void cvTackBarEvents(int pos,void*)
{
    if (iThresParam1<3) iThresParam1=3;
    if (iThresParam1%2!=1) iThresParam1++;
    if (ThresParam2<1) ThresParam2=1;
    ThresParam1=iThresParam1;
    ThresParam2=iThresParam2;
    MDetector.setThresholdParams(ThresParam1,ThresParam2);
//recompute
    MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters);
    TheInputImage.copyTo(TheInputImageCopy);
    for (unsigned int i=0;i<TheMarkers.size();i++)	TheMarkers[i].draw(TheInputImageCopy,Scalar(0,0,255),1);
    //print other rectangles that contains no valid markers
    /*for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
        aruco::Marker m( MDetector.getCandidates()[i],999);
        m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
    }*/

//draw a 3d cube in each marker if there is 3d info
    if (TheCameraParameters.isValid())
        for (unsigned int i=0;i<TheMarkers.size();i++)
            CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);

    cv::imshow("in",TheInputImageCopy);
    cv::imshow("thres",MDetector.getThresholdedImage());
}
Ejemplo n.º 2
0
void Marker::calculateExtrinsics(float markerSize, const CameraParameters& CP,
                                 bool setYPerpendicular) throw(cv::Exception) {
    if (!CP.isValid())
        throw cv::Exception(
            9004, "!CP.isValid(): invalid camera parameters. It is not possible to calculate extrinsics",
            "calculateExtrinsics", __FILE__, __LINE__);
    calculateExtrinsics(markerSize, CP.CameraMatrix, CP.Distorsion, setYPerpendicular);
}
Ejemplo n.º 3
0
void cvTackBarEvents(int pos, void*)
{
    (void)(pos);
    if (iThresParam1 < 3)
        iThresParam1 = 3;
    if (iThresParam1 % 2 != 1)
        iThresParam1++;
    if (iThresParam1 < 1)
        iThresParam1 = 1;
    MDetector.setThresholdParams(iThresParam1, iThresParam2);

    if (iEnclosedMarkers){
        auto params=MDetector.getParams();
        params._doErosion=true;
         params._cornerMethod=aruco::MarkerDetector::SUBPIX;
        MDetector.setParams(params);
    }
    else{
        auto params=MDetector.getParams();
        params._doErosion=false;
         params._cornerMethod=aruco::MarkerDetector::LINES;
        MDetector.setParams(params);
    }

    MDetector.setDictionary(dictionaryString,float(iCorrectionRate)/10. );  // sets the dictionary to be employed (ARUCO,APRILTAGS,ARTOOLKIT,etc)

    // recompute
    MDetector.detect(TheInputImage, TheMarkers, TheCameraParameters);
    TheInputImage.copyTo(TheInputImageCopy);
    if (iShowAllCandidates){
        auto candidates=MDetector.getCandidates();
        for(auto cand:candidates)
            Marker(cand,-1).draw(TheInputImageCopy, Scalar(255, 0, 255));
    }

    for (unsigned int i = 0; i < TheMarkers.size(); i++)
        TheMarkers[i].draw(TheInputImageCopy, Scalar(0, 0, 255));

    // draw a 3d cube in each marker if there is 3d info
    if (TheCameraParameters.isValid())
        for (unsigned int i = 0; i < TheMarkers.size(); i++)
            CvDrawingUtils::draw3dCube(TheInputImageCopy, TheMarkers[i], TheCameraParameters);

    cv::imshow("in", resize(TheInputImageCopy, 1280));
    cv::imshow("thres", resize(MDetector.getThresholdedImage(), 1280));
}
void cvTackBarEvents(int pos,void*)
{
    if (iThresParam1<3) iThresParam1=3;
    if (iThresParam1%2!=1) iThresParam1++;
    if (ThresParam2<1) ThresParam2=1;
    ThresParam1=iThresParam1;
    ThresParam2=iThresParam2;
    TheBoardDetector.getMarkerDetector().setThresholdParams(ThresParam1,ThresParam2);
//recompute
//Detection of the board
    float probDetect=TheBoardDetector.detect( TheInputImage);
    if (TheCameraParameters.isValid() && probDetect>0.2)
        aruco::CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheBoardDetector.getDetectedBoard(),TheCameraParameters);

    cv::imshow("in",TheInputImageCopy);
    cv::imshow("thres",TheBoardDetector.getMarkerDetector().getThresholdedImage());
}
void cvTackBarEvents(int pos,void*)
{
  if (iThresParam1<3) iThresParam1=3;
  if (iThresParam1%2!=1) iThresParam1++;
  if (ThresParam2<1) ThresParam2=1;
  ThresParam1=iThresParam1;
  ThresParam2=iThresParam2;
  for (unsigned int i=0; i<TOTAL_METHODS; i++)
    MDetector[i].setThresholdParams(ThresParam1,ThresParam2);
//recompute
  for (unsigned int i=0; i<TOTAL_METHODS; i++)
    MDetector[i].detect(TheInputImage,TheMarkers,TheCameraParameters ,TheMarkerSize);
//Detection of the board
  float probDetect=TheBoardDetector.detect( TheMarkers, TheBoardConfig,TheBoardDetected, TheCameraParameters);
  if (TheCameraParameters.isValid() && probDetect>0.2)
    aruco::CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheBoardDetected,TheCameraParameters);

  cv::imshow("in",TheInputImageCopy);
  cv::imshow("thres",MDetector[0].getThresholdedImage());
}
Ejemplo n.º 6
0
    void MarkerMapPoseTracker::setParams(const CameraParameters& cam_params, const MarkerMap& msconf,
                                         float markerSize)
    {
        _msconf = msconf;
        _cam_params = cam_params;
        if (!cam_params.isValid())
            throw cv::Exception(9001, "Invalid camera parameters", "MarkerMapPoseTracker::setParams", __FILE__,
                                __LINE__);
        if (_msconf.mInfoType == MarkerMap::PIX && markerSize <= 0)
            throw cv::Exception(9001, "You should indicate the markersize sice the MarkerMap is in pixels",
                                "MarkerMapPoseTracker::setParams", __FILE__, __LINE__);
        if (_msconf.mInfoType == MarkerMap::NONE)
            throw cv::Exception(9001, "Invlaid MarkerMap", "MarkerMapPoseTracker::setParams", __FILE__, __LINE__);
        if (_msconf.mInfoType == MarkerMap::PIX)
            _msconf = _msconf.convertToMeters(markerSize);

