void vIdle() {
if (TheCaptureFlag) {
// capture image
TheVideoCapturer.grab();
TheVideoCapturer.retrieve(TheInputImage);
TheUndInputImage.create(TheInputImage.size(), CV_8UC3);
// by deafult, opencv works in BGR, so we must convert to RGB because OpenGL in windows preffer
cv::cvtColor(TheInputImage, TheInputImage, CV_BGR2RGB);
// remove distorion in image
cv::undistort(TheInputImage, TheUndInputImage, TheCameraParams.CameraMatrix,
TheCameraParams.Distorsion);
// detect markers
MDetector.detect(TheUndInputImage, TheMarkers);
// Detection of the board
TheBoardDetected.second = TheBoardDetector.detect(
TheMarkers, TheBoardConfig, TheBoardDetected.first, TheCameraParams, TheMarkerSize);
// chekc the speed by calculating the mean speed of all iterations
// resize the image to the size of the GL window
cv::resize(TheUndInputImage, TheResizedImage, TheGlWindowSize);
// create mask. It is a syntetic mask consisting of a simple rectangle, just to show a example of
// opengl with mask
TheMask = createSyntheticMask(TheResizedImage); // lets create with the same size of the resized
// image, i.e. the size of the opengl window
}
glutPostRedisplay();
}
int main(int argc,char **argv)
{
try
{
if(argc<3) {cerr<<"Usage: image boardConfig.yml [cameraParams.yml] [markerSize] [outImage]"<<endl;exit(0);}
aruco::CameraParameters CamParam;
MarkerDetector MDetector;
vector<aruco::Marker> Markers;
float MarkerSize=-1;
BoardConfiguration TheBoardConfig;
BoardDetector TheBoardDetector;
Board TheBoardDetected;
cv::Mat InImage=cv::imread(argv[1]);
TheBoardConfig.readFromFile(argv[2]);
if (argc>=4) {
CamParam.readFromXMLFile(argv[3]);
//resizes the parameters to fit the size of the input image
CamParam.resize( InImage.size());
}
if (argc>=5)
MarkerSize=atof(argv[4]);
cv::namedWindow("in",1);
MDetector.detect(InImage,Markers);//detect markers without computing R and T information
//Detection of the board
float probDetect=TheBoardDetector.detect( Markers, TheBoardConfig,TheBoardDetected, CamParam,MarkerSize);
//for each marker, draw info and its boundaries in the image
for(unsigned int i=0;i<Markers.size();i++){
cout<<Markers[i]<<endl;
Markers[i].draw(InImage,Scalar(0,0,255),2);
}
//draw a 3d cube in each marker if there is 3d info
if ( CamParam.isValid()){
for(unsigned int i=0;i<Markers.size();i++){
CvDrawingUtils::draw3dCube(InImage,Markers[i],CamParam);
CvDrawingUtils::draw3dAxis(InImage,Markers[i],CamParam);
}
CvDrawingUtils::draw3dAxis(InImage,TheBoardDetected,CamParam);
cout<<TheBoardDetected.Rvec<<" "<<TheBoardDetected.Tvec<<endl;
}
//draw board axis
//show input with augmented information
cv::imshow("in",InImage);
cv::waitKey(0);//wait for key to be pressed
if(argc>=6) cv::imwrite(argv[5],InImage);
}catch(std::exception &ex)
{
cout<<"Exception :"<<ex.what()<<endl;
}
}
void cvTackBarEvents(int pos,void*)
{
if (iThresParam1<3) iThresParam1=3;
if (iThresParam1%2!=1) iThresParam1++;
if (ThresParam2<1) ThresParam2=1;
ThresParam1=iThresParam1;
ThresParam2=iThresParam2;
TheBoardDetector.getMarkerDetector().setThresholdParams(ThresParam1,ThresParam2);
//recompute
//Detection of the board
float probDetect=TheBoardDetector.detect( TheInputImage);
if (TheCameraParameters.isValid() && probDetect>0.2)
aruco::CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheBoardDetector.getDetectedBoard(),TheCameraParameters);
cv::imshow("in",TheInputImageCopy);
cv::imshow("thres",TheBoardDetector.getMarkerDetector().getThresholdedImage());
}
