void GenerateAffineTransformFromPose(CvSize size, CvAffinePose pose, CvMat* transform)
{
CvMat* temp = cvCreateMat(3, 3, CV_32FC1);
CvMat* final = cvCreateMat(3, 3, CV_32FC1);
cvmSet(temp, 2, 0, 0.0f);
cvmSet(temp, 2, 1, 0.0f);
cvmSet(temp, 2, 2, 1.0f);
CvMat rotation;
cvGetSubRect(temp, &rotation, cvRect(0, 0, 3, 2));
cv2DRotationMatrix(cvPoint2D32f(size.width/2, size.height/2), pose.phi, 1.0, &rotation);
cvCopy(temp, final);
cvmSet(temp, 0, 0, pose.lambda1);
cvmSet(temp, 0, 1, 0.0f);
cvmSet(temp, 1, 0, 0.0f);
cvmSet(temp, 1, 1, pose.lambda2);
cvmSet(temp, 0, 2, size.width/2*(1 - pose.lambda1));
cvmSet(temp, 1, 2, size.height/2*(1 - pose.lambda2));
cvMatMul(temp, final, final);
cv2DRotationMatrix(cvPoint2D32f(size.width/2, size.height/2), pose.theta - pose.phi, 1.0, &rotation);
cvMatMul(temp, final, final);
cvGetSubRect(final, &rotation, cvRect(0, 0, 3, 2));
cvCopy(&rotation, transform);
cvReleaseMat(&temp);
cvReleaseMat(&final);
}
void AffineTransformPatch(IplImage* src, IplImage* dst, CvAffinePose pose)
{
CvRect src_large_roi = cvGetImageROI(src);
IplImage* temp = cvCreateImage(cvSize(src_large_roi.width, src_large_roi.height), IPL_DEPTH_32F, src->nChannels);
cvSetZero(temp);
IplImage* temp2 = cvCloneImage(temp);
CvMat* rotation_phi = cvCreateMat(2, 3, CV_32FC1);
CvSize new_size = cvSize(temp->width*pose.lambda1, temp->height*pose.lambda2);
IplImage* temp3 = cvCreateImage(new_size, IPL_DEPTH_32F, src->nChannels);
cvConvertScale(src, temp);
cvResetImageROI(temp);
cv2DRotationMatrix(cvPoint2D32f(temp->width/2, temp->height/2), pose.phi, 1.0, rotation_phi);
cvWarpAffine(temp, temp2, rotation_phi);
cvSetZero(temp);
cvResize(temp2, temp3);
cv2DRotationMatrix(cvPoint2D32f(temp3->width/2, temp3->height/2), pose.theta - pose.phi, 1.0, rotation_phi);
cvWarpAffine(temp3, temp, rotation_phi);
cvSetImageROI(temp, cvRect(temp->width/2 - src_large_roi.width/4, temp->height/2 - src_large_roi.height/4,
src_large_roi.width/2, src_large_roi.height/2));
cvConvertScale(temp, dst);
cvReleaseMat(&rotation_phi);
cvReleaseImage(&temp3);
cvReleaseImage(&temp2);
cvReleaseImage(&temp);
}
IplImage* rotateImage(const IplImage* img, float angleDegrees)
{
int height = img->height;
int width = img->width;
int step = img->widthStep;
int channels = img->nChannels;
IplImage *rotatedImg = cvCreateImage(
cvSize(height, width),
IPL_DEPTH_8U,
channels
);
CvPoint2D32f center;
center.x = width/2.0f;
center.y = height/2.0f;
CvMat *mapMatrix = cvCreateMat( 2, 3, CV_32FC1 );
float x = width - 1.0f;
float y = 0.0f;
cv2DRotationMatrix(center, angleDegrees, 1, mapMatrix);
cvmSet(mapMatrix, 0, 2 ,y);
cvmSet(mapMatrix, 1, 2 ,x);
cvWarpAffine(img, rotatedImg, mapMatrix, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
return(rotatedImg);
}
int InitNextImage(IplImage* img)
{
CvSize sz(img->width, img->height);
ReallocImage(&imgGray, sz, 1);
ReallocImage(&imgThresh, sz, 1);
ptRotate = face[MOUTH].ptCenter;
float m[6];
CvMat mat = cvMat( 2, 3, CV_32FC1, m );
if (NULL == imgGray || NULL == imgThresh)
return 0;
/*m[0] = (float)cos(-dbRotateAngle*CV_PI/180.);
m[1] = (float)sin(-dbRotateAngle*CV_PI/180.);
m[2] = (float)ptRotate.x;
m[3] = -m[1];
m[4] = m[0];
m[5] = (float)ptRotate.y;*/
cv2DRotationMatrix( cvPointTo32f(ptRotate), -dbRotateAngle, 1., &mat );
cvWarpAffine( img, imgGray, &mat );
if (NULL == mstgContours)
mstgContours = cvCreateMemStorage();
else
cvClearMemStorage(mstgContours);
if (NULL == mstgContours)
return 0;
return 1;
}
/*!
