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);
}
void the_project::project_init()
{
car_of_pro = new the_car();
//camera 480*640
for_cam = cvCreateCameraCapture(1);
for_video = cvCreateFileCapture("test.avi");
image_size = cvSize(cvGetCaptureProperty(for_cam,3),cvGetCaptureProperty(for_cam,4));
wr1 = cvCreateVideoWriter("record_ori.avi",CV_FOURCC('X','V','I','D') ,15,image_size);
wr2 = cvCreateVideoWriter("record_cha.avi",CV_FOURCC('X','V','I','D') ,15,image_size);
newpoints[0]=cvPoint2D32f(0,0);
newpoints[1]=cvPoint2D32f(0,image_size.height);
newpoints[2]=cvPoint2D32f(image_size.width,image_size.height);
newpoints[3]=cvPoint2D32f(image_size.width,0);
red_min=200;
rg_max=100;
rb_max=100;
green_min=200;
gb_max=100;
gr_max=100;
}
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);
}
int ofxSurfObjCorners(IpPairVec & matches,const ofPoint src_crn[4],ofPoint dst_crn[4]) {
double h[9];
CvMat _h = cvMat(3,3,CV_64F,h);
vector<CvPoint2D32f> pt1,pt2;
CvMat _pt1,_pt2;
int n = (int)(matches.size());
if(n<4)return 0;
pt1.resize(n);
pt2.resize(n);
for(int i=0; i<n; i++) {
pt1[i] = cvPoint2D32f(matches[i].second.x,matches[i].second.y);
pt2[i] = cvPoint2D32f(matches[i].first.x,matches[i].first.y);
}
_pt1 = cvMat(1,n,CV_32F,&pt1[0]);
_pt2 = cvMat(1,n,CV_32F,&pt2[0]);
//if(!cvFindHomography(&_pt1,&_pt2,&_h,CV_RANSAC,5))return 0;
/*for(int i=0;i<4;i++){
double x = (double)src_crn[i].x;
double y = (double)src_crn[i].y;
double Z = 1./(h[6]*x + h[7]*y + h[8]);
double X = (h[0]*x + h[1]*y + h[2])*Z;
double Y = (h[3]*x + h[4]*y + h[5])*Z;
dst_crn[i].set(cvRound(X),cvRound(Y));
}*/
return 1;
}
void SimpleImageProjector::project(IplImage* dst, A4PreciseDetectedRecord dstRecord)
{
CvPoint2D32f dstCorners[4];
dstCorners[0] = cvPoint2D32f(dstRecord.UL.x, dstRecord.UL.y);
dstCorners[1] = cvPoint2D32f(dstRecord.UR.x, dstRecord.UR.y);
dstCorners[2] = cvPoint2D32f(dstRecord.DL.x, dstRecord.DL.y);
dstCorners[3] = cvPoint2D32f(dstRecord.DR.x, dstRecord.DR.y);
cvWarpPerspective(projection, dst, transformMat, CV_INTER_LINEAR);
}
void cameraInfoCb(const sensor_msgs::CameraInfoConstPtr& msg){
cameraInfo.focalLength = cvPoint2D32f(msg->K.elems[0], msg->K.elems[4]);
cameraInfo.imageHeight = msg->height;
cameraInfo.imageWidth = msg->width;
cameraInfo.pitch = (1.0)*3.14/180;
cameraInfo.yaw = 0 ;
cameraInfo.opticalCenter = cvPoint2D32f(msg->K.elems[2], msg->K.elems[5]);
cameraInfo.cameraHeight = 1430;
//camera_sub_.shutdown();
}
void Lines::Line::drawInfiniteLine(IplImage* img, CvScalar color)
{
CvPoint pt1 = cvPointFrom32f(cvPoint2D32f(-1000, -1000*Slope + Intercept));
CvPoint pt2 = cvPointFrom32f(cvPoint2D32f(1000, 1000*Slope + Intercept));
