void MarkerDetector::processFrame(const cv::Mat& frame)
{
m_markers.clear();
findMarkers(frame, m_markers);
}
void MarkerDetector::processFrame(const BGRAVideoFrame& frame)
{
std::vector<Marker> markers;
findMarkers(frame, markers);
m_transformations.clear();
for (size_t i=0; i<markers.size(); i++)
{
m_transformations.push_back(markers[i].transformation);
}
}
void ofxAruco::findBoards(ofPixels & pixels){
findMarkers(pixels);
for (int i = 0; i < boardConfigs.size(); i++) {
aruco::BoardConfiguration boardConfig = boardConfigs[i];
aruco::Board board = boards[i];
boardProbabilities[i] = boardDetector.detect(backMarkers,boardConfig,board,camParams,markerSize);
// boardDetector.detect(backMarkers, boardConfig, board);
}
if(threaded){
lock();
foundBoard = true;
unlock();
}
}
void ofxAruco::detectMarkers(ofPixels & pixels){
if(!threaded){
findMarkers(pixels);
}else{
lock();
frontPixels = pixels;
newDetectMarkers = true;
if(foundMarkers){
swap(markers,intraMarkers);
foundMarkers = false;
}
condition.signal();
unlock();
}
}
void MarkerDetector::findMarkers( cv::Mat& src, std::vector<Marker>& markers, bool draw_markers)
{
std::vector<Marker> loc_markers;
findMarkers(src, loc_markers);
_transformations.clear();
for (size_t i=0; i<loc_markers.size(); i++)
{
_transformations.push_back(loc_markers[i].transformation);
}
markers = loc_markers;
if(draw_markers)
drawMarkers(src, loc_markers);
}
void ofxAruco::threadedFunction(){
while(isThreadRunning()){
lock();
if(!newDetectBoard && !newDetectMarkers) condition.wait(mutex);
bool detectMarkers = false;
bool detectBoard = false;
if(newDetectMarkers || newDetectBoard){
swap(frontPixels, backPixels);
detectMarkers = newDetectMarkers;
detectBoard = newDetectBoard;
newDetectMarkers = false;
newDetectBoard = false;
}
unlock();
if(detectMarkers){
findMarkers(backPixels);
}
if(detectBoard){
findBoards(backPixels);
}
}
}
int main(int argc, char **argv)
{
int one = 1;
glutInit(&one,argv);
init();
cur_filename = argv[1];
fprintf(stderr,"%d %s,\n", argc, cur_filename);
fprintf(stdout,"%s,\t",cur_filename);
if (argc > 2) {
fprintf(stderr,"showing graphics\n");
singleLoop = 0;
}
////
dataPtr = loadImage(cur_filename);
///
ARParam wparam;
/* open the video path */
//if( arVideoOpen( vconf ) < 0 ) exit(0);
/* find the size of the window */
//if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
//fprintf(stderr,"Image size (x,y) = (%d,%d)\n", xsize, image->rows);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
fprintf(stderr,"Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
//fprintf(stderr,"*** Camera Parameter ***\n");
//arParamDisp( &cparam );
if( (patt_id=arLoadPatt(patt_name)) < 0 ) {
fprintf(stderr,"pattern load error !!\n");
exit(0);
}
#if 0
fprintf(stderr,"xysize %d %d\n\
cparam %g\t%g\t%g\t%g\n \
mat\n \
%g\t%g\t%g\t%g\n \
%g\t%g\t%g\t%g\n \
%g\t%g\t%g\t%g\n",
cparam.xsize, cparam.ysize,
cparam.dist_factor[0], cparam.dist_factor[1], cparam.dist_factor[2], cparam.dist_factor[3],
cparam.mat[0][0], cparam.mat[0][1], cparam.mat[0][2], cparam.mat[0][3],
cparam.mat[1][0], cparam.mat[1][1], cparam.mat[1][2], cparam.mat[1][3],
cparam.mat[2][0], cparam.mat[2][1], cparam.mat[2][2], cparam.mat[2][3]
);
#endif
/* open the graphics window */
argInit( &cparam, 1.0, 0, 0, 0, 0 );
///
//arVideoCapStart();
findMarkers();
if (singleLoop) {
//mainLoop();
} else {
argMainLoop( NULL, NULL /*keyEvent*/, mainLoop );
}
}
int main(int argc, char **argv)
{
ARUint8 *dataPtr;
//
// Camera configuration.
