void CalTarget::save(CvFileStorage *out, const char *name) {
cvStartWriteStruct(out, name, CV_NODE_MAP);
point.save(out, "point");
cvWrite(out, "image", image.get());
cvWrite(out, "origImage", origImage.get());
cvEndWriteStruct(out);
}
void SaveFeature(
FEATURE* feature,
char* fileName){
CvFileStorage* fs = cvOpenFileStorage( fileName, 0, CV_STORAGE_WRITE, NULL);
if (fs==NULL){
fprintf(stderr, "can't open feature file\n");
return;
}
cvWriteInt(fs, "radius", feature->radius);
cvWriteInt(fs, "neighbors", feature->neighbors);
cvWriteInt(fs, "grid_x", feature->grid_x);
cvWriteInt(fs, "grid_y", feature->grid_y);
cvWriteInt(fs, "num_faces", feature->num_faces);
char faceid[1024];
char id[1024];
for (int i=0; i<feature->num_faces; i++){
strcpy(faceid, "face-");
sprintf(id, "%d", i);
strcat(faceid, id);
cvWrite( fs, faceid, feature->histogram[i], cvAttrList(0,0) );
}
if (HUELBP_ON){
for (int i=0; i<feature->num_faces; i++){
strcpy(faceid, "hue-face-");
sprintf(id, "%d", i);
strcat(faceid, id);
cvWrite( fs, faceid, feature->hue_histogram[i], cvAttrList(0,0) );
}
}
cvReleaseFileStorage( &fs );
}
// Save the training data to the file 'facedata.xml'.
void storeTrainingData()
{
CvFileStorage * fileStorage;
int i;
// create a file-storage interface
fileStorage = cvOpenFileStorage( facedata, 0, CV_STORAGE_WRITE );
// Store the person names. Added by Shervin.
cvWriteInt( fileStorage, "nPersons", nPersons );
for (i=0; i<nPersons; i++) {
char varname[200];
sprintf( varname, "personName_%d", (i+1) );
cvWriteString(fileStorage, varname, personNames[i].c_str(), 0);
}
// store all the data
cvWriteInt( fileStorage, "nEigens", nEigens );
cvWriteInt( fileStorage, "nTrainFaces", nTrainFaces );
cvWrite(fileStorage, "trainPersonNumMat", personNumTruthMat, cvAttrList(0,0));
cvWrite(fileStorage, "eigenValMat", eigenValMat, cvAttrList(0,0));
cvWrite(fileStorage, "projectedTrainFaceMat", projectedTrainFaceMat, cvAttrList(0,0));
cvWrite(fileStorage, "avgTrainImg", pAvgTrainImg, cvAttrList(0,0));
for(i=0; i<nEigens; i++)
{
char varname[200];
sprintf( varname, "eigenVect_%d", i );
cvWrite(fileStorage, varname, eigenVectArr[i], cvAttrList(0,0));
}
// release the file-storage interface
cvReleaseFileStorage( &fileStorage );
}
//存储训练结果
void storeTrainingData()
{
CvFileStorage * fileStorage;
int i;
fileStorage = cvOpenFileStorage( "facedata.xml", 0, CV_STORAGE_WRITE );
//存储特征值，投影矩阵，平均矩阵等训练结果
cvWriteInt( fileStorage, "nEigens", nEigens );
cvWriteInt( fileStorage, "nTrainFaces", nTrainFaces );
cvWrite(fileStorage, "trainPersonNumMat", personNumTruthMat, cvAttrList(0,0));
cvWrite(fileStorage, "eigenValMat", eigenValMat, cvAttrList(0,0));
cvWrite(fileStorage, "projectedTrainFaceMat", projectedTrainFaceMat, cvAttrList(0,0));
cvWrite(fileStorage, "avgTrainImg", pAvgTrainImg, cvAttrList(0,0));
for(i=0; i<nEigens; i++)
{
char varname[200];
sprintf( varname, "eigenVect_%d", i );
cvWrite(fileStorage, varname, eigenVectArr[i], cvAttrList(0,0));
}
cvReleaseFileStorage( &fileStorage );
}
bool ObjectDefinition::Save(const char* filename)
{
do{
CvFileStorage* storage = cvOpenFileStorage(filename, 0, CV_STORAGE_WRITE);
cvWrite(storage, "keypoints", m_keypoints);
cvWrite(storage, "descriptor", m_descriptor);
cvStartWriteStruct(storage, "corners", CV_NODE_SEQ, NULL, cvAttrList(0,0));
cvWriteRawData(storage, m_corners, 4, "ii");
cvEndWriteStruct(storage);
cvReleaseFileStorage(&storage);
m_filename = filename;
return true;
}while(false);
return false;
}
void CvGBTrees::write_params( CvFileStorage* fs ) const
{
const char* loss_function_type_str =
params.loss_function_type == SQUARED_LOSS ? "SquaredLoss" :
params.loss_function_type == ABSOLUTE_LOSS ? "AbsoluteLoss" :
params.loss_function_type == HUBER_LOSS ? "HuberLoss" :
params.loss_function_type == DEVIANCE_LOSS ? "DevianceLoss" : 0;
if( loss_function_type_str )
cvWriteString( fs, "loss_function", loss_function_type_str );
else
cvWriteInt( fs, "loss_function", params.loss_function_type );
cvWriteInt( fs, "ensemble_length", params.weak_count );
cvWriteReal( fs, "shrinkage", params.shrinkage );
cvWriteReal( fs, "subsample_portion", params.subsample_portion );
//cvWriteInt( fs, "max_tree_depth", params.max_depth );
