static int openVideo(cv::VideoCapture &capture, std::string filename){
std::cout << "abriendo video " << filename << std::endl;
capture.open(filename);
if (!capture.isOpened()) {
std::cout << "abriendo camara " << filename << std::endl;
int id_webcam = std::atoi(filename.c_str());
capture.open(id_webcam);
}
if (!capture.isOpened()) {
// std::cout << "no puedo abrir " << filename << std::endl;
return 0;
}
return 1;
}
VCrop::VCrop(cv::VideoCapture &capture, const float &x, const float &y, const float &size) : capture(&capture) {
if (!capture.isOpened()) {
std::string error_message = "Error when reading input stream";
LOG(ERROR) << error_message;
throw error_message;
}
int frame_width = capture.get(CV_CAP_PROP_FRAME_WIDTH);
int frame_height = capture.get(CV_CAP_PROP_FRAME_HEIGHT);
VLOG(2) << "Frame Width: " << frame_width;
VLOG(2) << "Frame Height: " << frame_height;
LOG_IF(FATAL, frame_width <= 0) << "Frame width is less than zero.";
LOG_IF(FATAL, frame_height <= 0) << "Frame height is less than zero.";
float diameter = sqrt(frame_width * frame_width + frame_height * frame_height);
cv::Point2i top_left(frame_width * x, frame_height * y);
cv::Size2i rect_size(diameter * size, diameter * size);
if (top_left.x + rect_size.width > frame_width || top_left.y + rect_size.height > frame_height) {
LOG(ERROR) << "Size(" << rect_size << ") to too large for given x(" << top_left.x << ") and y(" << top_left.y << ") coordinate.";
}
roi = new cv::Rect(top_left, rect_size);
VLOG(1) << "RoI: \t" << *roi;
frame_rate = capture.get(CV_CAP_PROP_FPS);
if (isnan(frame_rate) || frame_rate <= 0) {
LOG(WARNING) << "Failed to get frame rate, setting rate to 10fps.";
frame_rate = 10;
}
VLOG(1) << "Frame Rate: \t" << frame_rate;
}
VideoCaptureManager()
: cap_(0)
{
if(!cap_.isOpened()){
std::cerr << "failed to open" << std::endl;
}
}
///////////////////////////////////////////////////////////////////////////////
// initalize the video for processing
///////////////////////////////////////////////////////////////////////////////
void initVideo( string videoFile ){
vidCap = cv::VideoCapture( videoFile );
if( !vidCap.isOpened() ){
cout << "Video did not open" << endl;
shutItDown(-1);
}
width = vidCap.get(CV_CAP_PROP_FRAME_WIDTH);
height = vidCap.get(CV_CAP_PROP_FRAME_HEIGHT);
cout << "width: " << vidCap.get(CV_CAP_PROP_FRAME_WIDTH) << endl;
cout << "height: " << vidCap.get(CV_CAP_PROP_FRAME_HEIGHT) << endl;
currentImage = cv::Mat(640,480, CV_8UC3);
frameCount = 0;
vidCap.read(currentImage);
cv::cvtColor(currentImage, currGray, CV_BGR2GRAY);
swap(prevGray, currGray); swap(prevImage, currentImage);
flow = cv::Mat(currentImage.size(), CV_32FC2);
termcrit = cv::TermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.03);
needToInit = true;
rel_vec_x = 1.0f;
rel_vec_y = 0.0f;
}
void initVideoStream(cv::VideoCapture &cap)
{
if (cap.isOpened())
cap.release();
cap.open(0); // open the default camera
}
bool Director::initCamera()
{
#if SIMULATOR == 1
if (!capture.isOpened()) {
cerr << "Error: Can not open camera!" << endl;
return false;
}
#else
fc2Error error = fc2CreateContext(&context);
if (error != FC2_ERROR_OK) {
cerr << "Error in fc2CreateContext:" << error << endl;
return false;
}
unsigned int numCameras = 0;
error = fc2GetNumOfCameras(context, &numCameras);
if (error != FC2_ERROR_OK) {
cerr << "Error in fc2GetNumOfCameras: " << error << endl;
return false;
}
if (numCameras == 0) {
// No cameras detected
cerr << "No cameras detected." << endl;
return false;
}
// Get the 0th camera
fc2PGRGuid guid;
error = fc2GetCameraFromIndex(context, 0, &guid);
if (error != FC2_ERROR_OK) {
cerr << "Error in fc2GetCameraFromIndex: " << error << endl;
return false;
}
error = fc2Connect(context, &guid);
if (error != FC2_ERROR_OK) {
cerr << "Error in fc2Connect: " << error << endl;
return false;
}
error = fc2StartCapture(context);
if (error != FC2_ERROR_OK) {
cerr << "Error in fc2StartCapture: " << error << endl;
return false;
}
error = fc2CreateImage(&rawImage);
if (error != FC2_ERROR_OK) {
cerr << "Error in fc2CreateImage: " << error << endl;
return false;
}
error = fc2CreateImage(&image);
if (error != FC2_ERROR_OK) {
cerr << "Error in fc2CreateImage: " << error << endl;
return false;
}
#endif
return true;
}
void InitOpenCVModules() //OPENCV 데이터들의 초기화
{
/*----------------------*/
//
//
//
//
/*-----------------------*/
if (Webcam_mode)
{
camera.open(Webcam_number);
if (!camera.isOpened()) //소스 영상 에러체크
{
//error in opening the video input
cerr << "Unable to open Camera Stream" << endl;
exit(EXIT_FAILURE);
}
camera >> Current_Frame; //카메라 소스에서 Current Frame으로 데이터를 넣어준다.
