int main(int argc, char **argv){
printf("one\n");
apriltag_family_t *tf = tag36h11_create();
printf("two\n");
apriltag_detector_t *td = apriltag_detector_create();
printf("three\n");
apriltag_detector_add_family(td,tf);
printf("four\n");
image_u8_t* img = image_u8_create_from_pnm("../WillTagged.pnm");
printf("five\n");
zarray_t* detections = apriltag_detector_detect(td,img);
printf("%i",zarray_size(detections));
printf("\n");
}
int main(int argc, char *argv[])
{
getopt_t *getopt = getopt_create();
getopt_add_bool(getopt, 'h', "help", 0, "Show this help");
getopt_add_bool(getopt, 'd', "debug", 0, "Enable debugging output (slow)");
getopt_add_bool(getopt, 'q', "quiet", 0, "Reduce output");
getopt_add_string(getopt, 'f', "family", "tag36h11", "Tag family to use");
getopt_add_int(getopt, '\0', "border", "1", "Set tag family border size");
getopt_add_int(getopt, 'i', "iters", "1", "Repeat processing on input set this many times");
getopt_add_int(getopt, 't', "threads", "4", "Use this many CPU threads");
getopt_add_double(getopt, 'x', "decimate", "1.0", "Decimate input image by this factor");
getopt_add_double(getopt, 'b', "blur", "0.0", "Apply low-pass blur to input");
getopt_add_bool(getopt, '1', "refine-decode", 0, "Spend more time trying to decode tags");
getopt_add_bool(getopt, '2', "refine-pose", 0, "Spend more time trying to precisely localize tags");
if (!getopt_parse(getopt, argc, argv, 1) || getopt_get_bool(getopt, "help")) {
printf("Usage: %s [options] <input files>\n", argv[0]);
getopt_do_usage(getopt);
exit(0);
}
const zarray_t *inputs = getopt_get_extra_args(getopt);
apriltag_family_t *tf = NULL;
const char *famname = getopt_get_string(getopt, "family");
if (!strcmp(famname, "tag36h11"))
tf = tag36h11_create();
else if (!strcmp(famname, "tag36h10"))
tf = tag36h10_create();
else if (!strcmp(famname, "tag36artoolkit"))
tf = tag36artoolkit_create();
else if (!strcmp(famname, "tag25h9"))
tf = tag25h9_create();
else if (!strcmp(famname, "tag25h7"))
tf = tag25h7_create();
else {
printf("Unrecognized tag family name. Use e.g. \"tag36h11\".\n");
exit(-1);
}
tf->black_border = getopt_get_int(getopt, "border");
apriltag_detector_t *td = apriltag_detector_create();
apriltag_detector_add_family(td, tf);
td->quad_decimate = getopt_get_double(getopt, "decimate");
td->quad_sigma = getopt_get_double(getopt, "blur");
td->nthreads = getopt_get_int(getopt, "threads");
td->debug = getopt_get_bool(getopt, "debug");
td->refine_decode = getopt_get_bool(getopt, "refine-decode");
td->refine_pose = getopt_get_bool(getopt, "refine-pose");
int quiet = getopt_get_bool(getopt, "quiet");
int maxiters = getopt_get_int(getopt, "iters");
const int hamm_hist_max = 10;
for (int iter = 0; iter < maxiters; iter++) {
if (maxiters > 1)
printf("iter %d / %d\n", iter + 1, maxiters);
for (int input = 0; input < zarray_size(inputs); input++) {
int hamm_hist[hamm_hist_max];
memset(hamm_hist, 0, sizeof(hamm_hist));
char *path;
zarray_get(inputs, input, &path);
if (!quiet)
printf("loading %s\n", path);
image_u8_t *im = image_u8_create_from_pnm(path);
if (im == NULL) {
printf("couldn't find %s\n", path);
continue;
}
zarray_t *detections = apriltag_detector_detect(td, im);
for (int i = 0; i < zarray_size(detections); i++) {
apriltag_detection_t *det;
zarray_get(detections, i, &det);
if (!quiet)
printf("detection %3d: id (%2dx%2d)-%-4d, hamming %d, goodness %8.3f, margin %8.3f\n",
i, det->family->d*det->family->d, det->family->h, det->id, det->hamming, det->goodness, det->decision_margin);
hamm_hist[det->hamming]++;
apriltag_detection_destroy(det);
}
zarray_destroy(detections);
if (!quiet) {
timeprofile_display(td->tp);
printf("nedges: %d, nsegments: %d, nquads: %d\n", td->nedges, td->nsegments, td->nquads);
}
if (!quiet)
printf("Hamming histogram: ");
for (int i = 0; i < hamm_hist_max; i++)
printf("%5d", hamm_hist[i]);
if (quiet) {
printf("%12.3f", timeprofile_total_utime(td->tp) / 1.0E3);
}
printf("\n");
image_u8_destroy(im);
}
}
// don't deallocate contents of inputs; those are the argv
apriltag_detector_destroy(td);
tag36h11_destroy(tf);
return 0;
}
int main(int argc, char *argv[])
{
april_tag_family_t *tf = tag36h11_create();
