void read(const FileNode& fn)
{
clear();
read_params(fn["training_params"]);
fn["weights"] >> weights;
fn["means"] >> means;
FileNode cfn = fn["covs"];
FileNodeIterator cfn_it = cfn.begin();
int i, n = (int)cfn.size();
covs.resize(n);
for( i = 0; i < n; i++, ++cfn_it )
(*cfn_it) >> covs[i];
decomposeCovs();
computeLogWeightDivDet();
}
bool HaarEvaluator::Feature :: read( const FileNode& node )
{
FileNode rnode = node[CC_RECTS];
FileNodeIterator it = rnode.begin(), it_end = rnode.end();
int ri;
for( ri = 0; ri < RECT_NUM; ri++ )
{
rect[ri].r = Rect();
rect[ri].weight = 0.f;
}
for(ri = 0; it != it_end; ++it, ri++)
{
FileNodeIterator it2 = (*it).begin();
it2 >> rect[ri].r.x >> rect[ri].r.y >>
rect[ri].r.width >> rect[ri].r.height >> rect[ri].weight;
}
tilted = (int)node[CC_TILTED] != 0;
return true;
}
bool ChessCalibration::loadExtrinsics() {
FileStorage fs(calibrationExtrinsicsFilePath, FileStorage::READ);
if (!fs.isOpened())
return false;
imagePoints.clear();
found = true;
fs["rvec"] >> rvec;
fs["tvec"] >> tvec;
FileNode features = fs["features"];
for(FileNodeIterator it = features.begin(); it != features.end(); it++) {
vector<Point2f> cur;
(*it) >> cur;
imagePoints.push_back(cur[0]);
}
fs["mapping"] >> mapping;
cout << "Extrinsics loaded from file" << endl;
// createTransformImageExtrinsicMap(camMat);
// fs.release();
// FileStorage fs2(calibrationExtrinsicsFilePath, FileStorage::APPEND);
// fs2 << "mapping" << mapping;
return true;
}
void Calibration::load(string filename, bool absolute) {
imagePoints.clear();
FileStorage fs(ofToDataPath(filename, absolute), FileStorage::READ);
cv::Size imageSize, sensorSize;
Mat cameraMatrix;
fs["cameraMatrix"] >> cameraMatrix;
fs["imageSize_width"] >> imageSize.width;
fs["imageSize_height"] >> imageSize.height;
fs["sensorSize_width"] >> sensorSize.width;
fs["sensorSize_height"] >> sensorSize.height;
fs["distCoeffs"] >> distCoeffs;
fs["reprojectionError"] >> reprojectionError;
FileNode features = fs["features"];
for(FileNodeIterator it = features.begin(); it != features.end(); it++) {
vector<Point2f> cur;
(*it) >> cur;
imagePoints.push_back(cur);
}
addedImageSize = imageSize;
distortedIntrinsics.setup(cameraMatrix, imageSize, sensorSize);
updateUndistortion();
}
/**Reads board info from a file
*/
void BoardConfiguration::readFromFile(cv::FileStorage &fs) throw(cv::Exception) {
int aux = 0;
// look for the nmarkers
if (fs["aruco_bc_nmarkers"].name() != "aruco_bc_nmarkers")
throw cv::Exception(81818, "BoardConfiguration::readFromFile", "invalid file type", __FILE__, __LINE__);
fs["aruco_bc_nmarkers"] >> aux;
resize(aux);
fs["aruco_bc_mInfoType"] >> mInfoType;
cv::FileNode markers = fs["aruco_bc_markers"];
int i = 0;
for (FileNodeIterator it = markers.begin(); it != markers.end(); ++it, i++) {
at(i).id = (*it)["id"];
FileNode FnCorners = (*it)["corners"];
for (FileNodeIterator itc = FnCorners.begin(); itc != FnCorners.end(); ++itc) {
vector< float > coordinates3d;
(*itc) >> coordinates3d;
if (coordinates3d.size() != 3)
throw cv::Exception(81818, "BoardConfiguration::readFromFile", "invalid file type 3", __FILE__, __LINE__);
cv::Point3f point(coordinates3d[0], coordinates3d[1], coordinates3d[2]);
at(i).push_back(point);
}
}
}
int CV_MLBaseTest::read_params( CvFileStorage* __fs )
{
FileStorage _fs(__fs, false);
if( !_fs.isOpened() )
test_case_count = -1;
else
{
FileNode fn = _fs.getFirstTopLevelNode()["run_params"][modelName];
test_case_count = (int)fn.size();
if( test_case_count <= 0 )
test_case_count = -1;
if( test_case_count > 0 )
{
dataSetNames.resize( test_case_count );
FileNodeIterator it = fn.begin();
for( int i = 0; i < test_case_count; i++, ++it )
{
dataSetNames[i] = (string)*it;
}
}
}
return cvtest::TS::OK;;
}
static bool readStringList( const string& filename, const string& tempFile, vector<string>& l )
{
/* // Immediately generate the file name that we will read from
FileStorage fs(tempFile, FileStorage::WRITE);
fs << "images" << "[";
fs << string(filename);
fs << "]";
*/
l.resize(0);
FileStorage fs(filename, FileStorage::READ);
if( !fs.isOpened() )
return false;
FileNode n = fs.getFirstTopLevelNode();
if( n.type() != FileNode::SEQ )
return false;
FileNodeIterator it = n.begin(), it_end = n.end();
for( ; it != it_end; ++it )
l.push_back((string)*it);
return true;
}
void CameraCalibration::ReadMonoCalibParams( string &img_xml )
{
calib_params = new CalibParams;
FileStorage fs(img_xml, FileStorage::READ); // Read the settings
if (!fs.isOpened())
{
cout << "Could not open the configuration file: \"" << img_xml << "\"" << endl;
exit(EXIT_FAILURE);
}
BoardSize = Size((int)fs["BoardSizeWidth"], (int)fs["BoardSizeHeight"]);
SquareSize = (float)fs["SquareSize"];
BoardTexWdith = SquareSize*BoardSize.width;
BoardTexHeight = SquareSize*BoardSize.height;
FileNode imgs = fs["Images"];
for(FileNodeIterator itr = imgs.begin(); itr != imgs.end(); itr++)
calib_params->ImageList.push_back((string)*itr);
// Check if all image data have the same size.
Mat img = imread(calib_params->ImageList.front(), CV_LOAD_IMAGE_GRAYSCALE);
ImageSize = Size(img.rows, img.cols);
for(int i=1; i<calib_params->ImageList.size(); i++)
{
img = imread(calib_params->ImageList.at(i), CV_LOAD_IMAGE_GRAYSCALE);
assert(ImageSize == Size(img.rows, img.cols));
ImageSize = Size(img.rows, img.cols);
}
NumFrames = calib_params->ImageList.size();
fs.release();
}
/*
* Run tests to make sure that quantization is working.
*/
void runQuantTests()
{
ColonyCounter colonyCounter;
colonyCounter.loadTraining("svm_params.yml");
FileStorage fs("samples/tests.yml", FileStorage::READ);
FileNode features = fs["tests"];
FileNodeIterator it = features.begin(), it_end = features.end();
int idx = 0;
for( ; it != it_end; ++it, idx++ )
{
string path;
(*it)["path"] >> path;
Mat img = imread("samples/" + path);
// Find petri img
Rect petriRect = findPetriRect(img);
Mat petri = img(petriRect);
// Preprocess image
petri = colonyCounter.preprocessImage(petri);
colonyCounter.testQuantization(petri, quants);
// Classify image
Mat debugImg, debugImgq;
colonyCounter.classifyImage(petri, true, &debugImg);
colonyCounter.classifyImageQuant(petri, true, &debugImgq, quants);
imshow("normal", debugImg);
imshow("quant", debugImgq);
waitKey(0);
}
fs.release();
}
int imageDB::readImgInfoMap(const FileStorage& cvfs, const FileNode& node)
{
imgInfo_map.clear();
releaseImgVoteMap();
int img_id;
imageInfo img_info;
FileNodeIterator it = node.begin();
while(it != node.end()){
img_id = (int)(*it)[0];
img_info.feature_num = (int)(*it)[1];
img_info.img_size = Size((int)(*it)[2],(int)(*it)[3]);
imgInfo_map.insert(pair<int,imageInfo>(img_id,img_info));
// create voteTable
vector<featureVote>* voteTable = new vector<featureVote>;
imgVote_map.insert(pair<int,vector<featureVote>*>(img_id, voteTable));
it++;
}
return 0;
}
/**Read this from a file
*/
void Board::readFromFile(string filePath) throw(cv::Exception) {
cv::FileStorage fs(filePath, cv::FileStorage::READ);
if (fs["aruco_bo_nmarkers"].name() != "aruco_bo_nmarkers")
throw cv::Exception(81818, "Board::readFromFile", "invalid file type:", __FILE__, __LINE__);
int aux = 0;
// look for the nmarkers
fs["aruco_bo_nmarkers"] >> aux;
resize(aux);
fs["aruco_bo_rvec"] >> Rvec;
fs["aruco_bo_tvec"] >> Tvec;
cv::FileNode markers = fs["aruco_bo_markers"];
int i = 0;
for (FileNodeIterator it = markers.begin(); it != markers.end(); ++it, i++) {
at(i).id = (*it)["id"];
int ncorners = (*it)["ncorners"];
at(i).resize(ncorners);
FileNode FnCorners = (*it)["corners"];
int c = 0;
for (FileNodeIterator itc = FnCorners.begin(); itc != FnCorners.end(); ++itc, c++) {
vector< float > coordinates2d;
(*itc) >> coordinates2d;
if (coordinates2d.size() != 2)
throw cv::Exception(81818, "Board::readFromFile", "invalid file type 2", __FILE__, __LINE__);
cv::Point2f point;
point.x = coordinates2d[0];
point.y = coordinates2d[1];
at(i).push_back(point);
}
}
conf.readFromFile(fs);
}
void visualize(){
cout << endl << "Reading: " << endl;
FileStorage fs("PointCloudFoun.xml ", FileStorage::READ ); //PointCloud_SURF_Foun_1K.xml
if (fs.isOpened())
cout<<"File is opened\n";
else
cout << "error in opening" << endl;
FileNode n = fs["CloudPoint"];
int row;
row = (int) (n["rows"]);
cout << "Row:" << row << endl;
unsigned int count;
FileNode nd = n["data"];
vector< double > pointcloud;
FileNodeIterator it = nd.begin(), it_end = nd.end(); // Go through the node
for (; it != it_end; ++it)