}
else
{
bool isOpened(){
if(capture_type==0){
return videoCapture.isOpened();
}else{
return imageCapture.isOpened();
}
};
static cv::Mat getImageFromCamera() {
myLog << "get image from camera";
if(cap.isOpened() == false) {
myLog << "ERROR: can`t initialise the cam";
}
cv::Mat currentImage;
for(int i = 0; i < 6; i++) {
cap >> currentImage;
}
return currentImage;
}
void* grabFunc(void* in_data)
{
while(running)
{
pthread_mutex_lock(&mutexLock);
if(camera.isOpened())
{
camera.grab();
}
pthread_mutex_unlock(&mutexLock);
}
std::cout << "Grab thread exit." << std::endl;
}
bool readParameters(int argc, char** argv)
{
if (argc<4) {
usage();
return false;
}
TheInputVideo=argv[1];
/* // read input video
if (TheInputVideo=="live") TheVideoCapturer.open(0);
else TheVideoCapturer.open(argv[1]);
if (!TheVideoCapturer.isOpened())
{
cerr<<"Could not open video"<<endl;
return false;
}*/
//read from camera
if (TheInputVideo=="live") TheVideoCapturer.open(0);
else TheVideoCapturer.open(TheInputVideo);
if (!TheVideoCapturer.isOpened())
{
cerr<<"Could not open video"<<endl;
return -1;
}
// read intrinsic file
try {
CameraParams.readFromXMLFile(argv[2]);
} catch (std::exception &ex) {
cout<<ex.what()<<endl;
return false;
}
// read board file
try {
TheBoardConfig.readFromFile(argv[3]);
} catch (std::exception &ex) {
cout<<ex.what()<<endl;
return false;
}
if(argc>4) TheMarkerSize=atof(argv[4]);
else TheMarkerSize=1.;
return true;
}
void openCamera(cv::VideoCapture& cap, int argc, const char** argv) {
cv::CommandLineParser parser(argc, argv, keys);
int camNum = parser.get<int>("1");
cap.open(camNum);
if (!cap.isOpened()) {
//help();
std::cout << "***Could not initialize capturing...***\n";
std::cout << "Current parameter's value: \n";
exit (-1);
}
cap.set(CV_CAP_PROP_FRAME_WIDTH, 160);
cap.set(CV_CAP_PROP_FRAME_HEIGHT, 120);
}
void Init(cv::VideoCapture& capture)
{
if(!capture.isOpened()){
std::cout << "error starting video capture" << std::endl;
exit(0);
}
//propose a resolution
capture.set(CV_CAP_PROP_FRAME_WIDTH, RESOLUTION_X);
capture.set(CV_CAP_PROP_FRAME_HEIGHT, RESOLUTION_Y);
//get the actual (supported) resolution
ivWidth = capture.get(CV_CAP_PROP_FRAME_WIDTH);
ivHeight = capture.get(CV_CAP_PROP_FRAME_HEIGHT);
std::cout << "camera/video resolution: " << ivWidth << "x" << ivHeight << std::endl;
cv::namedWindow("MOCTLD", 0); //CV_WINDOW_AUTOSIZE );
// cv::resizeWindow("MOCTLD", ivWidth, ivHeight);
cv::setMouseCallback("MOCTLD", MouseHandler);
}
bool fInitCamera (HWND hMainWnd, int iDeviceIndex)
{
// Create a capture window to capture the output from the camera
// The capture window is not actually displayed (in this application)
/*hgCapWnd = capCreateCaptureWindow(NULL,
WS_CHILD, // window style
0, 0, 0, 0, // position and size
hMainWnd, ID_CAP);*/
if (!cam.isOpened()){
Err("Can't connect to the camera.");
return false;
}
/*if (!hgCapWnd)
{
Err("Can't open the camera display window");
return 0;
}
if (!capDriverConnect(hgCapWnd, iDeviceIndex))
{
Err("Can't connect to the camera");
return false;
}
if (!capDriverGetCaps(hgCapWnd, &gDriverCaps, sizeof(CAPDRIVERCAPS)))
{
Err("Can't get capabilities of the camera");
return false;
}
if (!capPreview(hgCapWnd, FALSE)) // turn off preview
{
Err("capPreview FALSE failed");
return false;
}
if (!capGetStatus(hgCapWnd, &gCapStatus, sizeof(CAPSTATUS)))
{
Err("Can't get status of the camera");
return false;
}
PrintCapStatus();*/
return true; // success
}
int main() {
if (!camera.isOpened()) return 1;
int keyCheck = 0;
resetTimer();
MouseGlove.setCenterHSV(140,161,145);
MouseGlove.setLeftHSV(96,68,118);
MouseGlove.setRightHSV(38,205,246);
MouseGlove.setScrollHSV(63,144,204);
MouseGlove.setCenterColorThreshold(45);
MouseGlove.setLeftColorThreshold(0);
MouseGlove.setRightColorThreshold(25);
MouseGlove.setScrollColorThreshold(0);
MouseGlove.setScrollAnchorYCoordinate(240);
MouseGlove.setMinArea(100);
leftClickStatus = false;