void cvTackBarEvents(int pos,void*)
{
if (iThresParam1<3) iThresParam1=3;
if (iThresParam1%2!=1) iThresParam1++;
if (ThresParam2<1) ThresParam2=1;
ThresParam1=iThresParam1;
ThresParam2=iThresParam2;
for (unsigned int i=0; i<TOTAL_METHODS; i++)
MDetector[i].setThresholdParams(ThresParam1,ThresParam2);
//recompute
for (unsigned int i=0; i<TOTAL_METHODS; i++)
MDetector[i].detect(TheInputImage,TheMarkers,TheCameraParameters ,TheMarkerSize);
//Detection of the board
float probDetect=TheBoardDetector.detect( TheMarkers, TheBoardConfig,TheBoardDetected, TheCameraParameters);
if (TheCameraParameters.isValid() && probDetect>0.2)
aruco::CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheBoardDetected,TheCameraParameters);
cv::imshow("in",TheInputImageCopy);
cv::imshow("thres",MDetector[0].getThresholdedImage());
}
void vIdle()
{
if (TheCaptureFlag) {
//capture image
TheVideoCapturer.grab();
TheVideoCapturer.retrieve( TheInputImage);
TheUndInputImage.create(TheInputImage.size(),CV_8UC3);
//by deafult, opencv works in BGR, so we must convert to RGB because OpenGL in windows preffer
cv::cvtColor(TheInputImage,TheInputImage,CV_BGR2RGB);
//remove distorion in image
cv::undistort(TheInputImage,TheUndInputImage, TheCameraParams.CameraMatrix,TheCameraParams.Distorsion);
//detect markers
MDetector.detect(TheUndInputImage,TheMarkers,TheCameraParams.CameraMatrix,Mat(),TheMarkerSize);
//Detection of the board
TheBoardDetected.second=TheBoardDetector.detect( TheMarkers, TheBoardConfig,TheBoardDetected.first, TheCameraParams,TheMarkerSize);
//chekc the speed by calculating the mean speed of all iterations
//resize the image to the size of the GL window
cv::resize(TheUndInputImage,TheResizedImage,TheGlWindowSize);
}
glutPostRedisplay();
}
/*!
*
*/
static void vIdle()
{
if (capture)
{
//capture image
vCapturer >> inImg;
assert(inImg.empty()==false);
undImg.create(inImg.size(),CV_8UC3);
//by default, opencv works in BGR, so we must convert to RGB because OpenGL in windows prefer
// cv::cvtColor(inImg,inImg,CV_BGR2RGB);
//remove distortion in image
cv::undistort(inImg,undImg, camParams.getCamMatrix(),camParams.getDistor());
//detect markers
mDetector.detect(undImg,markers,camParams.getCamMatrix(),Mat(),msiz->dval[0]);
//Detection of the board
board.second=bDetector.detect(markers, boardConfig,board.first, camParams,msiz->dval[0]);
//check the speed by calculating the mean speed of all iterations
//resize the image to the size of the GL window
cv::resize(undImg, resImg, glSize);
}
glutPostRedisplay();
}
/**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;
}
}
void image_callback(const sensor_msgs::ImageConstPtr& msg)
{
static tf::TransformBroadcaster br;
if(!cam_info_received) return;
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
inImage = cv_ptr->image;
resultImg = cv_ptr->image.clone();
//detection results will go into "markers"
markers.clear();
//Ok, let's detect
mDetector.detect(inImage, markers, camParam, marker_size, false);
//Detection of the board
float probDetect=the_board_detector.detect(markers, the_board_config, the_board_detected, camParam, marker_size);
if (probDetect > 0.0)
{
foundBoard = true; //added///////////////////////
tf::Transform transform = ar_sys::getTf(the_board_detected.Rvec, the_board_detected.Tvec);
tf::StampedTransform stampedTransform(transform, msg->header.stamp, msg->header.frame_id, board_frame);
if (publish_tf)
br.sendTransform(stampedTransform);
geometry_msgs::PoseStamped poseMsg;