//cvWriteString( fs, "use_surrogate_splits", params.use_surrogates ? "true" : "false");
if (class_labels) cvWrite( fs, "class_labels", class_labels);
data->is_classifier = !problem_type();
data->write_params( fs );
data->is_classifier = 0;
}
int main(int argc, const char * argv[]) {
CvMat *cmatrix = cvCreateMat(5,5,CV_32FC1);
float element_3_2 = 7.7;
*((float*)CV_MAT_ELEM_PTR( *cmatrix, 3,2) ) = element_3_2;
cvmSet(cmatrix,4,4,0.5000);
cvSetReal2D(cmatrix,3,3,0.5000);
CvFileStorage* fs1 = cvOpenFileStorage("cfg.xml", 0, CV_STORAGE_WRITE);
cvWriteInt( fs1, "frame_count", 10 );
cvStartWriteStruct( fs1, "frame_size", CV_NODE_SEQ );
cvWriteInt( fs1 , 0, 320 );
cvWriteInt( fs1 , 0, 200 );
cvEndWriteStruct( fs1 );
cvWrite( fs1, "color_cvt_matrix", cmatrix );
cvReleaseFileStorage( &fs1 );
CvFileStorage* fs2 = cvOpenFileStorage("cfg.xml", 0, CV_STORAGE_READ);
int frame_count = cvReadIntByName( fs2 , 0, "frame_count");
CvSeq* s = cvGetFileNodeByName( fs2,0,"frame_size" )->data.seq;
int frame_width = cvReadInt( (CvFileNode*)cvGetSeqElem(s,0) );
int frame_height = cvReadInt( (CvFileNode*)cvGetSeqElem(s,1) );
CvMat* color_cvt_matrix = (CvMat*) cvReadByName( fs2, 0 , "color_cvt_matrix");
printf("color_cvt_matrix: width=%d, height=%d\n",color_cvt_matrix->width, color_cvt_matrix->height );
printf("frame_count=%d, frame_width=%d, frame_height=%d\n",frame_count,frame_width,frame_height);
cvReleaseFileStorage( &fs2 );
return 0;
}
bool CameraParameters::saveParameters(const char* filename){
CvFileStorage* fstorage = 0;
fstorage = cvOpenFileStorage(filename, NULL, CV_STORAGE_WRITE);
if(!fstorage)
return false;
cvWrite(fstorage, CAMERA_MATRIX_TAG, m_mat_camera_matrix);
cvWrite(fstorage, DISTORTION_COEF_TAG, m_mat_distortion_coeff);
cvReleaseFileStorage(&fstorage);
return true;
}
void save_posture_model (CvFileStorage *fs, CvMat *mean, CvMat *cov)
{
static int i=0;
static char asd[]="posture-00";
cvStartWriteStruct(fs, asd, CV_NODE_MAP, NULL, cvAttrList(0,0));
cvWriteInt(fs, "type", i++);
cvWrite(fs, "mean", (void*)mean, cvAttrList(0,0));
cvWrite(fs, "cov", (void*)cov, cvAttrList(0,0));
cvEndWriteStruct(fs);
if (++asd[9] == ':') {
asd[9] = '0';
asd[8]++;
}
}
void save_sequence (const char *file, ptseq seq, int N)
{
CvFileStorage *fs;
fs = cvOpenFileStorage(file, NULL, CV_STORAGE_WRITE, NULL);
cvWriteInt(fs, "N", N);
cvWrite(fs, "seq", seq.ptr, cvAttrList(0,0));
cvReleaseFileStorage(&fs);
}
/**
* Write out a Protocol to YAML file, given an initialized CvFileStorage
*/
void WriteProtocol(Protocol* myP, CvFileStorage* fs){
if (fs==0){
printf("fs is zero! Could you have specified the wrong directory?\n");
return;
}
/** Write out Protocol **/
cvStartWriteStruct(fs,"Protocol",CV_NODE_MAP,NULL);
if (myP->Filename!=NULL) cvWriteString(fs,"Filename",myP->Filename);
if (myP->Description!=NULL) cvWriteString(fs,"Description",myP->Description);
cvStartWriteStruct(fs,"GridSize",CV_NODE_MAP,NULL);
cvWriteInt(fs,"height",myP->GridSize.height);
cvWriteInt(fs,"width",myP->GridSize.width);
cvEndWriteStruct(fs);
//printf("yo\n");
/** Write Out Steps **/
cvStartWriteStruct(fs,"Steps",CV_NODE_SEQ,NULL);
int j;
int jtot=myP->Steps->total;
CvSeqReader StepReader;
cvStartReadSeq(myP->Steps,&StepReader,0);
for (j = 0; j < jtot; ++j) {
//printf("About to write step number %d\n",j);
CvSeq** CurrentMontagePtr = (CvSeq**) StepReader.ptr;
CvSeq* CurrentMontage=*CurrentMontagePtr;
assert(CurrentMontage!=NULL);
// printf("ping\n");
// printf("CurrentMontage->total=%d",CurrentMontage->total);
cvStartWriteStruct(fs,NULL,CV_NODE_SEQ,NULL);
int k;
int ktot=CurrentMontage->total;
// printf("ktot=%d\n",ktot);
CvSeqReader MontageReader;
cvStartReadSeq(CurrentMontage,&MontageReader);
for (k = 0; k < ktot; ++k) {
// printf("About to write polygon number %d\n",k);
WormPolygon** CurrentPolygonPtr= (WormPolygon**) MontageReader.ptr;
WormPolygon* CurrentPolygon=*CurrentPolygonPtr;
cvWrite(fs,NULL,CurrentPolygon->Points);
CV_NEXT_SEQ_ELEM(CurrentMontage->elem_size,MontageReader);
}
CurrentMontagePtr=NULL;
CurrentMontage=NULL;
cvEndWriteStruct(fs);
/** Loop to Next Step **/
CV_NEXT_SEQ_ELEM(myP->Steps->elem_size,StepReader);
}
cvEndWriteStruct(fs);
cvEndWriteStruct(fs);
}
void storeTrainingData()
{
CvFileStorage * fileStorage;
int i;