\fn CvFaceSegment::rotate(IplImage *img)
*/
IplImage* CvFaceSegment::rotate(IplImage *img)
{
int xl = lefteye.x;
int yl = lefteye.y;
int xr = righteye.x;
int yr = righteye.y;
double angle = atan((double)(yr-yl)/(double)(xr-xl));
angle = 180*angle/CV_PI;
double distance = sqrt((double)(pow((xl-xr),2)+pow((yl-yr),2)));
int dis = (int)round(distance);
CvMat* map_matrix = cvCreateMat(2,3,CV_32FC1);
cv2DRotationMatrix( cvPointTo32f( righteye ), angle, 1.0, map_matrix);
IplImage* newimg = cvCreateImage( cvGetSize(img), IPL_DEPTH_8U, 3 );
cvWarpAffine( img, newimg, map_matrix, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS, cvScalarAll(0) );
lefteye.y = righteye.y;
lefteye.x = righteye.x+dis;
cvReleaseMat( &map_matrix );
/*
cvCircle( newimg, righteye, 4, cvScalar(0, 255, 0, 0), 1, 8, 0 );
cvCircle( newimg, lefteye, 4, cvScalar(0, 255, 0, 0), 1, 8, 0 );
cvNamedWindow("Scale", CV_WINDOW_AUTOSIZE);
cvShowImage("Scale", newimg);
cvWaitKey(0);
*/
return newimg;
}
void PreProcessor::rotate(const cv::Mat &img_input, cv::Mat &img_output, float angle)
{
IplImage* image = new IplImage(img_input);
//IplImage *rotatedImage = cvCreateImage(cvSize(480,320), IPL_DEPTH_8U, image->nChannels);
//IplImage *rotatedImage = cvCreateImage(cvSize(image->width,image->height), IPL_DEPTH_8U, image->nChannels);
IplImage* rotatedImage = cvCreateImage(cvSize(image->height, image->width), IPL_DEPTH_8U, image->nChannels);
CvPoint2D32f center;
//center.x = 160;
//center.y = 160;
center.x = (image->height / 2);
center.y = (image->width / 2);
CvMat* mapMatrix = cvCreateMat(2, 3, CV_32FC1);
cv2DRotationMatrix(center, angle, 1.0, mapMatrix);
cvWarpAffine(image, rotatedImage, mapMatrix, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
cv::Mat img_rot = cv::cvarrToMat(rotatedImage);
img_rot.copyTo(img_output);
cvReleaseImage(&image);
cvReleaseImage(&rotatedImage);
cvReleaseMat(&mapMatrix);
}
void COpenCVMFCView::OnWarpAffine()
{
// TODO: Add your command handler code here
CvPoint2D32f srcTri[3], dstTri[3];
CvMat* rot_mat = cvCreateMat(2,3,CV_32FC1);
CvMat* warp_mat = cvCreateMat(2,3,CV_32FC1);
IplImage *src=0, *dst=0;
src = cvCloneImage(workImg);
cvFlip(src);
dst = cvCloneImage(src);
dst->origin = src->origin;
cvZero(dst);
//COMPUTE WARP MATRIX
srcTri[0].x = 0; //src Top left
srcTri[0].y = 0;
srcTri[1].x = (float) src->width - 1; //src Top right
srcTri[1].y = 0;
srcTri[2].x = 0; //src Bottom left
srcTri[2].y = (float) src->height - 1;
//- - - - - - - - - - - - - - -//
dstTri[0].x = (float)(src->width*0.0); //dst Top left
dstTri[0].y = (float)(src->height*0.33);
dstTri[1].x = (float)(src->width*0.85); //dst Top right
dstTri[1].y = (float)(src->height*0.25);
dstTri[2].x = (float)(src->width*0.15); //dst Bottom left
dstTri[2].y = (float)(src->height*0.7);
cvGetAffineTransform(srcTri,dstTri,warp_mat);
cvWarpAffine(src,dst,warp_mat);
cvCopy(dst,src);
//COMPUTE ROTATION MATRIX
CvPoint2D32f center = cvPoint2D32f(src->width/2,src->height/2);
double angle = -50.0;
double scale = 0.6;
cv2DRotationMatrix(center,angle,scale,rot_mat);
cvWarpAffine(src,dst,rot_mat);
//DO THE TRANSFORM:
cvNamedWindow( "Affine_Transform", 1 );
cvShowImage( "Affine_Transform", dst );
m_ImageType = -3;
cvWaitKey();
cvDestroyWindow( "Affine_Transform" );
cvReleaseImage(&src);
cvReleaseImage(&dst);
cvReleaseMat(&rot_mat);
cvReleaseMat(&warp_mat);
m_ImageType=imageType(workImg);
}
IplImage *rotateImage(const IplImage *img, int angle)
{
IplImage *newImg;
int newWidth, newHeight;
int rectX, rectY;
if (angle == -45 || angle == 45) {
newWidth = (int) ((img->width + img->height) / sqrt(2.0));
newHeight = (int) ((img->width + img->height) / sqrt(2.0));
} else if (angle == -90 || angle == 90) {
if (img->width > img->height) {
newWidth = img->width;
newHeight = img->width;
} else {
newWidth = img->height;
newHeight = img->height;
}
} else {
newWidth = img->width;
newHeight = img->height;
}
newImg = cvCreateImage(cvSize(newWidth, newHeight), img->depth,
img->nChannels);
cvSetZero(newImg);
rectX = (int) ((newWidth - img->width) / 2);
rectY = (int) ((newHeight - img->height) / 2);
CvRect rect = cvRect(rectX, rectY, img->width, img->height);
cvSetImageROI(newImg, rect);
cvResize(img, newImg, CV_INTER_LINEAR);
cvResetImageROI(newImg);
IplImage *rotatedImg = cvCreateImage(cvGetSize(newImg), IPL_DEPTH_8U,
img -> nChannels);
CvPoint2D32f center;
int xPos, yPos;
xPos = (int) newWidth / 2;
yPos = (int) newHeight / 2;
CvMat *mapMatrix = cvCreateMat(2, 3, CV_32FC1);
center.x = xPos;
center.y = yPos;
cv2DRotationMatrix(center, angle, 1.0, mapMatrix);
cvWarpAffine(newImg, rotatedImg, mapMatrix, CV_INTER_LINEAR | CV_WARP_FILL_OUTLIERS, cvScalarAll(255.f));
return rotatedImg;
}
void CamShiftPlugin::ProcessStatic
( int i, ImagePlus *img, ImagePlus *oimg, int *hsizes, CvTermCriteria criteria,
IplImage** &planes, CvHistogram* &hist, IplImage* &backproject, CvRect &orect, CvPoint &ocenter, CvRect &searchwin, CvMat* &rotation, CvMat* &shift, bool oready){
if (hist && hist->mat.dim[0].size!=hsizes[0])
cvReleaseHist(&hist);
if( !hist )
hist = cvCreateHist( 3, hsizes, CV_HIST_ARRAY, NULL, 0);
if( !backproject )
backproject = cvCreateImage( cvGetSize(img->orig), IPL_DEPTH_8U, 1 );
if( !planes ){
planes = (IplImage**) malloc(3 * sizeof(IplImage*));
for (int p=0; p<3; p++)
planes[p] = cvCreateImage( cvGetSize(img->orig), 8, 1 );
}
if (!rotation)
rotation = cvCreateMat(2,3,CV_32FC1);
if (!shift)
shift = cvCreateMat(2,1,CV_32FC1);
if (!oready){
orect = cvBoundingRect(oimg->contourArray[i],1);
cvCvtPixToPlane( oimg->orig, planes[0], planes[1], planes[2], 0 );
for (int p=0; p<3; p++)
cvSetImageROI(planes[p],orect);
cvCalcHist( planes, hist, 0, NULL );
cvNormalizeHist(hist, 255);
for (int p=0; p<3; p++)
cvResetImageROI(planes[p]);
searchwin = orect; //cvRect(0,0,img->orig->width, img->orig->height);
ocenter = cvPoint(orect.x+orect.width/2, orect.y+orect.height/2);
}
//The following checks shouldn't be needed.