        _isValid = true;

        // create a map for fast access to elements
        _map_mm.clear();
        for (auto m : msconf)
            _map_mm.insert(make_pair(m.id, m));
    }
Ejemplo n.º 7
0
int main(int argc, char** argv)
{
    try
    {
        CmdLineParser cml(argc, argv);
        if (argc < 2 || cml["-h"])
        {
            cerr << "Invalid number of arguments" << endl;
            cerr << "Usage: (in.avi|live[:camera_index(e.g 0 or 1)]) [-c camera_params.yml] [-s  marker_size_in_meters] [-d "
                    "dictionary:ARUCO by default] [-h]"
                 << endl;
            cerr << "\tDictionaries: ";
            for (auto dict : aruco::Dictionary::getDicTypes())
                cerr << dict << " ";
            cerr << endl;
            cerr << "\t Instead of these, you can directly indicate the path to a file with your own generated "
                    "dictionary"
                 << endl;
            return false;
        }

        ///////////  PARSE ARGUMENTS
        string TheInputVideo = argv[1];
        // read camera parameters if passed
        if (cml["-c"])
            TheCameraParameters.readFromXMLFile(cml("-c"));
        float TheMarkerSize = std::stof(cml("-s", "-1"));
        // aruco::Dictionary::DICT_TYPES  TheDictionary= Dictionary::getTypeFromString( cml("-d","ARUCO") );

        ///////////  OPEN VIDEO
        // read from camera or from  file
        if (TheInputVideo.find("live") != string::npos)
        {
            int vIdx = 0;
            // check if the :idx is here
            char cad[100];
            if (TheInputVideo.find(":") != string::npos)
            {
                std::replace(TheInputVideo.begin(), TheInputVideo.end(), ':', ' ');
                sscanf(TheInputVideo.c_str(), "%s %d", cad, &vIdx);
            }
            cout << "Opening camera index " << vIdx << endl;
            TheVideoCapturer.open(vIdx);
            waitTime = 10;
        }
        else
            TheVideoCapturer.open(TheInputVideo);
        // check video is open
        if (!TheVideoCapturer.isOpened())
            throw std::runtime_error("Could not open video");

        ///// CONFIGURE DATA
        // read first image to get the dimensions
        TheVideoCapturer >> TheInputImage;
        if (TheCameraParameters.isValid())
            TheCameraParameters.resize(TheInputImage.size());
        dictionaryString=cml("-d", "ARUCO");
        MDetector.setDictionary(dictionaryString,float(iCorrectionRate)/10. );  // sets the dictionary to be employed (ARUCO,APRILTAGS,ARTOOLKIT,etc)
        MDetector.setThresholdParams(7, 7);
        MDetector.setThresholdParamRange(2, 0);

        // gui requirements : the trackbars to change this parameters
        iThresParam1 = static_cast<int>(MDetector.getParams()._thresParam1);
        iThresParam2 = static_cast<int>(MDetector.getParams()._thresParam2);
        cv::namedWindow("in");
        cv::createTrackbar("ThresParam1", "in", &iThresParam1, 25, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in", &iThresParam2, 13, cvTackBarEvents);
        cv::createTrackbar("correction_rate", "in", &iCorrectionRate, 10, cvTackBarEvents);
        cv::createTrackbar("EnclosedMarkers", "in", &iEnclosedMarkers, 1, cvTackBarEvents);
        cv::createTrackbar("ShowAllCandidates", "in", &iShowAllCandidates, 1, cvTackBarEvents);

        // go!
        char key = 0;
        int index = 0,indexSave=0;
        // capture until press ESC or until the end of the video
        do
        {
            TheVideoCapturer.retrieve(TheInputImage);
            // copy image
            double tick = (double)getTickCount();  // for checking the speed
            // Detection of markers in the image passed
            TheMarkers = MDetector.detect(TheInputImage, TheCameraParameters, TheMarkerSize);
            // chekc the speed by calculating the mean speed of all iterations
            AvrgTime.first += ((double)getTickCount() - tick) / getTickFrequency();
            AvrgTime.second++;
            cout << "\rTime detection=" << 1000 * AvrgTime.first / AvrgTime.second
                 << " milliseconds nmarkers=" << TheMarkers.size() << std::endl;

            // print marker info and draw the markers in image
            TheInputImage.copyTo(TheInputImageCopy);

            if (iShowAllCandidates){
                auto candidates=MDetector.getCandidates();
                for(auto cand:candidates)
                    Marker(cand,-1).draw(TheInputImageCopy, Scalar(255, 0, 255));
            }

            for (unsigned int i = 0; i < TheMarkers.size(); i++)
            {
                cout << TheMarkers[i] << endl;
                TheMarkers[i].draw(TheInputImageCopy, Scalar(0, 0, 255));
            }

            // draw a 3d cube in each marker if there is 3d info
            if (TheCameraParameters.isValid() && TheMarkerSize > 0)
                for (unsigned int i = 0; i < TheMarkers.size(); i++)
                {
                    CvDrawingUtils::draw3dCube(TheInputImageCopy, TheMarkers[i], TheCameraParameters);
                    CvDrawingUtils::draw3dAxis(TheInputImageCopy, TheMarkers[i], TheCameraParameters);
                }