fileStorage = cvOpenFileStorage( "/etc/pam_face_authentication/facedata.xml", 0, CV_STORAGE_WRITE );
cvWriteInt( fileStorage, "numberOfEigenVectors", numberOfEigenVectors );
cvWriteInt( fileStorage, "numberOfTrainingFaces", numberOfTrainingFaces );
cvWrite(fileStorage, "eigenValueMatrix", eigenValueMatrix, cvAttrList(0,0));
cvWrite(fileStorage, "projectedTrainFaceMat", projectedTrainFaceMat, cvAttrList(0,0));
cvWrite(fileStorage, "avgTrainImg", averageTrainingImage, cvAttrList(0,0));
for (i=0; i<numberOfEigenVectors; i++)
{
char varname[200];
sprintf( varname, "eigenVect_%d", i );
cvWrite(fileStorage, varname, eigenVectorArray[i], cvAttrList(0,0));
}
cvReleaseFileStorage( &fileStorage );
}
//////////////////////////////////
// storeTrainingData()
//
void faceRecognition::storeTrainingData()
{
CvFileStorage * fileStorage;
int i;
// create a file-storage interface
fileStorage = cvOpenFileStorage( "./res/facedata.xml", 0, CV_STORAGE_WRITE );
// store all the data
cvWriteInt( fileStorage, "nEigens", nEigens );
cvWriteInt( fileStorage, "nTrainFaces", nTrainFaces );
cvWrite(fileStorage, "trainPersonNumMat", personNumTruthMat, cvAttrList(0,0));
cvWrite(fileStorage, "eigenValMat", eigenValMat, cvAttrList(0,0));
cvWrite(fileStorage, "projectedTrainFaceMat", projectedTrainFaceMat, cvAttrList(0,0));
cvWrite(fileStorage, "avgTrainImg", pAvgTrainImg, cvAttrList(0,0));
for(i=0; i<nEigens; i++){
char varname[200];
sprintf( varname, "eigenVect_%d", i );
cvWrite(fileStorage, varname, eigenVectArr[i], cvAttrList(0,0));
}
// release the file-storage interface
cvReleaseFileStorage( &fileStorage);
}
int main(int argc, char** argv) {
CvMat *cmatrix = cvCreateMat(5, 5, CV_32FC1);
float element_3_2 = 7.7;
*((float*) CV_MAT_ELEM_PTR( *cmatrix, 3,2)) = element_3_2;
cvmSet(cmatrix, 4, 4, 0.5000);
cvSetReal2D(cmatrix, 3, 3, 0.5000);
printf("Example 3_17, writing cfg.xml\n");
CvFileStorage* fs = cvOpenFileStorage("cfg.xml", 0, CV_STORAGE_WRITE);
cvWriteInt(fs, "frame_count", 10);
cvStartWriteStruct(fs, "frame_size", CV_NODE_SEQ);
cvWriteInt(fs, 0, 320);
cvWriteInt(fs, 0, 200);
cvEndWriteStruct(fs);
cvWrite(fs, "color_cvt_matrix", cmatrix);
cvReleaseFileStorage(&fs);
return 0;
}
/* debug functions */
void icvSave( const CvArr* ptr, const char* filename, int line )
{
CvFileStorage* fs;
char buf[PATH_MAX];
const char* name;
name = strrchr( filename, '\\' );
if( !name ) name = strrchr( filename, '/' );
if( !name ) name = filename;
else name++; /* skip '/' or '\\' */
sprintf( buf, "%s-%d-%d", name, line, time( NULL ) );
fs = cvOpenFileStorage( buf, NULL, CV_STORAGE_WRITE_TEXT );
if( !fs ) return;
cvWrite( fs, "debug", ptr );
cvReleaseFileStorage( &fs );
}
int Eigenfaces::saveConfig(const string& dir)
{
if (DEBUG)
cout << "Saving config in "<< dir << endl;
string configFile = dir + string("/libface-config.xml");
CvFileStorage* fileStorage = cvOpenFileStorage(d->configFile.c_str(), 0, CV_STORAGE_WRITE);
if (!fileStorage)
{
if (DEBUG)
cout << "Cant open for storing :" << d->configFile << endl;
return 1;
}
// Start storing
unsigned int nIds = d->faceImgArr.size(), i;
// Write some initial params and matrices
cvWriteInt( fileStorage, "nIds", nIds );
cvWriteInt( fileStorage, "FACE_WIDTH", d->FACE_WIDTH);
cvWriteInt( fileStorage, "FACE_HEIGHT", d->FACE_HEIGHT);
cvWriteReal( fileStorage, "THRESHOLD", d->THRESHOLD);
// Write all the training faces
for ( i = 0; i < nIds; i++ )
{
char facename[200];
sprintf(facename, "person_%d", i);
cvWrite(fileStorage, facename, d->faceImgArr.at(i), cvAttrList(0,0));
}
for ( i = 0; i < nIds; i++ )
{
char idname[200];
sprintf(idname, "id_%d", i);
cvWriteInt(fileStorage, idname, d->indexMap.at(i));
}
// Release the fileStorage
cvReleaseFileStorage(&fileStorage);
return 0;
}
int
main (int argc, char **argv)
{
char filename[] = "save_cv.xml"; // file name
int i;
int a;
float b;
CvMat** mat;
CvFileStorage *cvfs;
// (1)create sample data
a = 10;
b = 0.1;
mat = (CvMat**)cvAlloc(3*sizeof(CvMat*));
for(i=0;i<3;i++){
mat[i] = cvCreateMat(3,3,CV_32FC1);
cvSet(mat[i], cvScalarAll(i), NULL);
}
// (2)open file storage
cvfs = cvOpenFileStorage(filename,NULL,CV_STORAGE_WRITE);
// (3)write data to file
cvWriteInt(cvfs, "a", a);
cvWriteReal(cvfs, "b", b);