if (isVertical == false)
cvLine(img, pt1, pt2, color, 1, 8, 0);
else
cvLine(img, cvPoint(point1.x, 0), cvPoint(point1.x, 1000), color, 1, 8, 0);
}
SimpleImageProjector::SimpleImageProjector(char* pathToProjection)
{
projection = cvLoadImage(pathToProjection);
if (projection == nullptr) {
throw std::exception("Can not load projection image");
}
transformMat = cvCreateMat(3, 3, CV_32FC1);
corners[0] = cvPoint2D32f(0, 0);
corners[1] = cvPoint2D32f(projection->width-1, 0);
corners[2] = cvPoint2D32f(0, projection->height-1);
corners[3] = cvPoint2D32f(projection->width-1, projection->height-1);
}
CV_IMPL void
cvInitSubdivDelaunay2D( CvSubdiv2D * subdiv, CvRect rect )
{
float big_coord = 3.f * MAX( rect.width, rect.height );
CvPoint2D32f ppA, ppB, ppC;
CvSubdiv2DPoint *pA, *pB, *pC;
CvSubdiv2DEdge edge_AB, edge_BC, edge_CA;
float rx = (float) rect.x;
float ry = (float) rect.y;
CV_FUNCNAME( "cvSubdivDelaunay2DInit" );
__BEGIN__;
if( !subdiv )
CV_ERROR( CV_StsNullPtr, "" );
cvClearSet( (CvSet *) (subdiv->edges) );
cvClearSet( (CvSet *) subdiv );
subdiv->quad_edges = 0;
subdiv->recent_edge = 0;
subdiv->is_geometry_valid = 0;
subdiv->topleft = cvPoint2D32f( rx, ry );
subdiv->bottomright = cvPoint2D32f( rx + rect.width, ry + rect.height );
ppA = cvPoint2D32f( rx + big_coord, ry );
ppB = cvPoint2D32f( rx, ry + big_coord );
ppC = cvPoint2D32f( rx - big_coord, ry - big_coord );
pA = cvSubdiv2DAddPoint( subdiv, ppA, 0 );
pB = cvSubdiv2DAddPoint( subdiv, ppB, 0 );
pC = cvSubdiv2DAddPoint( subdiv, ppC, 0 );
edge_AB = cvSubdiv2DMakeEdge( subdiv );
edge_BC = cvSubdiv2DMakeEdge( subdiv );
edge_CA = cvSubdiv2DMakeEdge( subdiv );
cvSubdiv2DSetEdgePoints( edge_AB, pA, pB );
cvSubdiv2DSetEdgePoints( edge_BC, pB, pC );
cvSubdiv2DSetEdgePoints( edge_CA, pC, pA );
cvSubdiv2DSplice( edge_AB, cvSubdiv2DSymEdge( edge_CA ));
cvSubdiv2DSplice( edge_BC, cvSubdiv2DSymEdge( edge_AB ));
cvSubdiv2DSplice( edge_CA, cvSubdiv2DSymEdge( edge_BC ));
subdiv->recent_edge = edge_AB;
__END__;
}
void StereoDisplay::Draw() // Draw Our Scene
{
IplImage* camera_image;
GLfloat z=-20.0;
if( show_right_ == TRUE)
camera_image = camera1_->QueryFrame();
else
camera_image = camera0_->QueryFrame();
show_right_ = !show_right_;
glLoadIdentity(); // Reset The Modelview Matrix
glBegin(GL_QUADS); // Begin drawing the image texture
// Front Face
glTexCoord2f(1.0f, 1.0f); glVertex3f( 11.0f, 8.3f, z);
glTexCoord2f(0.0f, 1.0f); glVertex3f(-11.0f, 8.3f, z);
glTexCoord2f(0.0f, 0.0f); glVertex3f(-11.0f, -8.3f, z);
glTexCoord2f(1.0f, 0.0f); glVertex3f( 11.0f, -8.3f, z);
glEnd(); // Done drawing texture
glFlush (); // Flush The GL Rendering Pipeline
