Commit cde48f4c authored by Alexander Alekhin's avatar Alexander Alekhin
Browse files

Merge pull request #2373 from alalek:issue_15990

parents e70a4c42 d930ad9c

modules/rgbd/samples/linemod.cpp

+8 −10
Original line number Diff line number Diff line 
#define CV__ENABLE_C_API_CTORS // enable C API ctors (must be removed)



#include <opencv2/core.hpp>

#include <opencv2/core/utility.hpp>

#include <opencv2/imgproc/imgproc_c.h> // cvFindContours
@@ -69,7 +67,7 @@ int Mouse::m_y; 


static void help()

{

  printf("Usage: openni_demo [templates.yml]\n\n"

  printf("Usage: example_rgbd_linemod [templates.yml]\n\n"

         "Place your object on a planar, featureless surface. With the mouse,\n"

         "frame it in the 'color' window and right click to learn a first template.\n"

         "Then press 'l' to enter online learning mode, and move the camera around.\n"
@@ -231,10 +229,10 @@ int main(int argc, char * argv[]) 
      {

        // Compute object mask by subtracting the plane within the ROI

        std::vector<CvPoint> chain(4);

        chain[0] = pt1;

        chain[1] = cv::Point(pt2.x, pt1.y);

        chain[2] = pt2;

        chain[3] = cv::Point(pt1.x, pt2.y);

        chain[0] = cvPoint(pt1);

        chain[1] = cvPoint(pt2.x, pt1.y);

        chain[2] = cvPoint(pt2);

        chain[3] = cvPoint(pt1.x, pt2.y);

        cv::Mat mask;

        subtractPlane(depth, mask, chain, focal_length);
@@ -574,9 +572,9 @@ void subtractPlane(const cv::Mat& depth, cv::Mat& mask, std::vector<CvPoint>& ch 
{

  mask = cv::Mat::zeros(depth.size(), CV_8U);

  std::vector<IplImage*> tmp;

  IplImage mask_ipl = mask;

  IplImage mask_ipl = cvIplImage(mask);

  tmp.push_back(&mask_ipl);

  IplImage depth_ipl = depth;

  IplImage depth_ipl = cvIplImage(depth);

  filterPlane(&depth_ipl, tmp, chain, f);

}
@@ -595,7 +593,7 @@ std::vector<CvPoint> maskFromTemplate(const std::vector<cv::linemod::Template>& 
  CvSeq * lp_contour = 0;



  cv::Mat mask_copy = mask.clone();

  IplImage mask_copy_ipl = mask_copy;

  IplImage mask_copy_ipl = cvIplImage(mask_copy);

  cvFindContours(&mask_copy_ipl, lp_storage, &lp_contour, sizeof(CvContour),

                 CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);