mirror of
https://github.com/Laex/Delphi-OpenCV.git
synced 2024-11-15 15:55:53 +01:00
433 lines
12 KiB
ObjectPascal
433 lines
12 KiB
ObjectPascal
//*****************************************************************
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// Delphi-OpenCV Demo
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// Copyright (C) 2013 Project Delphi-OpenCV
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// ****************************************************************
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// Contributor:
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// Laentir Valetov
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// email:laex@bk.ru
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// ****************************************************************
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// You may retrieve the latest version of this file at the GitHub,
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// located at git://github.com/Laex/Delphi-OpenCV.git
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// ****************************************************************
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// The contents of this file are used with permission, subject to
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// the Mozilla Public License Version 1.1 (the "License"); you may
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// not use this file except in compliance with the License. You may
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// obtain a copy of the License at
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// http://www.mozilla.org/MPL/MPL-1_1Final.html
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//
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// Software distributed under the License is distributed on an
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// "AS IS" basis, WITHOUT WARRANTY OF ANY KIND, either express or
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// implied. See the License for the specific language governing
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// rights and limitations under the License.
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//*******************************************************************
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program FrameRecon;
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{$APPTYPE CONSOLE}
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{$POINTERMATH ON}
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{$R *.res}
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uses
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System.SysUtils,
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ocv.highgui_c,
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ocv.core_c,
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ocv.core.types_c,
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ocv.imgproc_c,
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ocv.imgproc.types_c,
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ocv.calib3d_c,
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uResourcePaths;
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var
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image: pIplImage = nil;
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imageDiv: pIplImage;
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outImg: pIplImage = nil;
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extractedFrame: pIplImage;
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// gray: pIplImage;
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pgray, pcontor: pIplImage;
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intrinsic: PCvMat;
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distortion: PCvMat;
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obj, pro: PCvMat;
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rot, tra: PCvMat;
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mapMatrix: PCvMat;
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origQuad, quad: array [0 .. 3] of TCvPoint2D32f;
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capture: PCvCapture;
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frame: pIplImage;
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selcam: longint = 0;
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cont: integer;
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// Canny/Threshold parameters
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cbCannyChecked: Boolean = false;
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sePar1Value: Double = 100;
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sePar2Value: Double = 50;
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cbPar3Value: integer = 3;
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// approx poly param.
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cbDisplayContChecked: Boolean = false;
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sePolyPar1Value: Double = 7;
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sePolyPar2Value: integer = 0;
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// max perim ratio difference %
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sePerimRatioDiffValue: Double = 20;
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procedure drawPerspective(image: pIplImage);
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var
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i: integer;
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pt1, pt2: TCvPoint;
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begin
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cvZero(pro);
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cvProjectPoints2(obj, rot, tra, intrinsic, distortion, pro);
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cvCircle(image, cvPoint(round(cvGet(pro, 0, 0)), round(cvGet(pro, 0, 1))), 10, cv_rgb(255, 0, 0));
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for i := 0 to 3 do
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begin
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pt1.x := round(cvGet(pro, i, 0));
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pt1.y := round(cvGet(pro, i, 1));
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if i < 3 then
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begin
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pt2.x := round(cvGet(pro, i + 1, 0));
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pt2.y := round(cvGet(pro, i + 1, 1));
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end
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else
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begin
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pt2.x := round(cvGet(pro, 0, 0));
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pt2.y := round(cvGet(pro, 0, 1));
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end;
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cvLine(image, pt1, pt2, cv_rgb(0, 255, 0), 1, CV_AA, 0);
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end;
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end;
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procedure extractContours(const origImg, image: pIplImage; const storage: pCvMemStorage; var contList: PCvSeq);
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var
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nc: integer;
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contours: PCvSeq;
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begin
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// *********** find contours in Canny result image
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// find contours and store them all as a list
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contours := nil;
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if (origImg.NChannels > 1) then
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begin
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pgray := cvCreateImage(cvSize(image.width, image.height), IPL_DEPTH_8U, 1);
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cvCvtColor(origImg, pgray, CV_BGR2GRAY)
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end
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else
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pgray := cvCloneImage(origImg);
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pcontor := cvCreateImage(cvSize(image.width, image.height), IPL_DEPTH_8U, 1);
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if cbCannyChecked then
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cvCanny(pgray, pcontor, sePar1Value, sePar2Value, cbPar3Value)
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else
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cvThreshold(pgray, pcontor, sePar1Value, 255, CV_THRESH_BINARY_INV);
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if (image.NChannels > 1) and (cbDisplayContChecked) then
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cvCvtColor(pcontor, image, CV_GRAY2BGR);
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// warning! findcontours destroy the input image, so display it before the call
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nc := cvFindContours(pcontor, storage, @contours, sizeof(TCvContour), CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE,
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cvPoint(0, 0));
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if nc = 0 then
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contList := nil
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else
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contList := contours;
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cvReleaseImage(pgray);
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cvReleaseImage(pcontor);
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end;
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procedure drawFrame(const origImg, image: pIplImage);
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var
