bird's eye als video ?

[Binio]

Ich habe aus dem Opencv Buch das Beispiel

//Call:
//  birds-eye board_w board_h instrinics distortion image_file
// ADJUST VIEW HEIGHT using keys 'u' up, 'd' down. ESC to quit.
//

int main(int argc, char* argv[]) {
  if(argc != 6) return -1;

  // INPUT PARAMETERS:
  //
  int       board_w    = atoi(argv[1]);
  int       board_h    = atoi(argv[2]);
  int       board_n    = board_w * board_h;
  CvSize    board_sz   = cvSize( board_w, board_h );
  CvMat*    intrinsic  = (CvMat*)cvLoad(argv[3]);
  CvMat*    distortion = (CvMat*)cvLoad(argv[4]);
  IplImage* image      = 0;
  IplImage* gray_image = 0;
  if( (image = cvLoadImage(argv[5])) == 0 ) {
    printf("Error: Couldn't load %s\n",argv[5]);
    return -1;
  }
  gray_image = cvCreateImage( cvGetSize(image), 8, 1 );
  cvCvtColor(image, gray_image, CV_BGR2GRAY );

  // UNDISTORT OUR IMAGE
  //
  IplImage* mapx = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );
  IplImage* mapy = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );
//This initializes rectification matrices
//
cvInitUndistortMap(
  intrinsic,
  distortion,
  mapx,
  mapy
);
IplImage *t = cvCloneImage(image);

// Rectify our image
//
cvRemap( t, image, mapx, mapy );

// GET THE CHESSBOARD ON THE PLANE
//
cvNamedWindow("Chessboard");
CvPoint2D32f* corners = new CvPoint2D32f[ board_n ];
int corner_count = 0;
int found = cvFindChessboardCorners(
  image,
  board_sz,
  corners,
  &corner_count,
  CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS
);
if(!found){
  printf("Couldn't aquire chessboard on %s, "
    "only found %d of %d corners\n",
    argv[5],corner_count,board_n
  );
  return -1;
}
//Get Subpixel accuracy on those corners:
cvFindCornerSubPix(
  gray_image,
  corners,
  corner_count,
  cvSize(11,11),
  cvSize(-1,-1),
  cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1 )
);

//GET THE IMAGE AND OBJECT POINTS:
// We will choose chessboard object points as (r,c):
// (0,0), (board_w-1,0), (0,board_h-1), (board_w-1,board_h-1).
//
CvPoint2D32f objPts[4], imgPts[4];
objPts[0].x = 0;          objPts[0].y = 0;
objPts[1].x = board_w-1;  objPts[1].y = 0;
objPts[2].x = 0;          objPts[2].y = board_h-1;
objPts[3].x = board_w-1;  objPts[3].y = board_h-1;
imgPts[0]   = corners[0];
imgPts[1]   = corners[board_w-1];
imgPts[2]   = corners[(board_h-1)*board_w];
imgPts[3]   = corners[(board_h-1)*board_w + board_w-1];

// DRAW THE POINTS in order: B,G,R,YELLOW
//
cvCircle( image, cvPointFrom32f(imgPts[0]), 9, CV_RGB(0,0,255),   3);
cvCircle( image, cvPointFrom32f(imgPts[1]), 9, CV_RGB(0,255,0),   3);
cvCircle( image, cvPointFrom32f(imgPts[2]), 9, CV_RGB(255,0,0),   3);
cvCircle( image, cvPointFrom32f(imgPts[3]), 9, CV_RGB(255,255,0), 3);

// DRAW THE FOUND CHESSBOARD
//
cvDrawChessboardCorners(
  image,
  board_sz,
  corners,
  corner_count,
  found
);
cvShowImage( "Chessboard", image );

// FIND THE HOMOGRAPHY
//
CvMat *H = cvCreateMat( 3, 3, CV_32F);
cvGetPerspectiveTransform( objPts, imgPts, H);

// LET THE USER ADJUST THE Z HEIGHT OF THE VIEW
//
float Z = 25;
int key = 0;
IplImage *birds_image = cvCloneImage(image);
cvNamedWindow("Birds_Eye");

// LOOP TO ALLOW USER TO PLAY WITH HEIGHT:
//
// escape key stops
//
while(key != 27) {
  // Set the height
  //
  CV_MAT_ELEM(*H,float,2,2) = Z;

  // COMPUTE THE FRONTAL PARALLEL OR BIRD'S-EYE VIEW:
  // USING HOMOGRAPHY TO REMAP THE VIEW
  //
  cvWarpPerspective(
    image,
    birds_image,
    H,
    CV_INTER_LINEAR | CV_WARP_INVERSE_MAP | CV_WARP_FILL_OUTLIERS
  );
  cvShowImage( "Birds_Eye", birds_image );

    key = cvWaitKey();
    if(key == 'u') Z += 0.5;
    if(key == 'd') Z -= 0.5;
  }

  cvSave("H.xml",H); //We can reuse H for the same camera mounting
  return 0;
}

versucht zu testen. Doch verstehe ich nicht was die als Eingabeparameter wollen. Ich muss eigentlich mit ein Video arbeiten und nicht mit ein Foto/Bild. Hat da jemand schonmal was gemacht ?

Bin für jeden Tip dankbar

Gruß
Robert

 

[3Cyb3r]

Ich würde mal ganz stark vermusten(zu 99%) das du ein Bild brauchts

// birds-eye board_w board_h instrinics distortion image_file

da steht nicht umsonst überall image. Du musst das bild mit der exe öffnen(falls du noch nie mit den übergabeparametern der int main gearbeitest hast.