rightClickStatus = false;
while(cv::waitKey(10) != 13) {
if (!camera.read(image)) return 1;
cv::flip(image,image,1);
MouseGlove.processCenterMarker(image);
MouseGlove.processLeftMarker(image);
MouseGlove.processRightMarker(image);
MouseGlove.processScrollMarker(image);
if (getTime() > 0.3) {
coordenadasMouse = MouseGlove.getCenterMarkerCoordinates();
MouseGlove.calibrateCoordinates(coordenadasMouse);
}
if (MouseGlove.mouseDetected()) {
MouseGlove.moveMouse(coordenadasMouse);
// }
//if (MouseGlove.getLeftClickStatus() != leftClickStatus)
// toggleLeftClick();
//if (MouseGlove.getRightClickStatus() != rightClickStatus)
// toggleRightClick();
// if (MouseGlove.scrollDetected()) {
// MouseGlove.scroll(coordenadasMouse,MouseGlove.getScrollSpeed());
// }
MouseGlove.displayMouseStatus(image);
cv::imshow("Mouse",image);
}
}
int main() {
if (!camera.isOpened()) return 1;
int keyCheck = 0;
resetTimer();
MouseGlove.setCenterHSV(104,238,203);
MouseGlove.setLeftHSV(150,150,232);
MouseGlove.setRightHSV(15,205,246);
MouseGlove.setScrollHSV(63,144,204);
MouseGlove.setCenterColorThreshold(50);
MouseGlove.setLeftColorThreshold(35);
MouseGlove.setRightColorThreshold(25);
MouseGlove.setScrollColorThreshold(30);
MouseGlove.setScrollAnchorYCoordinate(240);
MouseGlove.setMinArea(100);
leftClickStatus = false;
rightClickStatus = false;
while(cv::waitKey(10) != 13) {
if (!camera.read(image)) return 1;
cv::flip(image,image,1);
MouseGlove.processCenterMarker(image);
MouseGlove.processLeftMarker(image);
MouseGlove.processRightMarker(image);
MouseGlove.processScrollMarker(image);
if (getTime() > 0.3) {
mouseCoordinates = MouseGlove.getCenterMarkerCoordinates();
MouseGlove.calibrateCoordinates(mouseCoordinates);
}
if (MouseGlove.mouseDetected()) {
MouseGlove.moveMouse(mouseCoordinates);
}
if (MouseGlove.getLeftClickStatus() != leftClickStatus)
toggleLeftClick();
if (MouseGlove.getRightClickStatus() != rightClickStatus)
toggleRightClick();
if (MouseGlove.scrollDetected()) {
MouseGlove.scroll(mouseCoordinates,MouseGlove.getScrollSpeed());
}
MouseGlove.displayMouseStatus(image);
cv::imshow("Mouse Glove",image);
}
}
void initParams::readAndSet(cv::VideoCapture& cap, char* input){
cv::FileStorage fs(input, cv::FileStorage::READ);
if(fs.isOpened()){
fs.open(input, cv::FileStorage::READ);
fs["frameWidth"] >> frameWidth;
fs["frameHeight"] >> frameHeight;
fs["fps"] >> fps;
fs["camId"] >> camId;
fs["generateData"] >> genData;
fs["visualizeData"] >> visualize;
fs["writeVideo"] >> writeVideo;
fs["generatePerfData"] >> genPerfData;
fs["videoFile"] >> videoFile;
fs.release();
cap.open(videoFile);
if(!cap.isOpened()){
std::cerr << "Could not access video file: " << videoFile << std::endl;
exit(EXIT_FAILURE);
}
}
int main() {
cout << "Click the colored object you would like to track." << endl;
if (!camera.isOpened()) return 1;
ColorTracker.createColorSquare();
TargetTracker.setThresh(20, 50, 70);
TargetTracker.setMinContourArea(500);
while (cv::waitKey(20) != 13) {
if (!camera.read(image)) return 1;
cv::flip(image, image, 1);
processMouseActions();
if (mouseButtonDown) {
cv::rectangle(image, boundingRect, tealColor, 1);
targetSelected = false;
HSVDefined = false;
}
if (targetSelected && !HSVDefined) {
targetImage = image(calibratedRect(boundingRect));
cv::imshow(targetName, targetImage);
int hue = Hist.getMostAbundantHue(Hist.getHueHistogram(targetImage));
int sat = Hist.getMostAbundantSat(Hist.getSatHistogram(targetImage));
int val = Hist.getMostAbundantVal(Hist.getValHistogram(targetImage));
ColorTracker.setColorSquareHSV(hue, sat, val);
TargetTracker.setHSVToTrack(hue, sat, val);
TargetTracker.findTargetAndUpdateRectangle(image);
HSVDefined = true;
}
if (targetSelected && HSVDefined) {
TargetTracker.findTargetAndUpdateRectangle(image);
boundingRect = TargetTracker.getBoundingRect();
targetImage = image(calibratedRect(boundingRect));
cv::destroyWindow(targetName);
}
drawQuadrants(TargetTracker.getTargetCoordinates());
