+++ /dev/null
-/****************************************************************************************\
-* *
-* Stereo Demo *
-* *
-\****************************************************************************************/
-
-#include "cvaux.h"
-#include "highgui.h"
-#include <limits.h>
-#include <stdio.h>
-#include <ctype.h>
-#include <time.h>
-
-volatile int g_undistort = 0;
-volatile int g_calib = 0;
-volatile int g_rectify = 0;
-volatile int g_save = 0;
-volatile int g_calc_stereo = 1;
-volatile int g_view_rectified = 0;
-volatile int g_snap = 0;
-volatile int g_write_avi = 0;
-
-void callback( IplImage* image1,IplImage* image2 );
-void callback1( IplImage* image );
-
-CvCalibFilter CalibFilter;
-double EtalonParams[3] = { 6, 8, 3 };
-IplImage* vis_disp = NULL;
-//StereoMatcher stereo_matcher;
-
-CvVideoWriter* VideoWriterL = NULL;
-CvVideoWriter* VideoWriterR = NULL;
-CvVideoWriter* VideoWriterAux = NULL;
-
-
-void toggle_calib(void);
-void toggle_undistort(void);
-
-int maxdisp = 100;
-
-void calc_dense_disparity(IplImage* image1, IplImage* image2);
-
-void print_help(void)
-{
- printf("Help:\n"
- "h - this help screen\n"
- "g - start/stop calibration\n"
- "spacebar - take a snapshot to send to calibration\n"
- "s - save camera parameters to camera.txt\n"
- "l - load camera parameters from camera.txt\n"
- "u - toggle undistortion\n"
- "r - toggle rectification\n"
- "t - reverse the cameras order\n"
- "n - save the couple of frames\n"
- "d - on/off computing disparity\n"
- "v - toggle view of the rectified images\n"
- "a - start/stop writing avi files\n"
- );
-}
-
-#define SOURCE_AVI 1
-#define SOURCE_CAM 2
-
-#ifndef FLTK
-int main( int argc, char** argv )
-{
- int source = SOURCE_CAM;
- if( argc == 3 )
- {
- source = SOURCE_AVI;
- }
- g_calc_stereo = 1;
-
- CvCapture* captureL; //left
- CvCapture* captureR; //right
-
- IplImage* left_gray = 0;
- IplImage* right_gray = 0;
-
- CalibFilter.SetEtalon( CV_CALIB_ETALON_CHESSBOARD, EtalonParams );
- CalibFilter.SetCameraCount(2);
- CalibFilter.SetFrames(15);
-
- if( source == SOURCE_CAM ) //input from cameras
- {
- captureL = cvCaptureFromCAM( 0 ); //first camera
- captureR = cvCaptureFromCAM( 1 ); //second camera
- }
- else
- {
- captureL = cvCaptureFromAVI( argv[1] ); //first avi file
- captureR = cvCaptureFromAVI( argv[2] ); //second avi file
- }
-
- if( !captureL || !captureR )
- { printf("can't run camera/avi\n"); return 1; }
-
- cvNamedWindow( "source left", 1 );
- cvNamedWindow( "source right", 1 );
-
- print_help();
-
- for(;;)
- {
- int cmd = cvWaitKey( 2 );
- if( cmd == '\x1b' )
- break;
-
- //frame processing
- cvGrabFrame( captureL );
- //int time2 = clock();
- cvGrabFrame( captureR );
- //int time1 = clock();
- //printf("time diff = %d", time1 - time2);
- IplImage* frameL = cvRetrieveFrame( captureL );
- IplImage* frameR = cvRetrieveFrame( captureR );
-
- if( !frameL || !frameR )
- {
- cvReleaseVideoWriter( &VideoWriterAux );
-
- if( g_write_avi == 1 )
- {
- cvReleaseVideoWriter( &VideoWriterL );
- cvReleaseVideoWriter( &VideoWriterR );
- }
- break;
- }
-
- if( source == SOURCE_AVI )
- {
- frameL->origin = frameR->origin = IPL_ORIGIN_TL;
- cvFlip( frameR, frameR, 0 );
- cvFlip( frameL, frameL, 0 );
- }
-