{
pointcloud.push_back( (double)*it );
// cout << (double)*it;
count += 1;
}
cout << count/3 <<endl;
fs.release();
cout << "\n" << pointcloud.size()/3 <<endl;
//--------------------
// Visualization
//--------------------
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
std::cout << "Genarating point clouds.\n\n";
cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
for(unsigned int i = 0; i < pointcloud.size() ; i = i+3)
{
if(isnan( pointcloud[i] ) )
continue;
pcl::PointXYZ p;
p.x = pointcloud[i];
p.y = pointcloud[i+1];
p.z = pointcloud[i+2];
cloud->push_back(p);
//cloud->points.push_back(p);
}
cloud->width = (int) cloud->points.size();
cloud->height = 1;
for (size_t i = 0; i < cloud->points.size (); ++i)
std::cerr << " " << cloud->points[i].x << " " << cloud->points[i].y << " " << cloud->points[i].z << std::endl;
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
viewer = customColourVis(cloud);
while (!viewer->wasStopped ())
{
viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
static Fields* parseCascade(const FileNode &root, const float mins, const float maxs, const int totals, const int method)
{
static const char *const SC_STAGE_TYPE = "stageType";
static const char *const SC_BOOST = "BOOST";
static const char *const SC_FEATURE_TYPE = "featureType";
static const char *const SC_ICF = "ICF";
static const char *const SC_ORIG_W = "width";
static const char *const SC_ORIG_H = "height";
static const char *const SC_FEATURE_FORMAT = "featureFormat";
static const char *const SC_SHRINKAGE = "shrinkage";
static const char *const SC_OCTAVES = "octaves";
static const char *const SC_OCT_SCALE = "scale";
static const char *const SC_OCT_WEAKS = "weaks";
static const char *const SC_TREES = "trees";
static const char *const SC_WEAK_THRESHOLD = "treeThreshold";
static const char *const SC_FEATURES = "features";
static const char *const SC_INTERNAL = "internalNodes";
static const char *const SC_LEAF = "leafValues";
static const char *const SC_F_CHANNEL = "channel";
static const char *const SC_F_RECT = "rect";
// only Ada Boost supported
std::string stageTypeStr = (std::string)root[SC_STAGE_TYPE];
CV_Assert(stageTypeStr == SC_BOOST);
// only HOG-like integral channel features supported
std::string featureTypeStr = (std::string)root[SC_FEATURE_TYPE];
CV_Assert(featureTypeStr == SC_ICF);
int origWidth = (int)root[SC_ORIG_W];
int origHeight = (int)root[SC_ORIG_H];
std::string fformat = (std::string)root[SC_FEATURE_FORMAT];
bool useBoxes = (fformat == "BOX");
ushort shrinkage = cv::saturate_cast<ushort>((int)root[SC_SHRINKAGE]);
FileNode fn = root[SC_OCTAVES];
if (fn.empty()) return 0;
std::vector<device::Octave> voctaves;
std::vector<float> vstages;
std::vector<device::Node> vnodes;
std::vector<float> vleaves;
FileNodeIterator it = fn.begin(), it_end = fn.end();
for (ushort octIndex = 0; it != it_end; ++it, ++octIndex)
{
FileNode fns = *it;
float scale = powf(2.f,saturate_cast<float>((int)fns[SC_OCT_SCALE]));
bool isUPOctave = scale >= 1;
ushort nweaks = saturate_cast<ushort>((int)fns[SC_OCT_WEAKS]);
ushort2 size;
size.x = cvRound(origWidth * scale);
size.y = cvRound(origHeight * scale);
device::Octave octave(octIndex, nweaks, shrinkage, size, scale);
CV_Assert(octave.stages > 0);
voctaves.push_back(octave);
FileNode ffs = fns[SC_FEATURES];
if (ffs.empty()) return 0;
std::vector<cv::Rect> feature_rects;
std::vector<int> feature_channels;
FileNodeIterator ftrs = ffs.begin(), ftrs_end = ffs.end();
int feature_offset = 0;
for (; ftrs != ftrs_end; ++ftrs, ++feature_offset )
{
cv::FileNode ftn = (*ftrs)[SC_F_RECT];
cv::FileNodeIterator r_it = ftn.begin();
int x = (int)*(r_it++);
int y = (int)*(r_it++);
int w = (int)*(r_it++);
int h = (int)*(r_it++);
if (useBoxes)
{
if (isUPOctave)
{
w -= x;
h -= y;
}
}
else
{
if (!isUPOctave)
{
w += x;
h += y;
}
}
feature_rects.push_back(cv::Rect(x, y, w, h));
feature_channels.push_back((int)(*ftrs)[SC_F_CHANNEL]);
}
fns = fns[SC_TREES];
if (fn.empty()) return false;
// for each stage (~ decision tree with H = 2)
FileNodeIterator st = fns.begin(), st_end = fns.end();
for (; st != st_end; ++st )
{
FileNode octfn = *st;
float threshold = (float)octfn[SC_WEAK_THRESHOLD];
vstages.push_back(threshold);
FileNode intfns = octfn[SC_INTERNAL];
FileNodeIterator inIt = intfns.begin(), inIt_end = intfns.end();
for (; inIt != inIt_end;)
{
inIt +=2;
int featureIdx = (int)(*(inIt++));
float orig_threshold = (float)(*(inIt++));
unsigned int th = saturate_cast<unsigned int>((int)orig_threshold);
cv::Rect& r = feature_rects[featureIdx];
uchar4 rect;
rect.x = saturate_cast<uchar>(r.x);
rect.y = saturate_cast<uchar>(r.y);
rect.z = saturate_cast<uchar>(r.width);
rect.w = saturate_cast<uchar>(r.height);
unsigned int channel = saturate_cast<unsigned int>(feature_channels[featureIdx]);
vnodes.push_back(device::Node(rect, channel, th));
}
intfns = octfn[SC_LEAF];
inIt = intfns.begin(), inIt_end = intfns.end();
for (; inIt != inIt_end; ++inIt)
{
vleaves.push_back((float)(*inIt));
}
}
}
cv::Mat hoctaves(1, (int) (voctaves.size() * sizeof(device::Octave)), CV_8UC1, (uchar*)&(voctaves[0]));
CV_Assert(!hoctaves.empty());
cv::Mat hstages(cv::Mat(vstages).reshape(1,1));
CV_Assert(!hstages.empty());
cv::Mat hnodes(1, (int) (vnodes.size() * sizeof(device::Node)), CV_8UC1, (uchar*)&(vnodes[0]) );
CV_Assert(!hnodes.empty());
cv::Mat hleaves(cv::Mat(vleaves).reshape(1,1));
CV_Assert(!hleaves.empty());
Fields* fields = new Fields(mins, maxs, totals, origWidth, origHeight, shrinkage, 0,
hoctaves, hstages, hnodes, hleaves, method);
fields->voctaves = voctaves;
fields->createLevels(DEFAULT_FRAME_HEIGHT, DEFAULT_FRAME_WIDTH);
return fields;
}
bool fill(const FileNode &root)
{
// cascade properties
static const char *const SC_STAGE_TYPE = "stageType";
static const char *const SC_BOOST = "BOOST";
static const char *const SC_FEATURE_TYPE = "featureType";
static const char *const SC_ICF = "ICF";
static const char *const SC_ORIG_W = "width";
static const char *const SC_ORIG_H = "height";
static const char *const SC_OCTAVES = "octaves";
static const char *const SC_TREES = "trees";
static const char *const SC_FEATURES = "features";
static const char *const SC_INTERNAL = "internalNodes";
static const char *const SC_LEAF = "leafValues";
static const char *const SC_SHRINKAGE = "shrinkage";
static const char *const FEATURE_FORMAT = "featureFormat";
// only Ada Boost supported
std::string stageTypeStr = (string)root[SC_STAGE_TYPE];
CV_Assert(stageTypeStr == SC_BOOST);
std::string fformat = (string)root[FEATURE_FORMAT];
bool useBoxes = (fformat == "BOX");
// only HOG-like integral channel features supported
string featureTypeStr = (string)root[SC_FEATURE_TYPE];
CV_Assert(featureTypeStr == SC_ICF);
origObjWidth = (int)root[SC_ORIG_W];
origObjHeight = (int)root[SC_ORIG_H];
shrinkage = (int)root[SC_SHRINKAGE];
FileNode fn = root[SC_OCTAVES];
if (fn.empty()) return false;
// for each octave
FileNodeIterator it = fn.begin(), it_end = fn.end();
for (int octIndex = 0; it != it_end; ++it, ++octIndex)
{
FileNode fns = *it;
Octave octave(octIndex, cv::Size(origObjWidth, origObjHeight), fns);
CV_Assert(octave.weaks > 0);
octaves.push_back(octave);
FileNode ffs = fns[SC_FEATURES];
if (ffs.empty()) return false;
fns = fns[SC_TREES];
if (fn.empty()) return false;
FileNodeIterator st = fns.begin(), st_end = fns.end();
for (; st != st_end; ++st )
{
weaks.push_back(Weak(*st));
fns = (*st)[SC_INTERNAL];
FileNodeIterator inIt = fns.begin(), inIt_end = fns.end();
for (; inIt != inIt_end;)
nodes.push_back(Node(features.size(), inIt));
fns = (*st)[SC_LEAF];
inIt = fns.begin(), inIt_end = fns.end();
for (; inIt != inIt_end; ++inIt)
leaves.push_back((float)(*inIt));
}
st = ffs.begin(), st_end = ffs.end();
for (; st != st_end; ++st )
features.push_back(Feature(*st, useBoxes));
}
return true;
}
void System3d::readCalibrationXML(string filename)
{
if(filename.length() > 5)
{
if( filename.substr(filename.length()-4) == ".xml" )
{
pmdPoints.clear();
webcamPoints.clear();
patternCount = 0;
cout << "opening file \"" << filename << "\" in progress...";
FileStorage xmlfile(filename, FileStorage::READ);
FileNode chessboardNode = xmlfile["chessboard_pattern_parameters"];
float vertical = (float)chessboardNode["vertical"];
float horizontal = (float)chessboardNode["horizontal"];
FileNode IFMcamNode = xmlfile["detected_corners"];
FileNodeIterator it = IFMcamNode.begin(), it_end = IFMcamNode.end();
