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  1. #include<vector>
  2. #include<opencv\cv.h>
  3. #include<opencv\highgui.h>
  4. #include<opencv2/imgproc/imgproc.hpp>
  5. #include<cstdlib>
  6. #include<iostream>
  7. #include<omp.h>
  8. //#include<glut.h>
  9. #include<GL/freeglut.h>
  10. #include<GL/gl.h>
  11. #include<GL/glu.h>
  12. #include<GL/glut.h>
  13. #include"reconstruction.h"
  14.  
  15. using namespace cv;
  16. using namespace std;
  17.  
  18. bool finish=false;
  19.  
  20. //Called when a key is pressed
  21. void handleKeypress(unsigned char key, //The key that was pressed
  22.                     int x, int y) {    //The current mouse coordinates
  23.     switch (key) {
  24.         case 27: //Escape key
  25.     		finish=true;
  26.     }
  27. }
  28.  
  29. //Initializes 3D rendering
  30. void initRendering() {
  31.     //Makes 3D drawing work when something is in front of something else
  32.     glEnable(GL_DEPTH_TEST);
  33. 	glEnable(GL_COLOR_MATERIAL);
  34. 	glEnable(GL_LIGHTING); //Enable lighting
  35. 	glEnable(GL_LIGHT0); //Enable light #0
  36. 	glEnable(GL_LIGHT1); //Enable light #1
  37. 	glEnable(GL_NORMALIZE); //Automatically normalize normals
  38. 	glShadeModel(GL_SMOOTH); //Enable smooth shading
  39. }
  40.  
  41. //Called when the window is resized
  42. void handleResize(int w, int h) {
  43.     //Tell OpenGL how to convert from coordinates to pixel values
  44.     glViewport(0, 0, w, h);
  45.  
  46.     glMatrixMode(GL_PROJECTION); //Switch to setting the camera perspective
  47.  
  48.     //Set the camera perspective
  49.     glLoadIdentity(); //Reset the camera
  50.     gluPerspective(45.0,                  //The camera angle
  51.                    (double)w / (double)h, //The width-to-height ratio
  52.                    1.0,                   //The near z clipping coordinate
  53.                    200.0);                //The far z clipping coordinate
  54. }
  55.  
  56. float _angle = -70.0f;
  57. vector<Point3f> vertexpoints;
  58. const float camlen=480.0;
  59. const float camwidth=640.0;
  60. bool finalrender;
  61.  
  62. //Draws the 3D scene
  63. void drawScene() {
  64.     //Clear information from last draw
  65. 	float vx=0.0,vy=0.0,vz=0.0,size=0.0;
  66. 	float vertsize=float(vertexpoints.size());
  67. 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
  68.  
  69. 	glMatrixMode(GL_MODELVIEW);
  70. 	glLoadIdentity();
  71.  
  72. 	glTranslatef(0.0f, 0.0f, -8.0f);
  73.  
  74. 	//Add ambient light
  75. 	GLfloat ambientColor[] = {0.2f, 0.2f, 0.2f, 1.0f}; //Color (0.2, 0.2, 0.2)
  76. 	glLightModelfv(GL_LIGHT_MODEL_AMBIENT, ambientColor);
  77.  
  78. 	//Add positioned light
  79. 	GLfloat lightColor0[] = {0.5f, 0.5f, 0.5f, 1.0f}; //Color (0.5, 0.5, 0.5)
  80. 	GLfloat lightPos0[] = {4.0f, 0.0f, 8.0f, 1.0f}; //Positioned at (4, 0, 8)
  81. 	glLightfv(GL_LIGHT0, GL_DIFFUSE, lightColor0);
  82. 	glLightfv(GL_LIGHT0, GL_POSITION, lightPos0);
  83.  
  84. 	//Add directed light
  85. 	GLfloat lightColor1[] = {0.5f, 0.2f, 0.2f, 1.0f}; //Color (0.5, 0.2, 0.2)
  86. 	//Coming from the direction (-1, 0.5, 0.5)
  87. 	GLfloat lightPos1[] = {-1.0f, 0.5f, 0.5f, 0.0f};
  88. 	glLightfv(GL_LIGHT1, GL_DIFFUSE, lightColor1);
  89. 	glLightfv(GL_LIGHT1, GL_POSITION, lightPos1);
  90. 	// dont need if only one shape glPushMatrix();  //opengl uses matrices, saves the transform state
  91.  