            // DONE! Easy, right?
            // show input with augmented information and  the thresholded image
            cv::imshow("in", resize(TheInputImageCopy, 1280));
            cv::imshow("thres", resize(MDetector.getThresholdedImage(), 1280));

            key = cv::waitKey(waitTime);  // wait for key to be pressed
            if (key == 's')
                waitTime = waitTime == 0 ? 10 : 0;
            if (key == 'w'){//writes current input image
                string number=std::to_string(indexSave++);
                while(number.size()!=3)number+="0";
                string imname="arucoimage"+number+".png";
                cv::imwrite(imname,TheInputImage);
                cout<<"saved "<<imname<<endl;
            }
            index++;  // number of images captured

        } while (key != 27 && (TheVideoCapturer.grab()));
    }
    catch (std::exception& ex)

    {
        cout << "Exception :" << ex.what() << endl;
    }
}
Ejemplo n.º 8
0
int main(int argc, char** argv)
{
    try
    {
        CmdLineParser cml(argc, argv);
        if (argc < 3 || cml["-h"])
        {
            cerr << "Invalid number of arguments" << endl;
            cerr << "Usage: (in.avi|live) marksetconfig.yml  [optional_arguments] \n\t[-c camera_intrinsics.yml] "
                    "\n\t[-s marker_size] \n\t[-pcd out_pcd_file_with_camera_poses] \n\t[-poses out_file_with_poses] "
                    "\n\t[-corner <corner_refinement_method> (0: LINES(default),1 SUBPIX) ][-h]"
                 << endl;
            return false;
        }
        TheMarkerMapConfig.readFromFile(argv[2]);

        TheMarkerMapConfigFile = argv[2];
        TheMarkerSize = stof(cml("-s", "1"));
        // read from camera or from  file
        if (string(argv[1]) == "live")
        {
            TheVideoCapturer.open(0);
        }
        else
            TheVideoCapturer.open(argv[1]);
        // check video is open
        if (!TheVideoCapturer.isOpened())
            throw std::runtime_error("Could not open video");

        // read first image to get the dimensions
        TheVideoCapturer >> TheInputImage;

        // read camera parameters if passed
        if (cml["-c"])
        {
            TheCameraParameters.readFromXMLFile(cml("-c"));
            TheCameraParameters.resize(TheInputImage.size());
        }
        // prepare the detector
        string dict =
            TheMarkerMapConfig
                .getDictionary();  // see if the dictrionary is already indicated in the configuration file. It should!
        if (dict.empty())
            dict = "ARUCO";
        TheMarkerDetector.setDictionary(
            dict);  /// DO NOT FORGET THAT!!! Otherwise, the ARUCO dictionary will be used by default!
        if (stoi(cml("-corner", "0")) == 0)
            TheMarkerDetector.setCornerRefinementMethod(MarkerDetector::LINES);
        else
        {
            MarkerDetector::Params params = TheMarkerDetector.getParams();
            params._cornerMethod = MarkerDetector::SUBPIX;
            // search corner subpix in a 5x5 widow area
            params._subpix_wsize = static_cast<int>((15.f / 2000.f) * float(TheInputImage.cols));
            TheMarkerDetector.setParams(params);
        }

        // prepare the pose tracker if possible
        // if the camera parameers are avaiable, and the markerset can be expressed in meters, then go

        if (TheMarkerMapConfig.isExpressedInPixels() && TheMarkerSize > 0)
            TheMarkerMapConfig = TheMarkerMapConfig.convertToMeters(TheMarkerSize);
        cout << "TheCameraParameters.isValid()=" << TheCameraParameters.isValid() << " "
             << TheMarkerMapConfig.isExpressedInMeters() << endl;
        if (TheCameraParameters.isValid() && TheMarkerMapConfig.isExpressedInMeters())
            TheMSPoseTracker.setParams(TheCameraParameters, TheMarkerMapConfig);

        // Create gui

        cv::namedWindow("thres", 1);
        cv::namedWindow("in", 1);

        TheMarkerDetector.getThresholdParams(ThresParam1, ThresParam2);
        iThresParam1 = static_cast<int>(ThresParam1);
        iThresParam2 = static_cast<int>(ThresParam2);
        cv::createTrackbar("ThresParam1", "in", &iThresParam1, 13, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in", &iThresParam2, 13, cvTackBarEvents);
        char key = 0;
        int index = 0;
        // capture until press ESC or until the end of the video
        cout << "Press 's' to start/stop video" << endl;
        do
        {
            TheVideoCapturer.retrieve(TheInputImage);
            TheInputImage.copyTo(TheInputImageCopy);
            index++;  // number of images captured
            // Detection of the board
            vector<aruco::Marker> detected_markers = TheMarkerDetector.detect(TheInputImage);
            // print the markers detected that belongs to the markerset
            for (auto idx : TheMarkerMapConfig.getIndices(detected_markers))
                detected_markers[idx].draw(TheInputImageCopy, Scalar(0, 0, 255), 2);
            // detect 3d info if possible
            if (TheMSPoseTracker.isValid())
            {
                if (TheMSPoseTracker.estimatePose(detected_markers))
                {
                    aruco::CvDrawingUtils::draw3dAxis(TheInputImageCopy, TheCameraParameters,
                                                      TheMSPoseTracker.getRvec(), TheMSPoseTracker.getTvec(),
                                                      TheMarkerMapConfig[0].getMarkerSize() * 2);
                    frame_pose_map.insert(make_pair(index, TheMSPoseTracker.getRTMatrix()));
                    cout << "pose rt=" << TheMSPoseTracker.getRvec() << " " << TheMSPoseTracker.getTvec() << endl;
                }
            }

            // show input with augmented information and  the thresholded image
            cv::imshow("in", TheInputImageCopy);
            cv::imshow("thres", TheMarkerDetector.getThresholdedImage());

            key = cv::waitKey(waitTime);  // wait for key to be pressed
            processKey(key);

