608 lines
21 KiB
C++
608 lines
21 KiB
C++
/*
|
|
*
|
|
* select3obj.cpp With a calibration chessboard on a table, mark an object in a 3D box and
|
|
* track that object in all subsequent frames as long as the camera can see
|
|
* the chessboard. Also segments the object using the box projection. This
|
|
* program is useful for collecting large datasets of many views of an object
|
|
* on a table.
|
|
*
|
|
*/
|
|
|
|
#include "opencv2/core.hpp"
|
|
#include <opencv2/core/utility.hpp>
|
|
#include "opencv2/imgproc.hpp"
|
|
#include "opencv2/calib3d.hpp"
|
|
#include "opencv2/imgcodecs.hpp"
|
|
#include "opencv2/videoio.hpp"
|
|
#include "opencv2/highgui.hpp"
|
|
|
|
#include <ctype.h>
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string>
|
|
|
|
using namespace std;
|
|
using namespace cv;
|
|
|
|
static string helphelp(char** argv)
|
|
{
|
|
return string("\nThis program's purpose is to collect data sets of an object and its segmentation mask.\n")
|
|
+ "\n"
|
|
"It shows how to use a calibrated camera together with a calibration pattern to\n"
|
|
"compute the homography of the plane the calibration pattern is on. It also shows grabCut\n"
|
|
"segmentation etc.\n"
|
|
"\n"
|
|
+ argv[0]
|
|
+ " -w=<board_width> -h=<board_height> [-s=<square_size>]\n"
|
|
" -i=<camera_intrinsics_filename> -o=<output_prefix>\n"
|
|
"\n"
|
|
" -w=<board_width> Number of chessboard corners wide\n"
|
|
" -h=<board_height> Number of chessboard corners width\n"
|
|
" [-s=<square_size>] Optional measure of chessboard squares in meters\n"
|
|
" -i=<camera_intrinsics_filename> Camera matrix .yml file from calibration.cpp\n"
|
|
" -o=<output_prefix> Prefix the output segmentation images with this\n"
|
|
" [video_filename/cameraId] If present, read from that video file or that ID\n"
|
|
"\n"
|
|
"Using a camera's intrinsics (from calibrating a camera -- see calibration.cpp) and an\n"
|
|
"image of the object sitting on a planar surface with a calibration pattern of\n"
|
|
"(board_width x board_height) on the surface, we draw a 3D box around the object. From\n"
|
|
"then on, we can move a camera and as long as it sees the chessboard calibration pattern,\n"
|
|
"it will store a mask of where the object is. We get successive images using <output_prefix>\n"
|
|
"of the segmentation mask containing the object. This makes creating training sets easy.\n"
|
|
"It is best if the chessboard is odd x even in dimensions to avoid ambiguous poses.\n"
|
|
"\n"
|
|
"The actions one can use while the program is running are:\n"
|
|
"\n"
|
|
" Select object as 3D box with the mouse.\n"
|
|
" First draw one line on the plane to outline the projection of that object on the plane\n"
|
|
" Then extend that line into a box to encompass the projection of that object onto the plane\n"
|
|
" The use the mouse again to extend the box upwards from the plane to encase the object.\n"
|
|
" Then use the following commands\n"
|
|
" ESC - Reset the selection\n"
|
|
" SPACE - Skip the frame; move to the next frame (not in video mode)\n"
|
|