if( true == recording_ )
{
cvLogPolar( camera_image, logpolarframe_,
cvPoint2D32f(camera_image->width/2,camera_image->height/2),
40, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS);
cvWriteFrame( writer_, logpolarframe_);
}
}
void SCSM::TransformPoint(int angle, float scale, CvPoint orig_point,
CvPoint &transform_point, CvPoint2D32f &transform_vector) {
double origvec_x = static_cast<double>(orig_point.x - fixedCenter.x);
double origvec_y = static_cast<double>(orig_point.y - fixedCenter.y);
TransformVector(angle, scale, cvPoint2D32f(origvec_x, origvec_y),
transform_point, transform_vector);
}
void CalcFourierDescriptorCoeff(CvSeq* seq_pts, int n_fourier,CvSeq* seq_fourier)
{
int count = seq_pts->total;
double *coeff_cos, *coeff_sin;
coeff_cos = (double*)malloc(count*sizeof(double));
coeff_sin = (double*)malloc(count*sizeof(double));
int i;
for(i = 0; i < count; i++)
{
coeff_sin[i] = sin(2*i*CV_PI/count);
coeff_cos[i] = cos(2*i*CV_PI/count);
}
cvClearSeq(seq_fourier);
for(int u = 0; u < n_fourier; u++)
{
CvPoint2D32f point_coeff = cvPoint2D32f(0, 0);
for(i = 0; i < count; i+=4)
{
CvPoint* pt = (CvPoint*)cvGetSeqElem(seq_pts, i);
point_coeff.x += (float)(pt->x*coeff_cos[(i*u)%count] + pt->y*coeff_sin[(i*u)%count]);
point_coeff.y += (float)(pt->y*coeff_cos[(i*u)%count] - pt->x*coeff_sin[(i*u)%count]);
}
//point_coeff.x/=count;
//point_coeff.y/=count;
cvSeqPush(seq_fourier, &point_coeff);
}
free(coeff_cos);
free(coeff_sin);
}
void moCalibrationModule::triangulate() {
// We first triangulate all the surfacePoints.
// Afterwards, in transform mode when a new touch occurrs, we can
// simply look up the triangle in which the touch was performed
// and get the barycentric parameters of the touch in that triangle.
// We then use these to compute the on screen coordinate of the touch.
moPointList screenPoints = this->property("screenPoints").asPointList();
moPointList surfacePoints = this->property("surfacePoints").asPointList();
assert(screenPoints.size() == surfacePoints.size());
this->delaunayToScreen.clear();
this->subdiv = cvCreateSubdivDelaunay2D(this->rect, this->storage);
//add all the surfacepoints we collected to the subdivision
//use the delaunayToScreen map to associate them with corrosponding screen point
moPointList::iterator it, its;
for(it = surfacePoints.begin(), its = screenPoints.begin(); it != surfacePoints.end(); it++, its++) {
CvPoint2D32f fp = cvPoint2D32f(it->x, it->y);
CvSubdiv2DPoint *delaunayPoint = cvSubdivDelaunay2DInsert(subdiv, fp);
this->delaunayToScreen[delaunayPoint] = (*its);
}
this->retriangulate = false;
this->notifyGui();
}
/*
* Return center point of rectangle.