RestrictRect(searchwin, cvRect(0,0,backproject->width,backproject->height));
cvCvtPixToPlane( img->orig, planes[0], planes[1], planes[2], 0 );
cvCalcBackProject( planes, backproject, hist );
CvBox2D track_box;
CvConnectedComp track_comp;
cvCamShift( backproject, searchwin,
criteria,
&track_comp, &track_box );
searchwin = track_comp.rect;
cvmSet(shift,0,0,track_box.center.x - ocenter.x);
cvmSet(shift,1,0,track_box.center.y - ocenter.y);
// shift->data.fl[0] = track_box.center.x - ocenter.x;
// shift->data.fl[1] = track_box.center.y - ocenter.y;
cv2DRotationMatrix(track_box.center, track_box.angle, 1.0, rotation);
cvTransform(oimg->contourArray[i],img->contourArray[i],rotation,shift);
// CvMat *ofm = FeatPointsToMat(oimg->feats[i]);
// Cvmat *fm = FeatPointsToMat(img->feats[i]);
// cvTransform(ofm,img->contourArray[i],rotation,shift);
TransformFeatPoints(oimg->feats[i], img->feats[i], rotation, shift);
}
void
rotate_image(IplImage *img, double angle, double scale)
{
CvSize img_size = cvGetSize(img);
IplImage *tmp = cvCreateImage(img_size,img->depth, img->nChannels);
CvMat *rotate = cvCreateMat(2,3,CV_32F);
CvPoint2D32f center = cvPoint2D32f(
((double)img_size.width)/2.0,
((double)img_size.height)/2.0);
cv2DRotationMatrix(center, angle, scale, rotate);
cvWarpAffine(img, tmp, rotate, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS, cvScalarAll(0) );
cvCopyImage(tmp, img);
cvReleaseImage(&tmp);
}
int main(int argc, char** argv)
{
CvPoint2D32f srcTri[3], dstTri[3];
CvMat* rot_mat = cvCreateMat(2,3,CV_32FC1);
CvMat* warp_mat = cvCreateMat(2,3,CV_32FC1);
IplImage *src, *dst;
if( argc == 2 && ((src=cvLoadImage(argv[1],1)) != 0 ))
{
dst = cvCloneImage(src);
dst->origin = src->origin;
cvZero(dst);
//COMPUTE WARP MATRIX
srcTri[0].x = 0; //src Top left
srcTri[0].y = 0;
srcTri[1].x = src->width - 1; //src Top right
srcTri[1].y = 0;
srcTri[2].x = 0; //src Bottom left
srcTri[2].y = src->height - 1;
//- - - - - - - - - - - - - - -//
dstTri[0].x = src->width*0.0; //dst Top left
dstTri[0].y = src->height*0.33;
dstTri[1].x = src->width*0.85; //dst Top right
dstTri[1].y = src->height*0.25;
dstTri[2].x = src->width*0.15; //dst Bottom left
dstTri[2].y = src->height*0.7;
cvGetAffineTransform(srcTri,dstTri,warp_mat);
cvWarpAffine(src,dst,warp_mat);
cvCopy(dst,src);
//COMPUTE ROTATION MATRIX
CvPoint2D32f center = cvPoint2D32f(src->width/2,
src->height/2);
double angle = -50.0;
double scale = 0.6;
cv2DRotationMatrix(center,angle,scale,rot_mat);
cvWarpAffine(src,dst,rot_mat);
//DO THE TRANSFORM:
cvNamedWindow( "Affine_Transform", 1 );
cvShowImage( "Affine_Transform", dst );
cvWaitKey();
}
cvReleaseImage(&dst);
cvReleaseMat(&rot_mat);
cvReleaseMat(&warp_mat);
return 0;
}
IplImage *rotateImage(const IplImage *src, int angleDegrees, double zoom)
{
IplImage *imageRotated = cvCloneImage(src);
CvMat* rot_mat = cvCreateMat(2,3,CV_32FC1);
// Compute rotation matrix
CvPoint2D32f center = cvPoint2D32f( cvGetSize(imageRotated).width/2, cvGetSize(imageRotated).height/2 );
cv2DRotationMatrix( center, angleDegrees, zoom, rot_mat );
// Do the transformation
cvWarpAffine( src, imageRotated, rot_mat );
return imageRotated;
}
void rotateImage(const IplImage* src, IplImage* dst, double degree)
{
// Only 1-Channel
if(src->nChannels != 1)
return;
CvPoint2D32f centralPoint = cvPoint2D32f(src->width/2, src->height/2); // 회전 기준점 설정(이미지의 중심점)
CvMat* rotationMatrix = cvCreateMat(2, 3, CV_32FC1); // 회전 기준 행렬
// Rotation 기준 행렬 연산 및 저장(90도에서 기울어진 각도를 빼야 본래이미지(필요시 수정))
cv2DRotationMatrix(centralPoint, degree, 1, rotationMatrix);
// Image Rotation
cvWarpAffine(src, dst, rotationMatrix, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS);
// Memory 해제
cvReleaseMat(&rotationMatrix);
}
void image_callback(const sensor_msgs::ImageConstPtr& msg)
{
sensor_msgs::CvBridge bridge;
try
{
last_img = bridge.imgMsgToCv(msg,"bgr8");
if (count%sampling_rate==0)
{
//resize the image to fit exactly tablet screen
CvSize size = cvSize(width,heigth);
IplImage* tmp_img = cvCreateImage(size, last_img->depth, last_img->nChannels);
cvResize(last_img, tmp_img);
if (head_position<(-(MAX_HEAD_POS-MIN_HEAD_POS)/2))
{
//printf("+++ rotating, head pos: %f\n",head_position);
