int main(int argc, const char * argv[])
{
// Create the root node and add a scene
osg::Group* root = new osg::Group();
///////////////////////////////////////////////////////////////////////////////////
// Step 1:
// Open a video capture device
cv::VideoCapture* capture = new cv::VideoCapture(0);
// Check whether the video camera is available
if (!capture ) {
std::cout << "Error" << std::endl;
return -1;
}
capture->set(CV_CAP_PROP_FRAME_WIDTH, (int)width);
capture->set(CV_CAP_PROP_FRAME_HEIGHT, (int)height);
// Init the video by fetching the first frame
cv::Mat videoImage;
cv::Mat videoImageRGB;
(*capture) >> videoImage;
cvtColor(videoImage, videoImageRGB, CV_RGBA2RGB);
// Read the camera properties width and height;
width = capture->get(CV_CAP_PROP_FRAME_WIDTH);
height = capture->get(CV_CAP_PROP_FRAME_HEIGHT);
// Query the frame size of the video image.
cv::Size size = cvSize((int) capture->get(CV_CAP_PROP_FRAME_WIDTH), (int) capture->get(CV_CAP_PROP_FRAME_HEIGHT));
///////////////////////////////////////////////////////////////////////////////////
// Step 2:
// Create the video background
osg::Group* videoCanvas = VideoRenderer::createSzene(videoImageRGB.ptr<uchar>(0), size.width, size.height);
root->addChild(videoCanvas);
///////////////////////////////////////////////////////////////////////////////////
// Load the camera calibration parameters
// output Matrices
cv::Mat intrincsicMatrix = Mat::zeros(3,3, CV_32F);
cv::Mat distCoeffs = Mat::zeros(1, 4, CV_32F);
FileStorage fs("../data_art/Camera_Parameter_File.yml", FileStorage::READ);
fs[ "intrinsic_matrix"] >> intrincsicMatrix;
fs[ "dist_coeffs"] >> distCoeffs;
fs.release();
cout << intrincsicMatrix << endl;
cout << distCoeffs << endl;
///////////////////////////////////////////////////////////////////////////////////
// Step 3:
// Init the Marker Tracker
MarkerDetector* md = new MarkerDetector(width, height, intrincsicMatrix, distCoeffs);
md->setThreshold(150);
///////////////////////////////////////////////////////////////////////////////////
// Step 4:
// Create Scene
root->addChild(createScene());
///////////////////////////////////////////////////////////////////////////////////
// Step 5:
// Load a camera configuration and apply this configuration on the projection matrix.
Size imageSize;
imageSize.width = width;
imageSize.height = height;
// physical size of the sensor.
double apertureWidth = 3.2;
double apertureHeight = 2.4;
double fovx, fovy, focalLength, aspectRatio;
Point2d principalPoint;
cv::calibrationMatrixValues(intrincsicMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectRatio);
osg::Matrixd projectionmatrix;
projectionmatrix.makePerspective(fovy, fovx/fovy, 0.1, 1000.0);
///////////////////////////////////////////////////////////////////////////////////
// Step 6:
// Create a viewer and add a manipulator
osgViewer::Viewer* viewer = new osgViewer::Viewer();
viewer->setSceneData( root );
viewer->setUpViewOnSingleScreen(0);
viewer->getCamera()->setClearColor(osg::Vec4(0.5, 0.5, 1.0, 1.0)) ;
viewer->getCamera()->setProjectionMatrix(projectionmatrix);
//viewer->setCameraManipulator(new osgGA::TrackballManipulator);
viewer->getCamera()->setViewMatrixAsLookAt(osg::Vec3d(0.0,-10.0, 0.0), osg::Vec3d(0.0,0.0, 0.0), osg::Vec3d(0.0,0.0, 1.0));
//viewer->addEventHandler(new KeyboardEventHandler(teapot));
viewer->init();
///////////////////////////////////////////////////////////////////////////////////
// Step 7:
// Run the viewer
// Two transform nodes are created
while(!viewer->done())
{
// Fetch an image
(*capture) >> videoImage;
cvtColor(videoImage, videoImageRGB, CV_RGBA2RGB);
// Update the marker tracking
md->findMarkers(videoImageRGB, detectedMarkers, false);
// Run the viewer
viewer->frame();
textStr = "Found object " + g_modelname;
text->setText( textStr);
textStr2 = g_paddlelocation;
text2->setText( textStr2);
textStr3 = g_state;
text3->setText( textStr3);
textStr4 = g_direction;
text4->setText( textStr4);
textStr5 = g_speed;
text5->setText( textStr5);
textStr6 = g_direction2;
text6->setText( textStr6);
}
capture->release();
return 0;
}
