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capture.cpp
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capture.cpp
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#include "util.hpp"
#include "config.hpp"
#include "markers.hpp"
#include "stitcher.hpp"
using namespace std;
using namespace cv;
int MAX = 10;
vector<float> ax, ay, ar;
void logStats(Matx33f aH) {
ax.insert(ax.begin(), aH(0,2));
ay.insert(ay.begin(), aH(1,2));
ar.insert(ar.begin(), getAngle(aH));
while (ax.size() > MAX) ax.pop_back();
while (ay.size() > MAX) ay.pop_back();
while (ar.size() > MAX) ar.pop_back();
}
void avg(vector<float> list, float& mean, float& range) {
int count = list.size();
float sum=0;
mean=0;
float min = 1000000;
float max = -1000000;
for (int i=0; i<count; i++) {
sum += list[i];
if (list[i] < min) min = list[i];
if (list[i] > max) max = list[i];
}
mean = sum / (float)count;
range = max - min;
}
int main(int argc, char** argv) {
Config config;
Markers markers(config);
namedWindow("Capture");
moveWindow("Capture", 20,20);
VideoCapture cap;
VideoWriter vw("capture_out.avi", VideoWriter::fourcc('M','J','P','G'), 20.0,
Size(config.image_width, config.image_height), true);
if(!cap.open(config.video_source)) {
cerr << "Could not open camera." << endl;
return 0;
}
cap.set(CV_CAP_PROP_FRAME_WIDTH, config.image_width);
cap.set(CV_CAP_PROP_FRAME_HEIGHT, config.image_height);
// TODO: Make this a command line option. Useful when capturing video for replay.
Mat junk;
for (int i=0; i<30; i++) cap >> junk;
config.setv4l(); // Exposure settings don't take unless we read some frames first.
UMat img, imgCopy, imgProj, lastProj;
int sequence = 0;
bool doProjection = false;
bool doStability = false;
bool drawMarkers = false;
IncrementalStitcher stitcher(1.0,
IncrementalStitcher::MatchMode::AGGREGATE,
IncrementalStitcher::DetectMethod::DETECT_SURF,
IncrementalStitcher::ExtractMethod::EXTRACT_FREAK);
while (true) {
const int SKIP_FRAMES = 5; // Need to blow away buffered frames.
for (int i=0; i<SKIP_FRAMES; i++) {
//cap >> img;
cap.grab();
cap.retrieve(img);
LOG(INFO) << img.cols << " x " << img.rows << endl;
vw.write(img.getMat(ACCESS_READ));
}
img.copyTo(imgCopy);
UMat imgProj;
int status = markers.getArucoOrientedImage(imgCopy, imgProj, drawMarkers,
doProjection || doStability);
if (doProjection && imgProj.cols > 0) {
imshow("Projection", imscale(600, imgProj));
}
UMat scaleCopy = imscale(800, imgCopy);
if (status==Markers::Status::OK && doStability && lastProj.cols > 0) {
Mat R;
IncrementalStitcher::Status status = stitcher.detectAndMatch(lastProj, imgProj, R);
Matx33f H = R;
logStats(H);
float mx, my, mr;
float rx, ry, rr;
avg(ax, mx, rx);
avg(ay, my, ry);
avg(ar, mr, rr);
//float dx = H(0,2);
//float dy = H(1,2);
//float dr = getAngle(H);
char dbuf [7];
sprintf(dbuf, "% 4.3f", rr);
char xbuf [7];
sprintf(xbuf, "% 4.3f", rx);
char ybuf [7];
sprintf(ybuf, "% 4.3f", ry);
drawGridTextSmall(scaleCopy, Rect(scaleCopy.cols/4, scaleCopy.rows/4,
scaleCopy.cols/2, scaleCopy.rows/2),
"Rotation: " + string(dbuf) + "d", 0.0);
drawGridTextSmall(scaleCopy, Rect(scaleCopy.cols/4, scaleCopy.rows/4,
scaleCopy.cols/2, scaleCopy.rows/2),
"X: " + string(xbuf) + "px", 4.0);
drawGridTextSmall(scaleCopy, Rect(scaleCopy.cols/4, scaleCopy.rows/4,
scaleCopy.cols/2, scaleCopy.rows/2),
"Y: " + string(ybuf) + "px", 2.0);
}
drawText(scaleCopy, "+/- (F/f)ocus (E/e)xposure (Z/z)oom", 1.5);
drawText(scaleCopy, "(C)apture (P)rojection (M)arkers (S)tability");
imshow("Capture", scaleCopy);
lastProj = imgProj;
char key = (char) cv::waitKey(10);
if (key == 27) {
break;
} else if (key == 'p') {
doProjection = !doProjection;
if (doProjection) {
namedWindow("Projection");
moveWindow("Projection", 400,20);
} else {
cvDestroyWindow("Projection");
}
} else if (key == 's') {
doStability = !doStability;
} else if (key == 'm') {
drawMarkers = !drawMarkers;
} else if (key == 'c' || key == '\n') {
char buf [3];
sprintf(buf, "%03d", ++sequence);
string filename = "calib-" + to_string(config.image_width) + "-" + buf + ".jpeg";
LOG(INFO) << filename << endl;
imwrite(filename, img);
} else if (key == 'f') {
config.focus_absolute -= 5;
config.savev4l();
} else if (key == 'F') {
config.focus_absolute += 5;
config.savev4l();
} else if (key == 'e') {
config.exposure_absolute -= 100;
config.savev4l();
} else if (key == 'E') {
config.exposure_absolute += 100;
config.savev4l();
} else if (key == 'z') {
config.zoom_absolute -= 10;
config.savev4l();
} else if (key == 'Z') {
config.zoom_absolute += 10;
config.savev4l();
}
}
}