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Support Ubuntu 20.04.6 LTS and OpenCV-4.9.0 #5

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Support Ubuntu 20.04.6 LTS and OpenCV-4.9.0 #5

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558d31b
Support Ubuntu 20.04.6 LTS and OpenCV-4.9.0
zhuangaoooo Jun 27, 2024
fba5779
Support Ubuntu 20.04.6 LTS and OpenCV-4.9.0
zhuangaoooo Jun 27, 2024
944e022
Update main.cpp
zhuangaoooo Jul 1, 2024
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2 changes: 1 addition & 1 deletion main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ int main(int argc, char **argv)
assert(vTextDete.size()==vTextMean.size());

// b) Read image info
im = cv::imread(Set.sReadPath + vImg_Name[ni], CV_LOAD_IMAGE_UNCHANGED);
im = cv::imread(Set.sReadPath + vImg_Name[ni], cv::IMREAD_UNCHANGED);
double tframe = vImg_Time[ni];
if(im.empty()){
cerr << endl << "Failed to load image at: "
Expand Down
2 changes: 1 addition & 1 deletion src/ORBextractor.h
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Expand Up @@ -23,7 +23,7 @@

#include <vector>
#include <list>
#include <opencv/cv.h>
#include <opencv2/opencv.hpp>
using namespace std;

namespace TextSLAM
Expand Down
2 changes: 1 addition & 1 deletion src/mapText.cc
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Expand Up @@ -395,7 +395,7 @@ double mapText::GetSgeo(const keyframe* KF, mapText* obj)
cv::putText(imText, s.str(), cv::Point(5, imText.rows-5), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(255), 1, 8);

// show
namedWindow(ShowName, CV_WINDOW_NORMAL);
namedWindow(ShowName, cv::WINDOW_NORMAL);
imshow(ShowName, imText);
waitKey(0);
}
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102 changes: 79 additions & 23 deletions src/tool.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1767,7 +1767,7 @@ void tool::ShowMatches(const vector<int> &Match12, const cv::Mat &F1Img, const c
imwrite(SaveName, img_match);

if(SHOW){
namedWindow("Matches", CV_WINDOW_NORMAL);
namedWindow("Matches", cv::WINDOW_NORMAL);
imshow("Matches", img_match);
waitKey(0);
}
Expand Down Expand Up @@ -1795,7 +1795,7 @@ void tool::ShowMatches(const vector<int> &Match12, const Mat &F1Img, const Mat &

Mat img_match;
cout<<"show match num is: "<<num<<endl;
namedWindow("Matches", CV_WINDOW_NORMAL);
namedWindow("Matches", cv::WINDOW_NORMAL);
drawMatches(F1Img, F1Keys, F2Img, F2Keys, match_show, img_match);
imshow("Matches", img_match);
waitKey(0);
Expand Down Expand Up @@ -1823,7 +1823,7 @@ void tool::ShowMatches(const vector<match> &Match12, const Mat &F1Img, const Mat

Mat img_match;
cout<<"show match num is: "<<num<<endl;
namedWindow("RawMatches", CV_WINDOW_NORMAL);
namedWindow("RawMatches", cv::WINDOW_NORMAL);
drawMatches(F1Img, F1Keys, F2Img, F2Keys, match_show, img_match);
imshow("RawMatches", img_match);
waitKey(0);
Expand Down Expand Up @@ -1855,7 +1855,7 @@ void tool::ShowMatches(const vector<match> &Match12, const Mat &F1Img, const Mat
if(SAVE)
imwrite(SaveName, img_match);
if(SHOW){
namedWindow("RawMatches", CV_WINDOW_NORMAL);
namedWindow("RawMatches", cv::WINDOW_NORMAL);
imshow("RawMatches", img_match);
waitKey(0);
}
Expand Down Expand Up @@ -1890,7 +1890,7 @@ void tool::ShowMatchesLP(const Mat &F1Img, const Mat &F2Img, const vector<Vec2>
drawMatches(F1Img, keys1, F2Img, keys2, match_show, img_match);

