Getting ready to process images with the new interface.
This commit is contained in:
Tadas Baltrusaitis
parent
6dda3d0763
commit
dfdebd1e60
|
|
@ -73,182 +73,6 @@ vector<string> get_arguments(int argc, char **argv)
|
|||
}
|
||||
|
||||
// TODO rem
|
||||
void convert_to_grayscale(const cv::Mat& in, cv::Mat& out)
|
||||
{
|
||||
if(in.channels() == 3)
|
||||
{
|
||||
// Make sure it's in a correct format
|
||||
if(in.depth() != CV_8U)
|
||||
{
|
||||
if(in.depth() == CV_16U)
|
||||
{
|
||||
cv::Mat tmp = in / 256;
|
||||
tmp.convertTo(tmp, CV_8U);
|
||||
cv::cvtColor(tmp, out, CV_BGR2GRAY);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
cv::cvtColor(in, out, CV_BGR2GRAY);
|
||||
}
|
||||
}
|
||||
else if(in.channels() == 4)
|
||||
{
|
||||
cv::cvtColor(in, out, CV_BGRA2GRAY);
|
||||
}
|
||||
else
|
||||
{
|
||||
if(in.depth() == CV_16U)
|
||||
{
|
||||
cv::Mat tmp = in / 256;
|
||||
out = tmp.clone();
|
||||
}
|
||||
else if(in.depth() != CV_8U)
|
||||
{
|
||||
in.convertTo(out, CV_8U);
|
||||
}
|
||||
else
|
||||
{
|
||||
out = in.clone();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Useful utility for creating directories for storing the output files
|
||||
void create_directory_from_file(string output_path)
|
||||
{
|
||||
|
||||
// Creating the right directory structure
|
||||
|
||||
// First get rid of the file
|
||||
auto p = boost::filesystem::path(boost::filesystem::path(output_path).parent_path());
|
||||
|
||||
if (!p.empty() && !boost::filesystem::exists(p))
|
||||
{
|
||||
bool success = boost::filesystem::create_directories(p);
|
||||
if (!success)
|
||||
{
|
||||
cout << "Failed to create a directory... " << p.string() << endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// This will only be accurate when camera parameters are accurate, useful for work on 3D data
|
||||
void write_out_pose_landmarks(const string& outfeatures, const cv::Mat_<double>& shape3D, const cv::Vec6d& pose, const cv::Point3f& gaze0, const cv::Point3f& gaze1)
|
||||
{
|
||||
create_directory_from_file(outfeatures);
|
||||
std::ofstream featuresFile;
|
||||
featuresFile.open(outfeatures);
|
||||
|
||||
if (featuresFile.is_open())
|
||||
{
|
||||
int n = shape3D.cols;
|
||||
featuresFile << "version: 1" << endl;
|
||||
featuresFile << "npoints: " << n << endl;
|
||||
featuresFile << "{" << endl;
|
||||
|
||||
for (int i = 0; i < n; ++i)
|
||||
{
|
||||
// Use matlab format, so + 1
|
||||
featuresFile << shape3D.at<double>(i) << " " << shape3D.at<double>(i + n) << " " << shape3D.at<double>(i + 2*n) << endl;
|
||||
}
|
||||
featuresFile << "}" << endl;
|
||||
|
||||
// Do the pose and eye gaze if present as well
|
||||
featuresFile << "pose: eul_x, eul_y, eul_z: " << endl;
|
||||
featuresFile << "{" << endl;
|
||||
featuresFile << pose[3] << " " << pose[4] << " " << pose[5] << endl;
|
||||
featuresFile << "}" << endl;
|
||||
|
||||
// Do the pose and eye gaze if present as well
|
||||
featuresFile << "gaze_vec: dir_x_1, dir_y_1, dir_z_1, dir_x_2, dir_y_2, dir_z_2: " << endl;
|
||||
featuresFile << "{" << endl;
|
||||
featuresFile << gaze0.x << " " << gaze0.y << " " << gaze0.z << " " << gaze1.x << " " << gaze1.y << " " << gaze1.z << endl;