*/
VALUE
rb_center(VALUE self)
{
CvRect *rect = CVRECT(self);
return cCvPoint2D32f::new_object(cvPoint2D32f((float)rect->x + (float)rect->width / 2.0,
(float)rect->y + (float)rect->height / 2.0));
}
int main(int argc, const char * argv[]) {
CvCapture* capture = cvCreateFileCapture( argv[1] );
if (!capture) return -1;
IplImage* bgr_frame = cvQueryFrame( capture );
double fps = cvGetCaptureProperty( capture , CV_CAP_PROP_FPS );
CvSize size = cvSize(
(int)cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH),
(int)cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT)
);
CvVideoWriter* writer = cvCreateVideoWriter( argv[2], CV_FOURCC('M', 'J', 'P', 'G'), fps, size);
IplImage* logpolar_frame = cvCreateImage(size, IPL_DEPTH_8U, 3);
while ( (bgr_frame = cvQueryFrame(capture)) != NULL ) {
cvLogPolar(bgr_frame, logpolar_frame,
cvPoint2D32f(bgr_frame->width/2, bgr_frame->height/2),
40,
CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS );
cvWriteFrame(writer, logpolar_frame);
}
cvReleaseVideoWriter( &writer );
cvReleaseImage( &logpolar_frame );
cvReleaseCapture( &capture );
return 0;
}
void com_update()
{
float thresholdy, track_rate = 0.2;
int through;
cp0c = cpc;
thresholdy = boundh/2-r1;
if(com_change_goal && thresholdy>bpc.y) {
com_change_goal = 0;
thresholdy = bpc.y;
if(bv.y>-150) {
gpc.x = bpc.x;
gpc.y = bpc.y;
}
else {
gpc.y = r1+rand()%((int)thresholdy-r1);
gpc.x = bpc.x + bv.x*(bpc.y-gpc.y)/(-bv.y);
through = gpc.x/boundw;
gpc.x = Abs( (through+through%2)*boundw-gpc.x );
gpc.y -= 15;
}
}
else if(bpc.y>boundh/2 && bv.y>=0) {
gpc = cvPoint2D32f(boundw/2, criticr);
}
cpc.x += track_rate*(gpc.x-cpc.x);
cpc.y += track_rate*(gpc.y-cpc.y);
}
void setPoints() {
perspectivecount = 0;
cvSetMouseCallback("monitor", perspective_mouse);
while (perspectivecount <= 3) {
int temp = perspectivecount;
cvWaitKey(30);
if (temp < perspectivecount) {
originalPoints[perspectivecount-1] = cvPoint2D32f(perspectiveX, perspectiveY);
}
}
CvPoint2D32f temp;
for (int i = 0 ; i < 3 ; ++i) {
for (int j = 0 ; j < 3-i; ++j) {
if (originalPoints[j].y > originalPoints[j+1].y) {
temp = originalPoints[j];
originalPoints[j]=originalPoints[j+1];
originalPoints[j+1]=temp;
}
}
}
if (originalPoints[0].x > originalPoints[1].x) {
temp = originalPoints[0];
originalPoints[0]=originalPoints[1];
originalPoints[1]=temp;
}
if (originalPoints[2].x > originalPoints[3].x) {
temp = originalPoints[2];
originalPoints[2]=originalPoints[3];
originalPoints[3]=temp;
}
}
void easymouse(int event, int x, int y, int flag, void *imgv)
{
// record mouse position
mp = cvPoint2D32f(x, y);
// while mouse click
if(event==CV_EVENT_LBUTTONDOWN) {
if(!pauseflag) {
if(sqr(pbuttonp.x-x)+sqr(pbuttonp.y-y)<sqr(r1+buttonr)) {
pauseflag = 1;
}
}
else {
if(mp.x>rbutton1.x && mp.x<rbutton3.x) {
if(mp.y>rbutton1.y && mp.y<rbutton3.y) {
restartflag = 1;
pauseflag = 0;
}
else if(mp.y>ebutton1.y && mp.y<ebutton3.y) {
escflag = 1;
pauseflag = 0;
}
else if(mp.y>sbutton1.y && mp.y<sbutton3.y) {
pauseflag = 0;
}
}
}
}
}
main( int argc, char* argv[] ) {
// Choose a negative floating point number. Take its absolute value,
// round it, and then take its ceiling and floor.
double a = -1.23;
printf( "CV_IABS(a) = %d\n", CV_IABS(a) );
printf( "cvRound(a) = %d\n", cvRound(a) );
printf( "cvCeil(a) = %d\n", cvCeil(a) );
printf( "cvFloor(a) = %d\n", cvFloor(a) );
// Generate some random numbers.
CvRNG rngState = cvRNG(-1);
for (int i = 0; i < 10; i++) {
printf( "%u %f\n", cvRandInt( &rngState ),
cvRandReal( &rngState ) );
}
// Create a floating point CvPoint2D32f and convert it to an integer
// CvPoint.
