215 lines
7.2 KiB
C++
215 lines
7.2 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2015, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include <opencv2/imgproc.hpp>
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#include <opencv2/highgui.hpp>
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#include <opencv2/structured_light.hpp>
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#include <iostream>
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#include <stdio.h>
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using namespace cv;
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using namespace std;
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static const char* keys =
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{ "{@path | | Path of the folder where the captured pattern images will be save }"
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"{@proj_width | | Projector width }"
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"{@proj_height | | Projector height }" };
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static void help()
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{
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cout << "\nThis example shows how to use the \"Structured Light module\" to acquire a graycode pattern"
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"\nCall (with the two cams connected):\n"
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"./example_structured_light_cap_pattern <path> <proj_width> <proj_height> \n"
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<< endl;
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}
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int main( int argc, char** argv )
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{
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structured_light::GrayCodePattern::Params params;
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CommandLineParser parser( argc, argv, keys );
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String path = parser.get<String>( 0 );
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params.width = parser.get<int>( 1 );
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params.height = parser.get<int>( 2 );
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if( path.empty() || params.width < 1 || params.height < 1 )
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{
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help();
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return -1;
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}
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// Set up GraycodePattern with params
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Ptr<structured_light::GrayCodePattern> graycode = structured_light::GrayCodePattern::create( params );
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// Storage for pattern
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vector<Mat> pattern;
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graycode->generate( pattern );
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cout << pattern.size() << " pattern images + 2 images for shadows mask computation to acquire with both cameras"
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<< endl;
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// Generate the all-white and all-black images needed for shadows mask computation
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Mat white;
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Mat black;
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graycode->getImagesForShadowMasks( black, white );
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pattern.push_back( white );
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pattern.push_back( black );
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// Setting pattern window on second monitor (the projector's one)
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namedWindow( "Pattern Window", WINDOW_NORMAL );
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resizeWindow( "Pattern Window", params.width, params.height );
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moveWindow( "Pattern Window", params.width + 316, -20 );
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setWindowProperty( "Pattern Window", WND_PROP_FULLSCREEN, WINDOW_FULLSCREEN );
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// Open camera number 1, using libgphoto2
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VideoCapture cap1( CAP_GPHOTO2 );
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if( !cap1.isOpened() )
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{
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// check if cam1 opened
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cout << "cam1 not opened!" << endl;
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help();
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return -1;
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}
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// Open camera number 2
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VideoCapture cap2( 1 );
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if( !cap2.isOpened() )
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{
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// check if cam2 opened
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cout << "cam2 not opened!" << endl;
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help();
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return -1;
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}
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// Turning off autofocus
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cap1.set( CAP_PROP_SETTINGS, 1 );
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cap2.set( CAP_PROP_SETTINGS, 1 );
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int i = 0;
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while( i < (int) pattern.size() )
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{
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cout << "Waiting to save image number " << i + 1 << endl << "Press any key to acquire the photo" << endl;
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imshow( "Pattern Window", pattern[i] );
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Mat frame1;
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Mat frame2;
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cap1 >> frame1; // get a new frame from camera 1
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cap2 >> frame2; // get a new frame from camera 2
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if( ( frame1.data ) && ( frame2.data ) )
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{
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Mat tmp;
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cout << "cam 1 size: " << Size( ( int ) cap1.get( CAP_PROP_FRAME_WIDTH ), ( int ) cap1.get( CAP_PROP_FRAME_HEIGHT ) )
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<< endl;
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cout << "cam 2 size: " << Size( ( int ) cap2.get( CAP_PROP_FRAME_WIDTH ), ( int ) cap2.get( CAP_PROP_FRAME_HEIGHT ) )
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<< endl;
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cout << "zoom cam 1: " << cap1.get( CAP_PROP_ZOOM ) << endl << "zoom cam 2: " << cap2.get( CAP_PROP_ZOOM )
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<< endl;
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cout << "focus cam 1: " << cap1.get( CAP_PROP_FOCUS ) << endl << "focus cam 2: " << cap2.get( CAP_PROP_FOCUS )
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<< endl;
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cout << "Press enter to save the photo or an other key to re-acquire the photo" << endl;
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namedWindow( "cam1", WINDOW_NORMAL );
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resizeWindow( "cam1", 640, 480 );
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namedWindow( "cam2", WINDOW_NORMAL );
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resizeWindow( "cam2", 640, 480 );
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// Moving window of cam2 to see the image at the same time with cam1
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moveWindow( "cam2", 640 + 75, 0 );
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// Resizing images to avoid issues for high resolution images, visualizing them as grayscale
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resize( frame1, tmp, Size( 640, 480 ), 0, 0, INTER_LINEAR_EXACT);
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cvtColor( tmp, tmp, COLOR_RGB2GRAY );
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imshow( "cam1", tmp );
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resize( frame2, tmp, Size( 640, 480 ), 0, 0, INTER_LINEAR_EXACT);
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cvtColor( tmp, tmp, COLOR_RGB2GRAY );
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imshow( "cam2", tmp );
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bool save1 = false;
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bool save2 = false;
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int key = waitKey( 0 );
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// Pressing enter, it saves the output
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if( key == 13 )
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{
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ostringstream name;
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name << i + 1;
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save1 = imwrite( path + "pattern_cam1_im" + name.str() + ".png", frame1 );
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save2 = imwrite( path + "pattern_cam2_im" + name.str() + ".png", frame2 );
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if( ( save1 ) && ( save2 ) )
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{
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cout << "pattern cam1 and cam2 images number " << i + 1 << " saved" << endl << endl;
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i++;
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}
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else
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{
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cout << "pattern cam1 and cam2 images number " << i + 1 << " NOT saved" << endl << endl << "Retry, check the path"<< endl << endl;
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}
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}
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// Pressing escape, the program closes
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if( key == 27 )
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{
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cout << "Closing program" << endl;
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}
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}
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else
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{
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cout << "No frame data, waiting for new frame" << endl;
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}
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}
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// the camera will be deinitialized automatically in VideoCapture destructor
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return 0;
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} |