IplImage* tmp_img_2 = cvCreateImage(size, last_img->depth, last_img->nChannels);
CvPoint2D32f pivot = cvPoint2D32f(half_width,half_heigth);
CvMat* rot_mat=cvCreateMat(2,3,CV_32FC1);
cv2DRotationMatrix(pivot,180,1,rot_mat);
cvWarpAffine(tmp_img,tmp_img_2,rot_mat);
sensor_msgs::ImagePtr msg = sensor_msgs::CvBridge::cvToImgMsg(tmp_img_2,"bgr8");
pub.publish(msg);
cvReleaseImage(&tmp_img_2);
}
else
{
//printf("+++ normal, head pos: %f",head_position);
sensor_msgs::ImagePtr msg = sensor_msgs::CvBridge::cvToImgMsg(tmp_img,"bgr8");
pub.publish(msg);
}
cvReleaseImage(&tmp_img);
count=0;
}
/*else
printf("+\n");*/
count++;
}
catch(sensor_msgs::CvBridgeException& e)
{
ROS_ERROR("cannot convert");
}
}
IplImage* rotateImage3(const IplImage* image, float angle)
{
int width = image->width;
int height = image->height;
IplImage *rotatedImage = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, image->nChannels);
CvPoint2D32f center;
center.x = width/2.0f;
center.y = height/2.0f;
CvMat* mapMatrix = cvCreateMat(2, 3, CV_32FC1);
CvMat* rot = cv2DRotationMatrix(center, angle, 1.0, mapMatrix);
CvRect bbox = cv2DRotatedRect(center,src.size(), degrees).boundingRect();
cvWarpAffine(image, rotatedImage, mapMatrix, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
return rotatedImage;
}
//根据角度进行旋转，角度为水平正方向,angle为弧度
void rotate_img(const IplImage* src,IplImage* dst,
double angle,CvScalar fillVal)
{
double scale = 1.0;
double a = 0.0;
CvMat* rot_mat = cvCreateMat(2,3,CV_32FC1);
CvPoint2D32f center = cvPoint2D32f(
0,
src->height
);
if(abs(angle) >= 0.2)
a= -angle*180/CV_PI/3;
cv2DRotationMatrix(center,a,scale,rot_mat);
cvWarpAffine(src,dst,rot_mat,CV_WARP_FILL_OUTLIERS,fillVal);
//copyMakeBorder(dst,dst,3,3,3,3,BORDER_REPLICATE);
//cvResize(dst,dst,CV_INTER_LINEAR);
/*cvShowImage("src",src);
cvShowImage("dst",dst);
cvWaitKey(0);*/
}
typename image<T, D>::create_new rotate(const image<T, D>& a, double angle,
const float_point<2>& center, double scale, interpolation interp,
warp_method warp_m, color<T, D::Ch> fill_color)
{
IplImage* src = a.ipl();
IplImage* dst = cvCreateImage(cvGetSize(src),
image_details::ipl_depth<T>(), int(a.channels()));
CvPoint2D32f cvcenter;
cvcenter.x = center.x;
cvcenter.y = center.y;
CvMat* map_matrix = cvCreateMat(2, 3, image_details::cv_type<double>());
cv2DRotationMatrix(cvcenter, angle, scale, map_matrix );
cvWarpAffine(src, dst, map_matrix,
image_details::interpolation_map[interp]+
image_details::warp_map[warp_m] ,
image_details::to_cvscalar(fill_color));
typename image<T, D>::create_new r(dst);
cvReleaseMat(&map_matrix);
cvReleaseImage(&src);
cvReleaseImage(&dst);
return r;
}
void initialize(struct timeval *past)
{
char scorechar[10];
CvMat *rot_mat = cvCreateMat(2, 3, CV_32FC1);
gettimeofday(past, NULL);
// goal of computer handle
gpc = cpc;
com_change_goal = 0;
// ball positon
bpc = cvPoint2D32f(boundw+r0-winx/7,boundh/2);
// ball velocity
bv.x = 0;// 2004;
bv.y = 0;//1000;
// explosion effect
explosr = 0;
// score texture (computer)
cvSetZero(scoretext1);
cv2DRotationMatrix(cvPoint2D32f(rotatbox/2,rotatbox/2), -90.0, 1.0, rot_mat);
if(score[0]>99) score[0] = 99;
sprintf(scorechar, "%2d", score[0]);
cvPutText(scoretext1, scorechar, cvPoint(rotatbox/3,rotatbox/2), &fontline, blue);
cvPutText(scoretext1, scorechar, cvPoint(rotatbox/3,rotatbox/2), &fontlight, white);
cvWarpAffine(scoretext1, scoretext1, rot_mat);
// score texture (user)
cvSetZero(scoretext2);
if(score[1]>99) score[1] = 99;
sprintf(scorechar, "%d", score[1]);
cvPutText(scoretext2, scorechar, cvPoint(rotatbox/3,rotatbox/2), &fontline, blue);
cvPutText(scoretext2, scorechar, cvPoint(rotatbox/3,rotatbox/2), &fontlight, white);
cvWarpAffine(scoretext2, scoretext2, rot_mat);
}
void MapMaker::image_callback(const sensor_msgs::ImageConstPtr& msg) {
// printf("callback called\n");
try
{
// if you want to work with color images, change from mono8 to bgr8
if(input_image==NULL){
input_image = cvCloneImage(bridge.imgMsgToCv(msg, "mono8"));
rotationImage=cvCloneImage(input_image);
// printf("cloned image\n");
}
else{
cvCopy(bridge.imgMsgToCv(msg, "mono8"),input_image);
// printf("copied image\n");
}
}
catch (sensor_msgs::CvBridgeException& e)