" ENTER - Confirm the selection. Grab next object in video mode.\n"
|
|
" q - Exit the program\n"
|
|
"\n\n";
|
|
}
|
|
// static void help()
|
|
// {
|
|
// puts(helphelp);
|
|
// }
|
|
|
|
|
|
struct MouseEvent
|
|
{
|
|
MouseEvent() { event = -1; buttonState = 0; }
|
|
Point pt;
|
|
int event;
|
|
int buttonState;
|
|
};
|
|
|
|
static void onMouse(int event, int x, int y, int flags, void* userdata)
|
|
{
|
|
MouseEvent* data = (MouseEvent*)userdata;
|
|
data->event = event;
|
|
data->pt = Point(x,y);
|
|
data->buttonState = flags;
|
|
}
|
|
|
|
static bool readCameraMatrix(const string& filename,
|
|
Mat& cameraMatrix, Mat& distCoeffs,
|
|
Size& calibratedImageSize )
|
|
{
|
|
FileStorage fs(filename, FileStorage::READ);
|
|
fs["image_width"] >> calibratedImageSize.width;
|
|
fs["image_height"] >> calibratedImageSize.height;
|
|
fs["distortion_coefficients"] >> distCoeffs;
|
|
fs["camera_matrix"] >> cameraMatrix;
|
|
|
|
if( distCoeffs.type() != CV_64F )
|
|
distCoeffs = Mat_<double>(distCoeffs);
|
|
if( cameraMatrix.type() != CV_64F )
|
|
cameraMatrix = Mat_<double>(cameraMatrix);
|
|
|
|
return true;
|
|
}
|
|
|
|
static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners)
|
|
{
|
|
corners.resize(0);
|
|
|
|
for( int i = 0; i < boardSize.height; i++ )
|
|
for( int j = 0; j < boardSize.width; j++ )
|
|
corners.push_back(Point3f(float(j*squareSize),
|
|
float(i*squareSize), 0));
|
|
}
|
|
|
|
|
|
static Point3f image2plane(Point2f imgpt, const Mat& R, const Mat& tvec,
|
|
const Mat& cameraMatrix, double Z)
|
|
{
|
|
Mat R1 = R.clone();
|
|
R1.col(2) = R1.col(2)*Z + tvec;
|
|
Mat_<double> v = (cameraMatrix*R1).inv()*(Mat_<double>(3,1) << imgpt.x, imgpt.y, 1);
|
|
double iw = fabs(v(2,0)) > DBL_EPSILON ? 1./v(2,0) : 0;
|
|
return Point3f((float)(v(0,0)*iw), (float)(v(1,0)*iw), (float)Z);
|
|
}
|
|
|
|
|
|
static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFrame,
|
|
const Mat& cameraMatrix, const Mat& rvec, const Mat& tvec,
|
|
const vector<Point3f>& box, int nobjpt, bool runExtraSegmentation)
|
|
{
|
|
selectedObjFrame = Mat::zeros(frame.size(), frame.type());
|
|
if( nobjpt == 0 )
|
|
return Rect();
|
|
vector<Point3f> objpt;
|
|
vector<Point2f> imgpt;
|
|
|
|
objpt.push_back(box[0]);
|
|
if( nobjpt > 1 )
|
|
objpt.push_back(box[1]);
|
|
if( nobjpt > 2 )
|
|
{
|
|
objpt.push_back(box[2]);
|
|
objpt.push_back(objpt[2] - objpt[1] + objpt[0]);
|
|
}
|
|
if( nobjpt > 3 )
|
|
for( int i = 0; i < 4; i++ )
|
|
objpt.push_back(Point3f(objpt[i].x, objpt[i].y, box[3].z));
|
|
|
|
projectPoints(Mat(objpt), rvec, tvec, cameraMatrix, Mat(), imgpt);
|
|
|
|
if( !shownFrame.empty() )
|
|
{
|
|
if( nobjpt == 1 )
|
|
circle(shownFrame, imgpt[0], 3, Scalar(0,255,0), -1, LINE_AA);
|
|
else if( nobjpt == 2 )
|
|
{
|
|
circle(shownFrame, imgpt[0], 3, Scalar(0,255,0), -1, LINE_AA);
|
|
circle(shownFrame, imgpt[1], 3, Scalar(0,255,0), -1, LINE_AA);
|
|
line(shownFrame, imgpt[0], imgpt[1], Scalar(0,255,0), 3, LINE_AA);
|
|
}
|
|
else if( nobjpt == 3 )
|
|
for( int i = 0; i < 4; i++ )
|
|
{
|
|
circle(shownFrame, imgpt[i], 3, Scalar(0,255,0), -1, LINE_AA);
|