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nc, i: integer;
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contList, contours: PCvSeq;
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seqResult, hole, hole2: PCvSeq;
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storage: pCvMemStorage;
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a, p: Double;
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bRect: TCvRect;
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nholes: integer;
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bol1, bol2, bol3: Boolean;
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m1, q1: single;
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m2, q2: single;
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vert1, vert2: Boolean;
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mi1, qi1: single;
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mi2, qi2: single;
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vertH1, vertH2: Boolean;
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p1, p2: PCvPoint;
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p1Ext: TCvPoint;
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frame_found: Boolean;
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moments: PCvMoments;
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compactness: Double;
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begin
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storage := cvCreateMemStorage(0);
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extractContours(origImg, image, storage, contList);
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// test each contour
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contours := contList;
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while (contours <> nil) do
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begin
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a := cvContourArea(contours, CV_WHOLE_SEQ);
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if (abs(a) > 500) and (contours.total > 3) then
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begin
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seqResult := cvApproxPoly(contours, sizeof(TCvContour), storage, CV_POLY_APPROX_DP, sePolyPar1Value,
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sePolyPar2Value);
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if seqResult.total = 4 then
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begin
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Writeln('ContourArea ', a:2:2);
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Writeln('ApproxPoly total ', seqResult.total);
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frame_found := false;
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// calcola coefficienti delle rette diagonali del contorno esterno
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p1 := PCvPoint(cvGetSeqElem(seqResult, 0));
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p1Ext.x := p1.x;
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p1Ext.y := p1.y;
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p2 := PCvPoint(cvGetSeqElem(seqResult, 2));
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if (p1.x <> p2.x) then
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begin
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vert1 := false;
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m1 := (p2.y - p1.y) / (p2.x - p1.x);
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q1 := (p2.x * p1.y - p1.x * p2.y) / (p2.x - p1.x);
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end
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else
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begin
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vert1 := true;
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end;
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p1 := PCvPoint(cvGetSeqElem(seqResult, 1));
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p2 := PCvPoint(cvGetSeqElem(seqResult, 3));
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if (p1.x <> p2.x) then
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begin
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vert2 := false;
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m2 := (p2.y - p1.y) / (p2.x - p1.x);
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q2 := (p2.x * p1.y - p1.x * p2.y) / (p2.x - p1.x);
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end
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else
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begin
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vert2 := true;
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end;
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// internal contours with CV_RETR_TREE
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hole := contours.v_next;
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nholes := 0;
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// 4) scorre i contorni interni (TREE)
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while (hole <> nil) do
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begin
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inc(nholes);
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if nholes > 1 then
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break;
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if hole.total <= 3 then
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Continue;
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// 4.1) approssima ogni contorno con pilogono
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hole2 := cvApproxPoly(hole, sizeof(TCvContour), storage, CV_POLY_APPROX_DP, sePolyPar1Value, sePolyPar2Value);
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// 4.2) verifica se poligono ha 4 vertici
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if hole2.total <> 4 then
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Continue;
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p1 := PCvPoint(cvGetSeqElem(hole2, 0));
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// 4.3) calcola coefficienti delle rette diagonali
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p2 := PCvPoint(cvGetSeqElem(hole2, 2));
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if (p1.x <> p2.x) then
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begin
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vertH1 := false;
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mi1 := (p2.y - p1.y) / (p2.x - p1.x);
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qi1 := (p2.x * p1.y - p1.x * p2.y) / (p2.x - p1.x);
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end
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else
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begin
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vertH1 := true;
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end;
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p1 := PCvPoint(cvGetSeqElem(hole2, 1));
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p2 := PCvPoint(cvGetSeqElem(hole2, 3));
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if (p1.x <> p2.x) then
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begin
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vertH2 := false;
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mi2 := (p2.y - p1.y) / (p2.x - p1.x);
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qi2 := (p2.x * p1.y - p1.x * p2.y) / (p2.x - p1.x);
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end
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else
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begin
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vertH2 := true;
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end;
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// 4.4) se i coefficienti delle diagonali del poligono interno
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// sono uguali a quelli del poligono esterno, a meno di errore dato,
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// la ricerca e' positiva, uscire dalla funzione
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if (vert1 = vertH1) and (vert2 = vertH2) and (abs(m1 - mi1) / m1 <= (sePerimRatioDiffValue / 100)) and
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(abs(q1 - qi1) / q1 <= (sePerimRatioDiffValue / 100)) and
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(abs(m2 - mi2) / m2 <= (sePerimRatioDiffValue / 100)) and
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(abs(q2 - qi2) / q2 <= (sePerimRatioDiffValue / 100)) then
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begin
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frame_found := true;
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break;
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end;
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hole := hole.h_next;
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end; // while hole
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if (frame_found) then
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begin
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Writeln('frame_found');
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cvZero(rot);
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cvZero(tra);
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// copy projection data to CvMat array
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for i := 0 to 3 do
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begin
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p1 := PCvPoint(cvGetSeqElem(seqResult, i));
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cvSet(pro, i, 0, p1.x);
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cvSet(pro, i, 1, p1.y);
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quad[i].x := p1.x;
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quad[i].y := p1.y;
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end;