|
||||
featuresFile << "}" << endl;
|
||||
|
||||
featuresFile.close();
|
||||
}
|
||||
}
|
||||
|
||||
void write_out_landmarks(const string& outfeatures, const LandmarkDetector::CLNF& clnf_model, const cv::Vec6d& pose, const cv::Point3f& gaze0, const cv::Point3f& gaze1, const cv::Vec2d gaze_angle, std::vector<std::pair<std::string, double>> au_intensities, std::vector<std::pair<std::string, double>> au_occurences, bool output_gaze)
|
||||
{
|
||||
create_directory_from_file(outfeatures);
|
||||
std::ofstream featuresFile;
|
||||
featuresFile.open(outfeatures);
|
||||
|
||||
if (featuresFile.is_open())
|
||||
{
|
||||
int n = clnf_model.patch_experts.visibilities[0][0].rows;
|
||||
featuresFile << "version: 2" << endl;
|
||||
featuresFile << "npoints: " << n << endl;
|
||||
featuresFile << "{" << endl;
|
||||
|
||||
for (int i = 0; i < n; ++i)
|
||||
{
|
||||
// Use matlab format, so + 1
|
||||
featuresFile << clnf_model.detected_landmarks.at<double>(i) + 1 << " " << clnf_model.detected_landmarks.at<double>(i + n) + 1 << endl;
|
||||
}
|
||||
featuresFile << "}" << endl;
|
||||
|
||||
// Do the pose and eye gaze if present as well
|
||||
featuresFile << "pose: eul_x, eul_y, eul_z: " << endl;
|
||||
featuresFile << "{" << endl;
|
||||
featuresFile << pose[3] << " " << pose[4] << " " << pose[5] << endl;
|
||||
featuresFile << "}" << endl;
|
||||
|
||||
if(output_gaze)
|
||||
{
|
||||
featuresFile << "gaze: dir_x_1, dir_y_1, dir_z_1, dir_x_2, dir_y_2, dir_z_2: " << endl;
|
||||
featuresFile << "{" << endl;
|
||||
featuresFile << gaze0.x << " " << gaze0.y << " " << gaze0.z << " " << gaze1.x << " " << gaze1.y << " " << gaze1.z << endl;
|
||||
featuresFile << "}" << endl;
|
||||
|
||||
featuresFile << "gaze: angle_x, angle_y: " << endl;
|
||||
featuresFile << "{" << endl;
|
||||
featuresFile << gaze_angle[0] << " " << gaze_angle[1] << endl;
|
||||
featuresFile << "}" << endl;
|
||||
|
||||
std::vector<cv::Point2d> eye_landmark_points = LandmarkDetector::CalculateAllEyeLandmarks(clnf_model);
|
||||
|
||||
featuresFile << "eye_lmks: " << eye_landmark_points.size() << endl;
|
||||
featuresFile << "{" << endl;
|
||||
|
||||
for (int i = 0; i < eye_landmark_points.size(); ++i)
|
||||
{
|
||||
// Use matlab format, so + 1
|
||||
featuresFile << (eye_landmark_points[i].x + 1) << " " << (eye_landmark_points[i].y + 1) << endl;
|
||||
}
|
||||
featuresFile << "}" << endl;
|
||||
}
|
||||
// Do the au intensities
|
||||
featuresFile << "au intensities: " << au_intensities.size() << endl;
|
||||
featuresFile << "{" << endl;
|
||||
|
||||
for (size_t i = 0; i < au_intensities.size(); ++i)
|
||||
{
|
||||
// Use matlab format, so + 1
|
||||
featuresFile << au_intensities[i].first << " " << au_intensities[i].second << endl;
|
||||
}
|
||||
|
||||
featuresFile << "}" << endl;
|
||||
|
||||
// Do the au occurences
|
||||
featuresFile << "au occurences: " << au_occurences.size() << endl;
|
||||
featuresFile << "{" << endl;
|
||||
|
||||
for (size_t i = 0; i < au_occurences.size(); ++i)
|
||||
{
|
||||
// Use matlab format, so + 1
|
||||
featuresFile << au_occurences[i].first << " " << au_occurences[i].second << endl;
|
||||
}
|
||||
|
||||
