/**Static version (all in one) */ Board BoardDetector::detect(const cv::Mat &Image, const BoardConfiguration &bc, const CameraParameters &cp, float markerSizeMeters) { BoardDetector BD; BD.setParams(bc, cp, markerSizeMeters); BD.detect(Image); return BD.getDetectedBoard(); }
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; } }