cvStartWriteStruct(cvfs, "mat_array", CV_NODE_SEQ, NULL, cvAttrList(NULL, NULL)); // create node
for(i=0; i<3; i++){
cvWrite(cvfs, NULL, mat[i], cvAttrList(NULL, NULL));
}
cvEndWriteStruct(cvfs);
// (4)close file storage
cvReleaseFileStorage(&cvfs);
// release mat
for(i=0; i<3; i++){
cvReleaseMat(mat+i);
}
cvFree(mat);
return 0;
}
/* simple API for reading/writing data */
CV_IMPL void
cvSave( const char* filename, const void* struct_ptr,
const char* _name, const char* comment, CvAttrList attributes )
{
CvFileStorage* fs = 0;
if( !struct_ptr )
CV_Error( CV_StsNullPtr, "NULL object pointer" );
fs = cvOpenFileStorage( filename, 0, CV_STORAGE_WRITE );
if( !fs )
CV_Error( CV_StsError, "Could not open the file storage. Check the path and permissions" );
cv::String name = _name ? cv::String(_name) : cv::FileStorage::getDefaultObjectName(filename);
if( comment )
cvWriteComment( fs, comment, 0 );
cvWrite( fs, name.c_str(), struct_ptr, attributes );
cvReleaseFileStorage( &fs );
}
void CvANN_MLP::write( CvFileStorage* fs, const char* name )
{
CV_FUNCNAME( "CvANN_MLP::write" );
__BEGIN__;
int i, l_count = layer_sizes->cols;
if( !layer_sizes )
CV_ERROR( CV_StsError, "The network has not been initialized" );
cvStartWriteStruct( fs, name, CV_NODE_MAP, CV_TYPE_NAME_ML_ANN_MLP );
cvWrite( fs, "layer_sizes", layer_sizes );
write_params( fs );
cvStartWriteStruct( fs, "input_scale", CV_NODE_SEQ + CV_NODE_FLOW );
cvWriteRawData( fs, weights[0], layer_sizes->data.i[0]*2, "d" );
cvEndWriteStruct( fs );
cvStartWriteStruct( fs, "output_scale", CV_NODE_SEQ + CV_NODE_FLOW );
cvWriteRawData( fs, weights[l_count], layer_sizes->data.i[l_count-1]*2, "d" );
cvEndWriteStruct( fs );
cvStartWriteStruct( fs, "inv_output_scale", CV_NODE_SEQ + CV_NODE_FLOW );
cvWriteRawData( fs, weights[l_count+1], layer_sizes->data.i[l_count-1]*2, "d" );
cvEndWriteStruct( fs );
cvStartWriteStruct( fs, "weights", CV_NODE_SEQ );
for( i = 1; i < l_count; i++ )
{
cvStartWriteStruct( fs, 0, CV_NODE_SEQ + CV_NODE_FLOW );
cvWriteRawData( fs, weights[i], (layer_sizes->data.i[i-1]+1)*layer_sizes->data.i[i], "d" );
cvEndWriteStruct( fs );
}
cvEndWriteStruct( fs );
__END__;
}
void CvOneWayDescriptor::Write(CvFileStorage* fs, const char* name)
{
CvMat* mat = cvCreateMat(m_pose_count, m_samples[0]->width*m_samples[0]->height, CV_32FC1);
// prepare data to write as a single matrix
for(int i = 0; i < m_pose_count; i++)
{
for(int y = 0; y < m_samples[i]->height; y++)
{
for(int x = 0; x < m_samples[i]->width; x++)
{
float val = *((float*)(m_samples[i]->imageData + m_samples[i]->widthStep*y) + x);
cvmSet(mat, i, y*m_samples[i]->width + x, val);
}
}
}
cvWrite(fs, name, mat);
cvReleaseMat(&mat);
}
int
main (int argc, char *argv[])
{
int i, j, k;
int corner_count, found;
int p_count[IMAGE_NUM];
IplImage *src_img[IMAGE_NUM];
CvSize pattern_size = cvSize (PAT_COL, PAT_ROW);
CvPoint3D32f objects[ALL_POINTS];
CvPoint2D32f *corners = (CvPoint2D32f *) cvAlloc (sizeof (CvPoint2D32f) * ALL_POINTS);
CvMat object_points;
CvMat image_points;
CvMat point_counts;
CvMat *intrinsic = cvCreateMat (3, 3, CV_32FC1);
CvMat *rotation = cvCreateMat (1, 3, CV_32FC1);
CvMat *translation = cvCreateMat (1, 3, CV_32FC1);
CvMat *distortion = cvCreateMat (1, 4, CV_32FC1);
// (1)キャリブレーション画像の読み込み
for (i = 0; i < IMAGE_NUM; i++) {
char buf[32];
sprintf (buf, "calib_img/%02d.png", i);
if ((src_img[i] = cvLoadImage (buf, CV_LOAD_IMAGE_COLOR)) == NULL) {
fprintf (stderr, "cannot load image file : %s\n", buf);
}
}
// (2)3次元空間座標の設定
for (i = 0; i < IMAGE_NUM; i++) {
for (j = 0; j < PAT_ROW; j++) {
for (k = 0; k < PAT_COL; k++) {
objects[i * PAT_SIZE + j * PAT_COL + k].x = j * CHESS_SIZE;
objects[i * PAT_SIZE + j * PAT_COL + k].y = k * CHESS_SIZE;
objects[i * PAT_SIZE + j * PAT_COL + k].z = 0.0;
}
}
}
cvInitMatHeader (&object_points, ALL_POINTS, 3, CV_32FC1, objects);
// (3)チェスボード（キャリブレーションパターン）のコーナー検出
int found_num = 0;
cvNamedWindow ("Calibration", CV_WINDOW_AUTOSIZE);
for (i = 0; i < IMAGE_NUM; i++) {
found = cvFindChessboardCorners (src_img[i], pattern_size, &corners[i * PAT_SIZE], &corner_count);
fprintf (stderr, "%02d...", i);
if (found) {
fprintf (stderr, "ok\n");
found_num++;
}
else {
fprintf (stderr, "fail\n");
}
// (4)コーナー位置をサブピクセル精度に修正，描画