featuresFile << "}" << endl;
|
||||
|
||||
|
||||
featuresFile.close();
|
||||
}
|
||||
}
|
||||
|
||||
void create_display_image(const cv::Mat& orig, cv::Mat& display_image, LandmarkDetector::CLNF& clnf_model)
|
||||
{
|
||||
|
||||
|
|
|
|||
|
|
@ -148,6 +148,7 @@
|
|||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="src\ImageCapture.cpp" />
|
||||
<ClCompile Include="src\RecorderCSV.cpp" />
|
||||
<ClCompile Include="src\RecorderHOG.cpp" />
|
||||
<ClCompile Include="src\RecorderOpenFace.cpp" />
|
||||
|
|
@ -157,6 +158,7 @@
|
|||
<ClCompile Include="src\Visualizer.cpp" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ClInclude Include="include\ImageCapture.h" />
|
||||
<ClInclude Include="include\RecorderCSV.h" />
|
||||
<ClInclude Include="include\RecorderHOG.h" />
|
||||
<ClInclude Include="include\RecorderOpenFace.h" />
|
||||
|
|
|
|||
|
|
@ -36,6 +36,9 @@
|
|||
<ClCompile Include="src\Visualizer.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="src\ImageCapture.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ClInclude Include="include\RecorderCSV.h">
|
||||
|
|
@ -62,5 +65,8 @@
|
|||
<ClInclude Include="include\RotationHelpers.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="include\ImageCapture.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
|
|
@ -0,0 +1,110 @@
|
|||
///////////////////////////////////////////////////////////////////////////////
|
||||
// Copyright (C) 2017, Tadas Baltrusaitis all rights reserved.
|
||||
//
|
||||
// ACADEMIC OR NON-PROFIT ORGANIZATION NONCOMMERCIAL RESEARCH USE ONLY
|
||||
//
|
||||
// BY USING OR DOWNLOADING THE SOFTWARE, YOU ARE AGREEING TO THE TERMS OF THIS LICENSE AGREEMENT.
|
||||
// IF YOU DO NOT AGREE WITH THESE TERMS, YOU MAY NOT USE OR DOWNLOAD THE SOFTWARE.
|
||||
//
|
||||
// License can be found in OpenFace-license.txt
|
||||
//
|
||||
// * Any publications arising from the use of this software, including but
|
||||
// not limited to academic journal and conference publications, technical
|
||||
// reports and manuals, must cite at least one of the following works:
|
||||
//
|
||||
// OpenFace: an open source facial behavior analysis toolkit
|
||||
// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency
|
||||
// in IEEE Winter Conference on Applications of Computer Vision, 2016
|
||||
//
|
||||
// Rendering of Eyes for Eye-Shape Registration and Gaze Estimation
|
||||
// Erroll Wood, Tadas Baltrušaitis, Xucong Zhang, Yusuke Sugano, Peter Robinson, and Andreas Bulling
|
||||
// in IEEE International. Conference on Computer Vision (ICCV), 2015
|
||||
//
|
||||
// Cross-dataset learning and person-speci?c normalisation for automatic Action Unit detection
|
||||
// Tadas Baltrušaitis, Marwa Mahmoud, and Peter Robinson
|
||||
// in Facial Expression Recognition and Analysis Challenge,
|
||||
// IEEE International Conference on Automatic Face and Gesture Recognition, 2015
|
||||
//
|
||||
// Constrained Local Neural Fields for robust facial landmark detection in the wild.
|
||||
// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency.
|
||||
// in IEEE Int. Conference on Computer Vision Workshops, 300 Faces in-the-Wild Challenge, 2013.