  92. 	glRotatef(_angle, 0.0f, 1.0f, 0.0f);	//rotate by 70 degree anticlockwise
  93. 	glRotatef(-90.0, 1.0f, 0.0f, 0.0f);
  94. 	glColor3f(1.0f, 1.0f, 0.0f);	//set color of shape orangey
  95. 	if(finalrender==false)
  96. 	{
  97. 		glBegin(GL_POINTS); //Begin points coordinates		
  98. 		for(int v=0;v<vertsize;v++)
  99. 		{
  100. 			vx=float(vertexpoints[v].x);
  101. 			vy=float(vertexpoints[v].y);
  102. 			vz=float(vertexpoints[v].z);
  103. 			glVertex3f((-1.5+(3.0*(vx/90.0))),(-1.0+(2.0*(vy/90.0))),(-1.5+(3.0*(vz/90.0))));
  104. 			//idea behind this is to limit the size between -1.5 to 1.5 for x and z direction and -1 to 1 for y direction
  105. 		}
  106.  
  107. 		glEnd(); //End points coordinates
  108. 	}
  109. 	else
  110. 	{
  111.  
  112. 		for(int v=0;v<vertsize;v++)
  113. 		{
  114. 			//front
  115. 			vx=float(vertexpoints[v].x);
  116. 			vy=float(vertexpoints[v].y);
  117. 			vz=float(vertexpoints[v].z);
  118. 			if((vx>0)&&(vy>0)&&(vz>0))
  119. 			{
  120. 				glBegin(GL_QUADS);
  121. 				//front
  122. 				glNormal3f(0.0f, 0.0f, 1.0f);
  123. 				glVertex3f(((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)), ((-1.0f+(2.0*(vx/90.0)))-((1/90.0)/2)), ((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)));
  124. 				glVertex3f(((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)), ((-1.0f+(2.0*(vx/90.0)))-((1/90.0)/2)), ((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)));
  125. 				glVertex3f(((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)), ((1.0f+(2.0*(vx/90.0)))+((1/90.0)/2)), ((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)));
  126. 				glVertex3f(((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)), ((1.0f+(2.0*(vx/90.0)))+((1/90.0)/2)), ((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)));
  127.  
  128. 				//Right
  129. 				glNormal3f(1.0f, 0.0f, 0.0f);
  130. 				glVertex3f(((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)), ((-1.0f+(2.0*(vx/90.0)))-((1/90.0)/2)), ((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)));
  131. 				glVertex3f(((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)), ((1.0f+(2.0*(vx/90.0)))+((1/90.0)/2)), ((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)));
  132. 				glVertex3f(((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)), ((1.0f+(2.0*(vx/90.0)))+((1/90.0)/2)), ((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)));
  133. 				glVertex3f(((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)), ((-1.0f+(2.0*(vx/90.0)))-((1/90.0)/2)), ((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)));
  134.  
  135. 				//Back
  136. 				glNormal3f(0.0f, 0.0f, -1.0f);
  137. 				glVertex3f(((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)), ((-1.0f+(2.0*(vx/90.0)))-((1/90.0)/2)), ((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)));
  138. 				glVertex3f(((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)), ((1.0f+(2.0*(vx/90.0)))+((1/90.0)/2)), ((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)));
  139. 				glVertex3f(((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)), ((1.0f+(2.0*(vx/90.0)))+((1/90.0)/2)), ((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)));
  140. 				glVertex3f(((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)), ((-1.0f+(2.0*(vx/90.0)))-((1/90.0)/2)), ((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)));
  141.  