IplImage *src_gray = cvCreateImage (cvGetSize (src_img[i]), IPL_DEPTH_8U, 1);
cvCvtColor (src_img[i], src_gray, CV_BGR2GRAY);
cvFindCornerSubPix (src_gray, &corners[i * PAT_SIZE], corner_count,
cvSize (3, 3), cvSize (-1, -1), cvTermCriteria (CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03));
cvDrawChessboardCorners (src_img[i], pattern_size, &corners[i * PAT_SIZE], corner_count, found);
p_count[i] = corner_count;
cvShowImage ("Calibration", src_img[i]);
cvWaitKey (0);
}
cvDestroyWindow ("Calibration");
if (found_num != IMAGE_NUM)
return -1;
cvInitMatHeader (&image_points, ALL_POINTS, 1, CV_32FC2, corners);
cvInitMatHeader (&point_counts, IMAGE_NUM, 1, CV_32SC1, p_count);
// (5)内部パラメータ，歪み係数の推定
cvCalibrateCamera2 (&object_points, &image_points, &point_counts, cvSize (640, 480), intrinsic, distortion);
// (6)外部パラメータの推定
CvMat sub_image_points, sub_object_points;
int base = 0;
cvGetRows (&image_points, &sub_image_points, base * PAT_SIZE, (base + 1) * PAT_SIZE);
cvGetRows (&object_points, &sub_object_points, base * PAT_SIZE, (base + 1) * PAT_SIZE);
cvFindExtrinsicCameraParams2 (&sub_object_points, &sub_image_points, intrinsic, distortion, rotation, translation);
// (7)XMLファイルへの書き出し
CvFileStorage *fs;
fs = cvOpenFileStorage ("camera.xml", 0, CV_STORAGE_WRITE);
cvWrite (fs, "intrinsic", intrinsic);
cvWrite (fs, "rotation", rotation);
cvWrite (fs, "translation", translation);
cvWrite (fs, "distortion", distortion);
cvReleaseFileStorage (&fs);
for (i = 0; i < IMAGE_NUM; i++) {
cvReleaseImage (&src_img[i]);
}
return 0;
}
void CvMatrix::write( CvFileStorage* fs, const char* matname )
{
if( matrix )
cvWrite( fs, matname, matrix );
}
void CvImage::write( CvFileStorage* fs, const char* imgname )
{
if( image )
cvWrite( fs, imgname, image );
}
int
main (int argc, char *argv[])
{
// IMAGE_NUM, PAT_ROW, PAT_COL,PAT_SIZE, ALL_POINTS, CHESS_SIZE
/*
if (argc < 6)
{
std::cout<< "ERROR : augment is incorrect" << std::endl;
return -1;
}
*/
//int PAT_ROW = atoi(argv[3]);
//int PAT_COL = atoi(argv[4]);
//int CHESS_SIZE = atoi(argv[5]);
//int PAT_SIZE = PAT_ROW*PAT_COL;
char* NAME_IMG_IN = argv[1];
//char* NAME_XML_OUT = argv[2];
int i,j;
int corner_count, found;
IplImage *src_img;
CvSize pattern_size = cvSize(PAT_COL, PAT_ROW);
CvMat image_points;
CvMat object_points;
CvMat *intrinsic, *distortion;
CvMat *rotation = cvCreateMat(1, 3, CV_32FC1);
CvMat *rotationConv = cvCreateMat(3, 3, CV_32FC1);
CvMat *translation = cvCreateMat(1, 3, CV_32FC1);
CvPoint3D32f objects[PAT_SIZE];
CvFileStorage *fs;
CvFileNode *param;
CvPoint2D32f *corners = (CvPoint2D32f *) cvAlloc (sizeof (CvPoint2D32f) * PAT_SIZE);
// (1)�����оݤȤʤ������ɤ߹���
if ( ( src_img = cvLoadImage(NAME_IMG_IN, CV_LOAD_IMAGE_COLOR) ) == 0)
//if (argc < 2 || (src_img = cvLoadImage (argv[1], CV_LOAD_IMAGE_COLOR)) == 0)
{
std::cout<< "ERROR : input image is not exist or augment is incorrect" << std::endl;
return -1;
}
// 3�������ֺ�ɸ������
for (i = 0; i < PAT_ROW; i++) {
for (j = 0; j < PAT_COL; j++) {
objects[i * PAT_COL + j].x = i * CHESS_SIZE;
objects[i * PAT_COL + j].y = j * CHESS_SIZE;
objects[i * PAT_COL + j].z = 0.0;
}
}
cvInitMatHeader(&object_points, PAT_SIZE, 3, CV_32FC1, objects);
// �������ܡ��ɡʥ����֥졼�����ѥ�����ˤΥ����ʡ�����
int found_num = 0;
// cvNamedWindow("Calibration", CV_WINDOW_AUTOSIZE);
found = cvFindChessboardCorners(src_img, pattern_size, &corners[0], &corner_count);
fprintf(stderr, "corner:%02d...\n", corner_count);
if (found) {
fprintf(stderr, "ok\n");
} else {
fprintf(stderr, "fail\n");
}
// (4)�����ʡ����֤֥ԥ��������٤˽���������
IplImage *src_gray = cvCreateImage (cvGetSize (src_img), IPL_DEPTH_8U, 1);
cvCvtColor (src_img, src_gray, CV_BGR2GRAY);
cvFindCornerSubPix (src_gray, &corners[0], corner_count,
cvSize (3, 3), cvSize (-1, -1), cvTermCriteria (CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03));
cvDrawChessboardCorners (src_img, pattern_size, &corners[0], corner_count, found);
// cvShowImage ("Calibration", src_img);
// cvWaitKey (0);
// cvDestroyWindow("Calibration");
cvShowImage ("Calibration", src_img);
cvInitMatHeader(&image_points, PAT_SIZE, 1, CV_32FC2, corners);
// (2)�ѥ����ե�������ɤ߹���
fs = cvOpenFileStorage ("xml/rgb.xml", 0, CV_STORAGE_READ);
param = cvGetFileNodeByName (fs, NULL, "intrinsic");