int idx = 0;
// iterate through a sequence using FileNodeIterator
for( ; it != it_end; ++it, idx++ )
{
vector<Point2f> pts_pmd;
(*it)["IFMcam_corners"] >> pts_pmd;
pmdPoints.push_back(pts_pmd);
vector<Point2f> pts_web;
(*it)["webcam_corners"] >> pts_web;
webcamPoints.push_back(pts_web);
}
xmlfile.release();
patternCount = idx;
// write points coordinates
cout << "\n*****************************************************\n";
for(int k=0; k<pmdPoints.size(); k++)
{
cout << "pmd feature #" << k << ": ";
cout << "\n( ";
for(int i=0; i<pmdPoints[k].size(); i++)
{
cout << pmdPoints[k][i].x << " " << pmdPoints[k][i].y << " || ";
}
cout << ")\n";
}
// write points coordinates
cout << "\n*****************************************************\n";
for(int k=0; k<webcamPoints.size(); k++)
{
cout << "web feature #" << k << ": ";
cout << "\n( ";
for(int i=0; i<webcamPoints[k].size(); i++)
{
cout << webcamPoints[k][i].x << " " << webcamPoints[k][i].y << " || ";
}
cout << ")\n";
}
}
else cout << "Error: wrong file name\n";
int main() {
//leap motion data
Controller controller;
controller.setPolicy(Leap::Controller::POLICY_IMAGES);
controller.setPolicy(Leap::Controller::POLICY_BACKGROUND_FRAMES);
//process variables
int updateRate;
int frameAmount; //amount of frame to record
int counter;
bool done;
FileStorage fs;
vector<string> imagelist;
FileNode n;
FileNodeIterator it, it_begin, it_end;
Size boardSize;
int64 t1, t2;
double time;
Vector slopes_left, slopes_right, position;
float cameraZ, cameraY, cameraX;
//behavior options
Behaviour behaviour;
start:
//initialization
updateRate = 100;
frameAmount = 20; //amount of frame to record
counter = 0;
done = false;
imagelist.clear();
time = 0;
behaviour = CheckBehaviour();
if (behaviour == Quit) return 0;
else {
system("cls");
std::cout << "Press 'q' to quit, 'r' to restart (set focus on image window)\n";
}
char key = ' ';
while (key != 'q' && key != 'r') {
key = waitKey(updateRate); //refresh rate
//image acquisition
Frame frame = controller.frame();
if (!frame.isValid()) {
//std::cout << "Frame is Invalid" << std::endl;
continue;
}
ImageList images = frame.images();
if (images.isEmpty() || images.count() == 1) {
//std::cout << "imageList.isEmpty()" << std::endl;
continue;
}
Image imageLeft = images[0];
Image imageRight = images[1];
cvImgLeft = Mat(imageLeft.height(), imageLeft.width(), CV_8UC1);
cvImgRight = Mat(imageRight.height(), imageRight.width(), CV_8UC1);
cvImgLeft.data = (unsigned char*)imageLeft.data();
cvImgRight.data = (unsigned char*)imageRight.data();
//image output
imshow("Left image", cvImgLeft);
imshow("Right image", cvImgRight);
//behaviour check
switch (behaviour) {
case Show_images:
//do nothing
break;
case Undistort_images:
//use Leap Motion distortion map
UndistortLeap(imageLeft, "Undistorted left image", true);
UndistortLeap(imageRight, "Undistorted right image", true);
break;
case Calib_image_recording:
//record calibration images
counter++;
//done = imgSave(cvImgLeft, cvImgRight, frameAmount, counter);
done = imgSave(UndistortLeap(imageLeft, "Undistorted left image", true), UndistortLeap(imageRight, "Undistorted right image", true), frameAmount, counter);
if (done) {
system("cls");
std::cout << "Images for calibration recorded!" <<
"\nPress 'q' to quit, 'r' to restart (set focus on image window)";
behaviour = Show_images;
}
break;
case Stereo_calibration:
//read calibration names to list
fs.open(calibFileNames, FileStorage::READ);
n = fs["strings"]; // Read string sequence - Get node
if (n.type() != FileNode::SEQ)
{
cerr << "strings is not a sequence! FAIL" << endl;
behaviour = Show_images;
break;
}
it = n.begin();
it_end = n.end(); // Go through the node
for (; it != it_end; ++it) {
imagelist.push_back((string)*it);
cout << (string)*it << endl;
}
fs.release();
//provide board size
boardSize.width = 9;
boardSize.height = 6;
//apply calibration, save parameters
StereoCalibration(imagelist, boardSize, true, true);
//exit calibration, revert to showing images
behaviour = Show_images;
break;
case Hough_circle_transform:
//apply calibration
//rectify calibrated images
//apply threshold
//Hough circle transform detection
t1 = getTickCount();
TrackingHoughCircles(cvImgLeft);
t2 = getTickCount();
time = (t2 - t1) / getTickFrequency();
cout << "\nExecution time (ms): " << time * 1000.0f;
break;
case Tracking_blobs:
//uncalibrated
//threshold
//simple blob detector
t1 = getTickCount();
TrackingBlobs(cvImgLeft);
t2 = getTickCount();
time = (t2 - t1) / getTickFrequency();
cout << "\nExecution time (ms): " << time * 1000.0f;
break;
case Tracking_contours:
//uncalibrated
//threshold
//blur + contours + enclosing circle
t1 = getTickCount();
TrackingContours(cvImgLeft);
t2 = getTickCount();
time = (t2 - t1) / getTickFrequency();
cout << "\nExecution time (ms): " << time * 1000.0f;
break;
case Triangulation:
//triangulation based on two tracked points and Leap Motion rectify() function
t1 = getTickCount();
//get the direction to the centere of object from left and right images
//since there is only one tracked object, points should correspond
slopes_left = imageLeft.rectify(GetTrackedPoint(imageLeft));
slopes_right = imageRight.rectify(GetTrackedPoint(imageRight));
//Do the triangulation from the rectify() slopes
//40 mm camera separation
cameraZ = 40 / (slopes_right.x - slopes_left.x);
cameraY = cameraZ * slopes_right.y;
cameraX = cameraZ * slopes_right.x - 20;
position = Vector(cameraX, -cameraZ, cameraY);
t2 = getTickCount();
time = (t2 - t1) / getTickFrequency();
cout << "\nPosition: " << position;
cout << "\nExecution time (ms): " << time * 1000.0f;
break;
default:
//do nothing
break;
}
}
//restart
if (key == 'r') {
destroyAllWindows();
goto start;
}
return 0;
}
int main(int ac, char** av)
{
if (ac != 2)
{
help(av);
return 1;
}
string filename = av[1];
//write
{
FileStorage fs(filename, FileStorage::WRITE);
cout << "writing images\n";
fs << "images" << "[";
fs << "image1.jpg" << "myfi.png" << "baboon.jpg";
cout << "image1.jpg" << " myfi.png" << " baboon.jpg" << endl;
fs << "]";
cout << "writing mats\n";
Mat R =Mat_<double>::eye(3, 3),T = Mat_<double>::zeros(3, 1);
cout << "R = " << R << "\n";
cout << "T = " << T << "\n";
fs << "R" << R;
fs << "T" << T;
cout << "writing MyData struct\n";
MyData m(1);
fs << "mdata" << m;
cout << m << endl;
}
//read
{
FileStorage fs(filename, FileStorage::READ);
if (!fs.isOpened())
{
cerr << "failed to open " << filename << endl;
help(av);
return 1;
}
FileNode n = fs["images"];
if (n.type() != FileNode::SEQ)
{
cerr << "images is not a sequence! FAIL" << endl;
return 1;
}
cout << "reading images\n";
FileNodeIterator it = n.begin(), it_end = n.end();
for (; it != it_end; ++it)
{
cout << (string)*it << "\n";
}
Mat R, T;
cout << "reading R and T" << endl;
fs["R"] >> R;
fs["T"] >> T;
cout << "R = " << R << "\n";
cout << "T = " << T << endl;
MyData m;
fs["mdata"] >> m;
cout << "read mdata\n";
cout << m << endl;
cout << "attempting to read mdata_b\n"; //Show default behavior for empty matrix
fs["mdata_b"] >> m;
cout << "read mdata_b\n";
cout << m << endl;
}
cout << "Try opening " << filename << " to see the serialized data." << endl << endl;
//read from string
{
cout << "Read data from string\n";
string dataString =
"%YAML:1.0\n"
"mdata:\n"
" A: 97\n"
" X: 3.1415926535897931e+00\n"
" id: mydata1234\n";
MyData m;
FileStorage fs(dataString, FileStorage::READ | FileStorage::MEMORY);
cout << "attempting to read mdata_b from string\n"; //Show default behavior for empty matrix
fs["mdata"] >> m;
cout << "read mdata\n";
cout << m << endl;
}
//write to string
{
cout << "Write data to string\n";
FileStorage fs(filename, FileStorage::WRITE | FileStorage::MEMORY | FileStorage::FORMAT_YAML);
cout << "writing MyData struct\n";
MyData m(1);
fs << "mdata" << m;
cout << m << endl;
string createdString = fs.releaseAndGetString();
cout << "Created string:\n" << createdString << "\n";
}
return 0;
}
int main()
{
//vars for 120 fps
time_duration td, td1;
ptime nextFrameTimestamp, currentFrameTimestamp, initialLoopTimestamp, finalLoopTimestamp;
int delayFound = 0;
//Setting up communication with arduino
HANDLE hSerial;
hSerial = CreateFile("COM4",GENERIC_READ|GENERIC_WRITE,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
if(hSerial==INVALID_HANDLE_VALUE)
{
if(GetLastError()==ERROR_FILE_NOT_FOUND)
{
cout<<"File not found"<<endl;//serial port does not exist. Inform user.