displayTargetStatus();
writeTargetStatusToFile();
cv::imshow(imageName,image);
}
}
void init()
{
//摄像头
camera.open(0);
if(!camera.isOpened())
{
std::cout << "Can not find camera!" << std::endl;
exit(-1);
}
camera.set(cv::CAP_PROP_FRAME_WIDTH,160);
camera.set(cv::CAP_PROP_FRAME_HEIGHT,120);
/* double width = camera.get(cv::CAP_PROP_FRAME_WIDTH);
double height = camera.get(cv::CAP_PROP_FRAME_HEIGHT);
std::cout << "width:" << width << "\t";
std::cout << "height:" << height << "\t" << std::endl;*/
face_cascade_name = "/usr/share/OpenCV/haarcascades/haarcascade_frontalface_alt.xml";
if(!face_cascade.load(face_cascade_name))
{
std::cout << "can not find face_cascade_file!" << std::endl;
exit(-1);
}
running = true;
pthread_mutex_init(&mutexLock, NULL);
pthread_create(&grabThread, NULL, grabFunc, NULL);
//Setup edi robot mraa control lib
spider_init();
signal(SIGINT, clear);
signal(SIGTERM, clear);
}
void init()
{
prog1 = makeProgramObjectFromFiles(vshadername0, fshadername0);
if (!stream1.isOpened()) {
cout << "Cannot open camera." << endl;
}
//To load arrows as texture to put on object (keyboard arrows)
//Image from: http://packdog.com/static/images/blog/keys-for-happiness/arrows.gif
GLuint tex_2d = SOIL_load_OGL_texture
( "plainArrows.png",
SOIL_LOAD_AUTO,
SOIL_CREATE_NEW_ID,
SOIL_FLAG_MIPMAPS | SOIL_FLAG_INVERT_Y | SOIL_FLAG_NTSC_SAFE_RGB | SOIL_FLAG_COMPRESS_TO_DXT
); //get image
if(0==tex_2d)
{
cout << "soil error" << endl;
}
}
void cam_Server::handle_connection(int client_handle)
{
// No Camera connected
if( state == 0 )
{
static int last_cam_opened = 0;
webcam = cv::VideoCapture( last_cam_opened );
if( !webcam.isOpened() )
{
std::cout << "No camera detected under nmb: " << last_cam_opened << std::endl;
last_cam_opened = ((last_cam_opened+1)%10);
if( last_cam_opened == 0 ) // If we're trying the first video again, sleep a little bit
{
sleep(1);
}
}
else
{
state = 1;
}
return;
}
else if( state == 1)
{
cv::Mat image;
webcam >> image;
if( image.data == NULL )
{
std::cout << "No image available" << std::endl;
return;
}
cvtColor( image, image, CV_RGB2GRAY);
// original Seitenverhältniss beibehalten
cv::resize( image, image, cv::Size( 250,250) );
int buffer[3];
buffer[0] = image.type();
buffer[1] = image.cols;
buffer[2] = image.rows;
int ret = write( client_handle, buffer, sizeof(int)*3 );
if( ret <= 0 )
{
std::cout << "Konnte nicht schreiben" << std::endl;
return;
}
int bytes_to_write = buffer[1]*buffer[2];
int bytes_written = 0;
char* image_buffer = new char[bytes_to_write];
for( int i = 0; i <bytes_to_write; i++ )
{
int x = i % buffer[1];
int y = i / buffer[2];
image_buffer[ i ] = image.at<uchar>(x, y) ;
}
do{
//std::cout << "bytes to write: " << bytes_to_write
// << "bytes written: " << bytes_written << std::endl;
ret = write( client_handle,
&image_buffer[bytes_written] ,
bytes_to_write - bytes_written );
if( ret < 0 )
{
bytes_written = bytes_written;
}
else
{
bytes_written += ret;
}
} while( bytes_to_write != bytes_written );
delete image_buffer;
cv::waitKey( 100 );
}
/**
* @function main
*/
int main( int argc, char* argv[] ) {
// Filter
gFilterLimits.resize(6);
//gFilterLimits << -0.35, 0.35, -0.70, 0.70, 1.5, 2.4; // Kinect
gFilterLimits << -1.0, 1.0, -1.5, 1.5, 0.35, 2.0; // Asus on top of Crichton
ObjectsDatabase mOd;
mOd.init_classifier();
mOd.load_dataset();
gCapture.open( cv::CAP_OPENNI2 );
if( !gCapture.isOpened() ) {
printf("\t [ERROR] Could not open the capture object \n");
return -1;
}
gCapture.set( cv::CAP_PROP_OPENNI2_MIRROR, 0.0 );
gCapture.set( cv::CAP_PROP_OPENNI_REGISTRATION, -1.0 );
gF = (float)gCapture.get( cv::CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH );
cv::namedWindow( gWindowName, cv::WINDOW_AUTOSIZE );
::google::InitGoogleLogging( argv[0] );
for(;;) {
if( !gCapture.grab() ) {
printf("\t * ERROR Could not grab a frame \n");
return -1;
}
gCapture.retrieve( gRgbImg, cv::CAP_OPENNI_BGR_IMAGE );