{
ROS_ERROR("Could not convert from '%s' to 'mono8'.", msg->encoding.c_str());
return;
}
if(input_image!=NULL) {
//get tf transform here and put in map
ros::Time acquisition_time = msg->header.stamp;
geometry_msgs::PoseStamped basePose;
geometry_msgs::PoseStamped mapPose;
basePose.pose.orientation.w=1.0;
ros::Duration timeout(3);
basePose.header.frame_id="/base_link";
mapPose.header.frame_id="/map";
try {
tf_listener_.waitForTransform("/base_link", "/map", acquisition_time, timeout);
tf_listener_.transformPose("/map", acquisition_time,basePose,"/base_link",mapPose);
printf("pose #%d %f %f %f\n",pic_number,mapPose.pose.position.x, mapPose.pose.position.y, tf::getYaw(mapPose.pose.orientation));
/*
char buffer [50];
sprintf (buffer, "/tmp/test%02d.jpg", pic_number);
if(!cvSaveImage(buffer,input_image,0)) printf("Could not save: %s\n",buffer);
else printf("picture taken!!!\n");
pic_number++;
*/
cv::Point_<double> center;
center.x=input_image->width/2;
center.y=input_image->height/2;
double tranlation_arr[2][3];
CvMat translation;
cvInitMatHeader(&translation,2,3,CV_64F,tranlation_arr);
cvSetZero(&translation);
cv2DRotationMatrix(center, (tf::getYaw(mapPose.pose.orientation)*180/3.14159) -90,1.0,&translation);
cvSetZero(rotationImage);
cvWarpAffine(input_image,rotationImage,&translation,CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS,cvScalarAll(0));
CvRect roi;
roi.width=rotationImage->width;
roi.height=rotationImage->height;
if(init_zero_x==0){
init_zero_x=(int)(mapPose.pose.position.x*(1.0/map_meters_per_pixel));
init_zero_y=(int)(mapPose.pose.position.y*(-1.0/map_meters_per_pixel));
}
roi.x=(int)(mapPose.pose.position.x*(1.0/map_meters_per_pixel))-init_zero_x+map_zero_x-roi.width/2;
roi.y=(int)(mapPose.pose.position.y*(-1.0/map_meters_per_pixel))-init_zero_y+map_zero_y-roi.height/2;
printf("x %d, y %d, rot %f\n",roi.x,roi.y, (tf::getYaw(mapPose.pose.orientation)*180/3.14159) -90);
cvSetImageROI(map,roi);
cvMax(map,rotationImage,map);
cvResetImageROI(map);
cvShowImage("map image",map);
}
catch (tf::TransformException& ex) {
ROS_WARN("[map_maker] TF exception:\n%s", ex.what());
printf("[map_maker] TF exception:\n%s", ex.what());
return;
}
catch(...){
printf("opencv shit itself cause our roi is bad\n");
}
}
}
int main (int argc, const char * argv[])
{
if ( argc != 2 )
{
fprintf(stderr, "Usage: <image>\n");
exit(1);
}
IplImage* image = cvLoadImage(argv[1], CV_LOAD_IMAGE_GRAYSCALE);
if ( image == NULL )
{
fprintf(stderr, "Couldn't load image %s\n", argv[1]);
exit(1);
}
IplImage* dst = cvCloneImage(image);
//cvSetZero(dst);
CvMat* rotation = cvCreateMat(2, 3, CV_32FC1);
#if 0
// Optimized for a finding 3 pixel wide lines.
float zeroDegreeLineData[] = {
-10, -10, -10, -10, -10,
3, 3, 3, 3, 3,
14, 14, 14, 14, 14,
3, 3, 3, 3, 3,
-10, -10, -10, -10, -10
};
#if 0
float zeroDegreeLineData[] = {
10, 10, 10, 10, 10,
-3, -3, -3, -3, -3,
-14, -14, -14, -14, -14,
-3, -3, -3, -3, -3,
10, 10, 10, 10, 10
};
#endif
CvMat zeroDegreeLine = cvMat(5, 5, CV_32FC1, zeroDegreeLineData);
PrintMat("Zero Degree Line", &zeroDegreeLine);
cv2DRotationMatrix(cvPoint2D32f(2,2), 60.0, 1.0, rotation);
CvMat* kernel = cvCreateMat(5, 5, CV_32FC1);
#else
// Optimized for finding 1 pixel wide lines. The sum of all co-efficients is 0, so this kernel has
// the tendency to send pixels towards zero
#if 0
float zeroDegreeLineData[] = {
10, 10, 10,
-20, -20, -20,
10, 10, 10
};
#elif 0
float zeroDegreeLineData[] = {
-10, -10, -10,
20, 20, 20,
-10, -10, -10
};
#else
// Line detector optimized to find a horizontal line 1 pixel wide that is darker (smaller value) than it’s surrounding pixels. This works because darker (smaller value) horizontal 1 pixel wide lines will have a smaller magnitude negative
// component, which means their convoluted value will be higher than surrounding pixels. See Convolution.numbers
// for a simple example how this works.
float zeroDegreeLineData[] = {
1, 1, 1,
-2, -2, -2,
1, 1, 1
};
#endif
CvMat zeroDegreeLine = cvMat(3, 3, CV_32FC1, zeroDegreeLineData);
PrintMat("Zero Degree Line", &zeroDegreeLine);
// Going to rotate the horizontal line detecting kernel by 60 degrees to that it will detect 60 degree lines.