  142. 				//Left
  143. 				glNormal3f(-1.0f, 0.0f, 0.0f);
  144. 				glVertex3f(((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)), ((-1.0f+(2.0*(vx/90.0)))-((1/90.0)/2)), ((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)));
  145. 				glVertex3f(((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)), ((-1.0f+(2.0*(vx/90.0)))-((1/90.0)/2)), ((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)));
  146. 				glVertex3f(((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)), ((1.0f+(2.0*(vx/90.0)))+((1/90.0)/2)), ((1.5f+(3.0*(vx/90.0)))+((1/90.0)/2)));
  147. 				glVertex3f(((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)), ((1.0f+(2.0*(vx/90.0)))+((1/90.0)/2)), ((-1.5f+(3.0*(vx/90.0)))-((1/90.0)/2)));
  148.  
  149. 				glEnd();
  150.  
  151. 			}
  152. 		}
  153. 	}
  154. 	glutSwapBuffers(); //Send the 3D scene to the screen
  155. }
  156.  
  157. void Update(int value)
  158. {
  159. 	_angle+=2.0f; //increase by 20 degrees 
  160. 	if(_angle > 360){
  161. 		_angle -= 360;
  162. 	}
  163.  
  164. 	glutPostRedisplay(); //redisplay new picture
  165. 	glutTimerFunc(25, Update, 0); //call update function every 25ms.decrease and it will call it quicker and will rotate faster
  166. }
  167.  
  168.  
  169. int main(int argc, char** argv)
  170. {
  171. 	glutInit(&argc, argv);
  172. 	glutInitDisplayMode(GLUT_DOUBLE|GLUT_RGB|GLUT_DEPTH);
  173. 	glutInitWindowSize(400,400);
  174.  
  175. 	Mat image;
  176. 	Mat Rot, Tran;
  177. 	int numcorners;
  178.  
  179. 	Mat icovar;
  180. 	Scalar meanmat;
  181. 	double covar[3][3]={{35.2189, 146.3495, 105.9640},{146.3495,801.1402,527.6974},{105.9640,527.6974,553.3654}};
  182. 	meanmat[0]=15.5662;
  183. 	meanmat[1]=118.3597;
  184. 	meanmat[2]=48.5153;
  185.  
  186. 	Mat covmat(3,3,CV_64F,covar);
  187.  
  188. 	Mat mask = Mat::zeros(camlen, camwidth, CV_8UC1);	//create matrix same size as image which is 480 by 640 based on the webcam capture
  189. 	icovar=inversemat(covmat);		//determinant of covariance matrix is zero. SOLVED
  190.  
  191. 	float distance = 250;
  192. 	int elemsize=3;
  193.  
  194. 	Mat element = getStructuringElement(0, Size( 2*elemsize + 1, 2*elemsize+1 ), Point( elemsize, elemsize ) );
  195.  
  196. 	Mat corners;
  197. 	cout<<"3D Image Reconstruction Program v1.0"<<endl;
  198. 	cout<<"-----------------------------------------------------------"<<endl;
  199. 	cout<<"Produced by: Seifullaah Sherrief"<<endl;
  200. 	cout<<"\nWelcome to the 3D Image reconstruction program, which will convert an object"<<endl;
  201. 	cout<<"into a 3D model. You will require the calibration chart with the four marked "<<endl;
  202. 	cout<<"circle corners, an object and a green coloured background to place the chart "<<endl;
  203. 	cout<<"and object in front. please refer to the User manual for operational\ninstructions."<<endl;
  204. 	cout<<"Press 'r' when ready to render and press 'esc' for the final 3D model"<<endl;
  205. 	cout<<"-------------------------------------------------------------------------"<<endl;
  206.  
  207. 	vector<vector<Point3f>> object_points;
  208.     vector<vector<Point2f>> image_points;
  209.  
  210. 	vector<Point3f> obj;
  211. 	vector<Point2f> img;
  212.  
  213. 	vector<Point3i> threedpoint;
  214. 	vector<Point2f> projectedpoints;
  215.  
  216. 	Mat intrinsic = Mat(3, 3, CV_32FC1);
  217. 	Mat distCoeffs;
  218. 	vector<Mat> rvecs;
  219. 	vector<Mat> tvecs;
  220.  
  221. 	intrinsic.ptr<float>(0)[0] = 1;
  222. 	intrinsic.ptr<float>(1)[1] = 1;
  223. 	Mat silhouette;
  224. 	int objtemp=0;
  225. 	float xmax=580,xmin=80,ymin=190;
  226. 	VideoCapture webcam;
  227. 	webcam.open(-1);	
  228.  