if( gIsSegmentedFlag ) { drawSegmented(); }
cv::imshow( gWindowName, gRgbImg );
gCapture.retrieve( gPclMap, cv::CAP_OPENNI_POINT_CLOUD_MAP );
cv::imshow( gWindowName, gRgbImg );
char k = cv::waitKey(30);
if( k == 'q' ) {
printf("\t Finishing program \n");
break;
}
/** Recognize */
else if( k == 'i' ) {
// Process image
process();
gLabels.resize(gClusters.size() );
gIndex.resize(gClusters.size() );
// Store images
for( int i = 0; i < gClusters.size(); ++i ) {
int xl = gBoundingBoxes[i](0);
int yl = gBoundingBoxes[i](1);
int xw = gBoundingBoxes[i](2)-gBoundingBoxes[i](0);
int yw = gBoundingBoxes[i](3)-gBoundingBoxes[i](1);
cv::Mat img( gRgbImg, cv::Rect( xl, yl,
xw, yw ) );
// Predict
mOd.classify( img, gIndex[i], gLabels[i] );
cv::putText( gRgbImg,
gLabels[i], cv::Point(gBoundingBoxes[i](0), gBoundingBoxes[i](1) ),
cv::FONT_HERSHEY_SIMPLEX, 1,
gColors[i],
2 );
mOd.sayIt(gIndex[i]);
}
} // else
} // for
} // main
int main(int argc, char** argv)
{
//ROS
ROS_INFO("sks_vision without ui");
ros::init(argc, argv, "sks_vision_nui");
ros::NodeHandle nh;
ros::Rate loop_rate(1000);
// image_transport::ImageTransport it(nh);
ros::Publisher pub_m = nh.advertise<geometry_msgs::Vector3>("/sks_vision",1);
ros::Subscriber position_sub = nh.subscribe("/slam_out_pose",10,current_pos);
nh.getParam("/SKS/vision/auto_gray",para_auto_gray);
nh.getParam("/SKS/vision/gray_sum",para_threshold_num);
while(1){
cap.open(200);
if(cap.isOpened()) break;
else std::cout<<"camera isnt opened"<<std::endl;
}
while (nh.ok()){
cap >> cvframe;
if(!cvframe.empty()) {
frame = MatToQImage(cvframe);
// frame = func_Gray(frame);
frame = func_DeepGray(frame);
//==============================================================
int blacknum=0;
// for(int h=0;h<frame.height();h+=2){
// for(int w=0;w<frame.width();w+=2){
// if(qRed(frame.pixel(w,h))<=64&&qRed(frame.pixel(w,h))>=27) blacknum++;//60,20
// }
// }
// std::cout<<blacknum<<std::endl;
//===============================================================
//Threshold_bar --> Threshold
int gray;
if(para_auto_gray){
gray = para_threshold_num;
}else{
// if(blacknum>=BLACK_BLOCK){
// gray=70;
// }else{
gray = Average_Threshold(frame);
// gray = Qtsu(frame);
if(cu_pos.pose.position.x<-1.07+0.2&&cu_pos.pose.position.x>-3.14-0.2&&
cu_pos.pose.position.y<3.87+0.2&&cu_pos.pose.position.y>1.13-0.2/*&& !goal_one_send*/){
gray=24;
}else{
gray=58;
}
// if(gray > THRESHOLD_MAX) gray = THRESHOLD_MAX;
// else if(gray < THRESHOLD_MIN) gray = THRESHOLD_MIN;
}
frame = func_Threshold(frame,gray);
org_frame = frame;
for(int dot=2;dot < frame.height()-2;dot+=(frame.height()/16)){
for(int i=0;i<frame.width();i++){
frame.setPixel(i,dot,QColor(0,255,0).rgb());
}
}
//reset
memset(Position,0,sizeof(Position)/sizeof(Position[0][0]));
//Segmentation
for(int h=2;h < frame.height()-2;h+=(frame.height()/16)){
bw_sw = compareBlackWhite(org_frame,h);
if(bw_sw==0){
Segmentation1(org_frame,&frame,h,255);
}else if(bw_sw==1){
Segmentation1(org_frame,&frame,h,0);
}
}
if(push_p>2){
for(int i=0;i<push_p;i++){
total_x += Position[0][i];
total_y += Position[1][i];
}
double vector_x=total_x/push_p;
double vector_y=total_y/push_p;
double vector_h=frame.height()-1-vector_y;
double vector_w=(ROBOT_CENTER-1-vector_x)/vector_h;
for(int i=0;i<vector_h;i++){
frame.setPixel(ROBOT_CENTER-1-vector_w*i,frame.height()-1-i,QColor(0,0,255).rgb());
}
final_w = vector_x - (ROBOT_CENTER);
final_h = frame.height() - 1 - vector_y;
int sensor_x,sensor_y=100;
sensor_x = sensorPoint(org_frame,&frame,sensor_y);
final_w += sensor_x;
sensor_y=379;
final_h += sensor_y;
// if(sensor_x!=0) final_h += sensor_y;
sensor_y=380;
sensor_x = sensorPoint(org_frame,&frame,sensor_y);
final_w += sensor_x;
sensor_y=99;
final_h += sensor_y;
// if(sensor_x!=0) final_h += sensor_y;
ang=atan(final_w/final_h);
frame.setPixel(vector_x-1,vector_y-1,QColor(0,0,255).rgb());
frame.setPixel(vector_x-1,vector_y,QColor(0,0,255).rgb());