tf::poseTFToMsg(transform, poseMsg.pose);
poseMsg.header.frame_id = msg->header.frame_id;
poseMsg.header.stamp = msg->header.stamp;
pose_pub.publish(poseMsg);
geometry_msgs::TransformStamped transformMsg;
tf::transformStampedTFToMsg(stampedTransform, transformMsg);
transform_pub.publish(transformMsg);
geometry_msgs::Vector3Stamped positionMsg;
positionMsg.header = transformMsg.header;
positionMsg.vector = transformMsg.transform.translation;
position_pub.publish(positionMsg);
std_msgs::Float32 boardSizeMsg;
boardSizeMsg.data=the_board_detected[0].ssize;
boardSize_pub.publish(boardSizeMsg);
}
//ADDED////////////////////////////////////////////////////////////////////////////
if(rvec_pub.getNumSubscribers() > 0 && foundBoard)
{
cv_bridge::CvImage rvecMsg;
rvecMsg.header.frame_id = msg->header.frame_id;
rvecMsg.header.stamp = msg->header.stamp;
rvecMsg.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
rvecMsg.image = the_board_detected[0].Rvec;
rvec_pub.publish(rvecMsg.toImageMsg());
}
if(tvec_pub.getNumSubscribers() > 0 && foundBoard)
{
cv_bridge::CvImage tvecMsg;
tvecMsg.header.frame_id = msg->header.frame_id;
tvecMsg.header.stamp = msg->header.stamp;
tvecMsg.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
tvecMsg.image = the_board_detected[0].Tvec;
tvec_pub.publish(tvecMsg.toImageMsg());
}
///////////////////////////////////////////////////////////////////////////////
//for each marker, draw info and its boundaries in the image
for(size_t i=0; draw_markers && i < markers.size(); ++i)
{
markers[i].draw(resultImg,cv::Scalar(0,0,255),2);
}
if(camParam.isValid() && marker_size != -1)
{
//draw a 3d cube in each marker if there is 3d info
for(size_t i=0; i<markers.size(); ++i)
{
if (draw_markers_cube) CvDrawingUtils::draw3dCube(resultImg, markers[i], camParam);
if (draw_markers_axis) CvDrawingUtils::draw3dAxis(resultImg, markers[i], camParam);
}
//draw board axis
if (probDetect > 0.0)
{
CvDrawingUtils::draw3dAxis(resultImg, the_board_detected, camParam);
}
}
if(image_pub.getNumSubscribers() > 0)
{
//show input with augmented information
cv_bridge::CvImage out_msg;
out_msg.header.frame_id = msg->header.frame_id;
out_msg.header.stamp = msg->header.stamp;
out_msg.encoding = sensor_msgs::image_encodings::RGB8;
out_msg.image = resultImg;
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.frame_id = msg->header.frame_id;
debug_msg.header.stamp = msg->header.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());
return;
}
}
void image_callback(const sensor_msgs::ImageConstPtr& msg)
{
if(!cam_info_received) return;
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
inImage = cv_ptr->image;
resultImg = cv_ptr->image.clone();
//detection results will go into "markers"
markers.clear();
//Ok, let's detect
double min_size = boards[0].marker_size;
for (int board_index = 1; board_index < boards.size(); board_index++)
if (min_size > boards[board_index].marker_size) min_size = boards[board_index].marker_size;
mDetector.detect(inImage, markers, camParam, min_size, false);
for (int board_index = 0; board_index < boards.size(); board_index++)
{
Board board_detected;
//Detection of the board
float probDetect = the_board_detector.detect(markers, boards[board_index].config, board_detected, camParam, boards[board_index].marker_size);
if (probDetect > 0.0)
{
tf::Transform transform = ar_sys::getTf(board_detected.Rvec, board_detected.Tvec);
tf::StampedTransform stampedTransform(transform, ros::Time::now(), "apollon_cam_right", boards[board_index].name +"_right");
