int main()
{
FlyCapture2::Error error;
FlyCapture2::PGRGuid guid;
FlyCapture2::BusManager busMgr;
FlyCapture2::Camera cam;
FlyCapture2::VideoMode vm;
FlyCapture2::FrameRate fr;
FlyCapture2::Image rawImage;
//Initializing camera
error = busMgr.GetCameraFromIndex(0, &guid);
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
vm = FlyCapture2::VIDEOMODE_640x480Y8;
fr = FlyCapture2::FRAMERATE_60;
error = cam.Connect(&guid);
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
cam.SetVideoModeAndFrameRate(vm, fr);
//Starting the capture
error = cam.StartCapture();
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
while(1)
{
Mat frame (Size(640,480),CV_8UC1);
// Mat img_scene (Size(640,480),CV_8UC3);
Mat img_object = imread( "bitslogo.png", CV_LOAD_IMAGE_GRAYSCALE );
cam.RetrieveBuffer(&rawImage);
memcpy(frame.data, rawImage.GetData(), rawImage.GetDataSize());
cvtColor(frame,frame,CV_BayerBG2RGB);
imwrite("temp.bmp",frame);
// cvtColor(img_scene,img_scene,CV_RGB2GRAY);
Mat img_scene = imread( "temp.bmp", CV_LOAD_IMAGE_GRAYSCALE );
if( !img_object.data || !img_scene.data )
{ std::cout<< " --(!) Error reading images " << std::endl; return -1; }
//-- Step 1: Detect the keypoints using SURF Detector
int minHessian = 400;
SurfFeatureDetector detector( minHessian );
std::vector<KeyPoint> keypoints_object, keypoints_scene;
detector.detect( img_object, keypoints_object );
detector.detect( img_scene, keypoints_scene );
//-- Step 2: Calculate descriptors (feature vectors)
SurfDescriptorExtractor extractor;
Mat descriptors_object, descriptors_scene;
extractor.compute( img_object, keypoints_object, descriptors_object );
extractor.compute( img_scene, keypoints_scene, descriptors_scene );
//-- Step 3: Matching descriptor vectors using FLANN matcher
FlannBasedMatcher matcher;
std::vector< DMatch > matches;
matcher.match( descriptors_object, descriptors_scene, matches );
double max_dist = 0; double min_dist = 100;
//-- Quick calculation of max and min distances between keypoints
for( int i = 0; i < descriptors_object.rows; i++ )
{ double dist = matches[i].distance;
if( dist < min_dist ) min_dist = dist;
if( dist > max_dist ) max_dist = dist;
}
printf("-- Max dist : %f \n", max_dist );
printf("-- Min dist : %f \n", min_dist );
//-- Draw only "good" matches (i.e. whose distance is less than 3*min_dist )
std::vector< DMatch > good_matches;
for( int i = 0; i < descriptors_object.rows; i++ )
{ if( matches[i].distance < 3*min_dist )
{ good_matches.push_back( matches[i]); }
}
Mat img_matches;
drawMatches( img_object, keypoints_object, img_scene, keypoints_scene,
good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
//-- Localize the object
std::vector<Point2f> obj;
std::vector<Point2f> scene;
for( int i = 0; i < good_matches.size(); i++ )
{
//-- Get the keypoints from the good matches
obj.push_back( keypoints_object[ good_matches[i].queryIdx ].pt );
scene.push_back( keypoints_scene[ good_matches[i].trainIdx ].pt );
}
Mat H = findHomography( obj, scene, CV_RANSAC );
//-- Get the corners from the image_1 ( the object to be "detected" )
std::vector<Point2f> obj_corners(4);
obj_corners[0] = cvPoint(0,0); obj_corners[1] = cvPoint( img_object.cols, 0 );
obj_corners[2] = cvPoint( img_object.cols, img_object.rows ); obj_corners[3] = cvPoint( 0, img_object.rows );
std::vector<Point2f> scene_corners(4);
perspectiveTransform( obj_corners, scene_corners, H);
//-- Draw lines between the corners (the mapped object in the scene - image_2 )
line( img_matches, scene_corners[0] + Point2f( img_object.cols, 0), scene_corners[1] + Point2f( img_object.cols, 0), Scalar(0, 255, 0), 4 );
line( img_matches, scene_corners[1] + Point2f( img_object.cols, 0), scene_corners[2] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 );
line( img_matches, scene_corners[2] + Point2f( img_object.cols, 0), scene_corners[3] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 );
line( img_matches, scene_corners[3] + Point2f( img_object.cols, 0), scene_corners[0] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 );
//-- Show detected matches
imshow( "Good Matches & Object detection", img_matches );
int c = cvWaitKey(100);
if(c == 27)
break;
}
return 0;
}
void CCflycap_CCflycap( CCflycap * ccntxt, int device_number, int NumImageBuffers,
int mode_number) {
// call parent
CamContext_CamContext((CamContext*)ccntxt,device_number,NumImageBuffers,mode_number); // XXX cast error?