CvPoint2D32f point_float1 = cvPoint2D32f(1.0, 2.0);
CvPoint point_int1 = cvPointFrom32f( point_float1 );
// Convert a CvPoint to a CvPoint2D32f.
CvPoint point_int2 = cvPoint(3, 4);
CvPoint2D32f point_float2 = cvPointTo32f( point_int2 );
}
int main( int argc, char** argv )
{
IplImage* img;
if( argc < 2 )
{
fprintf( stderr, "./a.exe <image_file>" );
exit( 1 );
}
img = cvLoadImage( argv[1] );
CvMat* affine = cvCreateMat( 2, 3, CV_64FC1 );
cvCreateAffine( affine, cvRect32f( 0, 0, 1/4.0, 1/4.0, 45 ), cvPoint2D32f( 0, 0 ) );
IplImage* transformed;
transformed = cvCreateAffineImage( img, affine, CV_AFFINE_SAME );
cvNamedWindow( "hoge" );
cvShowImage( "hoge", transformed );
cvWaitKey( 0 );
cvReleaseImage( &transformed );
CvPoint origin;
transformed = cvCreateAffineImage( img, affine, CV_AFFINE_FULL, &origin );
cvNamedWindow( "hoge" );
cvShowImage( "hoge", transformed );
printf( "origin.x = %d origin.y = %d\n", origin.x, origin.y );
cvWaitKey( 0 );
cvReleaseImage( &transformed );
IplImage *mask = cvCreateAffineMask( img, affine, CV_AFFINE_FULL );
cvNamedWindow( "hoge" );
//cvShowImage( "hoge", mask ); // 1 is 1/255...
//cvWaitKey( 0 );
cvReleaseImage( &mask );
cvReleaseMat( &affine );
}
//! Find homography between matched points and translate src_corners to dst_corners
int translateCorners(IpPairVec &matches, const CvPoint src_corners[4], CvPoint dst_corners[4])
{
#ifndef LINUX
double h[9];
cv::Mat _h = cv::Mat(3, 3, CV_64F, h);
std::vector<CvPoint2D32f> pt1, pt2;
cv::Mat _pt1, _pt2;
int n = (int)matches.size();
if( n < 4 ) return 0;
// Set vectors to correct size
pt1.resize(n);
pt2.resize(n);
// Copy Ipoints from match vector into cvPoint vectors
for(int i = 0; i < n; i++ )
{
pt1[i] = cvPoint2D32f(matches[i].second.x, matches[i].second.y);
pt2[i] = cvPoint2D32f(matches[i].first.x, matches[i].first.y);
}
_pt1 = cv::Mat(1, n, CV_32FC2, &pt1[0] );
_pt2 = cv::Mat(1, n, CV_32FC2, &pt2[0] );
cv::InputArray _pt1_ia(_pt1);
cv::InputArray _pt2_ia(_pt2);
cv::OutputArray _h_ia(_h);
cv::Mat hMat = cv::findHomography(_pt1_ia, _pt2_ia, _h_ia, CV_RANSAC, 5.0);
// Find the homography (transformation) between the two sets of points
if(hMat.empty()) // this line requires opencv 1.1
return 0;
// Translate src_corners to dst_corners using homography
for(int i = 0; i < 4; i++ )
{
double x = src_corners[i].x, y = src_corners[i].y;
double Z = 1./(h[6]*x + h[7]*y + h[8]);
double X = (h[0]*x + h[1]*y + h[2])*Z;
double Y = (h[3]*x + h[4]*y + h[5])*Z;
dst_corners[i] = cvPoint(cvRound(X), cvRound(Y));
}
#endif
return 1;
}
void run(void)
{
char win[] = "source";
int i;
CvRect rect = { 0, 0, 600, 600 };
CvMemStorage* storage;
CvSubdiv2D* subdiv;
IplImage* img;
CvScalar active_facet_color, delaunay_color, voronoi_color, bkgnd_color;