- //convert color to gray
- if( !left_gray && !right_gray )
- {
- left_gray = cvCreateImage(cvSize( frameL->width,frameL->height), IPL_DEPTH_8U, 1 );
- right_gray = cvCreateImage(cvSize( frameL->width,frameL->height), IPL_DEPTH_8U, 1 );
- left_gray->origin = right_gray->origin = frameL->origin;
- }
-
- cvCvtColor( frameL, left_gray, CV_BGR2GRAY );
- cvCvtColor( frameR, right_gray, CV_BGR2GRAY );
-
- callback( left_gray, right_gray );
-
- switch( tolower(cmd) )
- {
- case '1':
- case '2':
- break;
- case 'g':
- toggle_calib();
- break;
- case 's':
- CalibFilter.SaveCameraParams("cameras.txt");
- break;
- case 'l':
- CalibFilter.LoadCameraParams("cameras.txt");
- g_rectify ^= 1;
- break;
- case 'u':
- g_undistort ^= 1;
- break;
- case 'r':
- g_rectify ^= 1;
- break;
- case 'v':
- g_view_rectified ^= 1;
- break;
- case 'n':
- g_save = 1;
- break;
- case 't': {
- CvCapture* tmp = captureL;
- captureL = captureR;
- captureR = tmp;
- break; }
- case 'h':
- print_help();
- break;
- case 'd':
- g_calc_stereo ^=1;
- break;
- case 'a':
- g_write_avi ^=1;
- if( g_write_avi )
- {
- VideoWriterL = cvCreateVideoWriter( "StereoL.avi", -1,
- 10, cvSize(frameL->width,frameL->height) );
- VideoWriterR = cvCreateVideoWriter( "StereoR.avi", -1,
- 10, cvSize(frameL->width,frameL->height) );
- }
- else
- {
- cvReleaseVideoWriter( &VideoWriterL );
- cvReleaseVideoWriter( &VideoWriterR );
- }
- break;
- case ' ':
- g_snap = 1;
- break;
- }
- }
-
-
- cvReleaseCapture( &captureL );
- cvReleaseCapture( &captureR );
-
- cvReleaseImage( &left_gray );
- cvReleaseImage( &right_gray );
-
- cvReleaseImage(&vis_disp);
-
-
- return 0;
-}
-#endif
-
-void toggle_undistort( void )
-{
- g_undistort ^= 1;
-}
-
-
-int prev_time = 0;
-
-void toggle_calib( void )
-{
- prev_time = clock() - 1000;
- if( !g_calib )
- g_undistort = 0;
- g_calib ^= 1;
-}
-
-void SaveStereoPair( IplImage** images, const char* rootname )
-{
- int i = 0;
- char name[1000];
-
- for( i = 0; i < 1000; i++ )
- {
- sprintf( name, "%s%03dL.bmp", rootname, i );
- FILE* f = fopen( name, "rb" );
-
- if( f )
- {
- fclose(f);
- continue;
- }
-
- cvSaveImage( name, images[0] );
-
- sprintf( name, "%s%03dR.bmp", rootname, i );
- cvSaveImage( name, images[1] );
-
- break;
- }
-}
-
-void callback( IplImage* image1, IplImage* image2 )
-{
- IplImage* images[] = { image1, image2 };
- int save = g_save != 0;
-
-#if 1
- if( g_calib && g_snap )
- {
- bool found = CalibFilter.FindEtalon( images );
-
- g_view_rectified = 0;
-
- if( !save )
- CalibFilter.DrawPoints( images );
-
- if( found )
- {
- int cur_time = clock();
- if( cur_time >= prev_time + 1000 )
- {
- prev_time = cur_time;
- CalibFilter.Push();
- cvXorS( image1, cvScalarAll(255), image1 );
- cvXorS( image2, cvScalarAll(255), image2 );
- g_undistort = 0;
- }
-
- if( CalibFilter.IsCalibrated() )
- {
- g_calib ^= 1;
- g_undistort = 1;
- g_rectify = 1;
- }
- }
- }
-
- if( !g_view_rectified )
- {
- cvDestroyWindow( "rectified left" );
- cvDestroyWindow( "rectified right" );
- }
-
- //if( g_undistort )
- // CalibFilter.Undistort( images, images );
-
- cvShowImage( "source left", image1 );
- cvShowImage( "source right", image2 );
-
- if ( g_calib && g_snap ){
- g_snap = 0;
- cvWaitKey( 1000 );
- }
-
