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trial with cylinder of 8 vertexes each

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This commit is contained in:
Apoorva Gupta
2023-02-23 19:31:34 +05:30
parent 9d266c8530
commit 7fe3495541
19 changed files with 12130 additions and 26 deletions
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flann_based/.DS_Store
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flann_based/build/cpp/CMakeFiles/example_tutorial_pnp_detection.dir/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp.o
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flann_based/build/cpp/CMakeFiles/example_tutorial_pnp_detection.dir/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp.o
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flann_based/build/cpp/CMakeFiles/example_tutorial_pnp_registration.dir/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp.o
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flann_based/build/cpp/example_tutorial_pnp_detection
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flann_based/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml
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flann_based/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
+7 -3
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@@ -45,10 +45,14 @@ void CsvReader::readPLY(vector<Point3f> &list_vertex, vector<vector<int> > &list
getline(liness, z);
cv::Point3f tmp_p;
tmp_p.x = (float)StringToInt(x);
tmp_p.y = (float)StringToInt(y);
tmp_p.z = (float)StringToInt(z);
// tmp_p.x = (float)StringToInt(x);
// tmp_p.y = (float)StringToInt(y);
// tmp_p.z = (float)StringToInt(z);
tmp_p.x = std::stod(x);
tmp_p.y = std::stod(y);
tmp_p.z = std::stod(z);
list_vertex.push_back(tmp_p);
std::cout << "x: " << tmp_p.x << " y: " << tmp_p.y << " z: " << tmp_p.z << std::endl;
count++;
if(count == num_vertex)
flann_based/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
+1
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@@ -75,4 +75,5 @@ void Mesh::load(const std::string& path)
// Update mesh attributes
num_vertices_ = (int)list_vertex_.size();
num_triangles_ = (int)list_triangles_.size();
std::cout << "num_vertices_: " << num_vertices_ << std::endl;
}
flann_based/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
+5 -4
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@@ -31,9 +31,9 @@ const int radius = 4;
// Draw a text with the question point
void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color)
{
std::string x = IntToString((int)point.x);
std::string y = IntToString((int)point.y);
std::string z = IntToString((int)point.z);
std::string x = std::to_string(point.x);
std::string y = std::to_string(point.y);
std::string z = std::to_string(point.z);
std::string text = " Where is point (" + x + "," + y + "," + z + ") ?";
cv::putText(image, text, cv::Point(25,50), fontFace, fontScale, color, thickness_font, 8);
@@ -71,7 +71,8 @@ void drawCounter(cv::Mat image, int n, int n_max, cv::Scalar color)
{
std::string n_str = IntToString(n);
std::string n_max_str = IntToString(n_max);
std::string text = n_str + " of " + n_max_str + " points";
// std::string text = n_str + " of " + n_max_str + " points";
std::string text = "";
cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
}
flann_based/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+17 -7
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@@ -62,14 +62,23 @@ int main(int argc, char *argv[])
// samples::findFile("samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply"); // mesh
// Intrinsic camera parameters: UVC WEBCAM
double f = 55; // focal length in mm
double sx = 22.3, sy = 14.9; // sensor size
double width = 640, height = 480; // image size
// double f = 55; // focal length in mm
// double sx = 22.3, sy = 14.9; // sensor size
// double width = 640, height = 480; // image size
double params_WEBCAM[] = { width*f/sx, // fx
height*f/sy, // fy
width/2, // cx
height/2}; // cy
// double params_WEBCAM[] = { width*f/sx, // fx
// height*f/sy, // fy
// width/2, // cx
// height/2}; // cy
// Intrinsic camera parameters: Greenhouse Cameras
const double f = 45; // focal length in mm
const double sx = 22.3, sy = 14.9;
const double width = 1280, height = 720;
const double params_WEBCAM[] = { 643.008 , // fx
642.201, // fy
648.812 , // cx
360.262}; // cy
// Some basic colors
Scalar red(0, 0, 255);
@@ -293,6 +302,7 @@ int main(int argc, char *argv[])
// -- Step 6: Set estimated projection matrix
pnp_detection_est.set_P_matrix(rotation_estimated, translation_estimated);
std::cout << "Current Pose!! x: " << translation_estimated.at<double>(0,0) << " y: " << translation_estimated.at<double>(1,0) << " z: " << translation_estimated.at<double>(2,0) << std::endl;
}
// -- Step X: Draw pose and coordinate frame
flann_based/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+17 -3
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@@ -20,8 +20,16 @@ using namespace std;
// Boolean the know if the registration it's done
