualizeHist_Demo.cpp
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/Histograms_Matching/MatchTemplate_Demo.cpp
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/Histograms_Matching/calcBackProject_Demo1.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
samples/cpp/tutorial_code/Histograms_Matching/calcBackProject_Demo2.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
samples/cpp/tutorial_code/Histograms_Matching/calcHist_Demo.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
#include <stdio.h>
samples/cpp/tutorial_code/Histograms_Matching/compareHist_Demo.cpp
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/ImgProc/AddingImages.cpp
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
samples/cpp/tutorial_code/ImgProc/BasicLinearTransforms.cpp
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
samples/cpp/tutorial_code/ImgProc/Morphology_1.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
samples/cpp/tutorial_code/ImgProc/Morphology_2.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
samples/cpp/tutorial_code/ImgProc/Pyramids.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <math.h>
#include <stdlib.h>
samples/cpp/tutorial_code/ImgProc/Smoothing.cpp
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@@ -7,6 +7,7 @@
#include <vector>
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/features2d/features2d.hpp"
samples/cpp/tutorial_code/ImgProc/Threshold.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
samples/cpp/tutorial_code/ImgTrans/CannyDetector_Demo.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
samples/cpp/tutorial_code/ImgTrans/Geometric_Transforms_Demo.cpp
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/ImgTrans/HoughCircle_Demo.cpp
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/ImgTrans/HoughLines_Demo.cpp
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/ImgTrans/Laplace_Demo.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
samples/cpp/tutorial_code/ImgTrans/Remap_Demo.cpp
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@@ -4,6 +4,7 @@
* @author Ana Huaman
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/ImgTrans/Sobel_Demo.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
samples/cpp/tutorial_code/ImgTrans/copyMakeBorder_demo.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
samples/cpp/tutorial_code/ImgTrans/filter2D_demo.cpp
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@@ -5,6 +5,7 @@
*/
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
samples/cpp/tutorial_code/ShapeDescriptors/findContours_demo.cpp
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo1.cpp
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo2.cpp
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@@ -4,6 +4,7 @@
* @author OpenCV team
*/
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>

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