frame.setPixel(vector_x-1,vector_y+1,QColor(0,0,255).rgb());
frame.setPixel(vector_x,vector_y-1,QColor(0,0,255).rgb());
frame.setPixel(vector_x,vector_y,QColor(0,0,255).rgb());
frame.setPixel(vector_x,vector_y+1,QColor(0,0,255).rgb());
frame.setPixel(vector_x+1,vector_y-1,QColor(0,0,255).rgb());
frame.setPixel(vector_x+1,vector_y,QColor(0,0,255).rgb());
frame.setPixel(vector_x+1,vector_y+1,QColor(0,0,255).rgb());
vec3.z = ang;
}else{
vec3.z = 999;
}
//reset
total_x =0,total_y =0,push_p =0;//,h_max=0;
final_w =0,final_h =0;
total_black=0;total_white=0;
cvGray = QImageToCvMat(frame);
// cv::imshow(WINDOW,cvGray);
// cv::waitKey(1);
//ROS
pub_m.publish(vec3);
}
loop_rate.sleep();
ros::spinOnce();
}
}
int main() {
// 打开摄像头
video_capture.open(0);
if (!video_capture.isOpened()){
std::cerr << "Could not open video" << endl;
return -1;
}
// 获取第一张图像，用于这设置参数
video_capture >> input_image;
// 读取摄像机参数
camera_params.readFromXMLFile("camera.yml");
camera_params.resize(input_image.size());
// 注册窗口
cv::namedWindow("thres",1);
cv::namedWindow("in",1);
marker_dector.getThresholdParams(threshold_param1, threshold_param2);
i_threshold_param1 = threshold_param1;
i_threshold_param2 = threshold_param2;
cv::createTrackbar("ThresParam1", "in",&i_threshold_param1, 13, cvTackBarEvents);
cv::createTrackbar("ThresParam2", "in",&i_threshold_param2, 13, cvTackBarEvents);
char key=0;
int index=0;
//capture until press ESC or until the end of the video
while( key!=27 && video_capture.grab())
{
//copy image
video_capture.retrieve(input_image);
//number of images captured
index++;
//for checking the speed
double tick = (double)cv::getTickCount();
//Detection of markers in the image passed
marker_dector.detect(input_image, markers, camera_params, marker_size);
//chekc the speed by calculating the mean speed of all iterations
average_time.first += ((double)cv::getTickCount() - tick) / cv::getTickFrequency();
average_time.second++;
std::cout << "Time detection=" << 1000 * average_time.first / average_time.second << " milliseconds" << endl;
//print marker info and draw the markers in image
input_image.copyTo(input_image_copy);
for(unsigned int i = 0; i < markers.size(); i++){
std::cout << markers[i] << std::endl;
markers[i].draw(input_image, Scalar(0, 0, 255), 2);
}
//draw a 3d cube in each marker if there is 3d info
if ( camera_params.isValid())
for(unsigned int i = 0; i < markers.size(); i++){
aruco::CvDrawingUtils::draw3dCube(input_image, markers[i], camera_params);
aruco::CvDrawingUtils::draw3dAxis(input_image, markers[i], camera_params);
}
//DONE! Easy, right?
cout << endl << endl << endl;
//show input with augmented information and the thresholded image
cv::imshow("in", input_image);
cv::imshow("thres", marker_dector.getThresholdedImage());
key=cv::waitKey(0);//wait for key to be pressed
}
return 0;
}
int main(int argc, char* argv[])
{
signal(SIGINT, quitFunction);
// Simple parsing of the parameters related to the image acquisition
int xRes = 640;
int yRes = 480;
int cameraIndex = 0;
if (argc > 2) {
xRes = std::atoi(argv[1]);
yRes = std::atoi(argv[2]);
}
if (argc > 3) {
cameraIndex = std::atoi(argv[3]);
}
// The source of input images
capture.open(cameraIndex);
if (!capture.isOpened())
{
std::cerr << "Unable to initialise video capture." << std::endl;
return 1;
}
#ifdef OPENCV3
capture.set(cv::CAP_PROP_FRAME_WIDTH, xRes);
capture.set(cv::CAP_PROP_FRAME_HEIGHT, yRes);
#else
capture.set(CV_CAP_PROP_FRAME_WIDTH, xRes);
capture.set(CV_CAP_PROP_FRAME_HEIGHT, yRes);
#endif
cv::Mat inputImage;
// The tag detection happens in the Chilitags class.
chilitags::Chilitags chilitags;
// The detection is not perfect, so if a tag is not detected during one frame,
// the tag will shortly disappears, which results in flickering.
// To address this, Chilitags "cheats" by keeping tags for n frames
// at the same position. When tags disappear for more than 5 frames,
// Chilitags actually removes it.