|
line(shownFrame, imgpt[i], imgpt[(i+1)%4], Scalar(0,255,0), 3, LINE_AA);
|
|
}
|
|
else
|
|
for( int i = 0; i < 8; i++ )
|
|
{
|
|
circle(shownFrame, imgpt[i], 3, Scalar(0,255,0), -1, LINE_AA);
|
|
line(shownFrame, imgpt[i], imgpt[(i+1)%4 + (i/4)*4], Scalar(0,255,0), 3, LINE_AA);
|
|
line(shownFrame, imgpt[i], imgpt[i%4], Scalar(0,255,0), 3, LINE_AA);
|
|
}
|
|
}
|
|
|
|
if( nobjpt <= 2 )
|
|
return Rect();
|
|
vector<Point> hull;
|
|
convexHull(Mat_<Point>(Mat(imgpt)), hull);
|
|
Mat selectedObjMask = Mat::zeros(frame.size(), CV_8U);
|
|
fillConvexPoly(selectedObjMask, &hull[0], (int)hull.size(), Scalar::all(255), 8, 0);
|
|
Rect roi = boundingRect(Mat(hull)) & Rect(Point(), frame.size());
|
|
|
|
if( runExtraSegmentation )
|
|
{
|
|
selectedObjMask = Scalar::all(GC_BGD);
|
|
fillConvexPoly(selectedObjMask, &hull[0], (int)hull.size(), Scalar::all(GC_PR_FGD), 8, 0);
|
|
Mat bgdModel, fgdModel;
|
|
grabCut(frame, selectedObjMask, roi, bgdModel, fgdModel,
|
|
3, GC_INIT_WITH_RECT + GC_INIT_WITH_MASK);
|
|
bitwise_and(selectedObjMask, Scalar::all(1), selectedObjMask);
|
|
}
|
|
|
|
frame.copyTo(selectedObjFrame, selectedObjMask);
|
|
return roi;
|
|
}
|
|
|
|
|
|
static int select3DBox(const string& windowname, const string& selWinName, const Mat& frame,
|
|
const Mat& cameraMatrix, const Mat& rvec, const Mat& tvec,
|
|
vector<Point3f>& box)
|
|
{
|
|
const float eps = 1e-3f;
|
|
MouseEvent mouse;
|
|
|
|
setMouseCallback(windowname, onMouse, &mouse);
|
|
vector<Point3f> tempobj(8);
|
|
vector<Point2f> imgpt(4), tempimg(8);
|
|
vector<Point> temphull;
|
|
int nobjpt = 0;
|
|
Mat R, selectedObjMask, selectedObjFrame, shownFrame;
|
|
Rodrigues(rvec, R);
|
|
box.resize(4);
|
|
|
|
for(;;)
|
|
{
|
|
float Z = 0.f;
|
|
bool dragging = (mouse.buttonState & EVENT_FLAG_LBUTTON) != 0;
|
|
int npt = nobjpt;
|
|
|
|
if( (mouse.event == EVENT_LBUTTONDOWN ||
|
|
mouse.event == EVENT_LBUTTONUP ||
|
|
dragging) && nobjpt < 4 )
|
|
{
|
|
Point2f m = mouse.pt;
|
|
|
|
if( nobjpt < 2 )
|
|
imgpt[npt] = m;
|
|
else
|
|
{
|
|
tempobj.resize(1);
|
|
int nearestIdx = npt-1;
|
|
if( nobjpt == 3 )
|
|
{
|
|
nearestIdx = 0;
|
|
for( int i = 1; i < npt; i++ )
|
|
if( norm(m - imgpt[i]) < norm(m - imgpt[nearestIdx]) )
|
|
nearestIdx = i;
|
|
}
|
|
|
|
if( npt == 2 )
|
|
{
|
|
float dx = box[1].x - box[0].x, dy = box[1].y - box[0].y;
|
|
float len = 1.f/std::sqrt(dx*dx+dy*dy);
|
|
tempobj[0] = Point3f(dy*len + box[nearestIdx].x,
|
|
-dx*len + box[nearestIdx].y, 0.f);
|
|
}
|
|
else
|
|
tempobj[0] = Point3f(box[nearestIdx].x, box[nearestIdx].y, 1.f);
|
|
|
|
projectPoints(Mat(tempobj), rvec, tvec, cameraMatrix, Mat(), tempimg);
|
|
|
|
Point2f a = imgpt[nearestIdx], b = tempimg[0], d1 = b - a, d2 = m - a;
|
|
float n1 = (float)norm(d1), n2 = (float)norm(d2);
|
|
if( n1*n2 < eps )
|
|
imgpt[npt] = a;
|
|
else
|
|
{
|
|
Z = d1.dot(d2)/(n1*n1);
|
|
imgpt[npt] = d1*Z + a;
|
|
}
|
|
}
|
|
box[npt] = image2plane(imgpt[npt], R, tvec, cameraMatrix, npt<3 ? 0 : Z);
|
|
|
|
if( (npt == 0 && mouse.event == EVENT_LBUTTONDOWN) ||
|
|
(npt > 0 && norm(box[npt] - box[npt-1]) > eps &&
