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());
}
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));
}
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;
}
}