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cvFindExtrinsicCameraParams2(obj, pro, intrinsic, distortion, rot, tra);
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Writeln('Z dist. ' + FloatToStr(trunc(cvGet(tra, 0, 2))));
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cvGetPerspectiveTransform(@origQuad, @quad, mapMatrix);
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bRect := pcvcontour(seqResult).rect;
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cvZero(extractedFrame);
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cvWarpPerspective(origImg, extractedFrame, mapMatrix,
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(CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS + CV_WARP_INVERSE_MAP), cvScalar(0, 0, 0, 0));
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cvDrawContours(image, PCvSeq(seqResult), cv_rgb(255, 0, 0), cv_rgb(0, 255, 0), 0, 4, CV_AA, cvPoint(0, 0));
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break;
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end;
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end; // if seqresult.total=4
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end; // if abs
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// take the next contour
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contours := contours.h_next;
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end;
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cvRelease(contList);
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cvReleaseMemStorage(storage);
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end;
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procedure main_cycle(frame: pIplImage);
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var
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cs: TCvSize;
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begin
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if not(assigned(image)) then
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begin
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// * allocate all the buffers
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cs.width := frame.width;
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cs.height := frame.height;
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image := cvCreateImage(cs, 8, 3);
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image.Origin := frame.Origin;
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imageDiv := cvCreateImage(cvSize(cs.width div 2, cs.height div 2), 8, 3);
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imageDiv.Origin := frame.Origin;
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outImg := cvCreateImage(cs, 8, 3);
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outImg.Origin := frame.Origin;
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end;
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cvCopy(frame, image);
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cvSmooth(image, image, CV_GAUSSIAN, 3, 3);
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cvCopy(image, outImg);
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drawFrame(image, outImg);
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if cont = 20 then
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begin
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cont := 1;
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cvShowImage('Paint window', extractedFrame);
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end
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else
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inc(cont);
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drawPerspective(outImg);
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cvCopy(outImg, frame);
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end;
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procedure Help;
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begin
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Writeln('c - CannyChecked');
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Writeln('d - DisplayContChecked');
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end;
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begin
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try
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///
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// Calibration: Resource\Calibration_Chess.png
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// Test: Resource\frame.png
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///
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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capture := cvCreateCameraCapture(CV_CAP_ANY);
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if not assigned(capture) then
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Halt;
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cvNamedWindow('Paint window', 1);
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cvNamedWindow('Original', 1);
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intrinsic := cvLoad(cResourceMedia + 'Intrinsics.xml');
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// multiply by 2 because the matrix is computed on 320x240 image
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cvConvertScale(intrinsic, intrinsic, 2.0, 0);
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distortion := cvLoad(cResourceMedia + 'Distortion.xml');
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obj := cvCreateMat(4, 3, CV_32FC1);
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pro := cvCreateMat(4, 2, CV_32FC1);
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rot := cvCreateMat(1, 3, CV_32FC1);
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tra := cvCreateMat(1, 3, CV_32FC1);
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mapMatrix := cvCreateMat(3, 3, CV_32FC1);
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cvSet(obj, 0, 0, -100);
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cvSet(obj, 0, 1, -100);
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cvSet(obj, 0, 2, 0.0);
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origQuad[0].x := 0;
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origQuad[0].y := 0;
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cvSet(obj, 1, 0, 100.0);
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cvSet(obj, 1, 1, -100);
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cvSet(obj, 1, 2, 0.0);
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origQuad[1].x := 300;
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origQuad[1].y := 0;
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cvSet(obj, 2, 0, 100.0);
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cvSet(obj, 2, 1, 100.0);
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cvSet(obj, 2, 2, 0.0);
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origQuad[2].x := 300;
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origQuad[2].y := 300;
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cvSet(obj, 3, 0, -100);
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cvSet(obj, 3, 1, 100.0);
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cvSet(obj, 3, 2, 0.0);
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origQuad[3].x := 0;
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origQuad[3].y := 300;
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cvSet(rot, 0, 0, 0.0);
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cvSet(rot, 0, 1, 0.0);
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cvSet(rot, 0, 2, 0.0);
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cvSet(tra, 0, 0, 0.0);
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cvSet(tra, 0, 1, 0.0);
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// the Z coord on translation vector is set to focal length
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cvSet(tra, 0, 2, cvGet(intrinsic, 0, 0));
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// appo image for warp perspective
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extractedFrame := cvCreateImage(cvSize(800, 600), 8, 3);
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Help;
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while true do
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begin
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
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frame := cvQueryFrame(capture);
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if not assigned(frame) then
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break;
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cvShowImage('Original', frame);
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main_cycle(frame);
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case cvWaitKey(10) of
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27:
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break;
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Ord('c'):
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cbCannyChecked := not cbCannyChecked;
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Ord('d'):
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cbDisplayContChecked := not cbDisplayContChecked;
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end;
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end;
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cvReleaseCapture(capture);
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cvReleaseImage(image);
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cvReleaseImage(outImg);
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cvReleaseImage(extractedFrame);
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cvDestroyAllWindows;
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except
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on e: Exception do
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Writeln(e.ClassName, ': ', e.Message);
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end;
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end.
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