}
cout<<"error :/"<<endl;//some other error occurred. Inform user.
}
DCB dcbSerialParams = {0};
dcbSerialParams.DCBlength=sizeof(dcbSerialParams);
if (!GetCommState(hSerial, &dcbSerialParams))
{
printf("error getting state\n");
}
dcbSerialParams.BaudRate=CBR_9600;
dcbSerialParams.ByteSize=8;
dcbSerialParams.StopBits=ONESTOPBIT;
dcbSerialParams.Parity=NOPARITY;
if(!SetCommState(hSerial, &dcbSerialParams))
{
printf("error setting serial port state\n");
}
int n=1;
DWORD bytesWritten;
ifstream infile("..//..//..//data.csv"); //Takes input from basic(GUI) for reading patient data and stores in the data.csv file
infile>>patdat; //reading patients first name
infile>>patdat1; //reading patients last name
infile>>patdat2; //reading patients age
infile>>patdat3; //reading patients gender
//Snippet for reading camera settings from xml file
FileStorage fs;
fs.open("file1.xml", FileStorage::READ);
FileNode q = fs.root();
for (FileNodeIterator current = q.begin(); current != q.end(); current++)
{
FileNode item = *current;
//cout<<"Success"<<endl;
item["Exposure"] >> exposure;
item["FPS"] >> framerate;
item["Framewidth"] >> framewidth;
item["Frameheight"] >> frameheight;
//cout << exposure << endl;
}
VideoCapture capture(0); //Opens the camera of the device connected
VideoCapture capture1(1);
capture.set(CV_CAP_PROP_FRAME_WIDTH, framewidth);
capture.set(CV_CAP_PROP_FRAME_HEIGHT,frameheight);
capture.set(CV_CAP_PROP_EXPOSURE, exposure);
capture1.set(CV_CAP_PROP_FRAME_WIDTH, framewidth);
capture1.set(CV_CAP_PROP_FRAME_HEIGHT,frameheight);
capture1.set(CV_CAP_PROP_EXPOSURE, exposure);
capture>>image; //Extract a frame and store in image matrix.
capture1>>image1;
strcpy(fname, "..//..//Videos//"); //declaring path for storing video
strcat(fname, patdat); //appending patients first name on the video
strcat(fname, "_"); //appending patients name on the video
strcat(fname, patdat1); //appending patients last name on the video
strcat(fname, "_");
strcat(fname, patdat2);
strcat(fname, "_");
strcat(fname, patdat3);
strcat(fname, "_");
strcat(fname, "left");
strcat(fname,".avi");
strcpy(fname1, "..//..//Videos//"); //declaring path for storing video
strcat(fname1, patdat); //appending patients first name on the video
strcat(fname1, "_"); //appending patients name on the video
strcat(fname1, patdat1); //appending patients last name on the video
strcat(fname1, "_");
strcat(fname1, patdat2);
strcat(fname1, "_");
strcat(fname1, patdat3);
strcat(fname1, "_");
strcat(fname1, "right");
strcat(fname1,".avi");
int fps1=20;
/*Define VideoiWriter object for storing the video*/
VideoWriter video(fname,CV_FOURCC('M','J','P','G'),fps1,cvSize(framewidth, frameheight)); //CV_FOURCC('M','J','P','G') is a motion-jpeg codec
VideoWriter video1(fname1,CV_FOURCC('M','J','P','G'),fps1,cvSize(framewidth, frameheight));
// initialize initial timestamps
nextFrameTimestamp = microsec_clock::local_time();
currentFrameTimestamp = nextFrameTimestamp;
td = (currentFrameTimestamp - nextFrameTimestamp);
//Starting timer
DWORD start = GetTickCount();
int i=1;
for(i=1;;i++)
{
// wait for X microseconds until 1second/framerate time has passed after previous frame write
while(td.total_microseconds() < 1000/framerate)
{
//determine current elapsed time
currentFrameTimestamp = microsec_clock::local_time();
td = (currentFrameTimestamp - nextFrameTimestamp);
}
// determine time at start of write
initialLoopTimestamp = microsec_clock::local_time();
capture>>image;
capture1>>image1;
Size sz1 = image.size();
Size sz2 = image1.size();
Mat im3(sz1.height, sz1.width+sz2.width, CV_8UC3);
Mat left(im3, Rect(0, 0, sz1.width, sz1.height));
image.copyTo(left);
Mat right(im3, Rect(sz1.width, 0, sz2.width, sz2.height));
image1.copyTo(right);
namedWindow("Video",WINDOW_NORMAL);
imshow("Video",im3);
// add 1second/framerate time for next loop pause
nextFrameTimestamp = nextFrameTimestamp + microsec(1000000/framerate);
// reset time_duration so while loop engages
td = (currentFrameTimestamp - nextFrameTimestamp);
// cout<< (td) <<" "<<endl;
//determine and print out delay in ms, should be less than 1000/FPS
//occasionally, if delay is larger than said value, correction will occur
//if delay is consistently larger than said value, then CPU is not powerful
// enough to capture/decompress/record/compress that fast.
finalLoopTimestamp = microsec_clock::local_time();
td1 = (finalLoopTimestamp - initialLoopTimestamp);
delayFound = td1.total_milliseconds();
//cout << delayFound << endl;
//output will be in following format
//[TIMESTAMP OF PREVIOUS FRAME] [TIMESTAMP OF NEW FRAME] [TIME DELAY OF WRITING]
key1 = waitKey(100); //Capture Keyboard stroke
if (char(key1) == 32 )
{
break; //If you hit ESC key loop will break and code will terminate
}
}
DWORD elapsed = GetTickCount() - start;
cout<<"for the "<<i<<"th frame "<<elapsed/1000<<" seconds are required"<<endl;
cout<<"Therefore the framerate is "<<i/(elapsed/1000)<<endl;
WriteFile(hSerial, "s",n, &bytesWritten, NULL);
cout<<"No of bytes written are: "<<bytesWritten<<endl;
cout<<"The test has started"<<endl;
start = GetTickCount();
cout<<"Time = "<< start;
i=1;
for(i=1;;i++)
{
// wait for X microseconds until 1second/framerate time has passed after previous frame write
while(td.total_microseconds() < 1000/framerate)
{
//determine current elapsed time
currentFrameTimestamp = microsec_clock::local_time();
td = (currentFrameTimestamp - nextFrameTimestamp);
}
// determine time at start of write
initialLoopTimestamp = microsec_clock::local_time();
capture>>image;
video<<image;
capture1>>image1;
video1<<image1;
Size sz1 = image.size();
Size sz2 = image1.size();
Mat im3(sz1.height, sz1.width+sz2.width, CV_8UC3);
Mat left(im3, Rect(0, 0, sz1.width, sz1.height));
image.copyTo(left);
Mat right(im3, Rect(sz1.width, 0, sz2.width, sz2.height));
image1.copyTo(right);
namedWindow("Video",WINDOW_NORMAL);
imshow("Video",im3);
// add 1second/framerate time for next loop pause
nextFrameTimestamp = nextFrameTimestamp + microsec(1000000/framerate);
// reset time_duration so while loop engages
td = (currentFrameTimestamp - nextFrameTimestamp);
// cout<< (td) <<" "<<endl;
//determine and print out delay in ms, should be less than 1000/FPS
//occasionally, if delay is larger than said value, correction will occur
//if delay is consistently larger than said value, then CPU is not powerful
// enough to capture/decompress/record/compress that fast.
finalLoopTimestamp = microsec_clock::local_time();
td1 = (finalLoopTimestamp - initialLoopTimestamp);
delayFound = td1.total_milliseconds();
//cout << delayFound << endl;
//output will be in following format
//[TIMESTAMP OF PREVIOUS FRAME] [TIMESTAMP OF NEW FRAME] [TIME DELAY OF WRITING]
// video1<<im3;
//DWORD dwRead;
//BOOL fWaitingOnRead = FALSE;
//OVERLAPPED osReader = {0};
// Create the overlapped event. Must be closed before exiting
// to avoid a handle leak.
//osReader.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
//if (osReader.hEvent == NULL)
// Error creating overlapped event; abort.
//if (!fWaitingOnRead) {
// Issue read operation.
//if (!ReadFile(hSerial, lpBuf, 1, &dwRead, &osReader)) {
//if (GetLastError() != ERROR_IO_PENDING) ; // read not delayed?
// Error in communications; report it.