intrinsic = (CvMat *) cvRead (fs, param);
param = cvGetFileNodeByName (fs, NULL, "distortion");
distortion = (CvMat *) cvRead (fs, param);
cvReleaseFileStorage (&fs);
// (3) �����ѥ����ο���
CvMat sub_image_points, sub_object_points;
int base = 0;
cvGetRows(&image_points, &sub_image_points, base * PAT_SIZE, (base + 1) * PAT_SIZE);
cvGetRows(&object_points, &sub_object_points, base * PAT_SIZE, (base + 1)* PAT_SIZE);
cvFindExtrinsicCameraParams2(&sub_object_points, &sub_image_points, intrinsic, distortion, rotation, translation);
int ret = cvRodrigues2(rotation, rotationConv);
// int cols = sub_object_points.rows;
// printf("cols = %d\n", cols);
// printf("%f\n",sub_object_points.data.fl[0]);
// mm -> m
for (i = 0; i < translation->cols; i++) { translation->data.fl[i] = translation->data.fl[i] / 1000;}
// (4)XML�ե�����ؤνФ�
//fs = cvOpenFileStorage(argv[2], 0, CV_STORAGE_WRITE);
fs = cvOpenFileStorage(NAME_XML_OUT, 0, CV_STORAGE_WRITE);
cvWrite(fs, "rotation", rotationConv);
cvWrite(fs, "translation", translation);
cvReleaseFileStorage(&fs);
/////////////////////////////////////////////////
// write out py
if(1)
{
cv::Mat ttt(translation);
cv::Mat rrr(rotationConv);
char data2Write[1024];
char textFileName[256];
sprintf( textFileName , "cbCoord/cbOneShot.py");
std::ofstream outPy(textFileName);
outPy << "import sys" <<std::endl;
outPy << "sys.path.append('../')" <<std::endl;
outPy << "from numpy import *" <<std::endl;
outPy << "from numpy.linalg import svd" <<std::endl;
outPy << "from numpy.linalg import inv" <<std::endl;
outPy << "from chessboard_points import *"<<std::endl;
outPy << "sys.path.append('../geo')" <<std::endl;
outPy << "from geo import *" <<std::endl;
/*
///////////////////////////////////////////////////////////////////////////////////
// out translation and rotation as xyzabc list
outPy << "xyzabc = []" <<std::endl;
sprintf( data2Write, "xyzabc.append(%f)", ttt.at<float>(0) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
sprintf( data2Write, "xyzabc.append(%f)", ttt.at<float>(1) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
sprintf( data2Write, "xyzabc.append(%f)", ttt.at<float>(2) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
sprintf( data2Write, "xyzabc.append(%f)", rrr.at<float>(0) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
sprintf( data2Write, "xyzabc.append(%f)", rrr.at<float>(1) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
sprintf( data2Write, "xyzabc.append(%f)", rrr.at<float>(2) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
// out translation and rotation as xyzabc list
///////////////////////////////////////////////////////////////////////////////////
*/
///////////////////////////////////////////////////////////////////////////////////
// out translation
outPy << "ttt = []" <<std::endl;
sprintf( data2Write, "ttt.append(%f)", ttt.at<float>(0) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
sprintf( data2Write, "ttt.append(%f)", ttt.at<float>(1) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
sprintf( data2Write, "ttt.append(%f)", ttt.at<float>(2) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
// out translation
//////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////
// out rotation
outPy << "rrr = []" <<std::endl;
sprintf( data2Write, "rrr.append([%f,%f,%f])", rrr.at<float>(0), rrr.at<float>(1), rrr.at<float>(2) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
sprintf( data2Write, "rrr.append([%f,%f,%f])", rrr.at<float>(3), rrr.at<float>(4), rrr.at<float>(5) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
sprintf( data2Write, "rrr.append([%f,%f,%f])", rrr.at<float>(6), rrr.at<float>(7), rrr.at<float>(8) );
outPy << data2Write << std::endl;
std::cout << data2Write << std::endl;
// out rotation
//////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////
outPy<< "_T = FRAME( vec=ttt, mat=rrr )" << std::endl;
/////////////////////////////////////////////////////////////////
}
// write out py
/////////////////////////////////////////////////
std::cout<< "press any key..."<< std::endl;
cvWaitKey (0);
cvDestroyWindow("Calibration");
cvReleaseImage(&src_img);
cvReleaseMat(&intrinsic);
cvReleaseMat(&distortion);
return 0;
}