active_facet_color = CV_RGB( 255, 0, 0 );
delaunay_color = CV_RGB( 0,0,0);
voronoi_color = CV_RGB(0, 180, 0);
bkgnd_color = CV_RGB(255,255,255);
img = cvCreateImage( cvSize(rect.width,rect.height), 8, 3 );
cvSet( img, bkgnd_color, 0 );
cvNamedWindow( win, 1 );
storage = cvCreateMemStorage(0);
subdiv = init_delaunay( storage, rect );
printf("Delaunay triangulation will be build now interactively.\n"
"To stop the process, press any key\n\n");
for( i = 0; i < 200; i++ )
{
CvPoint2D32f fp = cvPoint2D32f( (float)(rand()%(rect.width-10)+5),
(float)(rand()%(rect.height-10)+5));
locate_point( subdiv, fp, img, active_facet_color );
cvShowImage( win, img );
if( cvWaitKey( 100 ) >= 0 )
break;
cvSubdivDelaunay2DInsert( subdiv, fp );
cvCalcSubdivVoronoi2D( subdiv );
cvSet( img, bkgnd_color, 0 );
draw_subdiv( img, subdiv, delaunay_color, voronoi_color );
cvShowImage( win, img );
if( cvWaitKey( 100 ) >= 0 )
break;
}
cvSet( img, bkgnd_color, 0 );
paint_voronoi( subdiv, img );
cvShowImage( win, img );
cvWaitKey(0);
cvReleaseMemStorage( &storage );
cvReleaseImage(&img);
cvDestroyWindow( win );
}
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);
}
void cbMouse(int evt, int x, int y, int flags, void* param)
{
if (CV_EVENT_LBUTTONDOWN&evt){ // point
//if (CV_EVENT_FLAG_LBUTTON&flags){ // drag
fprintf(stderr, "(%d,%d)\n", x, y);
cvCircle((IplImage*)((stMouseParam*)param)->img, cvPoint(x,y),1,CV_BLACK,-1);
((stMouseParam*)param)->pt = cvPoint2D32f(x,y);
}
}
/*
* call-seq:
* gravity_center -> cvpoint2d32f
*
* Return gravity center.
*/
VALUE
rb_gravity_center(VALUE self)
{
CvMoments *moments = CVMOMENTS(self);
double
m00 = cvGetSpatialMoment(moments, 0, 0),
m10 = cvGetSpatialMoment(moments, 1, 0),
m01 = cvGetSpatialMoment(moments, 0, 1);
return cCvPoint2D32f::new_object(cvPoint2D32f(m10 / m00, m01 / m00));
}
int Simulator::computeObservations(Mocap_object* mo, Camera* cam, bool show_image){
char img_name[100];
if (show_image){
sprintf(img_name,"Projection_%i", cam->id);
cvNamedWindow(img_name,1);
}
cam->obs.clear();
Eigen::Affine3f c2w = cam->pose.inverse();
for (uint i=0; i<mo->points.size(); ++i){
if (!mo->point_valid[i]) continue;
Eigen::Vector3f c = mo->points[i];
c = c2w*c;
// ROS_INFO("pt in cam frame: %f %f %f", c.x(), c.y(), c.z());
float x_px = c.x()/c.z()*cam->f_x+cam->c_x;
float y_px = c.y()/c.z()*cam->f_y+cam->c_y;
// point behind camera or not within field of view
if (c.z() < 0 || x_px < 0 || y_px < 0 || x_px >= cam->c_width || y_px >= cam->c_height){
continue;
}
cam->obs[i] = cvPoint2D32f(x_px,y_px);
}
if (show_image) {
// print on image
cvSet(img, cvScalar(0,0,0));
for (Observations::iterator it = cam->obs.begin(); it!=cam->obs.end(); ++it){
