First commit

OpencvTest/main.cpp

@@ -0,0 +1,172 @@
+#include <iostream>
+#include <cstdlib>
+#include <ctime>
+#include <csignal>
+#include <vector>
+#include <sstream>
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include "marker.hpp"
+
+using std::cout;
+using std::cerr;
+using std::endl;
+using std::vector;
+
+static bool done = false;
+
+void manageSignal(int signal){
+    // On SIGINT mark the application as ready to terminate.
+    if(signal == SIGINT)
+        done = true;
+}
+
+int main(int argc, char** argv){
+    bool bSuccess, camera_calibrated = false;
+    char key;
+    cv::Mat frame, camera, distortion, out_frame;
+    nxtar::markers_vector codes;
+    nxtar::points_vector calibrationPoints;
+    vector<nxtar::points_vector> calibrationSamples;
+    time_t time_a = 0;
+    double error;
+
+    // Add signal handler.
+    signal(SIGINT, manageSignal);
+
+    // Open video camera. Exit if failed to open it.
+    cv::VideoCapture cap("data/calib.mp4");
+
+    if(!cap.isOpened()){
+         cerr << "Could not open the default camera." << endl;
+         return EXIT_FAILURE;
+    }
+
+    // Create the main application window.
+    cv::namedWindow("OpenCV", CV_WINDOW_AUTOSIZE);
+    
+    /**************************************************************************
+     * CAMERA CALIBRATION STEP.                                               *
+     **************************************************************************/
+    try{
+        while(!done){
+            // Read a frame from the camera.
+            bSuccess = cap.read(frame);
+
+            // If the camera failed to return a frame, exit.
+            if (!bSuccess){
+                cap.set(CV_CAP_PROP_POS_FRAMES, 1);
+                continue;
+            } else {
+                cv::resize(frame, frame, cv::Size(), 0.5, 0.5);
+            }
+            
+            // Detect the camera calibration pattern.
+            if(nxtar::findCalibrationPattern(calibrationPoints, frame)){
+
+                if((time(NULL) - time_a) > 2){
+                    nxtar::points_vector tempVector;
+
+                    // Save the calibration points to the samples list.
+                    for(size_t i = 0; i < calibrationPoints.size(); i++)
+                        tempVector.push_back(calibrationPoints[i]);
+                    calibrationPoints.clear();
+                    calibrationSamples.push_back(tempVector);
+
+                    std::cout << "Sample "
+                              << calibrationSamples.size()
+                              <<" saved."
+                              << std::endl;
+
+                    // If 10 samples have been saved.
+                    if(calibrationSamples.size() >= 10){
+                        std::cout << "Enough samples taken." << std::endl;
+
+                        // Get the camera parameters and calibrate.
+                        cv::Size image_size = frame.size();
+
+                        error = nxtar::getCameraParameters(camera,
+                                                           distortion,
+                                                           calibrationSamples,
+                                                           image_size);
+                        camera_calibrated = true;
+                        std::cout << "getCameraParameters returned "
+                                  << error
+                                  << std::endl;
+
+                        // Clear the calibration samples list.
+                        for(size_t i = 0; i < calibrationSamples.size(); i++){
+                            calibrationSamples[i].clear();
+                        }
+                        calibrationSamples.clear();
+                        
+                        done = true;
+                    }
+                    time_a = time(NULL);
+                }
+            }
+            calibrationPoints.clear();
+
+            // Show the original frame for reference.
+            cv::imshow("OpenCV", frame);
+
+            // Wait for a key press. Exit if the user pressed the escape key.
+            key = cv::waitKey(1);
+            if(key == 27 /* escape key */)
+                done = true;
+        }
+    }catch(cv::Exception e){
+        std::cerr << e.msg << std::endl;
+        std::cerr << e.err << std::endl;
+        goto finish;
+    }
+
+    done = false;
+    cap.open("data/marker.mp4");
+
+    /**************************************************************************
+     * MARKER DETECTION STEP.                                                 *
+     **************************************************************************/
+    try{
+        while(!done){
+            // Read a frame from the camera.
+            bSuccess = cap.read(frame);
+
+            // If the camera failed to return a frame, exit.
+            if (!bSuccess){
+                cap.set(CV_CAP_PROP_POS_FRAMES, 1);
+                continue;
+            } else {
+                cv::resize(frame, frame, cv::Size(), 0.5, 0.5);
+            }
+
+            // Detect all markers in the video frame.
+            nxtar::getAllMarkers(codes, frame);
+
+            // If the camera has been calibrated, show the undistorted image.
+            if(camera_calibrated){
+                cv::undistort(frame, out_frame, camera, distortion);
+                cv::imshow("Undistorted", out_frame);
+                cv::imshow("Diff", frame - out_frame);
+            }
+
+            // Show the original frame for reference.
+            cv::imshow("OpenCV", frame);
+
+            // Wait for a key press. Exit if the user pressed the escape key.
+            key = cv::waitKey(1);
+            if(key == 27 /* escape key */)
+                done = true;
+        }
+    }catch(cv::Exception e){
+        std::cerr << e.msg << std::endl;
+        std::cerr << e.err << std::endl;
+    }
+
+ finish:
+    cap.release();
+    
+    return EXIT_SUCCESS;
+}