//else
// fWaitingOnRead = TRUE;
//}
//else {
// read completed immediately
// ReadFile(hSerial, lpBuf, 1, &dwRead, &osReader);
//HandleASuccessfulRead(lpBuf, dwRead);
//cout<<"Arduino-Read: "<<lpBuf[0]<<" ->"<<"Excitation number"<<lpBuf[0]<<endl;
//}
//}
elapsed = GetTickCount() - start;
//cout<<"time elapsed ="<<elapsed/1000<<"secons"<<endl;
cout<<"time left for test to end = "<<39-(elapsed/1000)<<endl;
key2 = waitKey(100); //Capture Keyboard stroke
if (char(key2) == 27 || elapsed==39000 )
{
cout<<"Test is complete"<<endl;
break; //Ijf you hit ESC key loop will break and code will terminate || lpBuf[0]=='9'
}
}
CloseHandle(hSerial); //Ending communication with arduino
elapsed = GetTickCount() - start;
cout<<"for the "<<i<<"th frame "<<elapsed/1000<<" seconds are required"<<endl;
cout<<"Therefore the framerate is "<<i/(elapsed/1000)<<endl;
capture.release();
capture1.release();
return 0;
}
bool s_model::load()
{
FileStorage fs;
fs.open(fname, FileStorage::READ);
if(!fs.isOpened()){
return false;
}
FileNode fn;
fn = fs["ModelName"];
string nameModel;
if(fn.empty()){
cerr << "Cannot find node ModelName." << endl;
return false;
}
fn >> name;
// decode the model name. Some names are reserved for specific models
// If model head is "chsbd", the name should have the format "chsbd_<x>_<y>_<p>". Here <x>, <y> are non-negative integer, <p> is fixed point number.
if(par_chsbd.parse(name.c_str(), type, pts, edges)){
pts_deformed.resize(pts.size());
for(int i = 0; i < pts.size(); i++)
pts_deformed[i] = pts[i];
calc_bounds();
return true;
}
int numPoints;
fn = fs["NumPoints"];
if(fn.empty()){
cerr << "Cannot find node NumPoints." << endl;
return false;
}
fn >> numPoints;
int numEdges;
fn = fs["NumEdges"];
if(fn.empty()){
cerr << "Cannot find node NumEdges." << endl;
return false;
}
fn >> numEdges;
int numParts;
fn = fs["NumParts"];
if(fn.empty()){
cerr << "Cannot find node NumParts" << endl;
}
fn >> numParts;
fn = fs["Points"];
if(fn.empty()){
cerr << "Cannot find node Points." << endl;
return false;
}
char buf[64];
pts.resize(numPoints);
pts_deformed.resize(numPoints);
for(int ip = 0; ip < numPoints; ip++){
snprintf(buf, 63, "Point%05d", ip);
FileNode fpt = fn[(const char*)buf];
if(fpt.empty()){
cerr << "Cannot find node " << buf << "." << endl;
return false;
}
fpt["x"] >> pts[ip].x;
fpt["y"] >> pts[ip].y;
fpt["z"] >> pts[ip].z;
pts_deformed[ip] = pts[ip];
}
fn = fs["Edges"];
if(fn.empty()){
cerr << "Cannot find node Edges." << endl;
return false;
}
edges.resize(numEdges);
for(int ie =0; ie < numEdges; ie++){
snprintf(buf, 63, "Edge%05d", ie);
FileNode fe = fn[(const char*)buf];
if(fe.empty()){
cerr << "Cannot find node " << buf << "." << endl;
return false;
}
fe["s"] >> edges[ie].s;
fe["e"] >> edges[ie].e;
}
fn = fs["Parts"];
parts.resize(numParts);
for(int ipart = 0; ipart < numParts; ipart++){
snprintf(buf, 63, "Part%05d", ipart);
FileNode fpart = fn[(const char*)buf];
if(fpart.empty()){
cerr << "Cannot find part " << buf << "." << endl;
return false;
}
FileNode fpts = fpart["pts"];
if(fpts.empty()){
cerr << "Cannot find points in " << buf << "." << endl;
return false;
}
FileNodeIterator itr = fpts.begin();
for(; itr != fpts.end(); itr++){
int val;
*itr >> val;
parts[ipart].pts.push_back(val);
}
FileNode faxis = fpart["axis"];
if(faxis.empty()){
cerr << "Cannot find axis in " << buf << "." << endl;
return false;
}
Point3f & axis = parts[ipart].axis;
faxis["x"] >> axis.x;
faxis["y"] >> axis.y;
faxis["z"] >> axis.z;
FileNode ftrn = fpart["trn"];
if(ftrn.empty()){
cerr << "Cannot find trn in " << buf << "." << endl;
return false;
}
ftrn >> parts[ipart].trn;
FileNode frot = fpart["rot"];
if(frot.empty()){
cerr << "Cannot find rot in " << buf << "." << endl;
return false;
}
frot >> parts[ipart].rot;
if(parts[ipart].rot){
FileNode forg = fpart["org"];
if(forg.empty()){
cerr << "Cannot find org in " << buf << "." << endl;
return false;
}
forg >> parts[ipart].org;
}
}
void TrajectoryFrames::load(const std::string& dirname)
{
cout << "TrajectoryFrames::load" << endl;
clear();
vector<string> frameIndices;
readFrameIndices(dirname, frameIndices);
if(frameIndices.empty())
{
cout << "Can not load the data from given directory of the base: " << dirname << endl;
return;
}
frames.resize(frameIndices.size());
objectMasks.resize(frameIndices.size());
poses.resize(frameIndices.size());
#pragma omp parallel for
for(size_t i = 0; i < frameIndices.size(); i++)
{
Mat image, depth;
loadFrameData(dirname, frameIndices[i], image, depth);
CV_Assert(!image.empty());
CV_Assert(!depth.empty());
Mat mask, objectMask;
mask = imread(dirname + "/mask_" + frameIndices[i] + ".png", 0);
objectMask = imread(dirname + "/object_mask_" + frameIndices[i] + ".png", 0);
CV_Assert(!mask.empty());
CV_Assert(!objectMask.empty());
Mat normals;
{
FileStorage fs(dirname + "/normals_" + frameIndices[i] + ".xml.gz", FileStorage::READ);
CV_Assert(fs.isOpened());
fs["normals"] >> normals;
CV_Assert(!normals.empty());
}
Mat pose;
{
FileStorage fs(dirname + "/pose" + frameIndices[i] + ".xml.gz", FileStorage::READ);
CV_Assert(fs.isOpened());
fs["pose"] >> pose;
CV_Assert(!pose.empty());
}
Ptr<RgbdFrame> frame = new RgbdFrame(image, depth, mask, normals, atoi(frameIndices[i].c_str()));
frames[i] = frame;
objectMasks[i] = objectMask;
poses[i] = pose;
}
resumeFrameState = TrajectoryFrames::KEYFRAME;
frameStates.resize(frames.size(), TrajectoryFrames::KEYFRAME);
FileStorage fs(dirname + "/poseLinks.xml.gz", FileStorage::READ);
CV_Assert(fs.isOpened());
FileNode fn = fs["poseLinks"];
FileNodeIterator fnIt = fn.begin(), fnEnd = fn.end();
for(; fnIt != fnEnd; ++fnIt)
{
int srcIndex = -1, dstIndex = -1;
Mat Rt;
(*fnIt)["srcIndex"] >> srcIndex;
(*fnIt)["dstIndex"] >> dstIndex;
(*fnIt)["Rt"] >> Rt;
CV_Assert(srcIndex >= 0);
CV_Assert(dstIndex >= 0);
keyframePosesLinks.push_back(PosesLink(srcIndex, dstIndex, Rt));
}
}
bool loadGraph(const std::string graph_file)
{
LOG(INFO) << "loading graph " << graph_file;
FileStorage fs;
fs.open(graph_file, FileStorage::READ);
if (!fs.isOpened()) {
LOG(ERROR) << "couldn't open " << graph_file;
return false;
}
FileNode nd = fs["nodes"];
if (nd.type() != FileNode::SEQ) {
LOG(ERROR) << "no nodes";
return false;
}
for (FileNodeIterator it = nd.begin(); it != nd.end(); ++it) {
string type_id = (*it)["typeid"];
string name;
(*it)["name"] >> name;
cv::Point loc;
loc.x = (*it)["loc"][0];
loc.y = (*it)["loc"][1];
bool enable;
(*it)["enable"] >> enable;
Node* node;
if (type_id.compare("bm::Webcam") == 0) {
// TBD make a version of getNode that takes a type_id string
Webcam* cam_in = getNode<Webcam>(name, loc);
node = cam_in;
test_im = cam_in->getImage("out").clone();
test_im = cv::Scalar(200,200,200);
} else if (type_id.compare("bm::ScreenCap") == 0) {
node = getNode<ScreenCap>(name, loc);
node->update();
} else if (type_id.compare("bm::ImageNode") == 0) {
node = getNode<ImageNode>(name, loc);
} else if (type_id.compare("bm::Sobel") == 0) {
node = getNode<Sobel>(name, loc);
} else if (type_id.compare("bm::GaussianBlur") == 0) {
node = getNode<GaussianBlur>(name, loc);
} else if (type_id.compare("bm::Buffer") == 0) {
node = getNode<Buffer>(name, loc);
} else if (type_id.compare("bm::ImageDir") == 0) {
node = getNode<ImageDir>(name, loc);
} else if (type_id.compare("bm::Add") == 0) {
node = getNode<Add>(name, loc);
} else if (type_id.compare("bm::Multiply") == 0) {
node = getNode<Multiply>(name, loc);
} else if (type_id.compare("bm::AbsDiff") == 0) {
node = getNode<AbsDiff>(name, loc);
} else if (type_id.compare("bm::Greater") == 0) {
node = getNode<Greater>(name, loc);
} else if (type_id.compare("bm::Resize") == 0) {
node = getNode<Resize>(name, loc);
} else if (type_id.compare("bm::Flip") == 0) {
node = getNode<Flip>(name, loc);
} else if (type_id.compare("bm::Rot2D") == 0) {
node = getNode<Rot2D>(name, loc);
} else if (type_id.compare("bm::Signal") == 0) {
node = getNode<Signal>(name, loc);
} else if (type_id.compare("bm::Saw") == 0) {
node = getNode<Saw>(name, loc);
} else if (type_id.compare("bm::Tap") == 0) {
node = getNode<Tap>(name, loc);
} else if (type_id.compare("bm::TapInd") == 0) {
node = getNode<TapInd>(name, loc);
} else if (type_id.compare("bm::Bezier") == 0) {
node = getNode<Bezier>(name, loc);
} else if (type_id.compare("bm::Random") == 0) {
node = getNode<Random>(name, loc);
} else if (type_id.compare("bm::Mouse") == 0) {
node = getNode<Mouse>(name, loc);
input_node = (Mouse*) node;
if (output_node) {
input_node->display = output_node->display;
input_node->win = output_node->win;
input_node->opcode = output_node->opcode;
}
} else if (type_id.compare("bm::Output") == 0) {
node = getNode<Output>(name, loc);
output_node = (Output*)node;
output_node->setup(Config::inst()->out_width, Config::inst()->out_height);
// TBD need better way to share X11 info- Config probably
if (input_node) {
input_node->display = output_node->display;
input_node->win = output_node->win;
input_node->opcode = output_node->opcode;
}
} else {
LOG(WARNING) << "unknown node type " << type_id << ", assuming imageNode";
node = getNode<ImageNode>(name, loc);