// Here, we cancel this to show the raw detection results.
chilitags.setFilter(0, 0.0f);
cv::namedWindow("DisplayChilitags");
// Main loop, exiting when 'q is pressed'
for (; 'q' != (char) cv::waitKey(1) && sRunning; ) {
// Capture a new image.
capture.read(inputImage);
// Start measuring the time needed for the detection
int64 startTime = cv::getTickCount();
// Detect tags on the current image (and time the detection);
// The resulting map associates tag ids (between 0 and 1023)
// to four 2D points corresponding to the corners positions
// in the picture.
chilitags::TagCornerMap tags = chilitags.find(inputImage);
// Measure the processing time needed for the detection
int64 endTime = cv::getTickCount();
float processingTime = 1000.0f*((float) endTime - startTime)/cv::getTickFrequency();
// Now we start using the result of the detection.
// First, we set up some constants related to the information overlaid
// on the captured image
const static cv::Scalar COLOR(255, 0, 255);
// OpenCv can draw with sub-pixel precision with fixed point coordinates
static const int SHIFT = 16;
static const float PRECISION = 1<<SHIFT;
// We dont want to draw directly on the input image, so we clone it
cv::Mat outputImage = inputImage.clone();
for (const std::pair<int, chilitags::Quad> & tag : tags) {
int id = tag.first;
// We wrap the corner matrix into a datastructure that allows an
// easy access to the coordinates
const cv::Mat_<cv::Point2f> corners(tag.second);
// We start by drawing the borders of the tag
for (size_t i = 0; i < 4; ++i) {
cv::line(
outputImage,
PRECISION*corners(i),
PRECISION*corners((i+1)%4),
#ifdef OPENCV3
COLOR, 1, cv::LINE_AA, SHIFT);
#else
COLOR, 1, CV_AA, SHIFT);
#endif
}
// Other points can be computed from the four corners of the Quad.
// Chilitags are oriented. It means that the points 0,1,2,3 of
// the Quad coordinates are consistently the top-left, top-right,
// bottom-right and bottom-left corners.
// (i.e. clockwise, starting from top-left)
// Using this, we can compute (an approximation of) the center of
// tag.
cv::Point2f center = 0.5f*(corners(0) + corners(2));
cv::putText(outputImage, cv::format("%d", id), center,
cv::FONT_HERSHEY_SIMPLEX, 0.5f, COLOR);
}
// Some stats on the current frame (resolution and processing time)
cv::putText(outputImage,
cv::format("%dx%d %4.0f ms (press q to quit)",
outputImage.cols, outputImage.rows,
processingTime),
cv::Point(32,32),
cv::FONT_HERSHEY_SIMPLEX, 0.5f, COLOR);
// Finally...
cv::imshow("DisplayChilitags", outputImage);
}
cv::destroyWindow("DisplayChilitags");
capture.release();
return 0;
}
int main(int argc, char**argv)
{
capture.open(0);
if (capture.isOpened() == false)
{
std::cerr << "no capture device found" << std::endl;
return 1;
}
capture.set(CV_CAP_PROP_FRAME_WIDTH, vgaSize.width);
capture.set(CV_CAP_PROP_FRAME_HEIGHT, vgaSize.height);
if (capture.get(cv::CAP_PROP_FRAME_WIDTH) != (double)vgaSize.width || capture.get(cv::CAP_PROP_FRAME_HEIGHT) != (double)vgaSize.height)
{
std::cerr << "current device doesn't support " << vgaSize.width << "x" << vgaSize.height << " size" << std::endl;
return 2;
}
cv::Mat image;
capture >> image;
cv::namedWindow(windowName);
cv::imshow(windowName, image);
initCuda();
initArray(image);
char key = -1;
enum device statusDevice = useCpuSimd;
enum precision statusPrecision = precisionFloat;
int index = 1;
cv::Mat stub = cv::imread(imagePath[index][0], cv::IMREAD_UNCHANGED);
cv::Mat gain = cv::Mat(stub.rows, stub.cols/2, CV_16SC1, stub.data);
double elapsedTime;
while (isFinish(key) == false)
{
capture >> image;
switch (key)
{
case 'h':
case 'H':
// switch to half precision
statusPrecision = precisionHalf;
std::cout << std::endl << header << "half " << std::endl;
stub = cv::imread(imagePath[index][0], cv::IMREAD_UNCHANGED);
gain = cv::Mat(stub.rows, stub.cols/2, CV_16SC1, stub.data);
break;
case 'f':
case 'F':
// switch to single precision
statusPrecision = precisionFloat;
std::cout << std::endl << header << "single" << std::endl;
stub = cv::imread(imagePath[index][1], cv::IMREAD_UNCHANGED);
gain = cv::Mat(stub.rows, stub.cols, CV_32FC1, stub.data);
