From 2c378133286fa38ca7f3c1fad860c0120dc0c3a5 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 12 Mar 2019 17:02:45 +0200
Subject: [PATCH] All force no stereo
---
cv-node/include/ftl/local.hpp | 5 +++--
cv-node/src/calibrate.cpp | 29 +++++++++++++++++------------
cv-node/src/local.cpp | 15 ++++++++-------
cv-node/src/main.cpp | 9 ++++++---
4 files changed, 34 insertions(+), 24 deletions(-)
diff --git a/cv-node/include/ftl/local.hpp b/cv-node/include/ftl/local.hpp
index 13196dd9e..1ada957ad 100644
--- a/cv-node/include/ftl/local.hpp
+++ b/cv-node/include/ftl/local.hpp
@@ -11,8 +11,8 @@ namespace cv {
namespace ftl {
class LocalSource {
public:
- LocalSource(bool flip=false);
- LocalSource(const std::string &vid, bool flip=false);
+ LocalSource(bool flip=false, bool nostereo=false);
+ LocalSource(const std::string &vid, bool flip=false, bool nostereo=false);
bool left(cv::Mat &m);
bool right(cv::Mat &m);
@@ -30,6 +30,7 @@ class LocalSource {
bool stereo_;
//float fps_;
bool flip_;
+ bool nostereo_;
cv::VideoCapture *camera_a_;
cv::VideoCapture *camera_b_;
};
diff --git a/cv-node/src/calibrate.cpp b/cv-node/src/calibrate.cpp
index 14e0ca3d5..e7a5f35de 100644
--- a/cv-node/src/calibrate.cpp
+++ b/cv-node/src/calibrate.cpp
@@ -321,15 +321,18 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
//view = _nextImage(cam);
LOG(INFO) << "Grabbing calibration image...";
- if (view[0].empty() || view[1].empty() || imagePoints[0].size() >= (size_t)settings_.nrFrames) {
+ if (view[0].empty() || (local_->isStereo() && view[1].empty()) || imagePoints[0].size() >= (size_t)settings_.nrFrames) {
settings_.outputFileName = FTL_CONFIG_ROOT "/cam0.xml";
bool r = runCalibrationAndSave(settings_, imageSize[0],
cameraMatrix[0], distCoeffs[0], imagePoints[0],
grid_width, release_object);
- settings_.outputFileName = FTL_CONFIG_ROOT "/cam1.xml";
- r &= runCalibrationAndSave(settings_, imageSize[1],
- cameraMatrix[1], distCoeffs[1], imagePoints[1],
- grid_width, release_object);
+
+ if (local_->isStereo()) {
+ settings_.outputFileName = FTL_CONFIG_ROOT "/cam1.xml";
+ r &= runCalibrationAndSave(settings_, imageSize[1],
+ cameraMatrix[1], distCoeffs[1], imagePoints[1],
+ grid_width, release_object);
+ }
if (!r && view[0].empty()) {
LOG(ERROR) << "Not enough frames to calibrate";
@@ -351,7 +354,7 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
bool found1,found2;
found1 = findChessboardCorners( view[0], settings_.boardSize, pointBuf[0], chessBoardFlags);
- found2 = findChessboardCorners( view[1], settings_.boardSize, pointBuf[1], chessBoardFlags);
+ found2 = !local_->isStereo() || findChessboardCorners( view[1], settings_.boardSize, pointBuf[1], chessBoardFlags);
if (found1 && found2) // If done with success,
{
@@ -360,23 +363,25 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
cvtColor(view[0], viewGray, COLOR_BGR2GRAY);
cornerSubPix( viewGray, pointBuf[0], Size(winSize,winSize),
Size(-1,-1), TermCriteria( TermCriteria::EPS+TermCriteria::COUNT, 30, 0.0001 ));
-
+ imagePoints[0].push_back(pointBuf[0]);
+
+ if (local_->isStereo()) {
cvtColor(view[1], viewGray, COLOR_BGR2GRAY);
cornerSubPix( viewGray, pointBuf[1], Size(winSize,winSize),
Size(-1,-1), TermCriteria( TermCriteria::EPS+TermCriteria::COUNT, 30, 0.0001 ));
-
- imagePoints[0].push_back(pointBuf[0]);
- imagePoints[1].push_back(pointBuf[1]);
+ imagePoints[1].push_back(pointBuf[1]);
+ }
+
// Draw the corners.