//
#ifdef _WIN32
char *vconf = "Data\\WDM_camera_flipV.xml";
#else
char *vconf = "";
#endif
int count = 0;
// char *cparam_name = "../calib_camera2/newparam.dat";
char path[100];
char cparam_name[100];
char* cur_filename;
if (argc < 2) {
fprintf(stderr,"provide a jpeg file name\n");
return;
}
int one = 1;
//glutInit(&one,argv);
cur_filename = argv[1];
frame_ind = atoi(argv[3]);
if (argc > 2) {
sprintf(path,"%s/", argv[2]);
} else {
sprintf(path, "");
}
fprintf(stderr,"%d %s,\n", argc, cur_filename);
/// make this get an image with curl
dataPtr = loadImage(cur_filename,&xsize,&ysize);
ARParam wparam;
sprintf(cparam_name,"%s%s",path,"camera_para.dat");
fprintf(stderr,"%s\n", cparam_name);
/* set the initial camera parameters */
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
//if( arParamLoad("camera_para.dat", 1, &wparam) < 0 ) {
fprintf(stderr,"Camera parameter load error !!\n");
exit(0);
}
arParamChangeSize( &wparam, xsize, ysize, &cparam );
arInitCparam( &cparam );
//fprintf(stderr,"*** Camera Parameter ***\n");
//arParamDisp( &cparam );
int patt_id;
char buffer[100];
sprintf(buffer,"%spatt.hiro",path);
if( (patt_id=arLoadPatt(buffer)) < 0 ) {
fprintf(stderr,"pattern load error !!\n");
exit(0);
}
fprintf(stderr,"patt.hiro %d\n", patt_id);
sprintf(buffer,"%spatt.sample1",path);
if( (patt_id=arLoadPatt(buffer)) < 0 ) {
fprintf(stderr,"pattern load error !!\n");
exit(0);
}
fprintf(stderr,"patt.sample1 %d\n", patt_id);
sprintf(buffer,"%spatt.sample2",path);
if( (patt_id=arLoadPatt(buffer)) < 0 ) {
fprintf(stderr,"pattern load error !!\n");
exit(0);
}
fprintf(stderr,"patt.sample2 %d\n", patt_id);
sprintf(buffer,"%spatt.kanji",path);
if( (patt_id=arLoadPatt(buffer)) < 0 ) {
fprintf(stderr,"pattern load error !!\n");
exit(0);
}
fprintf(stderr,"patt.kanji %d\n", patt_id);
#if 0
fprintf(stderr,"xysize %d %d\n\
cparam %g\t%g\t%g\t%g\n \
mat\n \
%g\t%g\t%g\t%g\n \
%g\t%g\t%g\t%g\n \
%g\t%g\t%g\t%g\n",
cparam.xsize, cparam.ysize,
cparam.dist_factor[0], cparam.dist_factor[1], cparam.dist_factor[2], cparam.dist_factor[3],
cparam.mat[0][0], cparam.mat[0][1], cparam.mat[0][2], cparam.mat[0][3],
cparam.mat[1][0], cparam.mat[1][1], cparam.mat[1][2], cparam.mat[1][3],
cparam.mat[2][0], cparam.mat[2][1], cparam.mat[2][2], cparam.mat[2][3]
);
#endif
/* open the graphics window */
//argInit( &cparam, 1.0, 0, 0, 0, 0 );
//printf("%s,\t\n",cur_filename);
findMarkers(dataPtr);
argCleanup();
}
