You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
113 lines
3.0 KiB
Plaintext
113 lines
3.0 KiB
Plaintext
/*
|
|
* grabFramesPMD implementation
|
|
*
|
|
* Copyright (C) Stanislav Serebryakov
|
|
*
|
|
* Released under the GPL version 3.
|
|
*
|
|
*/
|
|
|
|
#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__)))
|
|
#include <cv.h>
|
|
#include <highgui.h>
|
|
#elif (CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 2)
|
|
#include <opencv/cv.h>
|
|
#else
|
|
#include <opencv2/opencv.hpp>
|
|
#endif
|
|
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
|
|
#include "pmdsdk2.h"
|
|
#include "cvpmd.h"
|
|
|
|
|
|
/* TODO:
|
|
* flags:
|
|
* subpixel
|
|
* camera id
|
|
* flip x and y
|
|
* pmd mode?
|
|
*/
|
|
|
|
void usage(char *progName) {
|
|
printf("%s <board-size-x> <board-size-y> <camera-id>\n", progName);
|
|
printf("i.e.: %s 6 4 0\n", progName);
|
|
printf("press space to detect chessboard and (again) to proceed.\n");
|
|
}
|
|
|
|
int main(int argc, char **argv) {
|
|
|
|
if(argc < 4) {
|
|
usage(argv[0]);
|
|
exit(1);
|
|
}
|
|
|
|
|
|
PMD *pmd = initPMD("../o3d.L32.pcp", "192.168.0.69");
|
|
IplImage *img = cvCreateImage(pmdGetSize(pmd), 8, 1);
|
|
pmdUpdate(pmd->hnd);
|
|
pmdQueryImage(pmd, img);
|
|
|
|
IplImage *imgColor = cvCreateImage(cvGetSize(img), 8, 3);
|
|
|
|
int patx = atoi(argv[1]);
|
|
int paty = atoi(argv[2]);
|
|
CvSize patternSize = cvSize(patx, paty);
|
|
|
|
int cornersTotal = patternSize.width * patternSize.height;
|
|
|
|
CvPoint2D32f *corners = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f));
|
|
|
|
cvNamedWindow("Camera", 0);
|
|
|
|
int imageCnt = 0;
|
|
bool grabFrame = false;
|
|
char *filename = (char*) malloc(11 * sizeof(char));
|
|
|
|
|
|
while(1) {
|
|
pmdUpdate(pmd->hnd);
|
|
pmdQueryImage(pmd, img);
|
|
|
|
cvFlip(img, 0, 1); // flips image around the x-axes
|
|
|
|
|
|
|
|
|
|
if(grabFrame) {
|
|
/* ----- Chessboard detection -----
|
|
-------------------------------- */
|
|
int cornersCount; // should be the same for wcam and pmd and equal totalCorners
|
|
|
|
int found = cvFindChessboardCorners(img, patternSize, corners,
|
|
&cornersCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
|
|
cvFindCornerSubPix(img, corners, cornersCount, cvSize(4,4), cvSize(-1,-1),
|
|
cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
|
|
|
|
if(found && (cornersCount == cornersTotal)) {
|
|
cvCvtColor(img, imgColor, CV_GRAY2BGR);
|
|
cvDrawChessboardCorners(imgColor, patternSize, corners, cornersCount, found);
|
|
cvShowImage("Camera", imgColor);
|
|
printf("grab?\n");
|
|
int k = cvWaitKey(0);
|
|
if(k == (int)' ') {
|
|
imageCnt++;
|
|
sprintf(filename, "image%02i.jpg", imageCnt); //TODO:try png
|
|
printf("saved %s.\n", filename);
|
|
cvSaveImage(filename, img);
|
|
grabFrame = false;
|
|
continue;
|
|
}
|
|
}
|
|
}
|
|
|
|
cvShowImage("Camera", img);
|
|
if((int)' ' == cvWaitKey(5)) grabFrame = true;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|