cvCircle(img, cvPoint(it->second.x,it->second.y),3, CV_RGB(0,255,0),2);
}
// for (uint i=0; i<prj.size(); ++i){
// float x = prj[i].x; float y = prj[i].y;
// float x_ = prj[(i+1)%prj.size()].x; float y_ = prj[(i+1)%prj.size()].y;
// cvLine(img,cvPoint(x,y),cvPoint(x_,y_), CV_RGB(255,0,0),2);
// }
cvShowImage(img_name, img);
cvWaitKey(5);
}
return cam->obs.size();
}
void FrameProcessor::processStereoFrame(const Mat & frameL, const Mat & frameR, Mat & pointCloud){
Mat disparityMap, disparityMapNormalized;
Mat frameTransposedL, frameTransposedR, frameRemappedL, frameRemappedR, frameGrayscaleL, frameGrayscaleR;
Mat rotMatL = cvCreateMat(2,3,CV_32FC1);
Mat rotMatR = cvCreateMat(2,3,CV_32FC1);
// Compute rotation matrix
CvPoint2D32f centerL = cvPoint2D32f( frameL.cols/2, frameL.rows/2 );
rotMatL = getRotationMatrix2D( centerL, 90, 1 );
CvPoint2D32f centerR = cvPoint2D32f( frameR.cols/2, frameR.rows/2 );
rotMatR = getRotationMatrix2D( centerR, 90, 1 );
warpAffine(frameL, frameTransposedL, rotMatL, frameL.size() );
warpAffine(frameR, frameTransposedR, rotMatR, frameR.size() );
//transpose(frameL, frameTransposedL);
//transpose(frameR, frameTransposedR);
remap(frameTransposedL, frameRemappedL, rmap[0][0], rmap[0][1], CV_INTER_LINEAR);
remap(frameTransposedR, frameRemappedR, rmap[1][0], rmap[1][1], CV_INTER_LINEAR);
//imshow("LiveFeedL",frameTransposedL);
//imshow("LiveFeedR",frameTransposedR);
cvtColor(frameRemappedL, frameGrayscaleL, CV_RGB2GRAY);
cvtColor(frameRemappedR, frameGrayscaleR, CV_RGB2GRAY);
BlockMatcher( frameGrayscaleL, frameGrayscaleR, disparityMap, CV_32F);
normalize(disparityMap, disparityMapNormalized, 0, 255, CV_MINMAX, CV_8U);
imshow("Disparity", disparityMapNormalized);
reprojectImageTo3D( disparityMap, pointCloud, Q, false);
}
CHandPoint CTransformImage::findFinger()
{
findCenter();
if(!m_transImage)
return CHandPoint();
int width = m_transImage->width;
int height = 180;
int moveX = 0, moveY = height;
BOOL bClick = FALSE, bWheel = FALSE;
unsigned char ch;
for(int y = m_center.y; y < height; ++y)
{
for(int x = m_center.x-100; x < m_center.x+50; ++x)
{
if(x < 0 || x >= width || y < 0 || y >= height)
continue;
ch = m_transImage->imageData[y*width+x];
if(ch == 255)
{
moveX = x, moveY = y;
if(x < m_center.x-50)
bClick = TRUE;
break;
}
// CvBox2D box;
// box.center = cvPoint2D32f(x, y);
// box.size = cvSize2D32f(2, 2);
// box.angle = 90;
// cvEllipseBox(m_image, box, CV_RGB(0,255,255), 1);
}
if(moveY != y)
break;
}
// 좌표가 조금씩 흔들리는 것을 방지하기 위한 부분
if(abs(m_pastPt.x-moveX) < 2 || abs(m_pastPt.y-moveY) < 2)
moveX = m_pastPt.x, moveY = m_pastPt.y;
m_pastPt.x = moveX, m_pastPt.y = moveY;
CvBox2D box;
box.center = cvPoint2D32f(moveX, moveY);
box.size = cvSize2D32f(2, 2);
box.angle = 90;
cvEllipseBox(m_image, box, CV_RGB(0,255,0), 1);