|
||||
//
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
#ifndef __IMAGE_CAPTURE_h_
|
||||
#define __IMAGE_CAPTURE_h_
|
||||
|
||||
// System includes
|
||||
#include <fstream>
|
||||
#include <sstream>
|
||||
#include <vector>
|
||||
|
||||
// OpenCV includes
|
||||
#include <opencv2/core/core.hpp>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
|
||||
namespace Utilities
|
||||
{
|
||||
|
||||
//===========================================================================
|
||||
/**
|
||||
A class for capturing sequences from video, webcam, and image directories
|
||||
*/
|
||||
class ImageCapture {
|
||||
|
||||
public:
|
||||
|
||||
// Default constructor
|
||||
ImageCapture() {};
|
||||
|
||||
// TODO block copy, move etc.
|
||||
|
||||
// Opening based on command line arguments
|
||||
bool Open(std::vector<std::string>& arguments);
|
||||
|
||||
// Direct opening
|
||||
|
||||
// Image sequence in the directory
|
||||
bool OpenDirectory(std::string directory, float fx = -1, float fy = -1, float cx = -1, float cy = -1);
|
||||
|
||||
// Video file
|
||||
bool OpenImageFiles(const std::vector<std::string>& image_files, float fx = -1, float fy = -1, float cx = -1, float cy = -1);
|
||||
|
||||
// Getting the next frame
|
||||
cv::Mat GetNextImage();
|
||||
|
||||
// Getting the most recent grayscale frame (need to call GetNextImage first)
|
||||
cv::Mat_<uchar> GetGrayFrame();
|
||||
|
||||
// Parameters describing the sequence and it's progress (what's the proportion of images opened)
|
||||
double GetProgress();
|
||||
|
||||
int image_width;
|
||||
int image_height;
|
||||
|
||||
float fx, fy, cx, cy;
|
||||
|
||||
// Name of the video file, image directory, or the webcam
|
||||
std::string name;
|
||||
|
||||
private:
|
||||
|
||||
// Storing the latest captures
|
||||
cv::Mat latest_frame;
|
||||
cv::Mat latest_gray_frame;
|
||||
|
||||
// Keeping track of how many files are read and the filenames
|
||||
size_t frame_num;
|
||||
std::vector<std::string> image_files;
|
||||
|
||||
void SetCameraIntrinsics(float fx, float fy, float cx, float cy);
|
||||
|
||||
// TODO make sure that can set fx, fy externally
|
||||
bool image_intrinsics_set;
|
||||
|
||||
// TODO make sure the error message makes sense
|
||||
bool no_input_specified;
|
||||
|
||||
};
|
||||
}
|
||||
#endif
|
||||
|
|
@ -120,8 +120,6 @@ namespace Utilities
|
|||
// Length of video allowing to assess progress
|
||||
size_t vid_length;
|
||||
|
||||
bool img_grabbed;
|
||||
|
||||
// If using a webcam, helps to keep track of time
|
||||
int64 start_time;
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,355 @@
|
|||
///////////////////////////////////////////////////////////////////////////////
|
||||
// Copyright (C) 2017, Tadas Baltrusaitis, all rights reserved.
|
||||
//
|
||||
// ACADEMIC OR NON-PROFIT ORGANIZATION NONCOMMERCIAL RESEARCH USE ONLY
|
||||
//
|
||||
// BY USING OR DOWNLOADING THE SOFTWARE, YOU ARE AGREEING TO THE TERMS OF THIS LICENSE AGREEMENT.
|
||||
// IF YOU DO NOT AGREE WITH THESE TERMS, YOU MAY NOT USE OR DOWNLOAD THE SOFTWARE.