ccntxt->inherited.vmt = (CamContext_functable*)&CCflycap_vmt;
CAM_IFACE_CHECK_DEVICE_NUMBER(device_number);
std::vector<CamMode> result;
int myerr = get_mode_list(device_number, result);
ccntxt->inherited.device_number = device_number;
ccntxt->inherited.backend_extras = new cam_iface_backend_extras;
memset(ccntxt->inherited.backend_extras,0,sizeof(cam_iface_backend_extras));
FlyCapture2::Camera *cam = new FlyCapture2::Camera;
FlyCapture2::PGRGuid guid;
CIPGRCHK( BACKEND_GLOBAL(busMgr_ptr)->GetCameraFromIndex(device_number, &guid));
CIPGRCHK(cam->Connect(&guid));
FlyCapture2::FC2Config cfg;
CIPGRCHK(cam->GetConfiguration(&cfg));
cfg.numBuffers = NumImageBuffers;
CIPGRCHK(cam->SetConfiguration(&cfg));
// Set the settings to the camera
CamMode target_mode = result[mode_number];
if (target_mode.videomode == FlyCapture2::VIDEOMODE_FORMAT7) {
CIPGRCHK(cam->SetFormat7Configuration(&target_mode.fmt7ImageSettings,
target_mode.fmt7PacketInfo.recommendedBytesPerPacket ));
} else {
CIPGRCHK(cam->SetVideoModeAndFrameRate(target_mode.videomode, target_mode.framerate));
}
ccntxt->inherited.cam = (void*)cam;
// XXX move this to start camera and query camera for settings
CIPGRCHK(cam->StartCapture());
// Retrieve an image to get width, height. XXX change to query later.
FlyCapture2::Image rawImage;
CIPGRCHK( cam->RetrieveBuffer( &rawImage ));
cam_iface_backend_extras *extras = (cam_iface_backend_extras *)ccntxt->inherited.backend_extras;
ccntxt->inherited.depth = rawImage.GetBitsPerPixel();
extras->buf_size = rawImage.GetDataSize();
extras->current_height = rawImage.GetRows();
extras->current_width = rawImage.GetCols();
extras->max_height = rawImage.GetRows();
extras->max_width = rawImage.GetCols();
CIPGRCHK( cam->GetTriggerModeInfo( &extras->trigger_mode_info ));
switch (rawImage.GetPixelFormat()) {
case FlyCapture2::PIXEL_FORMAT_MONO8:
ccntxt->inherited.coding = CAM_IFACE_MONO8;
if (rawImage.GetBayerTileFormat()!=FlyCapture2::NONE) {
NOT_IMPLEMENTED;
}
break;
case FlyCapture2::PIXEL_FORMAT_RAW8:
switch (rawImage.GetBayerTileFormat()) {
case FlyCapture2::NONE:
ccntxt->inherited.coding = CAM_IFACE_RAW8;
break;
case FlyCapture2::RGGB:
ccntxt->inherited.coding = CAM_IFACE_MONO8_BAYER_RGGB;
break;
case FlyCapture2::GRBG:
ccntxt->inherited.coding = CAM_IFACE_MONO8_BAYER_GRBG;
break;
case FlyCapture2::GBRG:
ccntxt->inherited.coding = CAM_IFACE_MONO8_BAYER_GBRG;
break;
case FlyCapture2::BGGR:
ccntxt->inherited.coding = CAM_IFACE_MONO8_BAYER_BGGR;
break;
default:
NOT_IMPLEMENTED;
}
}
CIPGRCHK(cam->StopCapture());
}