cv2DRotationMatrix(cvPoint2D32f(1,1), 60.0, 1.0, rotation);
CvMat* kernel = cvCreateMat(3, 3, CV_32FC1);
#endif
PrintMat("Rotation", rotation);
cvWarpAffine(&zeroDegreeLine, kernel, rotation, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
PrintMat("Kernel", kernel);
cvFilter2D( image, dst, kernel, cvPoint(-1,-1));
cvNamedWindow("main", CV_WINDOW_NORMAL);
cvShowImage("main", image);
cvWaitKey(0);
cvShowImage("main", dst);
cvWaitKey(0);
return 0;
}
//Show ROI Image,and Save ROI Image and it's coordinates
void Harrlike::SaveROI(IplImage *Img,CvSeq *faces)
{
CvSize new_size = cvSize(m_width,m_height);
CvRect ROI;
double Ratio = Img->width/1000.;
double m,angle;
int ratioX = 2,ratioY = 2;
//Rotate
if((m_TraningCoord[7].x - m_TraningCoord[1].x)!=0)
{
m = static_cast<double>(m_TraningCoord[7].y - m_TraningCoord[1].y)/(m_TraningCoord[7].x - m_TraningCoord[1].x);
angle = atan(m)*57.25972;
}
else
{
angle = 0;
}
CvPoint2D32f src_center = cvPoint2D32f(m_TraningCoord[1].x*1.0, m_TraningCoord[1].y*1.0);
float map[6];
CvMat rot_mat = cvMat( 2, 3, CV_32F,map);
cv2DRotationMatrix( src_center, angle,1.0, &rot_mat);
IplImage* dst = cvCreateImage(cvSize(Img->width,Img->height),8,1);
cvWarpAffine(Img, dst, &rot_mat);
//cvShowImage("2",dst);
//cvWaitKey(0);
double Coord3X = m_TraningCoord[3].x*cvGetReal2D(&rot_mat,0,0) + m_TraningCoord[3].y*cvGetReal2D(&rot_mat,0,1) + cvGetReal2D(&rot_mat,0,2)*1.0;
double Coord3Y = m_TraningCoord[3].x*cvGetReal2D(&rot_mat,1,0) + m_TraningCoord[3].y*cvGetReal2D(&rot_mat,1,1) + cvGetReal2D(&rot_mat,1,2)*1.0;
double Coord9X = m_TraningCoord[9].x*cvGetReal2D(&rot_mat,0,0) + m_TraningCoord[9].y*cvGetReal2D(&rot_mat,0,1) + cvGetReal2D(&rot_mat,0,2)*1.0;
double Coord9Y = m_TraningCoord[9].x*cvGetReal2D(&rot_mat,1,0) + m_TraningCoord[9].y*cvGetReal2D(&rot_mat,1,1) + cvGetReal2D(&rot_mat,1,2)*1.0;
double Coord1X = m_TraningCoord[1].x*cvGetReal2D(&rot_mat,0,0) + m_TraningCoord[1].y*cvGetReal2D(&rot_mat,0,1) + cvGetReal2D(&rot_mat,0,2)*1.0;
double Coord0Y = m_TraningCoord[0].x*cvGetReal2D(&rot_mat,1,0) + m_TraningCoord[0].y*cvGetReal2D(&rot_mat,1,1) + cvGetReal2D(&rot_mat,1,2)*1.0;
//鼻子中間
double middleX = (Coord3X + Coord9X)*0.5;
double middleY = (Coord3Y + Coord9Y)*0.5;
//取人臉出來
ROI.x = Coord1X;
ROI.y = Coord0Y;
ROI.width = (middleX-ROI.x)*ratioX;//600
ROI.height = (middleY - Coord0Y)*ratioY;//m_TraningCoord[11].y-m_TraningCoord[0].y
cvSetImageROI(dst, ROI);
ResizeImage(dst,new_size);
/*double multipleX = (m_width*1.0/ROI.width*1.0);
double multipleY = (m_height*1.0/ROI.height*1.0);
FILE *NormalizeCoord = fopen("..\\DataBase\\NormalizeCoord.xls","a");
for(int i = 0;i < 12;i++)
{
int normalizeX = (m_TraningCoord[i].x - ROI.x)*multipleX;
int normalizeY = (m_TraningCoord[i].y - ROI.y)*multipleY;
if(normalizeX > m_width) normalizeX = m_width;
if(normalizeY > m_height) normalizeY = m_height;
if(normalizeX < 0) normalizeX = 0;
if(normalizeY < 0) normalizeY = 0;
fprintf(NormalizeCoord,"%d\t%d\t",normalizeX,normalizeY);
}
fprintf(NormalizeCoord,"\n");
fclose(NormalizeCoord);*/
FILE *Coord = fopen("..\\DataBase\\Coordinate.xls","a");
for(int i = 0;i < 12;i++)
{
fprintf(Coord,"%d\t%d\t",m_TraningCoord[i].x,m_TraningCoord[i].y);
}
fprintf(Coord,"\n");
fclose(Coord);
//cvReleaseImage(&Img);
//cvSaveImage(filename,Img);
//cvShowImage("roi",Img);
//cvWaitKey(0);
}
bool EyeCoord2FaceCrop( IplImage * pic8, CvMat * faceImg8, CvPoint2D32f leftEye,
CvPoint2D32f rightEye, bool useBuf )
{
static int idx = 0;
static bool bInited = false;
CvPoint2D32f l1 = cvPoint2D32f(0,0), r1 = cvPoint2D32f(0,0);
if (useBuf) // when detect face in a video stream, one may hope the position changes more smoothly. So we smooth the eye coordinates between each call
{
g_lefta[idx] = leftEye;
g_righta[idx++] = rightEye;
idx %= g_nFiltLevel;
if (!bInited)
{
for (int i = 1; i < g_nFiltLevel; i++)
{
g_lefta[i] = leftEye;
g_righta[i] = rightEye;
}
}
for (int i = 0; i < g_nFiltLevel; i++) // smooth the coordinates
{
l1.x += g_lefta[i].x/g_nFiltLevel;
l1.y += g_lefta[i].y/g_nFiltLevel;
r1.x += g_righta[i].x/g_nFiltLevel;
r1.y += g_righta[i].y/g_nFiltLevel;
}
}
else
{
l1 = leftEye;
r1 = rightEye;
}
float xDis = r1.x - l1.x,
yDis = r1.y - l1.y;
g_angle = cvFastArctan(yDis, xDis);
g_dis = sqrt(xDis*xDis + yDis*yDis);
CvMat *map = cvCreateMat(2, 3, CV_32FC1);
CvMat *largePic8 = cvCreateMat(pic8->height*2, pic8->width*2, CV_8UC1); // in case the cropped face goes out of the border
CvMat *tmpDst = cvCreateMat(largePic8->height, largePic8->width, CV_8UC1);
cvCopyMakeBorder(pic8, largePic8, cvPoint(pic8->width/2, pic8->height/2), IPL_BORDER_REPLICATE);
l1.x += pic8->width/2;
l1.y += pic8->height/2;