|
||||
//
|
||||
// License can be found in OpenFace-license.txt
|
||||
//
|
||||
// * Any publications arising from the use of this software, including but
|
||||
// not limited to academic journal and conference publications, technical
|
||||
// reports and manuals, must cite at least one of the following works:
|
||||
//
|
||||
// OpenFace: an open source facial behavior analysis toolkit
|
||||
// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency
|
||||
// in IEEE Winter Conference on Applications of Computer Vision, 2016
|
||||
//
|
||||
// Rendering of Eyes for Eye-Shape Registration and Gaze Estimation
|
||||
// Erroll Wood, Tadas Baltrušaitis, Xucong Zhang, Yusuke Sugano, Peter Robinson, and Andreas Bulling
|
||||
// in IEEE International. Conference on Computer Vision (ICCV), 2015
|
||||
//
|
||||
// Cross-dataset learning and person-speci?c normalisation for automatic Action Unit detection
|
||||
// Tadas Baltrušaitis, Marwa Mahmoud, and Peter Robinson
|
||||
// in Facial Expression Recognition and Analysis Challenge,
|
||||
// IEEE International Conference on Automatic Face and Gesture Recognition, 2015
|
||||
//
|
||||
// Constrained Local Neural Fields for robust facial landmark detection in the wild.
|
||||
// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency.
|
||||
// in IEEE Int. Conference on Computer Vision Workshops, 300 Faces in-the-Wild Challenge, 2013.
|
||||
//
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "ImageCapture.h"
|
||||
|
||||
#include <iostream>
|
||||
|
||||
// Boost includes
|
||||
#include <filesystem.hpp>
|
||||
#include <filesystem/fstream.hpp>
|
||||
#include <boost/algorithm/string.hpp>
|
||||
|
||||
// OpenCV includes
|
||||
#include <opencv2/imgproc.hpp>
|
||||
|
||||
using namespace Utilities;
|
||||
|
||||
#define INFO_STREAM( stream ) \
|
||||
std::cout << stream << std::endl
|
||||
|
||||
#define WARN_STREAM( stream ) \
|
||||
std::cout << "Warning: " << stream << std::endl
|
||||
|
||||
#define ERROR_STREAM( stream ) \
|
||||
std::cout << "Error: " << stream << std::endl
|
||||
|
||||
bool ImageCapture::Open(std::vector<std::string>& arguments)
|
||||
{
|
||||
|
||||
// Consuming the input arguments
|
||||
bool* valid = new bool[arguments.size()];
|
||||
|
||||
for (size_t i = 0; i < arguments.size(); ++i)
|
||||
{
|
||||
valid[i] = true;
|
||||
}
|
||||
|
||||
// Some default values
|
||||
std::string input_root = "";
|
||||
fx = -1; fy = -1; cx = -1; cy = -1;
|
||||
frame_num = 0;
|
||||
|
||||
std::string separator = std::string(1, boost::filesystem::path::preferred_separator);
|
||||
|
||||
// First check if there is a root argument (so that videos and input directories could be defined more easily)
|
||||
for (size_t i = 0; i < arguments.size(); ++i)
|
||||
{
|
||||
if (arguments[i].compare("-root") == 0)
|
||||
{
|
||||
input_root = arguments[i + 1] + separator;
|
||||
i++;
|
||||
}
|
||||
if (arguments[i].compare("-inroot") == 0)
|
||||
{
|
||||
input_root = arguments[i + 1] + separator;
|
||||
i++;
|
||||
}
|
||||
}
|
||||
|
||||
std::string input_directory;
|
||||
|
||||
bool directory_found = false;
|
||||
|
||||
std::vector<std::string> input_image_files;
|
||||
|
||||
for (size_t i = 0; i < arguments.size(); ++i)
|
||||
{
|
||||
if (arguments[i].compare("-f") == 0)
|
||||
{
|
||||
input_image_files.push_back(input_root + arguments[i + 1]);
|
||||
valid[i] = false;
|
||||
valid[i + 1] = false;
|
||||
i++;
|
||||
}
|
||||
else if (arguments[i].compare("-fdir") == 0)
|
||||
{
|
||||
if (directory_found)