        } while (key != 27 && TheVideoCapturer.grab());

        // save a beatiful pcd file (pcl library) showing the results (you can use pcl_viewer to see it)
        if (cml["-pcd"])
        {
            savePCDFile(cml("-pcd"), TheMarkerMapConfig, frame_pose_map);
        }

        // save the poses to a file in tum rgbd data format
        if (cml["-poses"])
        {
            savePosesToFile(cml("-poses"), frame_pose_map);
        }
    }
    catch (std::exception& ex)

    {
        cout << "Exception :" << ex.what() << endl;
    }
}
int main(int argc,char **argv)
{
	
    
    try
    {
        if (readArguments (argc,argv)==false) {
            return 0;
        }
        //parse arguments
        ;
        //read from camera or from  file
        if (TheInputVideo=="live") {
            TheVideoCapturer.open(0);
            waitTime=10;
        }
        else  TheVideoCapturer.open(TheInputVideo);
        //check video is open
        if (!TheVideoCapturer.isOpened()) {
            cerr<<"Could not open video"<<endl;
            return -1;

        }
        

        //read first image to get the dimensions
        TheVideoCapturer>>TheInputImage;

        //read camera parameters if passed
        if (TheIntrinsicFile!="") {
            TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
            TheCameraParameters.resize(TheInputImage.size());
        }
        //Configure other parameters
        if (ThePyrDownLevel>0)
            MDetector.pyrDown(ThePyrDownLevel);

        //begin copy-paste from http://stackoverflow.com/questions/11550021/converting-a-mat-file-from-matlab-into-cvmat-matrix-in-opencv
		Mat oneVect;
		Mat useVecLat;
		Mat someVects;
		Mat zeroYzero;

		string demoFile  = "demo.yml";

		FileStorage fsDemo( demoFile, FileStorage::READ);
		fsDemo["oneVect"] >> oneVect;
		
		fsDemo["oneVect"] >> useVecLat;
		
		
		fsDemo["oneVect"] >> zeroYzero;

		fsDemo["someVects"] >> someVects;

		
		cout << "Print the contents of oneVect:" << endl;
		cout << oneVect << endl;
		
		
		
		fsDemo.release(); //close the file
		
		
		
		// Declare what you need
		// FileStorage fileOutt("reading_positions.yml", FileStorage::WRITE);
		
		//end copy-paste from http://stackoverflow.com/questions/11550021/converting-a-mat-file-from-matlab-into-cvmat-matrix-in-opencv
		
		
		cout << "an element oneVect:" << endl;
		cout << oneVect.at<float>(0,1) << endl;
		
		// to access the 42 in this YAML:
		
		//oneVect: !!opencv-matrix
		//   rows: 1
		//   cols: 3
		//   dt: f
		//   data: [ 4, 3, 42, 55]
		
		//  do oneVect.at<float>(0,2)


		//end data input



        //Create gui

        cv::namedWindow("thres",1);
        cv::namedWindow("in",1);
        MDetector.getThresholdParams( ThresParam1,ThresParam2);
        MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
        iThresParam1=ThresParam1;
        iThresParam2=ThresParam2;
        cv::createTrackbar("ThresParam1", "in",&iThresParam1, 13, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in",&iThresParam2, 13, cvTackBarEvents);

        char key=0;
        int index=0;
        //capture until press ESC or until the end of the video
        while ( key!=27 && TheVideoCapturer.grab())
        {
            TheVideoCapturer.retrieve( TheInputImage);
            //copy image

            index++; //number of images captured
            double tick = (double)getTickCount();//for checking the speed
            //Detection of markers in the image passed
			cout << "q" ;
            MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
            //note that this function outputs the marker info, for some reason.
            
            
            //chekc the speed by calculating the mean speed of all iterations
            AvrgTime.first+=((double)getTickCount()-tick)/getTickFrequency();
            AvrgTime.second++;
            
            //cout<<"Time detection="<<1000*AvrgTime.first/AvrgTime.second<<" milliseconds"<<endl;
            
            
            //print marker info and draw the markers in image
            TheInputImage.copyTo(TheInputImageCopy);
            for (unsigned int i=0;i<TheMarkers.size();i++) {
				cout<<TheMarkers[i].Tvec.at<float>(0,0)<<","<<
					TheMarkers[i].Tvec.at<float>(0,1)<<","<<
					TheMarkers[i].Tvec.at<float>(0,2)<<",";
				
//                cout<<TheMarkers[i]<<endl;
                if (TheMarkers[i].id == 605 && 1 == 0) { // THIS WILL NEVER HAPPEN!!! 1 is not zero.   
					Mat R33;
					cv::Rodrigues(TheMarkers[i].Rvec,R33);
					cout << R33 << endl;
					cout << TheMarkers[i].id << endl;
					
					for (unsigned int maytr=0;maytr<TheMarkers.size();maytr++) {  //take 0 , 1 , 0, inverse transform first, then transform.
						if (TheMarkers[maytr].id == 500) {
							
							
							zeroYzero.at<float>(0,0) = 0;
							zeroYzero.at<float>(0,1) = 2;
							zeroYzero.at<float>(0,2) = 0;
							zeroYzero.at<float>(0,3) = 0;
							zeroYzero.at<float>(0,4) = 0;
							zeroYzero.at<float>(0,5) = 0;
							
							cout << zeroYzero << endl;
							Mat R33for500;
							cout << TheMarkers[maytr].id<< "food"<< endl;
							cv::Rodrigues(TheMarkers[maytr].Rvec,R33for500);
							cout << R33for500 << endl;
							//cout << TheMarkers[i].id << endl;
							