void save_camera_params( const char* out_filename, int image_count, CvSize img_size,
CvSize board_size, float square_size,
float aspect_ratio, int flags,
const CvMat* camera_matrix, CvMat* dist_coeffs,
const CvMat* extr_params, const CvSeq* image_points_seq,
const CvMat* reproj_errs, double avg_reproj_err )
{
CvFileStorage* fs = cvOpenFileStorage( out_filename, 0, CV_STORAGE_WRITE );
time_t t;
time( &t );
struct tm *t2 = localtime( &t );
char buf[1024];
strftime( buf, sizeof(buf)-1, "%c", t2 );
cvWriteString( fs, "calibration_time", buf );
cvWriteInt( fs, "image_count", image_count );
cvWriteInt( fs, "image_width", img_size.width );
cvWriteInt( fs, "image_height", img_size.height );
cvWriteInt( fs, "board_width", board_size.width );
cvWriteInt( fs, "board_height", board_size.height );
cvWriteReal( fs, "square_size", square_size );
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
cvWriteReal( fs, "aspect_ratio", aspect_ratio );
if( flags != 0 )
{
sprintf( buf, "flags: %s%s%s%s",
flags & CV_CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
flags & CV_CALIB_FIX_ASPECT_RATIO ? "+fix_aspect_ratio" : "",
flags & CV_CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
flags & CV_CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "" );
cvWriteComment( fs, buf, 0 );
}
cvWriteInt( fs, "flags", flags );
cvWrite( fs, "camera_matrix", camera_matrix );
cvWrite( fs, "distortion_coefficients", dist_coeffs );
cvWriteReal( fs, "avg_reprojection_error", avg_reproj_err );
if( reproj_errs )
cvWrite( fs, "per_view_reprojection_errors", reproj_errs );
if( extr_params )
{
cvWriteComment( fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
cvWrite( fs, "extrinsic_parameters", extr_params );
}
if( image_points_seq )
{
cvWriteComment( fs, "the array of board corners projections used for calibration", 0 );
assert( image_points_seq->total == image_count );
CvMat* image_points = cvCreateMat( 1, image_count*board_size.width*board_size.height, CV_32FC2 );
cvCvtSeqToArray( image_points_seq, image_points->data.fl );
cvWrite( fs, "image_points", image_points );
cvReleaseMat( &image_points );
}
cvReleaseFileStorage( &fs );
}
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Images
std::vector<IplImage*> images;
printf("Press space key to take a sample picture !\n");
// Main loop
while (1) {
// Key input
int key = cvWaitKey(1);
if (key == 0x1b) break;
// Update
if (!ardrone.update()) break;
// Get an image
IplImage *image = ardrone.getImage();
// Convert the camera image to grayscale
IplImage *gray = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);
cvCvtColor(image, gray, CV_BGR2GRAY);
// Detect the chessboard
int corner_count = 0;
CvSize size = cvSize(PAT_COL, PAT_ROW);
CvPoint2D32f corners[PAT_SIZE];
int found = cvFindChessboardCorners(gray, size, corners, &corner_count, CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE|CV_CALIB_CB_FAST_CHECK);
// Chessboard detected
if (found) {
// Draw corners
cvDrawChessboardCorners(image, size, corners, corner_count, found);
// If you push Space key
if (key == ' ') {
// Add to buffer
images.push_back(gray);
}
else {
// Release the image
cvReleaseImage(&gray);
}
}
// Failed to detect
else {
// Release the image
cvReleaseImage(&gray);
}
// Display the image
cvDrawText(image, cvPoint(15, 20), "NUM = %d", (int)images.size());
cvShowImage("camera", image);
}
// Destroy the window
cvDestroyWindow("camera");
// At least one image was taken
if (!images.empty()) {
// Total number of images
const int num = (int)images.size();
//// For debug
//for (int i = 0; i < num; i++) {
// char name[256];
// sprintf(name, "images[%d/%d]", i+1, num);
// cvShowImage(name, images[i]);
// cvWaitKey(0);
// cvDestroyWindow(name);
//}
// Ask save parameters or not
if (cvAsk("Do you save the camera parameters ? (y/n)\n")) {
// Detect coners
int *p_count = (int*)malloc(sizeof(int) * num);
CvPoint2D32f *corners = (CvPoint2D32f*)cvAlloc(sizeof(CvPoint2D32f) * num * PAT_SIZE);
for (int i = 0; i < num; i++) {
// Detect chessboard
int corner_count = 0;
CvSize size = cvSize(PAT_COL, PAT_ROW);
int found = cvFindChessboardCorners(images[i], size, &corners[i * PAT_SIZE], &corner_count);
// Convert the corners to sub-pixel