|
||||
{
|
||||
WARN_STREAM("Input directory already found, using the first one:" + input_directory);
|
||||
}
|
||||
else
|
||||
{
|
||||
input_directory = (input_root + arguments[i + 1]);
|
||||
valid[i] = false;
|
||||
valid[i + 1] = false;
|
||||
i++;
|
||||
directory_found = true;
|
||||
}
|
||||
}
|
||||
else if (arguments[i].compare("-fx") == 0)
|
||||
{
|
||||
std::stringstream data(arguments[i + 1]);
|
||||
data >> fx;
|
||||
i++;
|
||||
}
|
||||
else if (arguments[i].compare("-fy") == 0)
|
||||
{
|
||||
std::stringstream data(arguments[i + 1]);
|
||||
data >> fy;
|
||||
i++;
|
||||
}
|
||||
else if (arguments[i].compare("-cx") == 0)
|
||||
{
|
||||
std::stringstream data(arguments[i + 1]);
|
||||
data >> cx;
|
||||
i++;
|
||||
}
|
||||
else if (arguments[i].compare("-cy") == 0)
|
||||
{
|
||||
std::stringstream data(arguments[i + 1]);
|
||||
data >> cy;
|
||||
i++;
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = (int)arguments.size() - 1; i >= 0; --i)
|
||||
{
|
||||
if (!valid[i])
|
||||
{
|
||||
arguments.erase(arguments.begin() + i);
|
||||
}
|
||||
}
|
||||
|
||||
// Based on what was read in open the sequence
|
||||
if (!input_image_files.empty())
|
||||
{
|
||||
return OpenImageFiles(input_image_files, fx, fy, cx, cy);
|
||||
}
|
||||
if (!input_directory.empty())
|
||||
{
|
||||
return OpenDirectory(input_directory, fx, fy, cx, cy);
|
||||
}
|
||||
|
||||
// If no input found return false and set a flag for it
|
||||
no_input_specified = true;
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
// TODO proper destructors and move constructors
|
||||
|
||||
bool ImageCapture::OpenImageFiles(const std::vector<std::string>& image_files, float fx, float fy, float cx, float cy)
|
||||
{
|
||||
|
||||
no_input_specified = false;
|
||||
|
||||
latest_frame = cv::Mat();
|
||||
latest_gray_frame = cv::Mat();
|
||||
this->image_files = image_files;
|
||||
|
||||
// Allow for setting the camera intrinsics, but have to be the same ones for every image
|
||||
if (fx != -1 && fy != -1 && cx != -1 && cy != -1)
|
||||
{
|
||||
image_intrinsics_set = true;
|
||||
this->fx = fx;
|
||||
this->fy = fy;
|
||||
this->cx = cx;
|
||||
this->cy = cy;
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
}
|
||||
|
||||
bool ImageCapture::OpenDirectory(std::string directory, float fx, float fy, float cx, float cy)
|
||||
{
|
||||
INFO_STREAM("Attempting to read from directory: " << directory);
|
||||
|
||||
no_input_specified = false;
|
||||
|
||||
image_files.clear();
|
||||
|
||||
boost::filesystem::path image_directory(directory);
|
||||
std::vector<boost::filesystem::path> file_in_directory;
|
||||
copy(boost::filesystem::directory_iterator(image_directory), boost::filesystem::directory_iterator(), back_inserter(file_in_directory));
|
||||
|
||||
// Sort the images in the directory first
|
||||
sort(file_in_directory.begin(), file_in_directory.end());
|
||||
|
||||
std::vector<std::string> curr_dir_files;
|
||||
|
||||
for (std::vector<boost::filesystem::path>::const_iterator file_iterator(file_in_directory.begin()); file_iterator != file_in_directory.end(); ++file_iterator)
|
||||
{
|
||||
// Possible image extension .jpg and .png
|
||||
if (file_iterator->extension().string().compare(".jpg") == 0 || file_iterator->extension().string().compare(".jpeg") == 0 || file_iterator->extension().string().compare(".png") == 0 || file_iterator->extension().string().compare(".bmp") == 0)
|
||||
{
|
||||
curr_dir_files.push_back(file_iterator->string());
|
||||
}
|
||||