							//R33for500 * R33.t() * zeroYzero; //transpose method
							
							//Mat afterDouble; 
							//cout << TheMarkers[maytr].id<< "water"<< endl;
							//afterDouble = R33for500 * (R33.inv() * zeroYzero); //inversion method
							//R33for500 * (R33.inv() * zeroYzero); //inversion method
							//cout << "shelll"<< endl;
							//cout << afterDouble << endl;
							//useVecLat.at<float>(0,0) = 0;
							//useVecLat.at<float>(0,1) = 0;
							//useVecLat.at<float>(0,2) = 0;
							//useVecLat.at<float>(0,3) = afterDouble.at<float>(0,0);
							//useVecLat.at<float>(0,4) = afterDouble.at<float>(0,1);
							//useVecLat.at<float>(0,5) = afterDouble.at<float>(0,2);
							
							//drawVecAtPos(TheInputImageCopy,TheMarkers[maytr],TheCameraParameters,afterDouble); //oneVect);
						}
					}
				}
                
                TheMarkers[i].draw(TheInputImageCopy,Scalar(0,0,255),1);
                
                //time date stuff
				std::time_t result = std::time(NULL); //nullptr);
				std::cout // << std::asctime(std::localtime(&result))
						  << result; // <<  " seconds since the Epoch\n";
						  
				// fileOutt << "time" << result ; //<< endl;

				cout<<endl; // <<endl<<endl;
            }
            
            //print other rectangles that contains no valid markers
       /**     for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
                aruco::Marker m( MDetector.getCandidates()[i],999);
                m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
            }*/



            //draw a 3d cube in each marker if there is 3d info
            if (  TheCameraParameters.isValid())
                for (unsigned int i=0;i<TheMarkers.size();i++) {
                    
                    CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
                    //Never use this; just reference // CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
                    
                    draw3dAxisj(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
                    drawVecAtPos(TheInputImageCopy,TheMarkers[i],TheCameraParameters,oneVect);
                    drawVecsAtPosTesting(TheInputImageCopy,TheMarkers[i],TheCameraParameters,someVects);
                    						
                }
            //DONE! Easy, right?
            
            
            //show input with augmented information and  the thresholded image
            cv::imshow("in",TheInputImageCopy);
            cv::imshow("thres",MDetector.getThresholdedImage());

            key=cv::waitKey(waitTime);//wait for key to be pressed
        }
        // fileOutt.release();

    } catch (std::exception &ex)

    {
        cout<<"Exception :"<<ex.what()<<endl;
    }

}
int main(int argc,char **argv)
{
    try
    {
        if (  readArguments (argc,argv)==false) return 0;
//parse arguments
        TheBoardConfig.readFromFile(TheBoardConfigFile);
        //read from camera or from  file
        if (TheInputVideo=="live") {
            TheVideoCapturer.open(0);
            waitTime=10;
        }
        else TheVideoCapturer.open(TheInputVideo);
        //check video is open
        if (!TheVideoCapturer.isOpened()) {
            cerr<<"Could not open video"<<endl;
            return -1;

        }

        //read first image to get the dimensions
        TheVideoCapturer>>TheInputImage;

        //Open outputvideo
        if ( TheOutVideoFilePath!="")
            VWriter.open(TheOutVideoFilePath,CV_FOURCC('M','J','P','G'),15,TheInputImage.size());

        //read camera parameters if passed
        if (TheIntrinsicFile!="") {
            TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
            TheCameraParameters.resize(TheInputImage.size());
        }

        //Create gui

        cv::namedWindow("thres",1);
        cv::namedWindow("in",1);
	TheBoardDetector.setParams(TheBoardConfig,TheCameraParameters,TheMarkerSize);
	TheBoardDetector.getMarkerDetector().getThresholdParams( ThresParam1,ThresParam2);
	TheBoardDetector.getMarkerDetector().enableErosion(true);//for chessboards
        iThresParam1=ThresParam1;
        iThresParam2=ThresParam2;
        cv::createTrackbar("ThresParam1", "in",&iThresParam1, 13, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in",&iThresParam2, 13, cvTackBarEvents);
        char key=0;
        int index=0;
        //capture until press ESC or until the end of the video
        while ( key!=27 && TheVideoCapturer.grab())
        {
            TheVideoCapturer.retrieve( TheInputImage);
            TheInputImage.copyTo(TheInputImageCopy);
            index++; //number of images captured
            double tick = (double)getTickCount();//for checking the speed
            //Detection of the board
            float probDetect=TheBoardDetector.detect(TheInputImage);
            //chekc the speed by calculating the mean speed of all iterations
            AvrgTime.first+=((double)getTickCount()-tick)/getTickFrequency();
            AvrgTime.second++;
            cout<<"Time detection="<<1000*AvrgTime.first/AvrgTime.second<<" milliseconds"<<endl;
            //print marker borders
            for (unsigned int i=0;i<TheBoardDetector.getDetectedMarkers().size();i++)
                TheBoardDetector.getDetectedMarkers()[i].draw(TheInputImageCopy,Scalar(0,0,255),1);

            //print board
             if (TheCameraParameters.isValid()) {
                if ( probDetect>0.2)   {
                    CvDrawingUtils::draw3dAxis( TheInputImageCopy,TheBoardDetector.getDetectedBoard(),TheCameraParameters);
                    //draw3dBoardCube( TheInputImageCopy,TheBoardDetected,TheIntriscCameraMatrix,TheDistorsionCameraParams);
                }
            }
            //DONE! Easy, right?