cvFindCornerSubPix(images[i], &corners[i * PAT_SIZE], corner_count, cvSize(3, 3), cvSize(-1, -1), cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.03));
p_count[i] = corner_count;
}
// Set the 3D position of patterns
CvPoint3D32f *objects = (CvPoint3D32f*)cvAlloc(sizeof(CvPoint3D32f) * num * PAT_SIZE);
for (int i = 0; i < num; i++) {
for (int j = 0; j < PAT_ROW; j++) {
for (int k = 0; k < PAT_COL; k++) {
objects[i * PAT_SIZE + j * PAT_COL + k].x = j * CHESS_SIZE;
objects[i * PAT_SIZE + j * PAT_COL + k].y = k * CHESS_SIZE;
objects[i * PAT_SIZE + j * PAT_COL + k].z = 0.0;
}
}
}
// Create matrices
CvMat object_points, image_points, point_counts;
cvInitMatHeader(&object_points, num * PAT_SIZE, 3, CV_32FC1, objects);
cvInitMatHeader(&image_points, num * PAT_SIZE, 1, CV_32FC2, corners);
cvInitMatHeader(&point_counts, num, 1, CV_32SC1, p_count);
// Estimate intrinsic parameters and distortion coefficients
printf("Calicurating parameters...");
CvMat *intrinsic = cvCreateMat(3, 3, CV_32FC1);
CvMat *distortion = cvCreateMat(1, 4, CV_32FC1);
cvCalibrateCamera2(&object_points, &image_points, &point_counts, cvGetSize(images[0]), intrinsic, distortion);
printf("Finished !\n");
// Output a file
printf("Generating a XML file...");
CvFileStorage *fs = cvOpenFileStorage("camera.xml", 0, CV_STORAGE_WRITE);
cvWrite(fs, "intrinsic", intrinsic);
cvWrite(fs, "distortion", distortion);
cvReleaseFileStorage(&fs);
printf("Finished !\n");
// Release the matrices
free(p_count);
cvFree(&corners);
cvFree(&objects);
cvReleaseMat(&intrinsic);
cvReleaseMat(&distortion);
}
// Release the images
for (int i = 0; i < num; i++) cvReleaseImage(&images[i]);
}
// See you
ardrone.close();
return 0;
}
/*
* Writes Out information of one frame of the worm to a disk
* in YAML format.
*
* Note the Worm object must have the following fields
* Worm->frameNum
* Worm->Segmented->Head
* Worm->Segmented->Tail
* Worm->Segmented->LeftBound
* Worm->Segmented->RightBound
* Worm->Segmented->Centerline
*
* and Params object must have
* Params->DLPOn
* Params->IllumSegCenter
* Params->IllumSegRadius
* Params->IllumLRC
*
* And more now!
*/
int AppendWormFrameToDisk(WormAnalysisData* Worm, WormAnalysisParam* Params, WriteOut* DataWriter){
CvFileStorage* fs=DataWriter->fs;
cvStartWriteStruct(fs,NULL,CV_NODE_MAP,NULL);
/** Frame Number Info **/
cvWriteInt(fs,"FrameNumber",Worm->frameNum);
/** TimeStamp **/
cvWriteInt(fs,"sElapsed",GetSeconds(Worm->timestamp));
cvWriteInt(fs,"msRemElapsed",GetMilliSeconds(Worm->timestamp));
/** Segmentation Info **/
if(cvPointExists(Worm->Segmented->Head)){
cvStartWriteStruct(fs,"Head",CV_NODE_MAP,NULL);
cvWriteInt(fs,"x",Worm->Segmented->Head->x);
cvWriteInt(fs,"y",Worm->Segmented->Head->y);
cvEndWriteStruct(fs);
}
if(cvPointExists(Worm->Segmented->Tail)){
cvStartWriteStruct(fs,"Tail",CV_NODE_MAP,NULL);
cvWriteInt(fs,"x",Worm->Segmented->Tail->x);
cvWriteInt(fs,"y",Worm->Segmented->Tail->y);
cvEndWriteStruct(fs);
}
if(cvSeqExists(Worm->Segmented->LeftBound)) cvWrite(fs,"BoundaryA",Worm->Segmented->LeftBound);
if(cvSeqExists(Worm->Segmented->RightBound)) cvWrite(fs,"BoundaryB",Worm->Segmented->RightBound);
if(cvSeqExists(Worm->Segmented->Centerline)) cvWrite(fs,"SegmentedCenterline",Worm->Segmented->Centerline);
/** Illumination Information **/
cvWriteInt(fs,"DLPIsOn",Params->DLPOn);
cvWriteInt(fs,"FloodLightIsOn",Params->IllumFloodEverything);
cvWriteInt(fs,"IllumInvert",Params->IllumInvert);
cvWriteInt(fs,"IllumFlipLR",Params->IllumFlipLR);
CvPoint origin=ConvertSlidlerToWormSpace(Params->IllumSquareOrig,Params->DefaultGridSize);
cvStartWriteStruct(fs,"IllumRectOrigin",CV_NODE_MAP,NULL);
cvWriteInt(fs,"x",origin.x);
cvWriteInt(fs,"y",origin.y);
cvEndWriteStruct(fs);
cvStartWriteStruct(fs,"IllumRectRadius",CV_NODE_MAP,NULL);
cvWriteInt(fs,"x",Params->IllumSquareRad.width);
cvWriteInt(fs,"y",Params->IllumSquareRad.height);
cvEndWriteStruct(fs);
if (Params->stageTrackingOn){
cvStartWriteStruct(fs,"StageVelocity",CV_NODE_MAP,NULL);
cvWriteInt(fs,"i",Worm->stageVelocity.x);
cvWriteInt(fs,"j",Worm->stageVelocity.y);
cvEndWriteStruct(fs);
}
/** Protocol Information **/
cvWriteInt(fs,"ProtocolIsOn",Params->ProtocolUse);
cvWriteInt(fs,"ProtocolStep",Params->ProtocolStep);
cvEndWriteStruct(fs);
return 0;
}