return CHandPoint(moveX, height-moveY, bClick, bWheel);
}
/****************************************
* returns an align face in an image
* returned img : 128x128 (Gray-scale)
****************************************/
Mat
FaceVue::align_Face(const Mat &frame, const CvRect &faceROI)
{
Mat warp_dst = Mat::zeros (128, 128, CV_8UC1);
is_aligned = false;
Mat input;
cv::cvtColor (frame, input, CV_RGB2GRAY);
Point2f* pt1 = new Point2f[3];
Point2f* pt2 = new Point2f[3];
pt2[0] = cvPoint2D32f(27,46);
pt2[1] = cvPoint2D32f(101,46);
pt2[2] = cvPoint2D32f(64,101);
pt1[0] = cvPoint2D32f(target_Face->right_eye_x - faceROI.x,target_Face->right_eye_y - faceROI.y);
pt1[1] = cvPoint2D32f(target_Face->left_eye_x - faceROI.x,target_Face->left_eye_y - faceROI.y);
pt1[2] = cvPoint2D32f(target_Face->mouth_x - faceROI.x,target_Face->mouth_y - faceROI.y);
if(pt1[0].x >= 0 && pt1[0].y>=0 &&
pt1[1].x >= 0 && pt1[1].y>=0 &&
pt1[2].x >= 0 && pt1[2].y>=0 &&
pt1[0].x < frame.size().width && pt1[0].y < frame.size().height &&
pt1[1].x < frame.size().width && pt1[1].y < frame.size().height&&
pt1[2].x < frame.size().width && pt1[2].y < frame.size().height)
{
is_aligned = true;
Mat warp_mat = cv::getAffineTransform (pt1, pt2);
Mat face = input (faceROI);
cv::warpAffine(face, warp_dst, warp_mat, warp_dst.size());
}
delete[] pt1;
delete[] pt2;
return warp_dst;
}
void HarrisBuffer::OpticalFlowFromLK()
{
//cvCalcOpticalFlowLK(prevgray, gray, cvSize(15,15), OFx, OFy);
//cvCalcOpticalFlowHS(prevgray, gray, 0, OFx, OFy, 0.1, cvTermCriteria(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS,100,1e5));
float subf=5;
int xsz=gray->width, ysz=gray->height;
int pxn=int(xsz/subf), pyn=int(ysz/subf);
CvPoint2D32f *p1 = new CvPoint2D32f[pxn*pyn];
CvPoint2D32f *p2 = new CvPoint2D32f[pxn*pyn];
for (int i=0; i<pyn; i++)
for (int j=0; j<pxn; j++){
p1[i*pxn+j]=cvPoint2D32f(j*subf,i*subf);
p2[i*pxn+j]=cvPoint2D32f(j*subf,i*subf);
}
char *sts = new char[pxn*pyn];
CvTermCriteria termination = cvTermCriteria(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 100, 1e5);
cvCalcOpticalFlowPyrLK(prevgray, gray, NULL, NULL,
p1, p2, int(pxn*pyn), cvSize(int(10),int(10)),
3,sts,NULL,termination,CV_LKFLOW_INITIAL_GUESSES);
IplImage* OFxsub= cvCreateImage(cvSize(pxn,pyn),IMGTYPE,1);
IplImage* OFysub= cvCreateImage(cvSize(pxn,pyn),IMGTYPE,1);
IMG_ELEM_TYPE *ptrOFxsub=(IMG_ELEM_TYPE*)cvPtr2D(OFxsub,0,0);
IMG_ELEM_TYPE *ptrOFysub=(IMG_ELEM_TYPE*)cvPtr2D(OFysub,0,0);
for (int i=0; i<pyn; i++)
for (int j=0; j<pxn; j++){
ptrOFxsub[i*pxn+j]=p2[i*pxn+j].x-p1[i*pxn+j].x;
ptrOFysub[i*pxn+j]=p2[i*pxn+j].y-p1[i*pxn+j].y;
}
cvResize(OFxsub,OFx,CV_INTER_NN);
cvResize(OFysub,OFy,CV_INTER_NN);
cvReleaseImage(&OFxsub);
cvReleaseImage(&OFysub);
}