            //show input with augmented information and  the thresholded image
            cv::imshow("in",TheInputImageCopy);
            cv::imshow("thres",TheBoardDetector.getMarkerDetector().getThresholdedImage());
            //write to video if required
            if (  TheOutVideoFilePath!="") {
                //create a beautiful compiosed image showing the thresholded
                //first create a small version of the thresholded image
                cv::Mat smallThres;
                cv::resize( TheBoardDetector.getMarkerDetector().getThresholdedImage(),smallThres,cvSize(TheInputImageCopy.cols/3,TheInputImageCopy.rows/3));
                cv::Mat small3C;
                cv::cvtColor(smallThres,small3C,CV_GRAY2BGR);
                cv::Mat roi=TheInputImageCopy(cv::Rect(0,0,TheInputImageCopy.cols/3,TheInputImageCopy.rows/3));
                small3C.copyTo(roi);
                VWriter<<TheInputImageCopy;
// 			 cv::imshow("TheInputImageCopy",TheInputImageCopy);

            }

            key=cv::waitKey(waitTime);//wait for key to be pressed
            processKey(key);
        }


    } catch (std::exception &ex)

    {
        cout<<"Exception :"<<ex.what()<<endl;
    }

}
Ejemplo n.º 11
0
int main(int argc, char **argv) {
    try {
        if (readArguments(argc, argv) == false) {
            return 0;
        }
        // parse arguments

        // read from camera or from  file
        if (TheInputVideo.find("live") != string::npos) {
            int vIdx = 0;
            // check if the :idx is here
            char cad[100];
            if (TheInputVideo.find(":") != string::npos) {
                std::replace(TheInputVideo.begin(), TheInputVideo.end(), ':', ' ');
                sscanf(TheInputVideo.c_str(), "%s %d", cad, &vIdx);
            }
            cout << "Opening camera index " << vIdx << endl;
            TheVideoCapturer.open(vIdx);
            waitTime = 10;
        } else
            TheVideoCapturer.open(TheInputVideo);
        // check video is open
        if (!TheVideoCapturer.isOpened()) {
            cerr << "Could not open video" << endl;
            return -1;
        }
        bool isVideoFile = false;
        if (TheInputVideo.find(".avi") != std::string::npos || TheInputVideo.find("live") != string::npos)
            isVideoFile = true;
        // read first image to get the dimensions
        TheVideoCapturer >> TheInputImage;

        // read camera parameters if passed
        if (TheIntrinsicFile != "") {
            TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
            TheCameraParameters.resize(TheInputImage.size());
        }
        // Configure other parameters
        if (ThePyrDownLevel > 0)
            MDetector.pyrDown(ThePyrDownLevel);


        // Create gui

        cv::namedWindow("thres", 1);
        cv::namedWindow("in", 1);

        MDetector.setThresholdParams(7, 7);
        MDetector.setThresholdParamRange(2, 0);
        // 	MDetector.enableLockedCornersMethod(true);
        //         MDetector.setCornerRefinementMethod ( MarkerDetector::SUBPIX );
        MDetector.getThresholdParams(ThresParam1, ThresParam2);
        iThresParam1 = ThresParam1;
        iThresParam2 = ThresParam2;
        //cv::createTrackbar("ThresParam1", "in", &iThresParam1, 25, cvTackBarEvents);
        //cv::createTrackbar("ThresParam2", "in", &iThresParam2, 13, cvTackBarEvents);

        char key = 0;
        int index = 0;
        // capture until press ESC or until the end of the video
        TheVideoCapturer.retrieve(TheInputImage);

        cv::Size sz = TheInputImage.size();
        MDetector.createCudaBuffers(sz.width, sz.height);

        do {

            // copy image

            index++; // number of images captured
            double tick = (double)getTickCount(); // for checking the speed
            // Detection of markers in the image passed
            MDetector.detect(TheInputImage, TheMarkers, TheCameraParameters, TheMarkerSize);
            // chekc the speed by calculating the mean speed of all iterations
            AvrgTime.first += ((double)getTickCount() - tick) / getTickFrequency();
            AvrgTime.second++;
            cout << "\rTime detection=" << 1000 * AvrgTime.first / AvrgTime.second << " milliseconds nmarkers=" << TheMarkers.size() << std::flush;

            // print marker info and draw the markers in image
            TheInputImage.copyTo(TheInputImageCopy);

            for (unsigned int i = 0; i < TheMarkers.size(); i++) {
                cout << endl << TheMarkers[i];
                TheMarkers[i].draw(TheInputImageCopy, Scalar(0, 0, 255), 1);
            }
            if (TheMarkers.size() != 0)
                cout << endl;
            // print other rectangles that contains no valid markers
            /**     for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
                     aruco::Marker m( MDetector.getCandidates()[i],999);
                     m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
                 }*/



            // draw a 3d cube in each marker if there is 3d info
            if (TheCameraParameters.isValid())
                for (unsigned int i = 0; i < TheMarkers.size(); i++) {
                    CvDrawingUtils::draw3dCube(TheInputImageCopy, TheMarkers[i], TheCameraParameters);
                    CvDrawingUtils::draw3dAxis(TheInputImageCopy, TheMarkers[i], TheCameraParameters);
                }
            // DONE! Easy, right?
            // show input with augmented information and  the thresholded image
            cv::imshow("in", TheInputImageCopy);
            cv::imshow("thres", MDetector.getThresholdedImage());
            //cv::imshow("thres_gpu", MDetector.getThresholdedImageGPU());

            key = cv::waitKey(waitTime); // wait for key to be pressed
            if (isVideoFile)
                TheVideoCapturer.retrieve(TheInputImage);

        } while (key != 27 && (TheVideoCapturer.grab() || !isVideoFile));

    } catch (std::exception &ex)

    {
        cout << "Exception :" << ex.what() << endl;
    }
}
Ejemplo n.º 12
0
int main(int argc,char **argv)
{
    try
    {
        if (readArguments (argc,argv)==false) {
            return 0;
        }
        //parse arguments
        ;
        //read from camera or from  file
        if (TheInputVideo=="live") {
            TheVideoCapturer.open(0);
            waitTime=10;
        }
        else  TheVideoCapturer.open(TheInputVideo);
        //check video is open
        if (!TheVideoCapturer.isOpened()) {
            cerr<<"Could not open video"<<endl;
            return -1;