  229. 	bool render=false;
  230.  
  231. 	//distance for note purpose
  232. 	//rectangle horizontally dot to dot 2620 vertically 1750mm
  233. 	//square horizontally dot to do 1733 vertically 1750mm
  234.  
  235. 	//int sz[] = {lenx,leny,lenz};
  236. 	//Mat threedimension(3,sz,CV_32F,Scalar::all(1.0));  //create 3dim matrix, type 32 filled with 1s.
  237. 	double threedimension[90][90][90];
  238.  
  239. 	for(int i=0; i<90; i++)
  240. 	{
  241. 		for(int j=0; j<90; j++)
  242. 		{
  243. 			for(int k=0;k<90;k++)
  244. 			{
  245. 				threedimension[i][j][k]=1.0;
  246. 			}
  247. 		}
  248. 	}
  249.  
  250. 	cout<<"Enter number of corners to detect (must be greater than 4) e.g 5: "<<endl;
  251.     cin>>numcorners;
  252.  
  253. 	if(!webcam.isOpened())
  254. 	{
  255. 		cout<<"\nThe Camera is being used by another application, make sure all applications using the camera are closed and try running this program again."<<endl;
  256. 		system("PAUSE");
  257. 		return 0;
  258. 	}
  259.  
  260. 	obj.push_back(Point3f(0,0,0));
  261. 	obj.push_back(Point3f(90.0,0,0));
  262. 	obj.push_back(Point3f(0,90.0,0));
  263. 	obj.push_back(Point3f(90.0,90.0,0));
  264.  
  265. 	glutCreateWindow("Temporary Visual of 3D Model");
  266. 	initRendering();
  267. 	while(1)
  268. 	{
  269. 		//copy webcam stream to image
  270. 		webcam>>image;
  271. 		glutKeyboardFunc(handleKeypress);
  272. 		glutReshapeFunc(handleResize);
  273. 		int key=waitKey(1);
  274. 		if(key=='r'){render=true;}
  275.  
  276. 		#pragma omp parallel sections
  277. 		{
  278. 			#pragma omp section
  279. 			{
  280. 				silhouette=imagesegmentation(image,icovar,meanmat,distance,mask,element); 	
  281. 			}
  282. 			#pragma omp section
  283. 			{
  284. 				corners=Cornerdetect(image,corners,numcorners);
  285. 			}			
  286. 		}
  287.  
  288. 		if(corners.rows>0)
  289. 		{
  290. 			#pragma omp parallel for
  291. 			for(int i=0;i<corners.rows;i++)
  292. 			{
  293. 				cout<<corners.at<float>(i,0)<<endl;
  294. 				//if((corners.at<float>(i,0)>xmin)&&(corners.at<float>(i,1)>ymin)&&(corners.at<float>(i,0)<xmax))
  295. 				//{
  296. 					//draws circle on image, at centre at point, color, thickness, line type, 
  297. 					circle(image,corners.at<Point2f>(i),3,CV_RGB(255,0,0),1,8,0);
  298. 					//obj.push_back(Point3f(float(objtemp/2), float(objtemp%2), 0.0f));		//setting up the units of calibration
  299. 					img.push_back(corners.at<Point2f>(i));		
  300. 					objtemp++;
  301. 				//}
  302. 			}
  303. 			if(objtemp==4)
  304. 			{
  305. 				image_points.push_back(img);
  306. 				object_points.push_back(obj);
  307. 				calibrateCamera(object_points, image_points, image.size(), intrinsic, distCoeffs, rvecs, tvecs); 
  308. 				Rot=rvecs[0];
  309. 				Tran=tvecs[0];
  310.  
  311. 				if(render)
  312. 				{
  313. 					for(int l=0;l<90;l++)
  314. 					{
  315. 						for(int w=0;w<90;w++)
  316. 						{
  317. 							for(int h=0;h<90;h++)
  318. 							{
  319. 								threedpoint.push_back(Point3i(l,w,h));		
  320. 							}
  321. 						}
  322. 					}
  323.  
