Marker::Marker() {
id = -1;
ssize = -1;
for (int i = 0; i < 3; i++)
Tvec(i) = Rvec(i) = -999999;
}
Marker::Marker(const std::vector<cv::Point2f>& corners, int _id) : std::vector<cv::Point2f>(corners) {
id = _id;
ssize = -1;
for (int i = 0; i < 3; i++)
Tvec(i) = Rvec(i) = -999999;
}
int main(int argc, char **argv) {
// Define the display
size_t width = 640, height = 480;
// the model name can be specified on the command line.
std::string file_name(argv[1]), file_ext = file_name.substr(file_name.size() - 3, file_name.npos);
cv::Rect rect;
Renderer2d render(file_name, 0.14);
double focal_length_x = 525, focal_length_y = 525;
render.set_parameters(width, height, focal_length_x, focal_length_y);
cv::Ptr<cv::linemod::Detector> detector_ptr = cv::linemod::getDefaultLINE();
// Loop over a few views in front of the pattern
float xy_lim = 0.5;
for (float x = -xy_lim; x < xy_lim; x += 0.1)
for (float y = -xy_lim; y < xy_lim; y += 0.1)
for (float z = 0.6; z < 0.7; z += 0.1) {
cv::Vec3f up(0, z, -y);
up = up / norm(up);
// Rotate the vector
for (float theta = -10; theta < 20; theta += 10) {
cv::Vec3f Rvec(x, y, z);
Rvec = (theta * CV_PI / 180) * Rvec / norm(Rvec);
cv::Matx33f R;
cv::Rodrigues(Rvec, R);
cv::Vec3f up_rotated = R * up;
render.lookAt(0., y, z, up_rotated(0), up_rotated(1), up_rotated(2));
cv::Mat img, depth, mask;
render.render(img, depth, mask, rect);
std::vector<cv::Mat> sources(1);
sources[0] = img;
//sources[1] = depth;
detector_ptr->addTemplate(sources, "object1", mask);
// cv::imshow("img", img);
// cv::imshow("depth", depth);
// cv::imshow("mask", mask);
// cv::waitKey(0);
}
}
detector_ptr->writeClasses(file_name + std::string("_templates.yaml"));
cv::VideoCapture cap(0);
cv::Mat img;
int num_modalities = (int) detector_ptr->getModalities().size();
cv::namedWindow("result");
while (true) {
cap >> img;
std::vector<cv::Mat> sources(1, img);
std::vector<cv::linemod::Match> matches;
detector_ptr->match(sources, 93, matches);
for (size_t i = 0; i < matches.size(); ++i) {
const cv::linemod::Match & match = matches[i];
const std::vector<cv::linemod::Template>& templates = detector_ptr->getTemplates(match.class_id,
match.template_id);
drawResponse(templates, num_modalities, img, cv::Point(match.x, match.y), detector_ptr->getT(0));
};
cv::imshow("result", img);
cv::waitKey(5);
}
return 0;
}