        }

        //read first image to get the dimensions
        TheVideoCapturer>>TheInputImage;

        //read camera parameters if passed
        if (TheIntrinsicFile!="") {
            TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
            TheCameraParameters.resize(TheInputImage.size());
        }
        //Configure other parameters
        if (ThePyrDownLevel>0)
            MDetector.pyrDown(ThePyrDownLevel);


        //Create gui

	MDetector.getThresholdParams( ThresParam1,ThresParam2);
        MDetector.setCornerRefinementMethod(MarkerDetector::LINES);

	/*
        cv::namedWindow("thres",1);
        cv::namedWindow("in",1);
        iThresParam1=ThresParam1;
        iThresParam2=ThresParam2;
        cv::createTrackbar("ThresParam1", "in",&iThresParam1, 13, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in",&iThresParam2, 13, cvTackBarEvents);
	*/
	
        char key=0;
        int index=0;
        //capture until press ESC or until the end of the video
        while ( key!=27 && TheVideoCapturer.grab() ) // && index <= 50)
        {
            TheVideoCapturer.retrieve( TheInputImage);
            //copy image

            index++; //number of images captured

            double tick = (double)getTickCount();//for checking the speed
            //Detection of markers in the image passed
            MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
            //chekc the speed by calculating the mean speed of all iterations
            AvrgTime.first+=((double)getTickCount()-tick)/getTickFrequency();
            AvrgTime.second++;
            //cout<<"Time detection="<<1000*AvrgTime.first/AvrgTime.second<<" milliseconds"<<endl;
	    
            //print marker info and draw the markers in image
            TheInputImage.copyTo(TheInputImageCopy);
            for (unsigned int i=0;i<TheMarkers.size();i++) {
	      if (AllMarkers.count( TheMarkers[i].id ) == 0)
		AllMarkers[TheMarkers[i].id] = map<int,Marker>();
	      AllMarkers[TheMarkers[i].id][index] = TheMarkers[i];
	      
	      cout<<index<<endl;
                cout<<TheMarkers[i]<<endl;
                TheMarkers[i].draw(TheInputImageCopy,Scalar(0,0,255),1);
            }
            //print other rectangles that contains no valid markers
       /**     for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
                aruco::Marker m( MDetector.getCandidates()[i],999);
                m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
            }*/



            //draw a 3d cube in each marker if there is 3d info
            if (  TheCameraParameters.isValid())
                for (unsigned int i=0;i<TheMarkers.size();i++) {
                    CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
                    CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
                }
            //DONE! Easy, right?
            cout<<endl<<endl<<endl;
            //show input with augmented information and  the thresholded image
            //cv::imshow("in",TheInputImageCopy);
            //cv::imshow("thres",MDetector.getThresholdedImage());

            //key=cv::waitKey(waitTime);//wait for key to be pressed
        }

	lastFrame = index;

    } catch (std::exception &ex)

    {
        cout<<"Exception :"<<ex.what()<<endl;
    }

    cout << "All done."<< endl;

    map<int, Markers>::const_iterator i;
    for( i = AllMarkers.begin(); i != AllMarkers.end(); ++i ) {
      int markerId = (*i).first;
      map<int, Marker> markers = (*i).second;

      int frameCount = markers.size();

      cout << "frameCount = " << frameCount << endl;

      std::vector<double> x(frameCount);
      std::vector<double> m0x(frameCount);
      std::vector<double> m0y(frameCount);
      std::vector<double> m1x(frameCount);
      std::vector<double> m1y(frameCount);
      std::vector<double> m2x(frameCount);
      std::vector<double> m2y(frameCount);
      std::vector<double> m3x(frameCount);
      std::vector<double> m3y(frameCount);
      std::vector<double> tx(frameCount);
      std::vector<double> ty(frameCount);
      std::vector<double> tz(frameCount);
      std::vector<double> rx(frameCount);
      std::vector<double> ry(frameCount);
      std::vector<double> rz(frameCount);

      map<int, Marker>::const_iterator j;
      int index = 0;
      for( j = markers.begin(); j != markers.end(); ++j, index++ ) {
	int frameIndex = (*j).first;
	Marker marker = (*j).second;

	x[index] = frameIndex;
	m0x[index] = marker[0].x;
	m0y[index] = marker[0].y;
	m1x[index] = marker[1].x;
	m1y[index] = marker[1].y;
	m2x[index] = marker[2].x;
	m2y[index] = marker[2].y;
	m3x[index] = marker[3].x;
	m3y[index] = marker[3].y;
	tx[index] = marker.Tvec.ptr<float>(0)[0];
	ty[index] = marker.Tvec.ptr<float>(0)[1];
	tz[index] = marker.Tvec.ptr<float>(0)[2];
	rx[index] = marker.Rvec.ptr<float>(0)[0];
	ry[index] = marker.Rvec.ptr<float>(0)[1];
	rz[index] = marker.Rvec.ptr<float>(0)[2];
	
	cout << frameIndex << endl;
      }

#define SPLINE(VAR) gsl_spline *spline_ ## VAR = gsl_spline_alloc (gsl_interp_cspline, frameCount); gsl_spline_init (spline_ ## VAR, &x[0], &VAR[0], frameCount)