cv2DRotationMatrix(l1, g_angle, g_normDis/g_dis, map); // similar transformation
//DispCvArr(map, "map");
cvWarpAffine(largePic8, tmpDst, map);
//cvShowImage("a",tmpDst);
//cvWaitKey();
int leftEyeXNew = cvRound((g_faceSz.width - g_normDis)/2);
int left = cvRound(l1.x - leftEyeXNew),
top = cvRound(l1.y - g_normRow);
CvMat tmpHeader, *sub = 0;
if (left >= 0 && top >= 0 &&
left + g_faceSz.width <= tmpDst->width &&
top + g_faceSz.height <= tmpDst->height)
{
sub = cvGetSubRect(tmpDst, &tmpHeader, cvRect(left, top, g_faceSz.width, g_faceSz.height));
cvCopy(sub, faceImg8);
//cvShowImage("f",faceImg8);
//cvWaitKey();
}
cvReleaseMat(&map);
cvReleaseMat(&largePic8);
cvReleaseMat(&tmpDst);
return (sub != 0);
}
bool FaceCrop::Crop(CvPoint LE , CvPoint RE , CvPoint No , CvPoint Mo){
CvPoint eyeVector;
double rotation=0.0;
IplImage* rotationImg=cvCreateImage(cvSize(srcImg->width,srcImg->height),IPL_DEPTH_8U,3);
double eyeDistance;
eyeVector.x=LE.x-RE.x;
eyeVector.y=LE.y-RE.y;
eyeDistance=sqrt((double)(eyeVector.x*eyeVector.x + eyeVector.y*eyeVector.y));
rotation=atan2((double)eyeVector.y , (double)eyeVector.x) * 180 / CV_PI+180;
CvMat *matrix=NULL;
if(rotation > maxRotationAngle){
matrix=cvCreateMat(2,3,CV_32FC1);
matrix=cv2DRotationMatrix(cvPoint2D32f(LE.x,LE.y),rotation,1,matrix);
cvWarpAffine( srcImg,rotationImg,matrix,CV_WARP_FILL_OUTLIERS,cvScalarAll(0) );
}
else{
cvCopy(srcImg,rotationImg);
}
eyeDistance=(int)eyeDistance;
int x=LE.x-(int)(a*eyeDistance);
int y=LE.y-(int)(b*eyeDistance);
int width= (int)(a*eyeDistance)+(int)(a*eyeDistance)+eyeDistance+1;
int height=(int)(b*eyeDistance)+(int)(c*eyeDistance)+1;
if(x<0)x=0;
if(y<0)y=0;
if(x+width>=rotationImg->width)width=rotationImg->width-x-1;
if(y+height>=rotationImg->height)height=rotationImg->height-y-1;
cvSetImageROI(rotationImg,cvRect(x , y , width , height));
cropImg=cvCreateImage(cvSize(width,height),IPL_DEPTH_8U,3);
cvCopy(rotationImg,cropImg);
cvResetImageROI(rotationImg);
normalizeImg=cvCreateImage(cvSize(normalizeWidth,normalizeHeight),IPL_DEPTH_8U,3);
cvResize(cropImg,normalizeImg);
if(matrix!=NULL){
matrix=cv2DRotationMatrix(cvPoint2D32f(LE.x,LE.y),-rotation,1,matrix);
CvMat *pointMatrix=cvCreateMat(3,1,CV_32FC1);
CvMat *rotatedPointMatrix=cvCreateMat(2,1,CV_32FC1);
cvmSet(pointMatrix,0,0,x);
cvmSet(pointMatrix,1,0,y);
cvmSet(pointMatrix,2,0,1);
cvmMul(matrix,pointMatrix,rotatedPointMatrix);
leftTop.x=cvmGet(rotatedPointMatrix,0,0);
leftTop.y=cvmGet(rotatedPointMatrix,1,0);
cvmSet(pointMatrix,0,0,x+width);
cvmSet(pointMatrix,1,0,y);
cvmMul(matrix,pointMatrix,rotatedPointMatrix);
rightTop.x=cvmGet(rotatedPointMatrix,0,0);
rightTop.y=cvmGet(rotatedPointMatrix,1,0);
cvmSet(pointMatrix,0,0,x);
cvmSet(pointMatrix,1,0,y+height);
cvmMul(matrix,pointMatrix,rotatedPointMatrix);
leftdown.x=cvmGet(rotatedPointMatrix,0,0);
leftdown.y=cvmGet(rotatedPointMatrix,1,0);
cvmSet(pointMatrix,0,0,x+width);
cvmSet(pointMatrix,1,0,y+height);
cvmMul(matrix,pointMatrix,rotatedPointMatrix);
rightdown.x=cvmGet(rotatedPointMatrix,0,0);
rightdown.y=cvmGet(rotatedPointMatrix,1,0);
}
else{
leftTop.x=x;
leftTop.y=y;
rightTop.x=x+width;
rightTop.y=y;
leftdown.x=x;
leftdown.y=y+height;
rightdown.x=x+width;
rightdown.y=y+height;
}
//cvSaveImage("result.jpg",cropImg);
//cvNamedWindow("Img",1);
//cvShowImage("Img",cropImg);
//cvWaitKey(0);
cvReleaseImage(&rotationImg);
cvReleaseImage(&cropImg);
return true;
}
//左上腕(LEFT_ELBOW - LEFT_SHOULDER)に画像をコラージュ
void drawLeftArm(xn::DepthGenerator& depth, xn::SkeletonCapability& capability, XnUserID user, XnMapOutputMode mapMode, IplImage* preLoadImage, IplImage **rgbImage) {
XnSkeletonJointPosition pos1,pos2;
IplImage *partImage = NULL;
IplImage *fallImage = NULL;
// elbowのジョイント座標の取得
capability.GetSkeletonJointPosition(user, XN_SKEL_LEFT_ELBOW, pos1);
XnPoint3D pReal1[1] = {pos1.position};
XnPoint3D pProjective1[1];
// 世界座標系から表示座標系に変換した座標を取得
depth.ConvertRealWorldToProjective(1, pReal1, pProjective1);
// sholderのジョイント座標の取得
capability.GetSkeletonJointPosition(user, XN_SKEL_LEFT_SHOULDER, pos2);
XnPoint3D pReal2[1] = {pos2.position};
XnPoint3D pProjective2[1];
// 世界座標系から表示座標系に変換した座標を取得
depth.ConvertRealWorldToProjective(1, pReal2, pProjective2);
// 重ね合わせよう画像
partImage = preLoadImage;
fallImage = cvCreateImage(cvSize(mapMode.nXRes, mapMode.nYRes), IPL_DEPTH_8U, 3);
CvPoint2D32f original[3];
CvPoint2D32f transform[3];
original[0] = cvPoint2D32f(0, 0);
original[1] = cvPoint2D32f(mapMode.nXRes, 0);
original[2] = cvPoint2D32f( 0, mapMode.nYRes);
CvSize sizeOfPart = cvGetSize(partImage);
//ELBOWの位置
int transX1 = pProjective1[0].X;
int transY1 = pProjective1[0].Y;
//SHOULDERの位置
int transX2 = pProjective2[0].X;
int transY2 = pProjective2[0].Y;
