Source codes for Jetson screencasts

Author:    C.V. Enthusiast <[email protected]>

Author: C.V. Enthusiast

0-cv-hello/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+
+project(cv_hello)
+
+find_package(OpenCV REQUIRED)
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+add_executable(cv_hello hello.cpp)
+
+target_link_libraries(cv_hello ${OpenCV_LIBS})

0-cv-hello/hello.cpp

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+#include <opencv2/highgui/highgui.hpp>
+#include <iostream>
+
+int main()
+{
+    cv::Mat img(512, 512, CV_8UC3, cv::Scalar(0));
+
+    std::cout << img.data << std::endl;
+
+    cv::putText(img,
+                "Hello, OpenCV on Jetson!",
+                cv::Point(10, img.rows / 2),
+                cv::FONT_HERSHEY_DUPLEX,
+                1.0,
+                CV_RGB(118, 185, 0),
+                2);
+
+    cv::imshow("Hello!", img);
+    cv::waitKey();
+}

1-cv-mat/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+
+project(cv_mat)
+
+find_package(OpenCV REQUIRED)
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+add_executable(cv_mat mat.cpp)
+
+target_link_libraries(cv_mat ${OpenCV_LIBS})

1-cv-mat/mat.cpp

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+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+int main()
+{
+    cv::Mat image0;
+
+    image0.create(480, 640, CV_8UC1);
+    image0.setTo(0);
+
+    cv::Point center(image0.cols / 2, image0.rows / 2);
+    int radius = image0.rows / 2;
+
+    cv::circle(image0,
+               center,
+               radius,
+               128,
+               3);
+
+    cv::Mat image1 = image0;
+
+    cv::rectangle(image1,
+                  center - cv::Point(radius, radius),
+                  center + cv::Point(radius, radius),
+                  255,
+                  3);
+
+    cv::Mat image2;
+    cv::cvtColor(image1, image2, CV_GRAY2BGR);
+
+    int inscribed_radius = radius / sqrt(2);
+    cv::Rect rect(center - cv::Point(inscribed_radius, inscribed_radius),
+                  center + cv::Point(inscribed_radius, inscribed_radius));
+    cv::Mat roi = image2(rect);
+    roi.setTo(cv::Scalar(0, 185, 118));
+
+    for (int y = 0; y < image1.rows; y++)
+    {
+        uchar *row = image1.ptr<uchar>(y);
+        for (int x = 0; x < image1.cols; x++)
+        {
+            if (row[x] == 128)
+                row[x] = x * y * 255  / image1.total();
+        }
+    }
+
+    for (int y = 0; y < image2.rows; y++)
+    {
+        cv::Vec3b *row = image2.ptr<cv::Vec3b>(y);
+        for (int x = 0; x < image2.cols; x++)
+        {
+            if (row[x][1] == 185)
+                row[x] = cv::Vec3b(0, x * y * 255  / image1.total(), 118);
+        }
+    }
+
+    cv::imshow("image0", image0);
+    cv::imshow("image1", image1);
+    cv::imshow("image2", image2);
+    cv::waitKey();
+}

10-cv-stereo/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+
+project(cv_stereo)
+
+find_package(OpenCV REQUIRED)
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+add_executable(cv_stereo stereo.cpp)
+
+target_link_libraries(cv_stereo ${OpenCV_LIBS})

10-cv-stereo/left_right.mp4

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+#include "opencv2/objdetect/objdetect.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/calib3d/calib3d.hpp"
+#include <iostream>
+
+int main()
+{
+    cv::Mat left_right, left, right;
+    cv::Mat left_gray, right_gray;
+
+    cv::StereoBM bm(cv::StereoBM::BASIC_PRESET, 64);
+    cv::Mat disparity;
+
+    cv::Matx33f P(573.835, 0, 306,
+                  0, 573.835, 256,
+                  0, 0, 1);
+    float baseline = 0.18;
+
+    cv::VideoCapture left_right_video("left_right.mp4");
+
+    for (;;)
+    {
+        if (!left_right_video.read(left_right))
+            break;
+
+        left  = left_right(cv::Rect(0, 0, left_right.cols / 2, left_right.rows));
+        right = left_right(cv::Rect(left_right.cols / 2, 0, left_right.cols / 2, left_right.rows));
+
+        cv::cvtColor(left, left_gray, CV_BGR2GRAY);
+        cv::cvtColor(right, right_gray, CV_BGR2GRAY);
+
+        bm(left_gray, right_gray, disparity, CV_32F);
+
+        for (int y = 0; y < left.rows; y++)
+        {
+            for (int x = 0; x < left.cols; x++)
+            {
+                float d = disparity.ptr<float>(y)[x];
+                float distance = P(0, 0) * baseline / d;
+
+                cv::Vec3f point_3d = P.inv() * cv::Vec3f(x, y, 1) * distance;
+
+                if (d > 0 && std::abs(point_3d[1] - 0.4) < 0.2)
+                {
+                    float safe_distance = 30;
+                    float alpha = distance / (float)safe_distance;
+                    left.ptr<cv::Vec3b>(y)[x] =
+                        (1 - alpha) * cv::Vec3b(0, 0, 255) +
+                        alpha * cv::Vec3b(0, 255, 0);
+                }
+            }
+        }
+
+        cv::imshow("disparity", disparity / 64);
+        cv::imshow("left", left);
+        char c = cv::waitKey(1);
+        if (c == 27) // 27 is ESC code
+            break;
+    }
+}

10-cv-stereo/stereo.cpp

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+cmake_minimum_required(VERSION 2.8)
+
+project(cv_perf)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+
+find_package(OpenCV REQUIRED)
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+add_executable(cv_perf perf.cpp)
+
+target_link_libraries(cv_perf ${OpenCV_LIBS})