      SPLINE(m0x);
      SPLINE(m0y);
      SPLINE(m1x);
      SPLINE(m1y);
      SPLINE(m2x);
      SPLINE(m2y);
      SPLINE(m3x);
      SPLINE(m3y);
      SPLINE(tx);
      SPLINE(ty);
      SPLINE(tz);
      SPLINE(rx);
      SPLINE(ry);
      SPLINE(rz);

      for( index = 0; index < lastFrame; index++ ) {

	double m0x = gsl_spline_eval (spline_m0x, index, NULL);
	double m0y = gsl_spline_eval (spline_m0y, index, NULL);
	double m1x = gsl_spline_eval (spline_m1x, index, NULL);
	double m1y = gsl_spline_eval (spline_m1y, index, NULL);
	double m2x = gsl_spline_eval (spline_m2x, index, NULL);
	double m2y = gsl_spline_eval (spline_m2y, index, NULL);
	double m3x = gsl_spline_eval (spline_m3x, index, NULL);
	double m3y = gsl_spline_eval (spline_m3y, index, NULL);
	double tx = gsl_spline_eval (spline_tx, index, NULL);
	double ty = gsl_spline_eval (spline_ty, index, NULL);
	double tz = gsl_spline_eval (spline_tz, index, NULL);
	double rx = gsl_spline_eval (spline_rx, index, NULL);
	double ry = gsl_spline_eval (spline_ry, index, NULL);
	double rz = gsl_spline_eval (spline_rz, index, NULL);

	cv::Point2f m0 = cv::Point2f(m0x,m0y);
	cv::Point2f m1 = cv::Point2f(m1x,m1y);
	cv::Point2f m2 = cv::Point2f(m2x,m2y);
	cv::Point2f m3 = cv::Point2f(m3x,m3y);

	std::vector<cv::Point2f> corners(4);
	corners[0] = m0;
	corners[1] = m1;
	corners[2] = m2;
	corners[3] = m3;
	
	Marker interpolated = Marker(corners, markerId);

	interpolated.Rvec.create(3,1,CV_32FC1);
        interpolated.Tvec.create(3,1,CV_32FC1);
	interpolated.Tvec.at<float>(0,0) = tx;
	interpolated.Tvec.at<float>(1,0) = ty;
	interpolated.Tvec.at<float>(2,0) = tz;
	interpolated.Rvec.at<float>(0,0) = rx;
	interpolated.Rvec.at<float>(1,0) = ry;
	interpolated.Rvec.at<float>(2,0) = rz;

	cout << index << endl;
	cout << interpolated << endl;
      }
      

      
      gsl_spline_free (spline_m0x);
      gsl_spline_free (spline_m0y);
      gsl_spline_free (spline_m1x);
      gsl_spline_free (spline_m1y);
      gsl_spline_free (spline_m2x);
      gsl_spline_free (spline_m2y);
      gsl_spline_free (spline_m3x);
      gsl_spline_free (spline_m3y);
      gsl_spline_free (spline_tx);
      gsl_spline_free (spline_ty);
      gsl_spline_free (spline_tz);
      gsl_spline_free (spline_rx);
      gsl_spline_free (spline_ry);
      gsl_spline_free (spline_rz);

      
      //map<int, Marker>::const_iterator j;
      
      
      
      //cout << "id = " << markerId << endl;

      
    }
    
    //cout << TheFrames << endl;
}
int main(int argc,char **argv)
{
    try
    {
        if (readArguments (argc,argv)==false) {
            return 0;
        }
        //parse arguments
        ;
        //read from camera or from  file
        if (TheInputVideo=="live") {
            TheVideoCapturer.open(0);
            waitTime=10;
        }
        else  TheVideoCapturer.open(TheInputVideo);
        //check video is open
        if (!TheVideoCapturer.isOpened()) {
            cerr<<"Could not open video"<<endl;
            return -1;

        }

        //read first image to get the dimensions
        TheVideoCapturer>>TheInputImage;

        //read camera parameters if passed
        if (TheIntrinsicFile!="") {
            TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
            TheCameraParameters.resize(TheInputImage.size());
        }
        //Configure other parameters
        if (ThePyrDownLevel>0)
            MDetector.pyrDown(ThePyrDownLevel);


        //Create gui

        cv::namedWindow("thres",1);
        cv::namedWindow("in",1);
        MDetector.getThresholdParams( ThresParam1,ThresParam2);
        MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
        iThresParam1=ThresParam1;
        iThresParam2=ThresParam2;
        cv::createTrackbar("ThresParam1", "in",&iThresParam1, 13, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in",&iThresParam2, 13, cvTackBarEvents);

        char key=0;
        int index=0;
        //capture until press ESC or until the end of the video
        while ( key!=27 && TheVideoCapturer.grab())
        {
            TheVideoCapturer.retrieve( TheInputImage);
            //copy image

            index++; //number of images captured
            double tick = (double)getTickCount();//for checking the speed
            //Detection of markers in the image passed
            MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
            //chekc the speed by calculating the mean speed of all iterations
            AvrgTime.first+=((double)getTickCount()-tick)/getTickFrequency();
            AvrgTime.second++;
            cout<<"Time detection="<<1000*AvrgTime.first/AvrgTime.second<<" milliseconds"<<endl;

            //print marker info and draw the markers in image
            TheInputImage.copyTo(TheInputImageCopy);
            for (unsigned int i=0;i<TheMarkers.size();i++) {
                cout<<TheMarkers[i]<<endl;
                TheMarkers[i].draw(TheInputImageCopy,Scalar(0,0,255),1);
            }
            //print other rectangles that contains no valid markers
       /**     for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
                aruco::Marker m( MDetector.getCandidates()[i],999);
                m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
            }*/



            //draw a 3d cube in each marker if there is 3d info
            if (  TheCameraParameters.isValid())
                for (unsigned int i=0;i<TheMarkers.size();i++) {
                    CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
                    CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
                }
            //DONE! Easy, right?
            cout<<endl<<endl<<endl;
            //show input with augmented information and  the thresholded image
            cv::imshow("in",TheInputImageCopy);
            cv::imshow("thres",MDetector.getThresholdedImage());

            key=cv::waitKey(waitTime);//wait for key to be pressed
        }

    } catch (std::exception &ex)

    {
        cout<<"Exception :"<<ex.what()<<endl;
    }

}