if(SHOW){
namedWindow("LP Matches", CV_WINDOW_NORMAL);
namedWindow("LP Matches", cv::WINDOW_NORMAL);
imshow("LP Matches", img_match);
waitKey(0);
}
Expand Down Expand Up @@ -1930,7 +1930,7 @@ void tool::ShowMatchesLP(const Mat &F1Img, const Mat &F2Img, const vector<Vec2>
drawMatches(F1Img, keys1, F2Img, keys2, match_show, img_match);

if(SHOW){
namedWindow("LP Matches", CV_WINDOW_NORMAL);
namedWindow("LP Matches", cv::WINDOW_NORMAL);
imshow("LP Matches", img_match);
waitKey(0);
}
Expand Down Expand Up @@ -1976,7 +1976,7 @@ void tool::ShowFeatures(const cv::Mat &Img, const vector<cv::KeyPoint> &Keys, co
if(SHOW){
cv::Mat imGrayOut;
drawKeypoints(Img, Keys, imGrayOut, Scalar(0,0,255));
namedWindow("ShowFeatures", CV_WINDOW_NORMAL);
namedWindow("ShowFeatures", cv::WINDOW_NORMAL);
imshow("ShowFeatures", imGrayOut);
waitKey(0);
}
Expand Down Expand Up @@ -2019,11 +2019,7 @@ cv::Mat tool::ShowTextBoxWithText(const vector<vector<Vec2>> &textbox, const vec
Scalar Color = Scalar(0, 0, 255);

// obj showMsg
CvFont font;
cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX|CV_FONT_ITALIC, 0.4,0.4,0,0.35); // hScale,vScale,0,lineWidth
IplImage tmp = IplImage(Imgdraw);
CvArr* src = (CvArr*)&tmp;

cv::HersheyFonts font = cv::FONT_HERSHEY_SIMPLEX;
for(size_t i0 = 0; i0<textbox.size(); i0++){
vector<Vec2> Box4Pts = textbox[i0];
line(Imgdraw, cv::Point2d(Box4Pts[0](0), Box4Pts[0](1)), cv::Point2d(Box4Pts[1](0), Box4Pts[1](1)), Color);
Expand All @@ -2032,38 +2028,38 @@ cv::Mat tool::ShowTextBoxWithText(const vector<vector<Vec2>> &textbox, const vec
line(Imgdraw, cv::Point2d(Box4Pts[3](0), Box4Pts[3](1)), cv::Point2d(Box4Pts[0](0), Box4Pts[0](1)), Color);

// 3. show obj id & mean
cvPutText(src, vShowText[i0].c_str(), cvPoint(Box4Pts[0](0), Box4Pts[0](1)), &font,CV_RGB(255,255,0));
cv::putText(Imgdraw, vShowText[i0].c_str(), cv::Point(Box4Pts[0](0), Box4Pts[0](1)), cv::FONT_HERSHEY_SIMPLEX, 0.4, CV_RGB(255,255,0), 0.35);
//cv::putText(src, vShowText[i0].c_str(), cv::Point(Box4Pts[0](0), Box4Pts[0](1)), &font,CV_RGB(255,255,0));
}

namedWindow(ShowName, CV_WINDOW_NORMAL);
namedWindow(ShowName, cv::WINDOW_NORMAL);
imshow(ShowName, Imgdraw);
waitKey(0);

return Imgdraw;
}


cv::Mat tool::ShowTextBoxSingle(const Mat &Img, const vector<Vec2> &Pred, const int &ObjId)
{
Mat Imgdraw = Img.clone();
Scalar Color = Scalar(0, 0, 255);
// obj showMsg
CvFont font;
cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX|CV_FONT_ITALIC, 0.4,0.4,0,0.35); // hScale,vScale,0,lineWidth
IplImage tmp = IplImage(Imgdraw);
CvArr* src = (CvArr*)&tmp;


line(Imgdraw, cv::Point2d(Pred[0](0), Pred[0](1)), cv::Point2d(Pred[1](0), Pred[1](1)), Color);
line(Imgdraw, cv::Point2d(Pred[1](0), Pred[1](1)), cv::Point2d(Pred[2](0), Pred[2](1)), Color);
line(Imgdraw, cv::Point2d(Pred[2](0), Pred[2](1)), cv::Point2d(Pred[3](0), Pred[3](1)), Color);
line(Imgdraw, cv::Point2d(Pred[3](0), Pred[3](1)), cv::Point2d(Pred[0](0), Pred[0](1)), Color);

