cam 1은 왼쪽 눈깔.. (?)
cam 2는 오른쪽 눈깔
각각의 눈에 대한 pan (X축) 제어가 가능하며
control 윈도우는 두개 동시 동축 제어
우측 상단의 작은 창은 현재 클릭해서 저장된 영역이며
검은 사각형은 중심점
녹색 사각형은 클릭한 위치의 이미지와 매칭되는 영역
빨간 사각형은 클릭했던 위치이나... 별 의미는 없다
(클릭시 녹색 영역으로 겹치고 움직이면 이전 클릭 위치라는 정도니..)
초당 1프레임 겨우 하는 느낌이니..
쓰레드나 openMP 사용해서 프로세스 별로 분할해서 퍼포먼스를 올려봐야겠다.
$ cat makefile all: g++ cv.cpp -lopencv_core -lopencv_video -lopencv_highgui -lopencv_imgproc -lwiringPi clean: rm a.out run: DISPLAY=:0.0 sudo ./a.out |
$ cat cv.cpp #include <opencv2/core/core.hpp> #include <opencv2/highgui/highgui.hpp> #include <opencv2/imgproc/imgproc.hpp> #include <iostream> #include <wiringPi.h> #define MIN_POS 30 #define MAX_POS 110 using namespace cv; using namespace std; bool bMouse = true; Point mpos(160,120); void CallBackFunc(int event, int x, int y, int flags, void* userdata) { switch(event) { default: break; case EVENT_LBUTTONDOWN: cout << "EVENT_LBUTTONDOWN" << endl; cout << "pos (" << x << "," << y << ")" << endl; mpos.x = x; mpos.y = y; bMouse = true; break; case EVENT_LBUTTONUP: cout << "EVENT_LBUTTONUP" << endl; break; case EVENT_RBUTTONDOWN: cout << "EVENT_RBUTTONDOWN" << endl; bMouse = true; break; } } void init_wiringpi() { if(wiringPiSetup() == -1) exit(0); pinMode(1, PWM_OUTPUT); pwmSetMode(PWM_MODE_MS); // pwmSetRange(1024); // pwmSetClock(400); pinMode(23, PWM_OUTPUT); pwmSetMode(PWM_MODE_MS); pwmSetRange(1024); pwmSetClock(400); pwmWrite(1, MIN_POS + (MAX_POS - MIN_POS) / 2); pwmWrite(23, MIN_POS + (MAX_POS - MIN_POS) / 2); } void setPWM_1(int val) { pwmWrite(23, val); } void setPWM_2(int val) { pwmWrite(1, val); } void on_trackbar_1(int pos, void *ptr) { int val = MIN_POS + pos * (MAX_POS - MIN_POS) / 100; setPWM_1(val); cout << "pos 1 [" << pos << ":" << val << "]" << endl; } void on_trackbar_2(int pos, void *ptr) { int val = MIN_POS + pos * (MAX_POS - MIN_POS) / 100; setPWM_2(val); cout << "pos 2 [" << pos << ":" << val << "]" << endl; } void on_trackbar_3(int pos, void *ptr) { int val = MIN_POS + pos * (MAX_POS - MIN_POS) / 100; // setPWM_1(val); // setPWM_2(val); setTrackbarPos("track 1", "cam 1", pos); setTrackbarPos("track 2", "cam 2", pos); cout << "pos 3 [" << pos << ":" << val << "]" << endl; } int main(int argc, char** argv) { // opencv 2 style VideoCapture cap(0); int pos[2]; init_wiringpi(); if(!cap.isOpened()) { cout << "No camera detected" << endl; return -1; } else { cout << "In capture ..." << endl; cap.set(CV_CAP_PROP_FRAME_WIDTH, 320); cap.set(CV_CAP_PROP_FRAME_HEIGHT, 240); } VideoCapture cap2(1); if(!cap2.isOpened()) { cout << "No camera detected" << endl; return -1; } else { cout << "In capture ..." << endl; cap2.set(CV_CAP_PROP_FRAME_WIDTH, 320); cap2.set(CV_CAP_PROP_FRAME_HEIGHT, 240); } namedWindow("cam 1", WINDOW_AUTOSIZE ); namedWindow("cam 2", WINDOW_AUTOSIZE ); namedWindow("control", WINDOW_AUTOSIZE ); namedWindow("crop", WINDOW_AUTOSIZE ); createTrackbar("track 1", "cam 1", &pos[0], 100, on_trackbar_1 ); createTrackbar("track 2", "cam 2", &pos[1], 100, on_trackbar_2 ); createTrackbar("track 3", "control", &pos[0], 100, on_trackbar_3 ); setTrackbarPos("track 1", "cam 1", 50); setTrackbarPos("track 2", "cam 2", 50); setTrackbarPos("track 3", "control", 50); setMouseCallback("cam 1", CallBackFunc, NULL); Mat frame; Mat result; Mat tMat; Mat crop; double minVal; double maxVal; Point minLoc; Point maxLoc; Point matchLoc; for(;;) { Point pt[2]; if(!cap.read(frame)) break; pt[0].x = 150; pt[0].y = 110; pt[1].x = pt[0].x + 20; pt[1].y = pt[0].y + 20; if(bMouse) { tMat = frame.clone(); crop = Mat(tMat, Rect(mpos.x - 10, mpos.y - 10, 20, 20)); imshow("crop", crop); bMouse = false; } matchTemplate( frame, crop, result, CV_TM_SQDIFF ); normalize( result, result, 0, 1, NORM_MINMAX, -1, Mat() ); minMaxLoc( result, &minVal, &maxVal, &minLoc, &maxLoc, Mat() ); matchLoc = minLoc; cout << "matchLoc : " << matchLoc << endl; rectangle(frame, pt[0], pt[1], Scalar(0,0,0),2); rectangle(frame, Point(mpos.x - 10, mpos.y - 10), Point(mpos.x + 10, mpos.y + 10), Scalar(0,0,255),2); rectangle(frame, matchLoc, Point( matchLoc.x + 20 , matchLoc.y + 20 ), Scalar(0,255,0), 2); imshow("cam 1", frame); if(!cap2.read(frame)) break; rectangle(frame, pt[0], pt[1], Scalar(0,0,0),2); matchTemplate( frame, crop, result, CV_TM_SQDIFF ); normalize( result, result, 0, 1, NORM_MINMAX, -1, Mat() ); minMaxLoc( result, &minVal, &maxVal, &minLoc, &maxLoc, Mat() ); matchLoc = minLoc; cout << "matchLoc : " << matchLoc << endl; rectangle(frame, matchLoc, Point( matchLoc.x + 20 , matchLoc.y + 20 ), Scalar(0,255,0), 2); imshow("cam 2", frame); if(waitKey(30) >= 0) break; } return 0; } |
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