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