int main()
{
FlyCapture2::Error error;
FlyCapture2::PGRGuid guid;
FlyCapture2::BusManager busMgr;
FlyCapture2::Camera cam;
FlyCapture2::VideoMode vm;
FlyCapture2::FrameRate fr;
FlyCapture2::Image rawImage;
//Initializing camera
error = busMgr.GetCameraFromIndex(0, &guid);
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
vm = FlyCapture2::VIDEOMODE_640x480Y8;
fr = FlyCapture2::FRAMERATE_60;
error = cam.Connect(&guid);
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
cam.SetVideoModeAndFrameRate(vm, fr);
//Starting the capture
error = cam.StartCapture();
if (error != FlyCapture2::PGRERROR_OK)
{
error.PrintErrorTrace();
return CAM_FAILURE;
}
//Image Variables
Mat frame (Size(640,480),CV_8UC1);
Mat img_bgr (Size(640,480),CV_8UC3);
Mat img_hsv (Size(640,480),CV_8UC3); //Image in HSV color space
Mat threshy (Size(640,480),CV_8UC1); //Threshed Image
// Mat labelImg (Size(640,480),CV_8UC1); //Image Variable for blobs
IplImage* histogram= cvCreateImage(cvSize(640,480),8,3); //Image histograms
Mat histograms (Size(640,480),CV_8UC1); //greyscale image for histogram
Mat empty (Size(640,480),CV_8UC3);
// CvBlobs blobs;
while(1)
{
cam.RetrieveBuffer(&rawImage);
memcpy(frame.data, rawImage.GetData(), rawImage.GetDataSize());
// histogram = empty.clone();
cvZero(histogram);
// cvAddS(frame, cvScalar(70,70,70), frame);
cvtColor(frame,img_bgr,CV_BayerBG2BGR);
// cout<<"\n1";
cvtColor(img_bgr,img_hsv,CV_BGR2HSV);
// cout<<"\n2";
//Thresholding the frame for yellow
inRange(img_hsv, Scalar(20, 100, 20), Scalar(70, 255, 255), threshy);
// cvInRangeS(img_hsv, cvScalar(0, 120, 100), cvScalar(255, 255, 255), threshy);
//Filtering the frame - subsampling??
// smooth(threshy,threshy,CV_MEDIAN,7,7);
//Finding the blobs
// unsigned int result=cvLabel(threshy,labelImg,blobs);
//Filtering the blobs
// cvFilterByArea(blobs,500,1000);
//Rendering the blobs
// cvRenderBlobs(labelImg,blobs,img_bgr,img_bgr);
CvPoint prev = cvPoint(0,0);
for(int x=0;x<640;++x)
{
Mat col = threshy.col(x);
int y = 480 - countNonZero(col);
for(int i=0 ; i<480 ; ++i)
histograms.at<uchar>(x,i) = y;
CvPoint next = cvPoint(x,y);
cvLine(histogram,prev,next,cColor);
// cvCircle(histogram,next,2,cColor,3);
prev=next;
}
//Showing the images
imshow("Live",img_bgr);
imshow("Threshed",threshy);
cvShowImage("Histogram",histogram);
int c= cvWaitKey(10);
if(c == 27)
break;
}
//Cleanup
// cvReleaseImage(&frame);
// cvReleaseImage(&threshy);
// cvReleaseImage(&img_hsv);
// cvReleaseImage(&labelImg);
// cvReleaseImage(&histogram);
cvDestroyAllWindows();
return 0;
}