april_tag_detector_t *td = april_tag_detector_create(tf);
td->small_tag_refinement = 0;
int maxiters = 1;
zarray_t *inputs = zarray_create(sizeof(char*));
int waitsec = 0;
for (int i = 1; i < argc; i++) {
if (!strcmp(argv[i], "-d"))
td->debug = 1;
else if (!strcmp(argv[i], "-t"))
td->nthreads = atoi(argv[++i]);
else if (!strcmp(argv[i], "-f"))
td->seg_decimate = (i+1 < argc && isdigit(argv[i+1][0])) ? atoi(argv[++i]) : 2;
else if (!strcmp(argv[i], "-i"))
maxiters = atoi(argv[++i]);
else if (!strcmp(argv[i], "-r"))
td->small_tag_refinement = 1;
else if (!strcmp(argv[i], "-w"))
waitsec = atoi(argv[++i]);
else if (!strcmp(argv[i], "-b"))
td->seg_sigma = atof(argv[++i]);
/* else if (!strcmp(argv[i], "--family")) {
char *fam = argv[++i];
if (!strcmp(fam, "36h11"))
td->tag_family = tag36h11_create();
else if (!strcmp(fam, "36h10"))
td->tag_family = tag36h10_create();
} */
else
zarray_add(inputs, &argv[i]);
}
for (int iter = 0; iter < maxiters; iter++) {
if (maxiters > 1)
printf("iter %d / %d\n", iter + 1, maxiters);
for (int input = 0; input < zarray_size(inputs); input++) {
char *path;
zarray_get(inputs, input, &path);
printf("loading %s\n", path);
image_u8_t *im = image_u8_create_from_pnm(path);
if (im == NULL) {
printf("couldn't find %s\n", path);
continue;
}
zarray_t *detections = april_tag_detector_detect(td, im);
for (int i = 0; i < zarray_size(detections); i++) {
april_tag_detection_t *det;
zarray_get(detections, i, &det);
printf("detection %3d: id %4d, hamming %d, goodness %f\n", i, det->id, det->hamming, det->goodness);
april_tag_detection_destroy(det);
}
zarray_destroy(detections);
timeprofile_display(td->tp);
printf("nedges: %d, nsegments: %d, nquads: %d\n", td->nedges, td->nsegments, td->nquads);
image_u8_destroy(im);
if (zarray_size(inputs) > 1 || iter > 0)
sleep(waitsec);
}
}
april_tag_detector_destroy(td);
tag36h11_destroy(tf);
return 0;
}
double* getTag(char* path)
{
apriltag_family_t *tf = NULL;
tf = tag36h11_create();
tf->black_border = 1;
apriltag_detector_t *td = apriltag_detector_create();
apriltag_detector_add_family(td, tf);
td->quad_decimate = 1.0;
td->quad_sigma = 0.0;
td->nthreads = 4;
td->debug = 0;
td->refine_decode = 0;
td->refine_pose = 0;
int quiet = 0;
int maxiters = 1;
const int hamm_hist_max = 10;
int hamm_hist[hamm_hist_max];
memset(hamm_hist, 0, sizeof(hamm_hist));
image_u8_t *im = image_u8_create_from_pnm(path);
if (im == NULL) {
printf("couldn't find %s\n", path);
return NULL;
}
zarray_t *detections = apriltag_detector_detect(td, im);
nrows = zarray_size(detections);
ncols = 9;
if (nrows == 0)
return NULL;
double* output_matrix = new double[nrows*ncols];
for (int i = 0; i < zarray_size(detections); i++) {
apriltag_detection_t *det;
zarray_get(detections, i, &det);
output_matrix[ncols*i+0] = det->id;
for(int j=0; j<4; j++)
{
output_matrix[ncols*i+ 2*j +1] = det->p[j][0];
output_matrix[ncols*i+ 2*j +2] = det->p[j][1];
}
hamm_hist[det->hamming]++;
apriltag_detection_destroy(det);
}
zarray_destroy(detections);
image_u8_destroy(im);
// don't deallocate contents of inputs; those are the argv
apriltag_detector_destroy(td);
tag36h11_destroy(tf);
return output_matrix;
}
int main(int argc, char ** argv)
{
getopt_t *gopt = getopt_create();
getopt_add_bool (gopt, 'h', "help", 0, "Show help");
getopt_add_bool (gopt, '\0', "no-gtk", 0, "Don't show gtk window, only advertise remote connection");
getopt_add_int (gopt, 'l', "limitKBs", "-1", "Remote display bandwidth limit. < 0: unlimited.");
getopt_add_string (gopt, '\0', "pnm", "", "Path for pnm file to render as texture (.e.g BlockM.pnm)");
getopt_add_bool (gopt, '\0', "stay-open", 0, "Stay open after gtk exits to continue handling remote connections");
// parse and print help
if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
printf ("Usage: %s [options]\n\n", argv[0]);
getopt_do_usage (gopt);
exit (1);
}
signal(SIGPIPE, SIG_IGN); // potential fix for Valgrind "Killed" on
// remote viewer exit
state_t * state = state_create();
// Load a pnm from file, and repack the data so that it's understandable by vx
if (strcmp(getopt_get_string(gopt,"pnm"),"")) {
image_u8_t * img2 = image_u8_create_from_pnm(getopt_get_string(gopt, "pnm"));