string showMsg = to_string(ObjId);
cvPutText(src, showMsg.c_str(), cvPoint(Pred[0](0), Pred[0](1)), &font,CV_RGB(255,255,0));
cv::putText(Imgdraw, showMsg.c_str(), cv::Point(Pred[0](0), Pred[0](1)), cv::FONT_HERSHEY_SIMPLEX, 0.4, CV_RGB(255,255,0), 0.35);
//cv::putText(src, showMsg.c_str(), cv::Point(Pred[0](0), Pred[0](1)), &font,CV_RGB(255,255,0));

return Imgdraw;
}

// return the text box && box with its region fill in (fusion of ShowTextBox+ShowTextBoxFill)
/*
vector<cv::Mat> tool::TextBoxWithFill(const vector<vector<Vec2>> &textbox, const vector<int> &vObjId, const Mat Img, const vector<int> &textLabel)
{
cv::Mat BackImg = cv::Mat::ones(Img.size(), CV_32F)*(-1.0);
Expand Down Expand Up @@ -2098,8 +2094,38 @@ vector<cv::Mat> tool::TextBoxWithFill(const vector<vector<Vec2>> &textbox, const
ImgOut.push_back(Imgdraw);
return ImgOut;
}
*/
vector<cv::Mat> tool::TextBoxWithFill(const vector<vector<Vec2>> &textbox, const vector<int> &vObjId, const Mat Img, const vector<int> &textLabel)
{
cv::Mat BackImg = cv::Mat::ones(Img.size(), CV_32F)*(-1.0);
Mat Imgdraw = Img.clone();
Scalar Color = Scalar(0, 0, 255);

for(size_t i0 = 0; i0<textbox.size(); i0++){
// 1. get text label
BackImg = GetTextLabelMask(BackImg, textbox[i0], textLabel[i0]); // CHECK, cv::Mat put pointer into func. maybe return the new mat to the same pointer

// 2. get text box show img
vector<Vec2> Box4Pts = textbox[i0];
line(Imgdraw, cv::Point2d(Box4Pts[0](0), Box4Pts[0](1)), cv::Point2d(Box4Pts[1](0), Box4Pts[1](1)), Color);
line(Imgdraw, cv::Point2d(Box4Pts[1](0), Box4Pts[1](1)), cv::Point2d(Box4Pts[2](0), Box4Pts[2](1)), Color);
line(Imgdraw, cv::Point2d(Box4Pts[2](0), Box4Pts[2](1)), cv::Point2d(Box4Pts[3](0), Box4Pts[3](1)), Color);
line(Imgdraw, cv::Point2d(Box4Pts[3](0), Box4Pts[3](1)), cv::Point2d(Box4Pts[0](0), Box4Pts[0](1)), Color);

// 3. show obj id
string showMsg = to_string(vObjId[i0]);
cv::putText(Imgdraw, showMsg.c_str(), cv::Point(Box4Pts[0](0), Box4Pts[0](1)), cv::FONT_HERSHEY_SIMPLEX, 0.4, CV_RGB(255,255,0), 0.35);
}

vector<cv::Mat> ImgOut;
ImgOut.push_back(BackImg);
ImgOut.push_back(Imgdraw);
return ImgOut;
}


// based on TextBoxWithFill, add semantic meaning
/*
vector<cv::Mat> tool::TextBoxWithFill(const vector<vector<Vec2>> &textbox, const vector<int> &vObjId, const vector<TextInfo> &textinfo, const Mat Img, const vector<int> &textLabel)
{
cv::Mat BackImg = cv::Mat::ones(Img.size(), CV_32F)*(-1.0);
Expand Down Expand Up @@ -2136,6 +2162,36 @@ vector<cv::Mat> tool::TextBoxWithFill(const vector<vector<Vec2>> &textbox, const
return ImgOut;
}

*/
vector<cv::Mat> tool::TextBoxWithFill(const vector<vector<Vec2>> &textbox, const vector<int> &vObjId, const vector<TextInfo> &textinfo, const Mat Img, const vector<int> &textLabel)
{
cv::Mat BackImg = cv::Mat::ones(Img.size(), CV_32F)*(-1.0);
Mat Imgdraw = Img.clone();
Scalar Color = Scalar(0, 0, 255);

for(size_t i0 = 0; i0<textbox.size(); i0++){
// 1. get text label
BackImg = GetTextLabelMask(BackImg, textbox[i0], textLabel[i0]); // CHECK, cv::Mat put pointer into func. maybe return the new mat to the same pointer

