WallyHackenslacker/NxtAR-android
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Added marker pose estimation. Not tested yet.

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Wally Hackenslacker
2014-05-13 18:30:32 -04:30
parent ea33f1e725
commit b0151e85e9
4 changed files with 166 additions and 63 deletions
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40
jni/marker.cpp
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@@ -27,7 +27,6 @@ namespace nxtar{
typedef std::vector<cv::Point3f> points_vector_3D;
typedef std::vector<std::vector<cv::Point> > contours_vector;
typedef std::vector<Marker> markers_vector;
/******************************************************************************
* PRIVATE CONSTANTS *
@@ -92,16 +91,15 @@ void warpMarker(Marker &, cv::Mat &, cv::Mat &);
* PUBLIC API *
******************************************************************************/
void getAllMarkers(std::vector<int> & codes, cv::Mat & img){
void getAllMarkers(markers_vector & valid_markers, cv::Mat & img){
cv::Mat gray, thresh, cont, mark;
contours_vector contours;
markers_vector markers;
markers_vector valid_markers;
#ifdef DESKTOP
std::ostringstream oss;
#endif
codes.clear();
valid_markers.clear();
// Find all marker candidates in the input image.
// 1) First, convert the image to grayscale.
@@ -147,7 +145,6 @@ void getAllMarkers(std::vector<int> & codes, cv::Mat & img){
// Fix the detected corners to better approximate the markers. And
// push their codes to the output vector.
cv::cornerSubPix(gray, valid_markers[i].points, cvSize(10, 10), cvSize(-1, -1), TERM_CRITERIA);
codes.push_back(valid_markers[i].code);
}
// Render the detected markers on top of the input image.
@@ -158,7 +155,6 @@ void getAllMarkers(std::vector<int> & codes, cv::Mat & img){
// Clear the local vectors.
markers.clear();
contours.clear();
valid_markers.clear();
}
bool findCalibrationPattern(points_vector & corners, cv::Mat & img){
@@ -204,6 +200,35 @@ double getCameraParameters(cv::Mat & camera_matrix, cv::Mat & dist_coeffs, std::
return cv::calibrateCamera(object_points, image_points, image_size, camera_matrix, dist_coeffs, rvecs, tvecs, 0, TERM_CRITERIA);
}
void estimateMarkerPosition(markers_vector & markers, cv::Mat & camMatrix, cv::Mat & distCoeff){
cv::Mat rVec, rAux, tAux;
cv::Mat_<float> tVec, rotation(3,3);
points_vector_3D objectPoints;
// Assemble a unitary CCW oriented reference polygon.
objectPoints.push_back(cv::Point3f(-0.5f, -0.5f, 0.0f));
objectPoints.push_back(cv::Point3f(-0.5f, 0.5f, 0.0f));
objectPoints.push_back(cv::Point3f( 0.5f, 0.5f, 0.0f));
objectPoints.push_back(cv::Point3f( 0.5f, -0.5f, 0.0f));
for(size_t i = 0; i < markers.size(); i++){
// Obtain the translation and rotation vectors.
cv::solvePnP(objectPoints, markers[i].points, camMatrix, distCoeff, rAux, tAux);
// Convert the obtained vectors to float.
rAux.convertTo(rVec, CV_32F);
tAux.convertTo(tVec, CV_32F);
// Convert the rotation vector to a rotation matrix.
cv::Rodrigues(rVec, rotation);
// Make the rotation and translation relative to the "camera" and save
// the results to the output marker.
markers[i].rotation = cv::Mat(rotation.t());
markers[i].translation = cv::Mat(-tVec);
}
}
/******************************************************************************
* PRIVATE HELPER FUNCTIONS *
******************************************************************************/
@@ -357,6 +382,7 @@ void warpMarker(Marker & m, cv::Mat & in, cv::Mat & out){
/**
* Calculate the hamming distance of a 5x5 bit matrix.
* Function by Daniel Lelis Baggio for "Mastering OpenCV with Practical Computer Vision Projects".
*/
int hammDistMarker(cv::Mat bits){
int ids[4][5] = {
@@ -397,7 +423,7 @@ cv::Mat rotate(cv::Mat in){
in.copyTo(out);
for (int i = 0; i < in.rows; i++){
for (int j = 0; j < in.cols; j++){
out.at<uchar>(i, j)=in.at<uchar>(in.cols-j - 1, i);
out.at<uchar>(i, j) = in.at<uchar>(in.cols-j - 1, i);
}
}