state->img = image_util_convert_rgb_to_rgba (img2);
image_u8_destroy (img2);
}
vx_global_init(); // Call this to initialize the vx-wide lock. Required to start the GL thread or to use the program library
vx_application_t app = {.impl=state, .display_started=display_started, .display_finished=display_finished};
vx_remote_display_source_attr_t remote_attr;
vx_remote_display_source_attr_init(&remote_attr);
remote_attr.max_bandwidth_KBs = getopt_get_int(gopt, "limitKBs");
remote_attr.advertise_name = "Vx Stress Test";
vx_remote_display_source_t * cxn = vx_remote_display_source_create_attr(&app, &remote_attr);
for (int i = 0; i < NRENDER; i++) {
tinfo_t * tinfo = calloc(1,sizeof(tinfo_t));
tinfo->state = state;
tinfo->id = i;
pthread_create(&state->render_threads[i], NULL, render_loop, tinfo);
}
pthread_create(&state->camera_thread, NULL, camera_loop, state);
if (!getopt_get_bool(gopt,"no-gtk")) {
gdk_threads_init ();
gdk_threads_enter ();
gtk_init (&argc, &argv);
vx_gtk_display_source_t * appwrap = vx_gtk_display_source_create(&app);
GtkWidget * window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
GtkWidget * canvas = vx_gtk_display_source_get_widget(appwrap);
gtk_window_set_default_size (GTK_WINDOW (window), 400, 400);
gtk_container_add(GTK_CONTAINER(window), canvas);
gtk_widget_show (window);
gtk_widget_show (canvas); // XXX Show all causes errors!
g_signal_connect_swapped(G_OBJECT(window), "destroy", G_CALLBACK(gtk_main_quit), NULL);
gtk_main (); // Blocks as long as GTK window is open
gdk_threads_leave ();
vx_gtk_display_source_destroy(appwrap);
// quit when gtk closes? Or wait for remote displays/Ctrl-C
if (!getopt_get_bool(gopt, "stay-open"))
state->running = 0;
}
for (int i = 0; i < NRENDER; i++)
pthread_join(state->render_threads[i], NULL);
vx_remote_display_source_destroy(cxn);
state_destroy(state);
vx_global_destroy();
getopt_destroy(gopt);
}
int main(int argc, char ** argv)
{
getopt_t *gopt = getopt_create();
getopt_add_bool (gopt, 'h', "help", 0, "Show help");
getopt_add_bool (gopt, '\0', "no-gtk", 0, "Don't show gtk window, only advertise remote connection");
getopt_add_string (gopt, '\0', "pnm", "", "Path for pnm file to render as texture (.e.g BlockM.pnm)");
getopt_add_bool (gopt, '\0', "stay-open", 0, "Stay open after gtk exits to continue handling remote connections");
// parse and print help
if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
printf ("Usage: %s [options]\n\n", argv[0]);
getopt_do_usage (gopt);
exit (1);
}
state_t * state = state_create();
// Load a pnm from file, and repack the data so that it's understandable by vx
if (strcmp(getopt_get_string(gopt,"pnm"),"")) {
image_u8_t * img2 = image_u8_create_from_pnm(getopt_get_string(gopt, "pnm"));
state->img = image_util_convert_rgb_to_rgba (img2);
image_u8_destroy (img2);
}
vx_global_init(); // Call this to initialize the vx-wide lock. Required to start the GL thread or to use the program library
pthread_create(&state->render_thread1, NULL, render_thread1, state);
pthread_create(&state->render_thread2, NULL, render_thread2, state);
vx_remote_display_source_t * cxn = vx_remote_display_source_create(&state->app);
if (!getopt_get_bool(gopt,"no-gtk")) {
gdk_threads_init ();
gdk_threads_enter ();
gtk_init (&argc, &argv);
vx_gtk_display_source_t * appwrap = vx_gtk_display_source_create(&state->app);
GtkWidget * window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
GtkWidget * canvas = vx_gtk_display_source_get_widget(appwrap);
gtk_window_set_default_size (GTK_WINDOW (window), 400, 400);
gtk_container_add(GTK_CONTAINER(window), canvas);
gtk_widget_show (window);
gtk_widget_show (canvas); // XXX Show all causes errors!
g_signal_connect_swapped(G_OBJECT(window), "destroy", G_CALLBACK(gtk_main_quit), NULL);
gtk_main (); // Blocks as long as GTK window is open
gdk_threads_leave ();
vx_gtk_display_source_destroy(appwrap);
// quit when gtk closes? Or wait for remote displays/Ctrl-C
if (!getopt_get_bool(gopt, "stay-open"))
state->running = 0;
}
pthread_join(state->render_thread1, NULL);
pthread_join(state->render_thread2, NULL);
vx_remote_display_source_destroy(cxn);
state_destroy(state);
vx_global_destroy();
getopt_destroy(gopt);
}