|
|
mouse.event == EVENT_LBUTTONUP) )
|
|
{
|
|
nobjpt++;
|
|
if( nobjpt < 4 )
|
|
{
|
|
imgpt[nobjpt] = imgpt[nobjpt-1];
|
|
box[nobjpt] = box[nobjpt-1];
|
|
}
|
|
}
|
|
|
|
// reset the event
|
|
mouse.event = -1;
|
|
//mouse.buttonState = 0;
|
|
npt++;
|
|
}
|
|
|
|
frame.copyTo(shownFrame);
|
|
extract3DBox(frame, shownFrame, selectedObjFrame,
|
|
cameraMatrix, rvec, tvec, box, npt, false);
|
|
imshow(windowname, shownFrame);
|
|
imshow(selWinName, selectedObjFrame);
|
|
|
|
char c = (char)waitKey(30);
|
|
if( c == 27 )
|
|
{
|
|
nobjpt = 0;
|
|
}
|
|
if( c == 'q' || c == 'Q' || c == ' ' )
|
|
{
|
|
box.clear();
|
|
return c == ' ' ? -1 : -100;
|
|
}
|
|
if( (c == '\r' || c == '\n') && nobjpt == 4 && box[3].z != 0 )
|
|
return 1;
|
|
}
|
|
}
|
|
|
|
|
|
static bool readModelViews( const string& filename, vector<Point3f>& box,
|
|
vector<string>& imagelist,
|
|
vector<Rect>& roiList, vector<Vec6f>& poseList )
|
|
{
|
|
imagelist.resize(0);
|
|
roiList.resize(0);
|
|
poseList.resize(0);
|
|
box.resize(0);
|
|
|
|
FileStorage fs(filename, FileStorage::READ);
|
|
if( !fs.isOpened() )
|
|
return false;
|
|
fs["box"] >> box;
|
|
|
|
FileNode all = fs["views"];
|
|
if( all.type() != FileNode::SEQ )
|
|
return false;
|
|
FileNodeIterator it = all.begin(), it_end = all.end();
|
|
|
|
for(; it != it_end; ++it)
|
|
{
|
|
FileNode n = *it;
|
|
imagelist.push_back((string)n["image"]);
|
|
FileNode nr = n["rect"];
|
|
roiList.push_back(Rect((int)nr[0], (int)nr[1], (int)nr[2], (int)nr[3]));
|
|
FileNode np = n["pose"];
|
|
poseList.push_back(Vec6f((float)np[0], (float)np[1], (float)np[2],
|
|
(float)np[3], (float)np[4], (float)np[5]));
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
static bool writeModelViews(const string& filename, const vector<Point3f>& box,
|
|
const vector<string>& imagelist,
|
|
const vector<Rect>& roiList,
|
|
const vector<Vec6f>& poseList)
|
|
{
|
|
FileStorage fs(filename, FileStorage::WRITE);
|
|
if( !fs.isOpened() )
|
|
return false;
|
|
|
|
fs << "box" << "[:";
|
|
fs << box << "]" << "views" << "[";
|
|
|
|
size_t i, nviews = imagelist.size();
|
|
|
|
CV_Assert( nviews == roiList.size() && nviews == poseList.size() );
|
|
|
|
for( i = 0; i < nviews; i++ )
|
|
{
|
|
Rect r = roiList[i];
|
|
Vec6f p = poseList[i];
|
|
|
|
fs << "{" << "image" << imagelist[i] <<
|
|
"roi" << "[:" << r.x << r.y << r.width << r.height << "]" <<
|
|
"pose" << "[:" << p[0] << p[1] << p[2] << p[3] << p[4] << p[5] << "]" << "}";
|
|
}
|
|
fs << "]";
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
static bool readStringList( const string& filename, vector<string>& l )
|
|
{
|
|
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;
|
|
}
|
|
|
|
|
|
int main(int argc, char** argv)
|
|
{
|
|
string help = string("Usage: ") + argv[0] + " -w=<board_width> -h=<board_height> [-s=<square_size>]\n" +
|
|
"\t-i=<intrinsics_filename> -o=<output_prefix> [video_filename/cameraId]\n";
|
|
const char* screen_help =
|
|
"Actions: \n"
|
|
"\tSelect object as 3D box with the mouse. That's it\n"
|
|