- if( save )
- {
- SaveStereoPair( images, "imgU" );
- }
-
- if( g_rectify && CalibFilter.IsCalibrated() )
- {
- CalibFilter.Rectify( images, images );
-
- //calc_disparity(image1, image2);
- if( save )
- {
- SaveStereoPair( images, "imgR" );
- }
- }
-
- if( CalibFilter.IsCalibrated() && g_view_rectified)
- {
- IplImage *l;
- l = cvCreateImage( cvSize(image1->width, image1->height),
- IPL_DEPTH_8U, 1 );
-
- cvConvertScale( image1, l, 1, 0 );
- cvNamedWindow( "rectified left", 1 );
- cvNamedWindow( "rectified right", 1 );
- cvShowImage( "rectified left", l );
- cvConvertScale(image2, l, 1, 0);
- cvShowImage( "rectified right", l );
- cvReleaseImage( &l );
- }
-
- if( g_calc_stereo )
- {
- calc_dense_disparity(image1, image2);
- }
-
- if( g_write_avi )
- {
- cvWriteFrame( VideoWriterL, image1 );
- cvWriteFrame( VideoWriterR, image2 );
- }
-#endif
- g_save = 0;
-}
-int dense_inited = 0;
-void calc_dense_disparity(IplImage* image1, IplImage* image2)
-{
- if(!dense_inited)
- {
- cvNamedWindow("disparity", 1);
- cvCreateTrackbar( "maxdisp", "disparity", &maxdisp, 255, 0 );
- dense_inited = 1;
- vis_disp = cvCreateImage(cvSize(image1->width, image1->height), IPL_DEPTH_8U, 1);
- }
-
- vis_disp->origin = image1->origin;
- cvFindStereoCorrespondence(
- image1, image2,
- CV_DISPARITY_BIRCHFIELD,
- vis_disp,
- maxdisp );
- cvConvertScale(vis_disp, vis_disp, 255.f/maxdisp);
- cvShowImage("disparity", vis_disp);
-}
-
-/*void calc_disparity_matcher(IplImage* left, IplImage* right)
-{
- if( !stereo_matcher.IsInited() )
- {
- stereo_matcher.Init( cvSize(left->width, left->height ),
- 60,
- STEREO_DP
- //STEREO_ID
- //STEREO_SEGM
- //STEREO_SEGM_MULTY
- );
- cvvNamedWindow("disparity", 1);
- cvvWaitKey(0);
- }
- if( stereo_matcher.m_max_disparity != thresh1 )
- stereo_matcher.Init( cvSize(left->width, left->height ),
- thresh1, STEREO_DP);
-
- stereo_matcher.OnFrames( left, right );
-
- //scale disparity
- iplMultiplyS( stereo_matcher.GetDisparity(),
- stereo_matcher.GetDisparity(),
- 255/stereo_matcher.m_max_disparity );
-
- // iplBlur( stereo_matcher.GetDisparity(),
- // stereo_matcher.GetDisparity(), 3,3,1,1 );
-
- cvErode( stereo_matcher.GetDisparity(),
- stereo_matcher.GetDisparity(), NULL, 1 );
- //cvDilate( stereo_matcher.GetDisparity(),
- // stereo_matcher.GetDisparity(), NULL, 1 );
-
-
-
- cvvShowImage("left", left );
- cvvShowImage("right", right );
- cvvShowImage("disparity", stereo_matcher.GetDisparity() );
-
-
-
- if( !VideoWriterAux )
- {
- VideoWriterAux = cvCreateVideoWriter( "StereoLD.avi", -1,
- 5, cvSize(left->width*2,left->height) );
- }
- IplImage* merged = cvCreateImage( cvSize(left->width*2,left->height),
- IPL_DEPTH_8U, 3 );
- IplROI roi;
- roi.coi = 0; roi.height = left->height; roi.width = left->width;
- roi.yOffset = 0;
- roi.xOffset = 0;
-
- left->roi = &roi;
- merged->roi = &roi;
- iplCopy( left, merged);
-
- IplROI roi2 = roi;
- stereo_matcher.GetDisparity()->roi = &roi2;
- roi.xOffset = left->width;
-
- iplCopy( stereo_matcher.GetDisparity(), merged);
-
- merged->roi = left->roi = stereo_matcher.GetDisparity()->roi = NULL;
-
- cvWriteFrame( VideoWriterAux, merged );
-
- //visualize disparity
- //cvvWaitKeyEx("left", 1000);
-
-}
-*/
projects / opencv / blobdiff