void cvTackBarEvents(int pos,void*) {
if (i_threshold_param1 < 3)
i_threshold_param1 = 3;
if (i_threshold_param1 % 2 != 1)
i_threshold_param1++;
if (i_threshold_param2 < 1)
i_threshold_param2 = 1;
threshold_param1 = i_threshold_param1;
threshold_param2 = i_threshold_param2;
marker_dector.setThresholdParams(threshold_param1, threshold_param2);
//recompute
marker_dector.detect(input_image, markers, camera_params);
input_image.copyTo(input_image_copy);
for(unsigned int i=0; i < markers.size(); i++)
markers[i].draw(input_image, Scalar(0, 0, 255), 2);
//draw a 3d cube in each marker if there is 3d info
if (camera_params.isValid())
for(unsigned int i=0; i < markers.size(); i++)
aruco::CvDrawingUtils::draw3dCube(input_image_copy, markers[i], camera_params);
cv::imshow("in", input_image_copy);
cv::imshow("thres", marker_dector.getThresholdedImage());
}
void image_callback(const sensor_msgs::ImageConstPtr& msg)
{
static tf::TransformBroadcaster br;
if(cam_info_received_)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
inImage_ = cv_ptr->image;
//clear out previous detection results
markers_.clear();
marker_msg_->markers.clear();
//Ok, let's detect
mDetector_.detect(inImage_, markers_, camParam_, marker_size_, false);
marker_msg_->markers.resize(markers_.size());
ros::Time curr_stamp(ros::Time::now());
marker_msg_->header.stamp = curr_stamp;
marker_msg_->header.seq++;
//get the current transform from the camera frame to output ref frame
tf::StampedTransform cameraToReference;
cameraToReference.setIdentity();
if ( reference_frame_ != camera_frame_ )
{
getTransform(reference_frame_,
camera_frame_,
cameraToReference);
}
//Now find the transform for each detected marker
for(size_t i=0; i < markers_.size(); ++i)
{
tf::Transform transform = aruco_ros::arucoMarker2Tf(markers_[i]);
transform = static_cast<tf::Transform>(cameraToReference) * transform;
//Maybe change this to broadcast separate transforms for each marker?
//tf::StampedTransform stampedTransform(transform, curr_stamp,
//reference_frame_, marker_frame_);
//br.sendTransform(stampedTransform);
aruco_msgs::Marker & marker_i = marker_msg_->markers.at(i);
tf::poseTFToMsg(transform, marker_i.pose.pose);
marker_i.header.frame_id = reference_frame_;
marker_i.header.stamp = curr_stamp;
marker_i.id = markers_.at(i).id;
marker_i.confidence = 1.0;
markers_[i].draw(inImage_,cv::Scalar(0,0,255),2);
}
//publish marker array
if (marker_msg_->markers.size() > 0)
marker_pub_.publish(marker_msg_);
//draw a 3d cube in each marker if there is 3d info
if(camParam_.isValid() && marker_size_!=-1)
{
for(size_t i=0; i<markers_.size(); ++i)
aruco::CvDrawingUtils::draw3dAxis(inImage_, markers_[i], camParam_);
}
if(image_pub_.getNumSubscribers() > 0)
{
//show input with augmented information
cv_bridge::CvImage out_msg;
out_msg.header.stamp = curr_stamp;
out_msg.encoding = sensor_msgs::image_encodings::RGB8;
out_msg.image = inImage_;
image_pub_.publish(out_msg.toImageMsg());
}
if(debug_pub_.getNumSubscribers() > 0)
{
//show also the internal image resulting from the threshold operation
cv_bridge::CvImage debug_msg;
debug_msg.header.stamp = curr_stamp;
debug_msg.encoding = sensor_msgs::image_encodings::MONO8;
debug_msg.image = mDetector_.getThresholdedImage();
debug_pub_.publish(debug_msg.toImageMsg());
}
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
}
}
}
int main() {
// 打开摄像头
video_capture.open(0);
if (!video_capture.isOpened()){
std::cerr << "Could not open video" << endl;
return -1;
}
// 获取第一张图像，用于这设置参数
video_capture >> input_image;
// 读取摄像机参数
camera_params.readFromXMLFile("camera.yml");
camera_params.resize(input_image.size());
// 注册窗口
cv::namedWindow("thres",1);
cv::namedWindow("in",1);
marker_dector.getThresholdParams(threshold_param1, threshold_param2);
i_threshold_param1 = threshold_param1;
i_threshold_param2 = threshold_param2;
cv::createTrackbar("ThresParam1", "in",&i_threshold_param1, 13, cvTackBarEvents);
cv::createTrackbar("ThresParam2", "in",&i_threshold_param2, 13, cvTackBarEvents);
char key=0;
int index=0;
//capture until press ESC or until the end of the video
while( key!=27 && video_capture.grab())
{
//copy image
video_capture.retrieve(input_image);
//number of images captured
index++;
//for checking the speed
double tick = (double)cv::getTickCount();
//Detection of markers in the image passed
marker_dector.detect(input_image, markers, camera_params, marker_size);
//chekc the speed by calculating the mean speed of all iterations
average_time.first += ((double)cv::getTickCount() - tick) / cv::getTickFrequency();
average_time.second++;
std::cout << "Time detection=" << 1000 * average_time.first / average_time.second << " milliseconds" << endl;
//print marker info and draw the markers in image
input_image.copyTo(input_image_copy);
for(unsigned int i = 0; i < markers.size(); i++){
std::cout << markers[i] << std::endl;
markers[i].draw(input_image, Scalar(0, 0, 255), 2);
}
//draw a 3d cube in each marker if there is 3d info
if ( camera_params.isValid())
for(unsigned int i = 0; i < markers.size(); i++){
aruco::CvDrawingUtils::draw3dCube(input_image, markers[i], camera_params);
aruco::CvDrawingUtils::draw3dAxis(input_image, markers[i], camera_params);
}
//DONE! Easy, right?
cout << endl << endl << endl;
//show input with augmented information and the thresholded image
cv::imshow("in", input_image);
cv::imshow("thres", marker_dector.getThresholdedImage());
key=cv::waitKey(0);//wait for key to be pressed
}
return 0;
}