}
if (dynamic_cast<ImageNode*>(node)) {
(dynamic_cast<ImageNode*> (node))->setImage("out", test_im);
}
node->load(it);
if (name == "output") {
output_node = (Output*)node;
cv::Mat tmp;
node->setImage("in", tmp);
}
LOG(INFO) << type_id << " " << CLTXT << name << CLVAL << " "
<< node << " " << loc << " " << enable << CLNRM;
int ind;
(*it)["ind"] >> ind;
LOG(INFO) << CLTXT << "first pass inputs " << CLVAL << ind << CLNRM << " " << node->name;
for (int i = 0; i < (*it)["inputs"].size(); i++) {
int type;
string port;
(*it)["inputs"][i]["type"] >> type;
(*it)["inputs"][i]["name"] >> port;
LOG(INFO) << "input " << ind << " \"" << node->name
<< "\", type " << type << " " << port;
// TBD make function for this
/*
conType con_type = NONE;
if (type == "ImageNode") con_type = IMAGE;
if (type == "ImageOut") con_type = IMAGE;
if (type == "Signal") con_type = SIGNAL;
if (type == "Buffer") con_type = BUFFER;
*/
node->setInputPort((conType)type, port, NULL, "");
}
}
// second pass for inputs (the first pass was necessary to create them
// all in right order
LOG(INFO) << "second pass inputs";
for (FileNodeIterator it = nd.begin(); it != nd.end(); ++it) {
int ind;
(*it)["ind"] >> ind;
LOG(INFO) << "second pass inputs " << ind << " " << CLTXT << all_nodes[ind]->name << CLNRM;
for (int i = 0; i < (*it)["inputs"].size(); i++) {
int input_ind;
int type;
string port;
string src_port;
float value;
(*it)["inputs"][i]["type"] >> type;
(*it)["inputs"][i]["name"] >> port;
(*it)["inputs"][i]["src_ind"] >> input_ind;
(*it)["inputs"][i]["src_port"] >> src_port;
(*it)["inputs"][i]["value"] >> value;
if (input_ind >= 0) {
LOG(INFO) << "input "
<< " " << input_ind << ", type " << type << " " << port << " " << input_ind
<< " " << src_port;
all_nodes[ind]->setInputPort((conType)type, port, all_nodes[input_ind], src_port);
} // input_ind > 0
if (type == SIGNAL) {
all_nodes[ind]->setSignal(port, value);
}
}
} // second input pass
if (output_node == NULL) {
LOG(WARNING) << CLWRN << "No output node found, setting it to "
<< all_nodes[all_nodes.size() - 1]->name << CLNRM;
// TBD could make sure that this node is an output node
output_node = (Output*) all_nodes[all_nodes.size() - 1];
}
LOG(INFO) << all_nodes.size() << " nodes total";
//output_node->loc = cv::Point2f(graph.cols - (test_im.cols/2+100), 20);
} // loadGraph
int main(int argc, char **argv)
{
//READ camera calibration parameters
cout << endl << "Reading camera params file: "<< endl;
const string inputSettingsFile = "camera_cal.yml";
FileStorage fs;
fs.open(inputSettingsFile, FileStorage::READ); // Read the settings
int itNr;
fs["iterationNr"] >> itNr;
itNr = (int) fs["iterationNr"];
cout << itNr;
if (!fs.isOpened())
{
cerr << "Failed to open " << inputSettingsFile << endl;
//help(av);
return 1;
}
FileNode n = fs["strings"]; // Read string sequence - Get node
/*if (n.type() != FileNode::SEQ)
{
cerr << "strings is not a sequence! FAIL" << endl;
return 1;
}*/
FileNodeIterator itt = n.begin(), itt_end = n.end(); // Go through the node
for (; itt != itt_end; ++itt)
cout << (string)*itt << endl;
//int image_width,
int image_width,image_height;
Mat cameraMatrix, distortion_coefficients, rectification_matrix, projection_matrix;
cout << "Debug" << endl;
fs["image_width"] >> image_width;
fs["image_height"] >> image_height;
fs["camera_matrix"] >> cameraMatrix; // Read cv::Mat
fs["distortion_coefficients"] >> distortion_coefficients;
fs["rectification_matrix"] >> rectification_matrix;
fs["projection_matrix"] >> projection_matrix;
cout << "image_width = " << image_width << endl
<< "image_height = " << image_height << endl
<< "cameraMatrix = " << endl << cameraMatrix << endl
<< "distortion_coefficients = " << endl << distortion_coefficients << endl
<< "rectification_matrix = " << endl << rectification_matrix << endl
<< "projection_matrix = " << endl << projection_matrix << endl;
///// END READIN GOF YAML FILE ///////////
ros::init(argc, argv, "image_listener");
// Create ROS generic subscriber (or publisher)
ros::NodeHandle nh;
// Create OpenCV display window
cv::namedWindow("Undistorted Image");
cv::namedWindow("view");
cv::startWindowThread();
//Initialize ImageTransport instance with NodeHandle
image_transport::ImageTransport it(nh);
//Subscribe to the camera/image base topic. Call imageCallback when new image arrives, with a queue size of 1.
image_transport::Subscriber sub=it.subscribe("camera/image_raw", 1,imageCallback);
//Process image:
if (cv_ptr->image.rows>60 && cv_ptr->image.cols > 60)
cv::circle(cv_ptr->image,cv::Point(50,50),10,CV_RGB(255,0,0));
//Display image in window:
//cv::imshow("Undistorted Image", cv_ptr->image);
//cv::imshow("Undistorted Image",imageRect);
ros::spin();
cv::destroyWindow("view");
cv::destroyWindow("Undistorted Image");
}
int main( int argc, const char** argv )
{
CommandLineParser parser(argc, argv,
"{ help h usage ? | | show this message }"
"{ image i | | (required) path to reference image }"
"{ model m | | (required) path to cascade xml file }"
"{ data d | | (optional) path to video output folder }"
);
// Read in the input arguments
if (parser.has("help")){
parser.printMessage();
printLimits();
return 0;
}
string model(parser.get<string>("model"));
string output_folder(parser.get<string>("data"));
string image_ref = (parser.get<string>("image"));
if (model.empty() || image_ref.empty()){
parser.printMessage();
printLimits();
return -1;
}
// Value for timing
// You can increase this to have a better visualisation during the generation
int timing = 1;
// Value for cols of storing elements
int cols_prefered = 5;
// Open the XML model
FileStorage fs;
bool model_ok = fs.open(model, FileStorage::READ);
if (!model_ok){
cerr << "the cascade file '" << model << "' could not be loaded." << endl;
return -1;
}
// Get a the required information
// First decide which feature type we are using
FileNode cascade = fs["cascade"];
string feature_type = cascade["featureType"];
bool haar = false, lbp = false;
if (feature_type.compare("HAAR") == 0){
haar = true;
}
if (feature_type.compare("LBP") == 0){
lbp = true;
}
if ( feature_type.compare("HAAR") != 0 && feature_type.compare("LBP")){
cerr << "The model is not an HAAR or LBP feature based model!" << endl;
cerr << "Please select a model that can be visualized by the software." << endl;
return -1;
}
// We make a visualisation mask - which increases the window to make it at least a bit more visible
int resize_factor = 10;
int resize_storage_factor = 10;
Mat reference_image = imread(image_ref, IMREAD_GRAYSCALE );
if (reference_image.empty()){
cerr << "the reference image '" << image_ref << "'' could not be loaded." << endl;
return -1;
}
Mat visualization;
resize(reference_image, visualization, Size(reference_image.cols * resize_factor, reference_image.rows * resize_factor));
// First recover for each stage the number of weak features and their index
// Important since it is NOT sequential when using LBP features
vector< vector<int> > stage_features;
FileNode stages = cascade["stages"];
FileNodeIterator it_stages = stages.begin(), it_stages_end = stages.end();
int idx = 0;
for( ; it_stages != it_stages_end; it_stages++, idx++ ){
vector<int> current_feature_indexes;
FileNode weak_classifiers = (*it_stages)["weakClassifiers"];
FileNodeIterator it_weak = weak_classifiers.begin(), it_weak_end = weak_classifiers.end();
vector<int> values;
for(int idy = 0; it_weak != it_weak_end; it_weak++, idy++ ){
(*it_weak)["internalNodes"] >> values;
current_feature_indexes.push_back( (int)values[2] );
}
stage_features.push_back(current_feature_indexes);
}
// If the output option has been chosen than we will store a combined image plane for
// each stage, containing all weak classifiers for that stage.
bool draw_planes = false;
stringstream output_video;
output_video << output_folder << "model_visualization.avi";
VideoWriter result_video;
if( output_folder.compare("") != 0 ){
draw_planes = true;
result_video.open(output_video.str(), VideoWriter::fourcc('X','V','I','D'), 15, Size(reference_image.cols * resize_factor, reference_image.rows * resize_factor), false);
}
if(haar){
// Grab the corresponding features dimensions and weights
FileNode features = cascade["features"];
vector< vector< rect_data > > feature_data;
FileNodeIterator it_features = features.begin(), it_features_end = features.end();
for(int idf = 0; it_features != it_features_end; it_features++, idf++ ){
vector< rect_data > current_feature_rectangles;
FileNode rectangles = (*it_features)["rects"];
int nrects = (int)rectangles.size();
for(int k = 0; k < nrects; k++){
rect_data current_data;
FileNode single_rect = rectangles[k];
current_data.x = (int)single_rect[0];
current_data.y = (int)single_rect[1];
current_data.w = (int)single_rect[2];
current_data.h = (int)single_rect[3];
current_data.weight = (float)single_rect[4];
current_feature_rectangles.push_back(current_data);
}
feature_data.push_back(current_feature_rectangles);
}
// Loop over each possible feature on its index, visualise on the mask and wait a bit,
// then continue to the next feature.