drawChessboardCorners( view[0], settings_.boardSize, Mat(pointBuf[0]), found1 );
- drawChessboardCorners( view[1], settings_.boardSize, Mat(pointBuf[1]), found2 );
+ if (local_->isStereo()) drawChessboardCorners( view[1], settings_.boardSize, Mat(pointBuf[1]), found2 );
} else {
LOG(WARNING) << "No calibration pattern found";
}
imshow("Left", view[0]);
- imshow("Right", view[1]);
+ if (local_->isStereo()) imshow("Right", view[1]);
char key = (char)waitKey(settings_.delay);
if( key == 27 )
diff --git a/cv-node/src/local.cpp b/cv-node/src/local.cpp
index 075e19f39..9b9c7b329 100644
--- a/cv-node/src/local.cpp
+++ b/cv-node/src/local.cpp
@@ -13,22 +13,23 @@ using cv::Rect;
using std::string;
using namespace std::chrono;
-LocalSource::LocalSource(bool flip) : timestamp_(0.0), flip_(flip) {
+LocalSource::LocalSource(bool flip, bool nostereo) : timestamp_(0.0), flip_(flip), nostereo_(nostereo) {
// Use cameras
camera_a_ = new VideoCapture((flip) ? 1 : 0);
- camera_b_ = new VideoCapture((flip) ? 0 : 1);
+ if (!nostereo) camera_b_ = new VideoCapture((flip) ? 0 : 1);
+ else camera_b_ = nullptr;
if (!camera_a_->isOpened()) {
delete camera_a_;
- delete camera_b_;
+ if (camera_b_) delete camera_b_;
camera_a_ = nullptr;
camera_b_ = nullptr;
LOG(FATAL) << "No cameras found";
return;
}
- if (!camera_b_->isOpened()) {
- delete camera_b_;
+ if (!camera_b_ || !camera_b_->isOpened()) {
+ if (camera_b_) delete camera_b_;
camera_b_ = nullptr;
stereo_ = false;
LOG(WARNING) << "Not able to find second camera for stereo";
@@ -37,7 +38,7 @@ LocalSource::LocalSource(bool flip) : timestamp_(0.0), flip_(flip) {
}
}
-LocalSource::LocalSource(const string &vid, bool flip): timestamp_(0.0), flip_(flip) {
+LocalSource::LocalSource(const string &vid, bool flip, bool nostereo): timestamp_(0.0), flip_(flip), nostereo_(nostereo) {
if (vid == "") {
LOG(FATAL) << "No video file specified";
camera_a_ = nullptr;
@@ -191,6 +192,6 @@ double LocalSource::getTimestamp() const {
}
bool LocalSource::isStereo() const {
- return stereo_;
+ return stereo_ && !nostereo_;
}
diff --git a/cv-node/src/main.cpp b/cv-node/src/main.cpp
index 8708bee42..fb535deec 100644
--- a/cv-node/src/main.cpp
+++ b/cv-node/src/main.cpp
@@ -20,6 +20,7 @@ static string OPTION_config;
static bool OPTION_display = false;
static bool OPTION_calibrate = false;
static bool OPTION_flip = false;
+static bool OPTION_nostereo = false;
void handle_options(char ***argv, int *argc) {
while (*argc > 0) {
@@ -44,6 +45,8 @@ void handle_options(char ***argv, int *argc) {
OPTION_display = true;
} else if (cmd.find("--flip") == 0) {
OPTION_flip = true;
+ } else if (cmd.find("--no-stereo") == 0) {
+ OPTION_nostereo = true;
}
(*argc)--;
@@ -64,10 +67,10 @@ int main(int argc, char **argv) {
if (argc) {
// Load video file
- lsrc = new LocalSource(argv[0], OPTION_flip);
+ lsrc = new LocalSource(argv[0], OPTION_flip, OPTION_nostereo);
} else {
// Use cameras
- lsrc = new LocalSource(OPTION_flip);
+ lsrc = new LocalSource(OPTION_flip, OPTION_nostereo);
}
auto sync = new SyncSource(); // TODO Pass protocol object
@@ -108,7 +111,7 @@ int main(int argc, char **argv) {
cv::imshow("Left",l);
if (lsrc->isStereo()) cv::imshow("Right",r);
- if(cv::waitKey(10000) == 27){
+ if(cv::waitKey(100) == 27){
//exit if ESC is pressed
break;
}
--
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