//中間の座標
int transX3 = (transX1 + transX2) / 2;
int transY3 = (transY1 + transY2) / 2;
//画像の始点
int transX = transX3 - (sizeOfPart.width / 2);
int transY = transY3 - (sizeOfPart.height / 2);
//角度
float ang = cvFastArctan(transY2 - transY1, transX2 - transX1); //+ cvFastArctan(transY1, transX1);
transform[0] = cvPoint2D32f( transX, transY);
transform[1] = cvPoint2D32f( transX + mapMode.nXRes, transY);
transform[2] = cvPoint2D32f( transX, transY + mapMode.nYRes);
// 行列作成
CvMat *affineMatrix = cvCreateMat(2, 3, CV_32FC1);
cvGetAffineTransform(original, transform, affineMatrix);
// 移動
cvWarpAffine(partImage, fallImage, affineMatrix, CV_INTER_LINEAR | CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
//回転行列作成
CvPoint2D32f center = cvPoint2D32f(transX3, transY3);
IplImage *fallImage2 = cvCreateImage(cvSize(mapMode.nXRes, mapMode.nYRes), IPL_DEPTH_8U, 3);
CvMat *rotationMatrix = cvCreateMat(2, 3, CV_32FC1);
cv2DRotationMatrix(center, 90.0 - ang, 1.0, rotationMatrix);
//回転
cvWarpAffine(fallImage, fallImage2, rotationMatrix, CV_INTER_LINEAR | CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
// 画像の重ね合わせ
fallPartImage(fallImage2, *rgbImage);
// 解放
cvReleaseImage(&fallImage);
cvReleaseImage(&fallImage2);
}
ReturnType Rotate::onExecute()
{
// 영상을 Inport로부터 취득
opros_any *pData = ImageIn.pop();
RawImage result;
if(pData != NULL){
// 포트로 부터 이미지 취득
RawImage Image = ImageIn.getContent(*pData);
RawImageData *RawImage = Image.getImage();
// 현재영상의 크기를 취득
m_in_width = RawImage->getWidth();
m_in_height = RawImage->getHeight();
// 원본영상의 이미지영역 확보
if(m_orig_img == NULL){
m_orig_img = cvCreateImage(cvSize(m_in_width, m_in_height), IPL_DEPTH_8U, 3);
}
if(m_trans_img == NULL){
m_trans_img = cvCreateImage(cvSize(m_in_width, m_in_height), IPL_DEPTH_8U, 3);
}
if(m_result_img == NULL){
m_result_img = cvCreateImage(cvSize(m_in_width, m_in_height), IPL_DEPTH_8U, 3);
}
// 영상에 대한 정보를 확보!memcpy
memcpy(m_orig_img->imageData, RawImage->getData(), RawImage->getSize());
//*************************회전
// 회전 중심 위치 설정
CvPoint2D32f center = cvPoint2D32f( m_orig_img->width/2.0, m_orig_img->height/2.0);
// 회전각도에 따른 행렬생성
cv2DRotationMatrix( center, m_angle, 1.0, m_rotate_mat );
// cv2DRotationMatrix( center, 50.0, 1.0, m_rotate_mat );
// 이미지회전
cvWarpAffine( m_orig_img, m_result_img, m_rotate_mat,
CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
// RawImage의 이미지 포인터 변수 할당
RawImageData *pimage = result.getImage();
// 입력된 이미지 사이즈 및 채널수로 로 재 설정
pimage->resize(m_result_img->width, m_result_img->height, m_result_img->nChannels);
// 영상의 총 크기(pixels수) 취득
int size = m_result_img->width * m_result_img->height * m_result_img->nChannels;
// 영상 데이터로부터 영상값만을 할당하기 위한 변수
unsigned char *ptrdata = pimage->getData();
// 현재 프레임 영상을 사이즈 만큼 memcpy
memcpy(ptrdata, m_result_img->imageData, size);
// 포트아웃
// opros_any mdata = result;
ImageOut.push(result);//전달
delete pData;
}
return OPROS_SUCCESS;
}
int main(int argc, char* argv[])
{
// Set up variables
CvPoint2D32f srcTri[3], dstTri[3];
CvMat* rot_mat = cvCreateMat(2,3,CV_32FC1);
CvMat* warp_mat = cvCreateMat(2,3,CV_32FC1);
IplImage *src, *dst;
const char* name = "Affine_Transform";
// Load image
src=cvLoadImage("airplane.jpg");
dst = cvCloneImage( src );
dst->origin = src->origin;
cvZero( dst );
cvNamedWindow( name, 1 );
// Create angle and scale
double angle = 0.0;
double scale = 1.0;
// Create trackbars
cvCreateTrackbar( "Angle", name, &angle_switch_value, 4, switch_callback_a );
cvCreateTrackbar( "Scale", name, &scale_switch_value, 4, switch_callback_s );
// Compute warp matrix
srcTri[0].x = 0;
srcTri[0].y = 0;
srcTri[1].x = src->width - 1;
srcTri[1].y = 0;
srcTri[2].x = 0;
srcTri[2].y = src->height - 1;
dstTri[0].x = src->width*0.0;
dstTri[0].y = src->height*0.25;
dstTri[1].x = src->width*0.90;
dstTri[1].y = src->height*0.15;
dstTri[2].x = src->width*0.10;
dstTri[2].y = src->height*0.75;
cvGetAffineTransform( srcTri, dstTri, warp_mat );
cvWarpAffine( src, dst, warp_mat );
cvCopy ( dst, src );
while( 1 ) {
switch( angleInt ){
case 0:
angle = 0.0;
break;
case 1:
angle = 20.0;
break;
case 2:
angle = 40.0;
break;
case 3:
angle = 60.0;
break;
case 4:
angle = 90.0;
break;
}
switch( scaleInt ){
case 0:
scale = 1.0;
break;
case 1:
scale = 0.8;
break;
case 2:
scale = 0.6;
break;
case 3:
scale = 0.4;
break;
case 4:
scale = 0.2;
break;
}
// Compute rotation matrix
CvPoint2D32f center = cvPoint2D32f( src->width/2, src->height/2 );
cv2DRotationMatrix( center, angle, scale, rot_mat );
// Do the transformation
cvWarpAffine( src, dst, rot_mat );
cvShowImage( name, dst );
if( cvWaitKey( 15 ) == 27 )
break;
}
cvReleaseImage( &dst );
cvReleaseMat( &rot_mat );
cvReleaseMat( &warp_mat );
return 0;
}