// If visualisations should be stored then do the in between calculations
Mat image_plane;
Mat metadata = Mat::zeros(150, 1000, CV_8UC1);
vector< rect_data > current_rects;
for(int sid = 0; sid < (int)stage_features.size(); sid ++){
if(draw_planes){
int features_nmbr = (int)stage_features[sid].size();
int cols = cols_prefered;
int rows = features_nmbr / cols;
if( (features_nmbr % cols) > 0){
rows++;
}
image_plane = Mat::zeros(reference_image.rows * resize_storage_factor * rows, reference_image.cols * resize_storage_factor * cols, CV_8UC1);
}
for(int fid = 0; fid < (int)stage_features[sid].size(); fid++){
stringstream meta1, meta2;
meta1 << "Stage " << sid << " / Feature " << fid;
meta2 << "Rectangles: ";
Mat temp_window = visualization.clone();
Mat temp_metadata = metadata.clone();
int current_feature_index = stage_features[sid][fid];
current_rects = feature_data[current_feature_index];
Mat single_feature = reference_image.clone();
resize(single_feature, single_feature, Size(), resize_storage_factor, resize_storage_factor);
for(int i = 0; i < (int)current_rects.size(); i++){
rect_data local = current_rects[i];
if(draw_planes){
if(local.weight >= 0){
rectangle(single_feature, Rect(local.x * resize_storage_factor, local.y * resize_storage_factor, local.w * resize_storage_factor, local.h * resize_storage_factor), Scalar(0), FILLED);
}else{
rectangle(single_feature, Rect(local.x * resize_storage_factor, local.y * resize_storage_factor, local.w * resize_storage_factor, local.h * resize_storage_factor), Scalar(255), FILLED);
}
}
Rect part(local.x * resize_factor, local.y * resize_factor, local.w * resize_factor, local.h * resize_factor);
meta2 << part << " (w " << local.weight << ") ";
if(local.weight >= 0){
rectangle(temp_window, part, Scalar(0), FILLED);
}else{
rectangle(temp_window, part, Scalar(255), FILLED);
}
}
imshow("features", temp_window);
putText(temp_window, meta1.str(), Point(15,15), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255));
result_video.write(temp_window);
// Copy the feature image if needed
if(draw_planes){
single_feature.copyTo(image_plane(Rect(0 + (fid%cols_prefered)*single_feature.cols, 0 + (fid/cols_prefered) * single_feature.rows, single_feature.cols, single_feature.rows)));
}
putText(temp_metadata, meta1.str(), Point(15,15), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255));
putText(temp_metadata, meta2.str(), Point(15,40), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255));
imshow("metadata", temp_metadata);
waitKey(timing);
}
//Store the stage image if needed
if(draw_planes){
stringstream save_location;
save_location << output_folder << "stage_" << sid << ".png";
imwrite(save_location.str(), image_plane);
}
}
}
if(lbp){
// Grab the corresponding features dimensions and weights
FileNode features = cascade["features"];
vector<Rect> feature_data;
FileNodeIterator it_features = features.begin(), it_features_end = features.end();
for(int idf = 0; it_features != it_features_end; it_features++, idf++ ){
FileNode rectangle = (*it_features)["rect"];
Rect current_feature ((int)rectangle[0], (int)rectangle[1], (int)rectangle[2], (int)rectangle[3]);
feature_data.push_back(current_feature);
}
// Loop over each possible feature on its index, visualise on the mask and wait a bit,
// then continue to the next feature.
Mat image_plane;
Mat metadata = Mat::zeros(150, 1000, CV_8UC1);
for(int sid = 0; sid < (int)stage_features.size(); sid ++){
if(draw_planes){
int features_nmbr = (int)stage_features[sid].size();
int cols = cols_prefered;
int rows = features_nmbr / cols;
if( (features_nmbr % cols) > 0){
rows++;
}
image_plane = Mat::zeros(reference_image.rows * resize_storage_factor * rows, reference_image.cols * resize_storage_factor * cols, CV_8UC1);
}
for(int fid = 0; fid < (int)stage_features[sid].size(); fid++){
stringstream meta1, meta2;
meta1 << "Stage " << sid << " / Feature " << fid;
meta2 << "Rectangle: ";
Mat temp_window = visualization.clone();
Mat temp_metadata = metadata.clone();
int current_feature_index = stage_features[sid][fid];
Rect current_rect = feature_data[current_feature_index];
Mat single_feature = reference_image.clone();
resize(single_feature, single_feature, Size(), resize_storage_factor, resize_storage_factor);
// VISUALISATION
// The rectangle is the top left one of a 3x3 block LBP constructor
Rect resized(current_rect.x * resize_factor, current_rect.y * resize_factor, current_rect.width * resize_factor, current_rect.height * resize_factor);
meta2 << resized;
// Top left
rectangle(temp_window, resized, Scalar(255), 1);
// Top middle
rectangle(temp_window, Rect(resized.x + resized.width, resized.y, resized.width, resized.height), Scalar(255), 1);
// Top right
rectangle(temp_window, Rect(resized.x + 2*resized.width, resized.y, resized.width, resized.height), Scalar(255), 1);
// Middle left
rectangle(temp_window, Rect(resized.x, resized.y + resized.height, resized.width, resized.height), Scalar(255), 1);
// Middle middle
rectangle(temp_window, Rect(resized.x + resized.width, resized.y + resized.height, resized.width, resized.height), Scalar(255), FILLED);
// Middle right
rectangle(temp_window, Rect(resized.x + 2*resized.width, resized.y + resized.height, resized.width, resized.height), Scalar(255), 1);
// Bottom left
rectangle(temp_window, Rect(resized.x, resized.y + 2*resized.height, resized.width, resized.height), Scalar(255), 1);
// Bottom middle
rectangle(temp_window, Rect(resized.x + resized.width, resized.y + 2*resized.height, resized.width, resized.height), Scalar(255), 1);
// Bottom right
rectangle(temp_window, Rect(resized.x + 2*resized.width, resized.y + 2*resized.height, resized.width, resized.height), Scalar(255), 1);
if(draw_planes){
Rect resized_inner(current_rect.x * resize_storage_factor, current_rect.y * resize_storage_factor, current_rect.width * resize_storage_factor, current_rect.height * resize_storage_factor);
// Top left
rectangle(single_feature, resized_inner, Scalar(255), 1);
// Top middle
rectangle(single_feature, Rect(resized_inner.x + resized_inner.width, resized_inner.y, resized_inner.width, resized_inner.height), Scalar(255), 1);
// Top right
rectangle(single_feature, Rect(resized_inner.x + 2*resized_inner.width, resized_inner.y, resized_inner.width, resized_inner.height), Scalar(255), 1);
// Middle left
rectangle(single_feature, Rect(resized_inner.x, resized_inner.y + resized_inner.height, resized_inner.width, resized_inner.height), Scalar(255), 1);
// Middle middle
rectangle(single_feature, Rect(resized_inner.x + resized_inner.width, resized_inner.y + resized_inner.height, resized_inner.width, resized_inner.height), Scalar(255), FILLED);
// Middle right
rectangle(single_feature, Rect(resized_inner.x + 2*resized_inner.width, resized_inner.y + resized_inner.height, resized_inner.width, resized_inner.height), Scalar(255), 1);
// Bottom left
rectangle(single_feature, Rect(resized_inner.x, resized_inner.y + 2*resized_inner.height, resized_inner.width, resized_inner.height), Scalar(255), 1);
// Bottom middle
rectangle(single_feature, Rect(resized_inner.x + resized_inner.width, resized_inner.y + 2*resized_inner.height, resized_inner.width, resized_inner.height), Scalar(255), 1);
// Bottom right
rectangle(single_feature, Rect(resized_inner.x + 2*resized_inner.width, resized_inner.y + 2*resized_inner.height, resized_inner.width, resized_inner.height), Scalar(255), 1);
single_feature.copyTo(image_plane(Rect(0 + (fid%cols_prefered)*single_feature.cols, 0 + (fid/cols_prefered) * single_feature.rows, single_feature.cols, single_feature.rows)));
}
putText(temp_metadata, meta1.str(), Point(15,15), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255));
putText(temp_metadata, meta2.str(), Point(15,40), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255));
imshow("metadata", temp_metadata);
imshow("features", temp_window);
putText(temp_window, meta1.str(), Point(15,15), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255));
result_video.write(temp_window);
waitKey(timing);
}
//Store the stage image if needed
if(draw_planes){
stringstream save_location;
save_location << output_folder << "stage_" << sid << ".png";
imwrite(save_location.str(), image_plane);
}
}
}
return 0;
}
bool CascadeClassifier::Data::read(const FileNode &root)
{
static const float THRESHOLD_EPS = 1e-5f;
// load stage params
String stageTypeStr = (String)root[CC_STAGE_TYPE];
if( stageTypeStr == CC_BOOST )
stageType = BOOST;
else
return false;
String featureTypeStr = (String)root[CC_FEATURE_TYPE];
if( featureTypeStr == CC_HAAR )
featureType = FeatureEvaluator::HAAR;
else if( featureTypeStr == CC_LBP )
featureType = FeatureEvaluator::LBP;
else if( featureTypeStr == CC_HOG )
featureType = FeatureEvaluator::HOG;
else
return false;
origWinSize.width = (int)root[CC_WIDTH];
origWinSize.height = (int)root[CC_HEIGHT];
CV_Assert( origWinSize.height > 0 && origWinSize.width > 0 );