// 2. get text box show img
vector<Vec2> Box4Pts = textbox[i0];
line(Imgdraw, cv::Point2d(Box4Pts[0](0), Box4Pts[0](1)), cv::Point2d(Box4Pts[1](0), Box4Pts[1](1)), Color);
line(Imgdraw, cv::Point2d(Box4Pts[1](0), Box4Pts[1](1)), cv::Point2d(Box4Pts[2](0), Box4Pts[2](1)), Color);
line(Imgdraw, cv::Point2d(Box4Pts[2](0), Box4Pts[2](1)), cv::Point2d(Box4Pts[3](0), Box4Pts[3](1)), Color);
line(Imgdraw, cv::Point2d(Box4Pts[3](0), Box4Pts[3](1)), cv::Point2d(Box4Pts[0](0), Box4Pts[0](1)), Color);

// 3. show obj id
string showMsg = to_string(vObjId[i0]);
showMsg += textinfo[i0].mean;
cv::putText(Imgdraw, showMsg.c_str(), cv::Point(Box4Pts[0](0), Box4Pts[0](1)), cv::FONT_HERSHEY_SIMPLEX, 0.4, CV_RGB(255,255,0), 0.35);
}

vector<cv::Mat> ImgOut;
ImgOut.push_back(BackImg);
ImgOut.push_back(Imgdraw);
return ImgOut;
}


cv::Mat tool::GetTextLabelMask(const cv::Mat &BackImg, const vector<Vec2> &TextObjBox, const int &TextLabel)
{
Expand All @@ -2157,7 +2213,7 @@ cv::Mat tool::GetTextLabelMask(const cv::Mat &BackImg, const vector<Vec2> &TextO
cv::Mat ImgZero = cv::Mat::zeros(BackImg.size(),CV_8UC1);
cv::fillPoly(ImgZero, ptMask, npt, 1, cv::Scalar(255,255,255));

cv::namedWindow("ImgZero", CV_WINDOW_NORMAL);
cv::namedWindow("ImgZero", cv::WINDOW_NORMAL);
cv::imshow("ImgZero", ImgZero);
cv::waitKey(0);
}
Expand Down Expand Up @@ -2250,7 +2306,7 @@ void tool::ShowMatchesLP(const Mat &F1Img, const Mat &F2Img, const vector<Featur
drawMatches(F1Img, keys1, F2Img, keys2, match_show, img_match);

if(SHOW){
namedWindow("LP Matches", CV_WINDOW_NORMAL);
namedWindow("LP Matches", cv::WINDOW_NORMAL);
imshow("LP Matches", img_match);
waitKey(0);
}
Expand All @@ -2261,7 +2317,7 @@ void tool::ShowMatchesLP(const Mat &F1Img, const Mat &F2Img, const vector<Featur

void tool::ShowImg(const cv::Mat &ImgDraw, const string &name)
{
cv::namedWindow(name, CV_WINDOW_NORMAL);
cv::namedWindow(name, cv::WINDOW_NORMAL);
cv::imshow(name, ImgDraw);
cv::waitKey(0);
}
Expand Down
4 changes: 2 additions & 2 deletions src/tracking.cc
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Expand Up @@ -68,9 +68,9 @@ int tracking::GrabImageMonocular(const cv::Mat &im, const double &ImgTimeStamp,
cv::Mat ImTrack, ImTrack1;
im.copyTo(ImTrack);
if(Set->Flag_RGB==0)
cvtColor(ImTrack, ImTrack, CV_BGR2GRAY);
cvtColor(ImTrack, ImTrack, cv::COLOR_BGR2GRAY);
else if(Set->Flag_RGB==1)
cvtColor(ImTrack, ImTrack, CV_RGB2GRAY);
cvtColor(ImTrack, ImTrack, cv::COLOR_RGB2GRAY);

Width = ImTrack.cols;
Height = ImTrack.rows;
Expand Down