}
|
||||
|
||||
image_files = curr_dir_files;
|
||||
|
||||
if (image_files.empty())
|
||||
{
|
||||
std::cout << "No images found in the directory: " << directory << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
// Allow for setting the camera intrinsics, but have to be the same ones for every image
|
||||
if (fx != -1 && fy != -1 && cx != -1 && cy != -1)
|
||||
{
|
||||
image_intrinsics_set = true;
|
||||
this->fx = fx;
|
||||
this->fy = fy;
|
||||
this->cx = cx;
|
||||
this->cy = cy;
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
}
|
||||
|
||||
// TODO this should be shared somewhere
|
||||
void convertToGrayscale(const cv::Mat& in, cv::Mat& out)
|
||||
{
|
||||
if (in.channels() == 3)
|
||||
{
|
||||
// Make sure it's in a correct format
|
||||
if (in.depth() != CV_8U)
|
||||
{
|
||||
if (in.depth() == CV_16U)
|
||||
{
|
||||
cv::Mat tmp = in / 256;
|
||||
tmp.convertTo(tmp, CV_8U);
|
||||
cv::cvtColor(tmp, out, CV_BGR2GRAY);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
cv::cvtColor(in, out, CV_BGR2GRAY);
|
||||
}
|
||||
}
|
||||
else if (in.channels() == 4)
|
||||
{
|
||||
cv::cvtColor(in, out, CV_BGRA2GRAY);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (in.depth() == CV_16U)
|
||||
{
|
||||
cv::Mat tmp = in / 256;
|
||||
out = tmp.clone();
|
||||
}
|
||||
else if (in.depth() != CV_8U)
|
||||
{
|
||||
in.convertTo(out, CV_8U);
|
||||
}
|
||||
else
|
||||
{
|
||||
out = in.clone();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ImageCapture::SetCameraIntrinsics(float fx, float fy, float cx, float cy)
|
||||
{
|
||||
// If optical centers are not defined just use center of image
|
||||
if (cx == -1)
|
||||
{
|
||||
this->cx = this->image_width / 2.0f;
|
||||
this->cy = this->image_height / 2.0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
this->cx = cx;
|
||||
this->cy = cy;
|
||||
}
|
||||
// Use a rough guess-timate of focal length
|
||||
if (fx == -1)
|
||||
{
|
||||
this->fx = 500.0f * (this->image_width / 640.0f);
|
||||
this->fy = 500.0f * (this->image_height / 480.0f);
|
||||
|
||||
this->fx = (this->fx + this->fy) / 2.0f;
|
||||
this->fy = this->fx;
|
||||
}
|
||||
else
|
||||
{
|
||||
this->fx = fx;
|
||||
this->fy = fy;
|
||||
}
|
||||
}
|
||||
|
||||
cv::Mat ImageCapture::GetNextImage()
|
||||
{
|
||||
frame_num++;
|
||||
if (image_files.empty() || frame_num - 1 > image_files.size())
|
||||
{
|
||||
// Indicate lack of success by returning an empty image
|
||||
latest_frame = cv::Mat();
|
||||
}
|
||||
|
||||
latest_frame = cv::imread(image_files[frame_num - 1], -1);
|
||||
|
||||
if (latest_frame.empty())
|
||||
{
|
||||
ERROR_STREAM("Could not open the image: " + image_files[frame_num - 1]);
|
||||
}
|
||||
|
||||
image_height = latest_frame.size().height;
|
||||
image_width = latest_frame.size().width;
|
||||
|
||||
// Reset the intrinsics for every image if they are not set globally
|
||||
if (!image_intrinsics_set)
|
||||
{
|
||||
SetCameraIntrinsics(-1, -1, -1, -1);
|
||||
}
|
||||
|
||||
// Set the grayscale frame
|
||||
convertToGrayscale(latest_frame, latest_gray_frame);
|
||||
|
||||
this->name = boost::filesystem::path(image_files[frame_num - 1]).filename().replace_extension("").string();
|
||||
|
||||
return latest_frame;
|
||||
}
|
||||
|
||||
double ImageCapture::GetProgress()
|
||||
{
|
||||
return (double)frame_num / (double)image_files.size();
|
||||
}
|
||||
|
||||
cv::Mat_<uchar> ImageCapture::GetGrayFrame()
|
||||
{
|
||||
return latest_gray_frame;
|
||||
}
|
||||
Loading…
Reference in New Issue