isStumpBased = (int)(root[CC_STAGE_PARAMS][CC_MAX_DEPTH]) == 1 ? true : false;
// load feature params
FileNode fn = root[CC_FEATURE_PARAMS];
if( fn.empty() )
return false;
ncategories = fn[CC_MAX_CAT_COUNT];
int subsetSize = (ncategories + 31)/32,
nodeStep = 3 + ( ncategories>0 ? subsetSize : 1 );
// load stages
fn = root[CC_STAGES];
if( fn.empty() )
return false;
stages.reserve(fn.size());
classifiers.clear();
nodes.clear();
FileNodeIterator it = fn.begin(), it_end = fn.end();
for( int si = 0; it != it_end; si++, ++it )
{
FileNode fns = *it;
Stage stage;
stage.threshold = (float)fns[CC_STAGE_THRESHOLD] - THRESHOLD_EPS;
fns = fns[CC_WEAK_CLASSIFIERS];
if(fns.empty())
return false;
stage.ntrees = (int)fns.size();
stage.first = (int)classifiers.size();
stages.push_back(stage);
classifiers.reserve(stages[si].first + stages[si].ntrees);
FileNodeIterator it1 = fns.begin(), it1_end = fns.end();
for( ; it1 != it1_end; ++it1 ) // weak trees
{
FileNode fnw = *it1;
FileNode internalNodes = fnw[CC_INTERNAL_NODES];
FileNode leafValues = fnw[CC_LEAF_VALUES];
if( internalNodes.empty() || leafValues.empty() )
return false;
DTree tree;
tree.nodeCount = (int)internalNodes.size()/nodeStep;
classifiers.push_back(tree);
nodes.reserve(nodes.size() + tree.nodeCount);
leaves.reserve(leaves.size() + leafValues.size());
if( subsetSize > 0 )
subsets.reserve(subsets.size() + tree.nodeCount*subsetSize);
FileNodeIterator internalNodesIter = internalNodes.begin(), internalNodesEnd = internalNodes.end();
for( ; internalNodesIter != internalNodesEnd; ) // nodes
{
DTreeNode node;
node.left = (int)*internalNodesIter; ++internalNodesIter;
node.right = (int)*internalNodesIter; ++internalNodesIter;
node.featureIdx = (int)*internalNodesIter; ++internalNodesIter;
if( subsetSize > 0 )
{
for( int j = 0; j < subsetSize; j++, ++internalNodesIter )
subsets.push_back((int)*internalNodesIter);
node.threshold = 0.f;
}
else
{
node.threshold = (float)*internalNodesIter; ++internalNodesIter;
}
nodes.push_back(node);
}
internalNodesIter = leafValues.begin(), internalNodesEnd = leafValues.end();
for( ; internalNodesIter != internalNodesEnd; ++internalNodesIter ) // leaves
leaves.push_back((float)*internalNodesIter);
}
}
return true;
}
int main(int ac, char** av)
{
if (ac != 2)
{
help(av);
return 1;
}
string filename = av[1];
//write
{
FileStorage fs(filename, FileStorage::WRITE);
cout << "writing images\n";
fs << "images" << "[";
fs << "image1.jpg" << "myfi.png" << "baboon.jpg";
cout << "image1.jpg" << " myfi.png" << " baboon.jpg" << endl;
fs << "]";
cout << "writing mats\n";
Mat R =Mat_<double>::eye(3, 3),T = Mat_<double>::zeros(3, 1);
cout << "R = " << R << "\n";
cout << "T = " << T << "\n";
fs << "R" << R;
fs << "T" << T;
cout << "writing MyData struct\n";
MyData m(1);
fs << "mdata" << m;
cout << m << endl;
}
//read
{
FileStorage fs(filename, FileStorage::READ);
if (!fs.isOpened())
{
cerr << "failed to open " << filename << endl;
help(av);
return 1;
}
FileNode n = fs["images"];
if (n.type() != FileNode::SEQ)
{
cerr << "images is not a sequence! FAIL" << endl;
return 1;
}
cout << "reading images\n";
FileNodeIterator it = n.begin(), it_end = n.end();
for (; it != it_end; ++it)
{
cout << (string)*it << "\n";
}
Mat R, T;
cout << "reading R and T" << endl;
fs["R"] >> R;
fs["T"] >> T;
cout << "R = " << R << "\n";
cout << "T = " << T << endl;
MyData m;
fs["mdata"] >> m;
cout << "read mdata\n";
cout << m << endl;
cout << "attempting to read mdata_b\n"; //Show default behavior for empty matrix
fs["mdata_b"] >> m;
cout << "read mdata_b\n";
cout << m << endl;
}
cout << "Try opening " << filename << " to see the serialized data." << endl;
return 0;
}
int main(int ac, char** av)
{
if (ac != 2)
{
help(av);
return 1;
}
string filename = av[1];
{ //write
Mat R = Mat_<uchar>::eye(3, 3),
T = Mat_<double>::zeros(3, 1);
MyData m(1);
FileStorage fs(filename, FileStorage::WRITE);
fs << "iterationNr" << 100;
fs << "strings" << "["; // text - string sequence
fs << "image1.jpg" << "Awesomeness" << "../data/baboon.jpg";
fs << "]"; // close sequence
fs << "Mapping"; // text - mapping
fs << "{" << "One" << 1;
fs << "Two" << 2 << "}";
fs << "R" << R; // cv::Mat
fs << "T" << T;
fs << "MyData" << m; // your own data structures
fs.release(); // explicit close
cout << "Write Done." << endl;
}
{//read
cout << endl << "Reading: " << endl;
FileStorage fs;
fs.open(filename, FileStorage::READ);
int itNr;
//fs["iterationNr"] >> itNr;
itNr = (int) fs["iterationNr"];
cout << itNr;
if (!fs.isOpened())
{
cerr << "Failed to open " << filename << endl;
help(av);
return 1;
}
FileNode n = fs["strings"]; // Read string sequence - Get node
if (n.type() != FileNode::SEQ)
{
cerr << "strings is not a sequence! FAIL" << endl;
return 1;
}
FileNodeIterator it = n.begin(), it_end = n.end(); // Go through the node
for (; it != it_end; ++it)
cout << (string)*it << endl;
n = fs["Mapping"]; // Read mappings from a sequence
cout << "Two " << (int)(n["Two"]) << "; ";
cout << "One " << (int)(n["One"]) << endl << endl;
MyData m;
Mat R, T;
fs["R"] >> R; // Read cv::Mat
fs["T"] >> T;
fs["MyData"] >> m; // Read your own structure_
cout << endl
<< "R = " << R << endl;
cout << "T = " << T << endl << endl;
cout << "MyData = " << endl << m << endl << endl;
//Show default behavior for non existing nodes
cout << "Attempt to read NonExisting (should initialize the data structure with its default).";
fs["NonExisting"] >> m;
cout << endl << "NonExisting = " << endl << m << endl;
}
cout << endl
<< "Tip: Open up " << filename << " with a text editor to see the serialized data." << endl;
return 0;
}
int main(int argc, char ** argv)
{
initFeatures();
initClassifiers();
initDataProviders();
initNonMaximumSuppressors();
const string commandLineKeys = "{h|help|false|show help and exit}"
"{c|config||.xml or .yml file containing detector "
"configuration parameters, i.e. features to used "
"and thier parameters, classifier type "
"and params of the training algorithm, "
"general detection parameters}"
"{|pos||path to annotation with positive examples}"
"{|posname|annotation|name of the positive annotation file node to read from}"
"{|neg||path to annotation with negative examples}"
"{|negname|annotation|name of the negative annotation file node to read from}"
"{|dump||prefix of files to save dataset to}"
"{|rand|50|number of random samples to draw from each negative image}"
"{|bi|3|number of bootstrap iterations}"
"{|samples|0|number of samples to draw from all false detections at each iteration. All false positives are used by default}"
"{|mirror|true|use horizontaly flip positives for training}"
"{|mem|0|preallocate memory for specified "
"number of samples in the dataset. "
"If more samples are needed dataset resize "
"is performed that may lead to additional memory usage}"
"{|seed||seed to initialize RNG}";
CommandLineParser cmdParser(argc, argv, commandLineKeys.c_str());
if (cmdParser.get<bool>("help"))
{
cmdParser.printParams();
return 0;
}
if (cmdParser.get<string>("seed") == "")
{
theRNG() = RNG(time(0));
}
else
{
theRNG() = RNG(cmdParser.get<uint64>("seed"));
}
cout << "rng state: " << theRNG().state << endl;
FileStorage config(cmdParser.get<string>("config"), FileStorage::READ);
CV_Assert(config.isOpened());
// read detection parameters
DetectionParams detectorParams;
FileNode detectorParamsFn = config["detector_params"];
if (detectorParamsFn.empty())
{
cout << "Error. detection_params tag is missed in cofig file" << endl;
return 2;
}
cout << "reading general detector parameters..." << flush;
detectorParamsFn >> detectorParams;
cout << "done" << endl;
// configure feature descriptors
Features features;
FileNode featuresFn = config["features"];
for (FileNodeIterator i = featuresFn.begin(); i != featuresFn.end(); ++i)
{
FileNode featureType = (*i)["name"];
CV_Assert(!featureType.empty());
string featureName;
featureType >> featureName;
Ptr<Feature> feature = Algorithm::create<Feature>(featureName);
feature->read(*i);
features.featuresSet.push_back(feature);
cout << featureName << " feature is used" << endl;
}
// configure classifier
FileNode classifierFn = config["classifier"];
FileNode classifierType = classifierFn["name"];
CV_Assert(!classifierType.empty());
string classifierName;
classifierType >> classifierName;
Ptr<Classifier> classifier = Algorithm::create<Classifier>(classifierName);
classifier->read(classifierFn);
cout << classifierName << " classifier is used" << endl;
string classifierModelFile = classifierFn["modelFileName"];
string classifierModelName = classifierFn["modelName"];
// configure nonmaximum suppressor
FileNode nmsFn = config["nonmaximum_suppressor"];
Ptr<NonMaximumSuppressor> nms = 0;
if (!nmsFn.empty())
{
FileNode nmsType = nmsFn["name"];
CV_Assert(!nmsType.empty());
string nmsName;
nmsType >> nmsName;
nms = Algorithm::create<NonMaximumSuppressor>(nmsName);
nms->read(nmsFn);
cout << nmsName << " nonmaximum suppressor is used" << endl;
}