  324. 					projectPoints(threedpoint,Rot,Tran,intrinsic,distCoeffs,projectedpoints);
  325.  
  326. 					// Allocate the vector
  327. 					vertexpoints.resize(projectedpoints.size(),Point3f(0,0,0));
  328.  
  329. 					double t1 = omp_get_wtime();
  330. 					#pragma omp parallel for
  331. 					for(int index=0;index<projectedpoints.size();index++)
  332. 					{
  333. 						int dx = threedpoint[index].x, dy=threedpoint[index].y,dz=threedpoint[index].z;
  334. 						double check = threedimension[dx][dy][dz];
  335. 						if(check==1)
  336. 						{
  337. 							vertexpoints[index] = Point3f(dx,dy,dz);
  338. 							if(float(mask.at<uchar>(projectedpoints[index]))==255.0)
  339. 							{
  340. 								threedimension[dx][dy][dz]=0.0;
  341. 							}							
  342. 						}
  343. 						/*else if((check==0.0)&&(mask.at<uchar>(projectedpoints[index]))==0)
  344. 						{
  345. 							threedimension[dx][dy][dz]=1.0;
  346. 							vertexpoints[index] = Point3f(dx,dy,dz);
  347. 						}*/
  348. 					}
  349. 				    double elapsed = t1 - omp_get_wtime();
  350. 					printf( "Image segmentation took: %.2f", elapsed);
  351.  
  352. 					glutDisplayFunc(drawScene);
  353. 					glutTimerFunc(25, Update, 0); //call update function every 25ms.decrease and it will call it quicker and will rotate faster
  354. 					glutMainLoopEvent();	//from here you can specifiy your own glutmainloop event which ones to do, this will do one iteration and continue through
  355. 											//out the while loop hopefully
  356. 					break;					//a testing purpose break
  357. 				}
  358.  
  359. 			}
  360. 			imshow("original", image);
  361. 			waitKey(30);
  362. 			imshow("mask",mask);
  363. 			waitKey(30);			//this is to give the processor some time to display the image
  364. 			//rendering over here with the displays, loop through each points which is a one to get a list of vectors (vertexpoints) then draw using those points by looping through it
  365. 			//after rendering clear it so it doesn't stack on top		
  366. 		}
  367. 		vertexpoints.clear();
  368. 		objtemp=0;
  369. 		img.clear();
  370. 		image_points.clear();
  371. 		object_points.clear();
  372. 		if(finish){break;}
  373.  
  374. 	}
  375. 	webcam.release();
  376. 	destroyWindow("original");
  377. 	destroyWindow("mask");
  378. 	cout<<"The Final 3D Model is Being Rendered and will be displayed Shortly."<<endl;
  379. 	cout<<"\nThank you for using the 3D Image Reconstruction Software"<<endl;
  380. 	finalrender=true;
  381. 	//finalrender is for switching between different rendering 
  382. 	//check to see if any of the neighbour voxels are zero and then just push those vertices to the vertex and render triangle fan
  383. 	//we have the final 3d array
  384.  
  385. 	for(int i=0;i<threedpoint.size();i++)
  386. 	{
  387. 		if(threedimension[threedpoint[i].x][threedpoint[i].y][threedpoint[i].z]==1)
  388. 		{
  389. 			vertexpoints.push_back(Point3f(threedpoint[i]));	//push all the values of vertex points to the renderer
  390. 		}
  391. 	}
  392.  
  393. 	glutReshapeFunc(handleResize);
  394. 	glutDisplayFunc(drawScene);
  395. 	glutTimerFunc(25, Update, 0); //call update function every 25ms.decrease and it will call it quicker and will rotate faster
  396. 	glutMainLoop();
  397. 	return 0;
  398. }
Compilation error #stdin compilation error #stdout 0s 0KB
comments (?)
stdin 
Standard input is empty
compilation info 
prog.cpp:2:22: fatal error: opencv\cv.h: No such file or directory
 #include<opencv\cv.h>
                      ^
compilation terminated.
stdout 
Standard output is empty
https://ideone.com/zKJNui
language:
C++ (gcc 8.3)
created:
11 years ago
visibility:
public

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