break;
case 'b':
case 'B':
// switch to gray gain
statusPrecision = precisionByte;
std::cout << std::endl << header << "char" << std::endl;
gain = cv::imread(imagePath[index][2], cv::IMREAD_GRAYSCALE);
break;
case '0':
case '1':
index = key - '0';
switch (statusPrecision)
{
case precisionHalf:
// precision half
stub = cv::imread(imagePath[index][0], cv::IMREAD_UNCHANGED);
gain = cv::Mat(stub.rows, stub.cols/2, CV_16SC1, stub.data);
break;
case precisionFloat:
// precision single
stub = cv::imread(imagePath[index][1], cv::IMREAD_UNCHANGED);
gain = cv::Mat(stub.rows, stub.cols, CV_32FC1, stub.data);
break;
case precisionByte:
// precision single
gain = cv::imread(imagePath[index][2], cv::IMREAD_GRAYSCALE);
break;
default:
break;
}
break;
case 'c':
case 'C':
std::cout << std::endl << "Using CPU SIMD " << std::endl;
statusDevice = useCpuSimd;
break;
case 'g':
case 'G':
std::cout << std::endl << "Using GPU " << std::endl;
statusDevice = useGpu;
break;
default:
break;
}
if (statusDevice == useCpuSimd)
{
elapsedTime = multiplyImage(image, gain);
}
else
{
#ifdef HAVE_CUDA
// CUDA
elapsedTime = multiplyImageCuda(image, gain);
#endif // HAVE_CUDA
}
computeStatistics(elapsedTime, key);
if (key == 's' || key == 'S')
{
cv::imwrite(dumpFilename, image);
}
cv::imshow(windowName, image);
key = cv::waitKey(1);
}
std::cout << std::endl;
cv::destroyAllWindows();
releaseArray();
return 0;
}
// --------------------------------------------------------------------------
// display(引数なし)
// 画面の更新時に呼ばれる関数です
// 戻り値: なし
// --------------------------------------------------------------------------
void display(void)
{
// 描画用のバッファクリア
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (cap.isOpened()) {
// カメラ画像取得
cv::Mat image_raw;
cap >> image_raw;
// 歪み補正
cv::Mat image;
cv::remap(image_raw, image, mapx, mapy, cv::INTER_LINEAR);
// カメラ画像(RGB)表示
cv::Mat rgb;
cv::cvtColor(image, rgb, cv::COLOR_BGR2RGB);
cv::flip(rgb, rgb, 0);
glDepthMask(GL_FALSE);
glDrawPixels(rgb.cols, rgb.rows, GL_RGB, GL_UNSIGNED_BYTE, rgb.data);
// BGRA画像
cv::Mat bgra;
cv::cvtColor(image, bgra, cv::COLOR_BGR2BGRA);
// データを渡す
BGRAVideoFrame frame;
frame.width = bgra.cols;
frame.height = bgra.rows;
frame.data = bgra.data;
frame.stride = bgra.step;
// マーカ検出
MarkerDetector detector(calibration);
detector.processFrame(frame);
std::vector<Transformation> transformations = detector.getTransformations();
// 射影変換行列を計算
Matrix44 projectionMatrix = buildProjectionMatrix(calibration.getIntrinsic(), frame.width, frame.height);
// 射影変換行列を適用
glMatrixMode(GL_PROJECTION);
glLoadMatrixf(projectionMatrix.data);
// ビュー行列の設定
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// デプス有効
glDepthMask(GL_TRUE);
// 頂点配列有効
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
// ビュー行列を退避
glPushMatrix();
// ラインの太さ設定
glLineWidth(3.0f);
// ライン頂点配列
float lineX[] = { 0, 0, 0, 1, 0, 0 };
float lineY[] = { 0, 0, 0, 0, 1, 0 };
float lineZ[] = { 0, 0, 0, 0, 0, 1 };
// 2D平面
const GLfloat squareVertices[] = { -0.5f, -0.5f,
0.5f, -0.5f,
-0.5f, 0.5f,
0.5f, 0.5f };
// 2D平面カラー(RGBA)
const GLubyte squareColors[] = { 255, 255, 0, 255,
0, 255, 255, 255,
0, 0, 0, 0,
255, 0, 255, 255 };
// AR描画
for (size_t i = 0; i < transformations.size(); i++) {
// 変換行列
Matrix44 glMatrix = transformations[i].getMat44();
// ビュー行列にロード
glLoadMatrixf(reinterpret_cast<const GLfloat*>(&glMatrix.data[0]));
// 2D平面の描画
glEnableClientState(GL_COLOR_ARRAY);
glVertexPointer(2, GL_FLOAT, 0, squareVertices);
glColorPointer(4, GL_UNSIGNED_BYTE, 0, squareColors);
glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
glDisableClientState(GL_COLOR_ARRAY);
// 座標軸のスケール
float scale = 0.5;
glScalef(scale, scale, scale);
// カメラから見えるようにちょっと移動
glTranslatef(0, 0, 0.1f);
// X軸
glColor4f(1.0f, 0.0f, 0.0f, 1.0f);
glVertexPointer(3, GL_FLOAT, 0, lineX);
glDrawArrays(GL_LINES, 0, 2);
// Y軸
glColor4f(0.0f, 1.0f, 0.0f, 1.0f);
glVertexPointer(3, GL_FLOAT, 0, lineY);
glDrawArrays(GL_LINES, 0, 2);
// Z軸
glColor4f(0.0f, 0.0f, 1.0f, 1.0f);
glVertexPointer(3, GL_FLOAT, 0, lineZ);
glDrawArrays(GL_LINES, 0, 2);
}
// 頂点配列無効
glDisableClientState(GL_VERTEX_ARRAY);
// ビュー行列を戻す
glPopMatrix();
}
