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128 lines
5.3 KiB
Plaintext
128 lines
5.3 KiB
Plaintext
A Demo of automatic samples capturing
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Author of original demo - Alexey Latyshev
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Link: https://code.ros.org/trac/opencv/browser/branches/2.3/opencv_extra/3d/tracker3D
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Introduction
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tracker3D application was developed to obtain automatically
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training images from video or camera only by selecting an object
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in one frame. To do so you need only a pre-recored video or
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live input from camera.
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The object view must include a chessboard.
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How to launch application
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You must have OpenCV library installed on your computer.
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To run the application, just unpack the archive,
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enter to the directory where it was extracted and
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either run "make" (if on Linux, MacOSX or other Unix system),
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or use CMake to generate makefiles and then run make -
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there must be OpenCVConfig.cmake somewhere
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where CMake could find it.
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After that the application can be run from the console with one
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required command-line parameter - the configuration file name, for example:
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createsamples args.yml
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Configuration file description
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Configuration file is YAML file. You can see the example below
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%YAML:1.0
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USE_3D: 1
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USE_DEINTERLACING: 1
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USE_UNDISTORTION: 1
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CALIBRATE_CAMERA: 0
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DRAW_CHESSBOARD: 0
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DRAW_CORNERS: 1
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AUTOFIND_CHESSBOARD: 1
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IS_VIDEO_CAPTURE: 1
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SAVE_DRAWINGS: 1
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SAVE_SAMPLES: 1
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SAVE_ALL_FRAMES: 0
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SHOW_TEST_SQUARE: 1
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CHESSBOARD_WIDTH: 8
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CHESSBOARD_HEIGHT: 6
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INPUT_VIDEO: "/../../../../../DATA/DoorHandle1_xvid.AVI"
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OUTPUT_DIRECTORY: "/../../../../../DoorHandleOutput/"
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SAMPLES_PATH: "/../../../../../DoorHandleOutput/rectified/"
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CAMERA_PARAMETERS_PATH: "/../../../../../_camera.yml"
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Fields:
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IS_VIDEO_CAPTURE: defines whether we work with video(1) or web-camera(0).
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AUTOFIND_CHESSBOARD: If it is enabled(1) application will try to find the first video frame with chessboard and show it. Only for 2D version.
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USE_DEINTERLACING: enables(1) or disables(0) deinterlacing algorithm
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USE_UNDISTORTION: enables(1) or disables(0) undistortion. If enabled we must have yml file with camera parameters (in CAMERA_PARAMETERS_PATH field) or CALIBRATE_CAMERA option enabled.
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CALIBRATE_CAMERA: enables(1) or disables(0) camera calibration when USE_UNDISTORTION is enabled
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DRAW_CHESSBOARD: if it is enabled(1), application will draw chessboard corners on each frame.
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DRAW_POINTS: if it is enabled(1), application will draw points around founded region of interest
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SAVE_DRAWINGS: if it is enabled(1), application will save all extra information
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(like chessboard corners) on the frame into OUTPUT_DIRECTORY.
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Otherwise only original frames will be saved.
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SAVE_SAMPLES: if it is enabled(1), application will save automatically
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the selected part of each frame with interested region into
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SAMPLES_PATH folder with corrected perspective transformation
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(transformation which makes chessboard rectangular)
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SAVE_ALL_FRAMES: if it is enabled(1), application will save automatically all video frames to the output folder
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SHOW_TEST_SQUARE: if it is enabled(1), application will show test square on the chessboard: the last square which was founded by the same algorithm as region of interests. Uses to estimate algorithm's quality. Only for 2D version.
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CHESSBOARD_WIDTH: chessboard inner corners count (horizontal)
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CHESSBOARD_HEIGHT: chessboard inner corners count (vertical)
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INPUT_VIDEO: path to the input video file (uses only when isVideoCapture == 1)
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OUTPUT_DIRECTORY: path to the output directory which contains frames
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with the object and frames.txt file with object coordinates
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for each frame (frames.txt structure see below)
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CAMERA_PARAMETERS_PATH: path to camera parameters (uses for undistortion)
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!NOTE! All the paths must end with slash (/)
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How to work with the application
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2D version:
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On the first frame with chessboard found you should select quadrangle
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(select vertices by clicking on the image) with interested object.
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Then the application works automatically. During the process you can break the process
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with Esc key. Also if you work with video file you can go to the next or previous
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frame before region selection with a help of Space and Backspace key respectively.
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If OpenCV will not be able to find chessboard on the frame then application
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will be closed.
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3D version: you have to select vertices. Then you have to set depth of box around the object and its position using two trackbars in the upper part of the window.
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If USE_UNDISTORTION and CALIBRATE_CAMERA options are both enabled we should calibrate camera in the way like in OpenCV calibration sample.
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frames.txt structure
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The structure is following:
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IMAGE_PATH,x1,y1,x2,y2,x3,y3,x4,y4[,x5,y5,x6,y6,x7,y7,x8,y8]
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where xi,yi are coordinates of vertices of the selected quadrangle on the IMAGE_PATH image
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How to run the sample application
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You can see "data" directory inside your tracker3D directory. To launch the sample just change all paths in args.yml file to your paths and type "tracker3D <path_to_args.yml>" command |