"\tESC - Reset the selection\n"
|
|
"\tSPACE - Skip the frame; move to the next frame (not in video mode)\n"
|
|
"\tENTER - Confirm the selection. Grab next object in video mode.\n"
|
|
"\tq - Exit the program\n";
|
|
|
|
cv::CommandLineParser parser(argc, argv, "{help h||}{w||}{h||}{s|1|}{i||}{o||}{@input|0|}");
|
|
if (parser.has("help"))
|
|
{
|
|
puts(helphelp(argv).c_str());
|
|
puts(help.c_str());
|
|
return 0;
|
|
}
|
|
string intrinsicsFilename;
|
|
string outprefix = "";
|
|
string inputName = "";
|
|
int cameraId = 0;
|
|
Size boardSize;
|
|
double squareSize;
|
|
vector<string> imageList;
|
|
intrinsicsFilename = parser.get<string>("i");
|
|
outprefix = parser.get<string>("o");
|
|
boardSize.width = parser.get<int>("w");
|
|
boardSize.height = parser.get<int>("h");
|
|
squareSize = parser.get<double>("s");
|
|
if ( parser.get<string>("@input").size() == 1 && isdigit(parser.get<string>("@input")[0]) )
|
|
cameraId = parser.get<int>("@input");
|
|
else
|
|
inputName = samples::findFileOrKeep(parser.get<string>("@input"));
|
|
if (!parser.check())
|
|
{
|
|
puts(help.c_str());
|
|
parser.printErrors();
|
|
return 0;
|
|
}
|
|
if ( boardSize.width <= 0 )
|
|
{
|
|
printf("Incorrect -w parameter (must be a positive integer)\n");
|
|
puts(help.c_str());
|
|
return 0;
|
|
}
|
|
if ( boardSize.height <= 0 )
|
|
{
|
|
printf("Incorrect -h parameter (must be a positive integer)\n");
|
|
puts(help.c_str());
|
|
return 0;
|
|
}
|
|
if ( squareSize <= 0 )
|
|
{
|
|
printf("Incorrect -s parameter (must be a positive real number)\n");
|
|
puts(help.c_str());
|
|
return 0;
|
|
}
|
|
Mat cameraMatrix, distCoeffs;
|
|
Size calibratedImageSize;
|
|
readCameraMatrix(intrinsicsFilename, cameraMatrix, distCoeffs, calibratedImageSize );
|
|
|
|
VideoCapture capture;
|
|
if( !inputName.empty() )
|
|
{
|
|
if( !readStringList(inputName, imageList) &&
|
|
!capture.open(inputName))
|
|
{
|
|
fprintf( stderr, "The input file could not be opened\n" );
|
|
return -1;
|
|
}
|
|
}
|
|
else
|
|
capture.open(cameraId);
|
|
|
|
if( !capture.isOpened() && imageList.empty() )
|
|
return fprintf( stderr, "Could not initialize video capture\n" ), -2;
|
|
|
|
const char* outbarename = 0;
|
|
{
|
|
outbarename = strrchr(outprefix.c_str(), '/');
|
|
const char* tmp = strrchr(outprefix.c_str(), '\\');
|
|
char cmd[1000];
|
|
sprintf(cmd, "mkdir %s", outprefix.c_str());
|
|
if( tmp && tmp > outbarename )
|
|
outbarename = tmp;
|
|
if( outbarename )
|
|
{
|
|
cmd[6 + outbarename - outprefix.c_str()] = '\0';
|
|
int result = system(cmd);
|
|
CV_Assert(result == 0);
|
|
outbarename++;
|
|
}
|
|
else
|
|
outbarename = outprefix.c_str();
|
|
}
|
|
|
|
Mat frame, shownFrame, selectedObjFrame, mapxy;
|
|
|
|
namedWindow("View", 1);
|
|
namedWindow("Selected Object", 1);
|
|
setMouseCallback("View", onMouse, 0);
|
|
bool boardFound = false;
|
|
|
|
string indexFilename = cv::format("%s_index.yml", outprefix.c_str());
|
|
|
|
vector<string> capturedImgList;
|
|
vector<Rect> roiList;
|
|
vector<Vec6f> poseList;
|
|
vector<Point3f> box, boardPoints;
|
|
|
|