bool end_registration = false;
// Intrinsic camera parameters: UVC WEBCAM
// const double f = 45; // focal length in mm
// const double sx = 22.3, sy = 14.9;
// const double width = 2592, height = 1944;
// const double params_CANON[] = { width*f/sx, // fx
// height*f/sy, // fy
// width/2, // cx
// height/2}; // cy
// Intrinsic camera parameters: Greenhouse Cameras
const double f = 45; // focal length in mm
const double sx = 22.3, sy = 14.9;
const double width = 1280, height = 720;
@@ -30,10 +38,16 @@ const double params_CANON[] = { 643.008 , // fx
648.812 , // cx
360.262}; // cy
// Setup the points to register in the image
// In the order of the *.ply file and starting at 1
const int n = 8;
const int pts[] = {1, 2, 3, 4, 5, 6, 7, 8}; // 3 -> 4
// const int n = 8;
// const int pts[] = {1, 2, 3, 4, 5, 6, 7, 8}; // 3 -> 4
// Setup the points to register in the image
// In the order of the *.ply file and starting at 1
const int n = 16;
const int pts[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; // 3 -> 4
/*
* CREATE MODEL REGISTRATION OBJECT
flann_based/sq_2.yml
+75
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@@ -0,0 +1,75 @@
%YAML:1.0
---
points_3d: !!opencv-matrix
rows: 9
cols: 1
dt: "3f"
data: [ 5.56015968e-03, 1.42522305e-02, -2.98023224e-08,
3.35794687e-03, 1.43547952e-02, -2.98023224e-08, 4.15065885e-03,
1.42303258e-02, 0., 0., 4.48415509e-44, 0., 1.32452548e-02,
1.17547214e-02, 9.76203918e-01, -1.85193717e-02, 5.06480634e-01,
3.08125377e-01, 1.08953416e-02, 1.41046643e-02, 9.83510494e-01,
-2.08262205e-02, 5.04173756e-01, 3.06661725e-01, -2.39754319e-02,
5.01024604e-01, 1.64968729e-01 ]
points_2d: !!opencv-matrix
rows: 9
cols: 1
dt: "2f"
data: [ 288., 6.45119995e+02, 2.88576019e+02, 6.48000061e+02,
2.88230438e+02, 6.46963318e+02, 8.65935547e+02, 4.77757568e+02,
5.25035645e+02, 3.18505035e+02, 8.68921570e+02, 4.77757568e+02,
5.26727722e+02, 3.18903198e+02, 8.67130005e+02, 4.80146362e+02,
9.17294556e+02, 5.51809998e+02 ]
keypoints:
- [ 288., 6.4511999511718750e+02, 4.4640003204345703e+01,
2.0814511108398438e+02, 2.2853157133795321e-04, 2, -1 ]
- [ 2.8857601928710938e+02, 6.4800006103515625e+02,
5.3568004608154297e+01, 2.0699720764160156e+02,
2.5694066425785422e-04, 3, -1 ]
- [ 2.8823043823242188e+02, 6.4696331787109375e+02,
6.4281608581542969e+01, 2.0898962402343750e+02,
2.3757420422043651e-04, 4, -1 ]
- [ 8.6593554687500000e+02, 4.7775756835937500e+02,
7.7137939453125000e+01, 3.2710388183593750e+02,
2.0695610146503896e-04, 5, -1 ]
- [ 5.2503564453125000e+02, 3.1850503540039062e+02,
7.7137939453125000e+01, 1.6490226745605469e+01,
1.4561964781023562e-04, 5, -1 ]
- [ 8.6892156982421875e+02, 4.7775756835937500e+02,
9.2565528869628906e+01, 3.3250491333007812e+02,
1.7157701950054616e-04, 6, -1 ]
- [ 5.2672772216796875e+02, 3.1890319824218750e+02,
1.1107863616943359e+02, 4.8507041931152344e+01,
1.9299793348181993e-04, 7, -1 ]
- [ 8.6713000488281250e+02, 4.8014636230468750e+02,
1.1107863616943359e+02, 3.3898977661132812e+02,
1.3654734357260168e-04, 7, -1 ]
- [ 9.1729455566406250e+02, 5.5180999755859375e+02,
1.1107863616943359e+02, 3.0569372558593750e+02,
1.0311038204235956e-04, 7, -1 ]
descriptors: !!opencv-matrix
rows: 9
cols: 32
dt: u
data: [ 59, 123, 112, 225, 229, 191, 248, 87, 15, 161, 190, 15, 143,
11, 86, 136, 238, 189, 223, 29, 156, 186, 81, 200, 215, 221, 154,
179, 143, 220, 219, 159, 186, 255, 112, 227, 245, 157, 254, 247,
13, 45, 254, 15, 175, 15, 22, 132, 238, 187, 159, 221, 222, 184,
80, 230, 255, 217, 142, 243, 39, 156, 216, 207, 42, 253, 114, 243,
53, 157, 252, 182, 173, 12, 190, 15, 174, 27, 118, 133, 238, 163,
223, 21, 238, 188, 80, 239, 255, 217, 158, 211, 6, 12, 217, 207,
9, 151, 175, 129, 244, 118, 189, 87, 60, 77, 222, 231, 156, 54,
162, 236, 109, 158, 191, 156, 149, 153, 49, 192, 255, 103, 190,
192, 138, 76, 165, 249, 90, 35, 19, 168, 59, 105, 25, 105, 173,
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212, 144, 244, 43, 255, 34, 6, 37, 119, 19, 155, 167, 241, 246,
190, 60, 87, 53, 89, 222, 102, 185, 63, 180, 109, 230, 31, 63,
156, 147, 217, 33, 196, 127, 251, 246, 194, 166, 204, 181, 255,
67, 26, 205, 189, 114, 136, 105, 19, 62, 73, 82, 245, 189, 7, 146,
88, 6, 45, 63, 157, 135, 156, 197, 69, 196, 58, 186, 192, 44, 132,
1, 89, 3, 147, 63, 249, 182, 140, 104, 55, 63, 25, 82, 114, 176,
31, 180, 97, 230, 27, 63, 145, 211, 216, 67, 213, 12, 58, 254,
194, 148, 128, 241, 173, 92, 205, 106, 206, 157, 210, 254, 232,
196, 128, 207, 2, 107, 233, 61, 96, 120, 254, 139, 234, 72, 163,
28, 253, 251, 237, 143, 73, 51, 59, 124, 42 ]
training_image_path: "/media/psf/freelancing/greenhouse/flann_based/stereo_image782.jpeg"
flann_based/sq_2_try.ply
+38
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@@ -0,0 +1,38 @@
ply
format ascii 1.0
comment Created by Blender 3.4.1 - www.blender.org
element vertex 16
property float x
property float y
property float z
element face 12
property list uchar uint vertex_indices
end_header
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