C++ Ptr::get方法代码示例

StereoCamera::StereoCamera(Type type, cv::Ptr<Calibration> calibration) :
        calibration(calibration),
        imageSize(640, 480) {
    if (type == REAL) {
        leftCamera = Ptr<Camera>(new RealCamera(0));
        rightCamera = Ptr<Camera>(new RealCamera(1));
    } else if (type == DUMMY) {
        leftCamera = Ptr<Camera>(new DummyCamera(0));
        rightCamera = Ptr<Camera>(new DummyCamera(1));
    }

    if (calibration.get() != NULL) {
        int numberOfDisparities = ((imageSize.width / 8) + 15) & -16;
        P1 = 8 * 3 * 3 * 3;
        P2 = 32 * 3 * 3 * 3;
        preFilterCap = 63;
        uniquenessRatio = 2;
        speckleWindowSize = 500;
        speckleRange = 32;
        SADWindowSize = 5;
        sgbm = createStereoSGBM(0, numberOfDisparities, SADWindowSize, P1, P2, 1, preFilterCap, uniquenessRatio, speckleWindowSize, speckleRange, StereoSGBM::MODE_SGBM);

        namedWindow("Magic SGBM", 1);
        createTrackbar("preFilterCap", "Magic SGBM", &preFilterCap, 100, onChanged);
        createTrackbar("SADWindowSize", "Magic SGBM", &SADWindowSize, 21, onChanged);
        createTrackbar("uniquenessRatio", "Magic SGBM", &uniquenessRatio, 50, onChanged);
        createTrackbar("speckleWindowSize", "Magic SGBM", &speckleWindowSize, 2000, onChanged);
        createTrackbar("speckleRange", "Magic SGBM", &speckleRange, 2000, onChanged);
        createTrackbar("P1", "Magic SGBM", &P1, 2000, onChanged);
        createTrackbar("P2", "Magic SGBM", &P2, 2000, onChanged);

        dispRoi = getValidDisparityROI(calibration->validRoiLeft, calibration->validRoiRight, 0, numberOfDisparities, 3);
    }
};

	virtual void run() {
		helper::PerformanceMeasurer PM;

		PM.tic();
		while(!is->done()) {
			_mutex.lock();

			is->get(frame);
			if(frame.empty()) {
				loglni("[TrackThread] no valid frame, exit!!!");
				OpenCVneedQuit = true;
				_mutex.unlock();
				break;
			}

			cvtColor(frame, gray, CV_BGR2GRAY);
			double rms, ncc;
			if( needToInit ) {
				loglni("[TrackThread] INITing...");
				Mat tmpH;
				if( findAprilTag(frame, 0, tmpH, true) ) {
#if !USE_INTERNAL_DETECTOR
					Mat initH = tmpH * iHI;
					needToInit = !tracker.init(gray, initH, rms, ncc);
#else
					needToInit=!tracker.init(gray,rms,ncc);
#endif
					if(!needToInit) loglni("[TrackThread] ...INITed");
					if(!needToInit) tracker.draw3D(frame);
				}
			} else {
				needToInit=!tracker(gray, rms, ncc, opencvDraw?&frame:0);
				if(!needToInit) tracker.GetCameraPose(camR,camT,false,true);
			}
			++BkgModifyCnt;
			loglni("[TrackThread] fps="<<1.0/PM.toctic());

			_mutex.unlock();
			if(OpenCVneedQuit) {
				break;
			}

			++framecnt;
		}

		OpenThreads::Thread::YieldCurrentThread();
		loglni("[TrackThread] OpenCV quited...");
		if(!videoFromWebcam) {
			loglni("[TrackThread] OpenCV notify OSG to quit...");
			viewer.setDone(true);
		}
	}

int main( int argc, char **argv )
{
	if(argc<4) {
		usage(argc,argv);
		return 1;
	}
	is = helper::createImageSource(argv[1]);
	if(is.empty() || is->done()) {
		loglne("[main] createImageSource failed or no valid imagesource!");
		return -1;
	}
	is->pause(false);
	is->reportInfo();
	is->get(frame);
	imgW = frame.cols; imgH = frame.rows;
	videoFromWebcam = false;
	if( is->classname() == "ImageSource_Camera" ) {
		videoFromWebcam = true;
	}

	loglni("[main] loading K matrix from: "<<argv[2]);
	double K[9];
	std::ifstream kfile(argv[2]);
	for(int i=0; i<9; ++i) kfile >> K[i];
	tracker.loadK(K);
	loglni("[main] K matrix loaded:");
	loglni(helper::PrintMat<>(3,3,K));

	loglni("[main] load template image from: "<<argv[3]);
	tracker.loadTemplate(argv[3]);

	//////////////// TagDetector /////////////////////////////////////////
	int tagid = 0; //default tag16h5
	if(argc>5) tagid = atoi(argv[5]);
	tagFamily = TagFamilyFactory::create(tagid);
	if(tagFamily.empty()) {
		loglne("[main] create TagFamily fail!");
		return -1;
	}
	detector = new TagDetector(tagFamily);
	if(detector.empty()) {
		loglne("[main] create TagDetector fail!");
		return -1;
	}
	Mat temp = imread(argv[3]);
	if( findAprilTag(temp, 0, HI, true) ) {
		namedWindow("template");
		imshow("template", temp);
		iHI = HI.inv();
	} else {
		loglne("[main error] detector did not find any apriltag on template image!");
		return -1;
	}

	//////////////// OSG ////////////////////////////////////////////////
	osg::ref_ptr<osg::Group> root = new osg::Group;

	string scenefilename = (argc>4?argv[4]:("cow.osg"));
	osg::ref_ptr<osg::Node> cow = osgDB::readNodeFile(scenefilename);
	arscene = new helper::ARSceneRoot;
	helper::FixMat<3,double>::Type matK = helper::FixMat<3,double>::ConvertType(K);
	CV2CG::cv2cg(matK,0.01,500,imgW,imgH,*arscene);
	manipMat = new osg::MatrixTransform(osg::Matrix::identity());
	manipMat->addChild(cow);
	manipMat->getOrCreateStateSet()->setMode(GL_NORMALIZE, osg::StateAttribute::ON);
	arscene->addChild(manipMat);

	osg::ref_ptr<osg::Image> backgroundImage = new osg::Image;
	helper::cvmat2osgimage(frame,backgroundImage);
	arvideo = new helper::ARVideoBackground(backgroundImage);
	root->setUpdateCallback(new ARUpdateCallback);

	root->addChild(arvideo);
	root->addChild(arscene);

	viewer.setSceneData(root);
	viewer.addEventHandler(new osgViewer::StatsHandler);
	viewer.addEventHandler(new osgViewer::WindowSizeHandler);
	viewer.addEventHandler(new QuitHandler);

	//start tracking thread
	OpenThreads::Thread::Init();
	TrackThread* thr = new TrackThread;
	thr->start();

	viewer.run();

	delete thr;
	loglni("[main] DONE...exit!");
	return 0;
}