readModelViews(indexFilename, box, capturedImgList, roiList, poseList);
|
|
calcChessboardCorners(boardSize, (float)squareSize, boardPoints);
|
|
int frameIdx = 0;
|
|
bool grabNext = !imageList.empty();
|
|
|
|
puts(screen_help);
|
|
|
|
for(int i = 0;;i++)
|
|
{
|
|
Mat frame0;
|
|
if( !imageList.empty() )
|
|
{
|
|
if( i < (int)imageList.size() )
|
|
frame0 = imread(string(imageList[i]), 1);
|
|
}
|
|
else
|
|
capture >> frame0;
|
|
if( frame0.empty() )
|
|
break;
|
|
if( frame.empty() )
|
|
{
|
|
if( frame0.size() != calibratedImageSize )
|
|
{
|
|
double sx = (double)frame0.cols/calibratedImageSize.width;
|
|
double sy = (double)frame0.rows/calibratedImageSize.height;
|
|
|
|
// adjust the camera matrix for the new resolution
|
|
cameraMatrix.at<double>(0,0) *= sx;
|
|
cameraMatrix.at<double>(0,2) *= sx;
|
|
cameraMatrix.at<double>(1,1) *= sy;
|
|
cameraMatrix.at<double>(1,2) *= sy;
|
|
}
|
|
Mat dummy;
|
|
initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),
|
|
cameraMatrix, frame0.size(),
|
|
CV_32FC2, mapxy, dummy );
|
|
distCoeffs = Mat::zeros(5, 1, CV_64F);
|
|
}
|
|
remap(frame0, frame, mapxy, Mat(), INTER_LINEAR);
|
|
vector<Point2f> foundBoardCorners;
|
|
boardFound = findChessboardCorners(frame, boardSize, foundBoardCorners);
|
|
|
|
Mat rvec, tvec;
|
|
if( boardFound )
|
|
solvePnP(Mat(boardPoints), Mat(foundBoardCorners), cameraMatrix,
|
|
distCoeffs, rvec, tvec, false);
|
|
|
|
frame.copyTo(shownFrame);
|
|
drawChessboardCorners(shownFrame, boardSize, Mat(foundBoardCorners), boardFound);
|
|
selectedObjFrame = Mat::zeros(frame.size(), frame.type());
|
|
|
|
if( boardFound && grabNext )
|
|
{
|
|
if( box.empty() )
|
|
{
|
|
int code = select3DBox("View", "Selected Object", frame,
|
|
cameraMatrix, rvec, tvec, box);
|
|
if( code == -100 )
|
|
break;
|
|
}
|
|
|
|
if( !box.empty() )
|
|
{
|
|
Rect r = extract3DBox(frame, shownFrame, selectedObjFrame,
|
|
cameraMatrix, rvec, tvec, box, 4, true);
|
|
if( !r.empty() )
|
|
{
|
|
const int maxFrameIdx = 10000;
|
|
char path[1000];
|
|
for(;frameIdx < maxFrameIdx;frameIdx++)
|
|
{
|
|
sprintf(path, "%s%04d.jpg", outprefix.c_str(), frameIdx);
|
|
FILE* f = fopen(path, "rb");
|
|
if( !f )
|
|
break;
|
|
fclose(f);
|
|
}
|
|
if( frameIdx == maxFrameIdx )
|
|
{
|
|
printf("Can not save the image as %s<...>.jpg", outprefix.c_str());
|
|
break;
|
|
}
|
|
imwrite(path, selectedObjFrame(r));
|
|
|
|
capturedImgList.push_back(string(path));
|
|
roiList.push_back(r);
|
|
|
|
float p[6];
|
|
Mat RV(3, 1, CV_32F, p), TV(3, 1, CV_32F, p+3);
|
|
rvec.convertTo(RV, RV.type());
|
|
tvec.convertTo(TV, TV.type());
|
|
poseList.push_back(Vec6f(p[0], p[1], p[2], p[3], p[4], p[5]));
|
|
}
|
|
}
|
|
grabNext = !imageList.empty();
|
|
}
|
|
|
|
imshow("View", shownFrame);
|
|
imshow("Selected Object", selectedObjFrame);
|
|
char c = (char)waitKey(imageList.empty() && !box.empty() ? 30 : 300);
|
|
if( c == 'q' || c == 'Q' )
|
|
break;
|
|
if( c == '\r' || c == '\n' )
|
|
grabNext = true;
|
|
}
|
|
|
|
writeModelViews(indexFilename, box, capturedImgList, roiList, poseList);
|
|
return 0;
|
|
}
|