//_tfBraodcaster.sendTransform(stampedTransform); // from phillip
/*geometry_msgs::PoseStamped poseMsg;
tf::poseTFToMsg(transform, poseMsg.pose);
poseMsg.header.frame_id = msg->header.frame_id;
poseMsg.header.stamp = msg->header.stamp;
pose_pub.publish(poseMsg);*/
geometry_msgs::TransformStamped transformMsg;
tf::transformStampedTFToMsg(stampedTransform, transformMsg);
transform_pub.publish(transformMsg);
/*geometry_msgs::Vector3Stamped positionMsg;
positionMsg.header = transformMsg.header;
positionMsg.vector = transformMsg.transform.translation;
position_pub.publish(positionMsg);*/
if(camParam.isValid())
{
//draw board axis
CvDrawingUtils::draw3dAxis(resultImg, board_detected, camParam);
}
}
}
//for each marker, draw info and its boundaries in the image
for(size_t i=0; draw_markers && i < markers.size(); ++i)
{
markers[i].draw(resultImg,cv::Scalar(0,0,255),2);
}
if(camParam.isValid())
{
//draw a 3d cube in each marker if there is 3d info
for(size_t i=0; i<markers.size(); ++i)
{
if (draw_markers_cube) CvDrawingUtils::draw3dCube(resultImg, markers[i], camParam);
if (draw_markers_axis) CvDrawingUtils::draw3dAxis(resultImg, markers[i], camParam);
}
}
if(image_pub.getNumSubscribers() > 0)
{
//show input with augmented information
cv_bridge::CvImage out_msg;
out_msg.header.frame_id = msg->header.frame_id;
out_msg.header.stamp = msg->header.stamp;
out_msg.encoding = sensor_msgs::image_encodings::RGB8;
out_msg.image = resultImg;
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.frame_id = msg->header.frame_id;
debug_msg.header.stamp = msg->header.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());
return;
}
}
void MainWindow::on_pushButton_2_clicked()
{
std::string casen = "clutter";
bool saveimages = true;
global::doDraw = true;
std::string reportPath = "/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/";
//std::string filename = "Report_" + utils::currentDateTime();
//if (ui->UseDefaultglobal::image_imp->isChecked()){
if (!global::image_rgb.data){
//global::image_rgb = cv::imread("/Users/benedicte/Dropbox/kings/thesis/images/checkers7.jpg");
//global::image_rgb = cv::imread("/Users/benedicte/Dropbox/kings/thesis/report/boards/green2.jpg");
//global::image_rgb = cv::imread("/Users/benedicte/Dropbox/kings/thesis/report/pieces/red.jpg");
//global::image_rgb = cv::imread("/Users/benedicte/Dropbox/kings/thesis/report/casestudy/casestudy.jpg");
global::image_rgb = cv::imread("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/"+casen+".jpg");
if (global::image_rgb.data){
cvutils::rotate(global::image_rgb,global::image_rgb,-90);
} else {
throw std::invalid_argument("Image could not be read");
}
}
// Set up global image variables
Preprocess prep;
Settings::PreprocessSettings settings;
settings.gaussianBlurSigma = 3;
settings.gaussianBlurSize = cv::Size(3,3);
// print image channels
if (saveimages){
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/image_r.png", global::image_r);
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/image_g.png", global::image_g);
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/image_b.png", global::image_b);
}
// chessboard detector
Lines houghlines;
Board board; // container for the detected board
bool tryAgain = true;
bool boardDetected = false;
while (tryAgain){
prep.detectLines(settings);
prep.getLines(houghlines);
BoardDetector cbd = BoardDetector(houghlines);
prep.showCanny();
prep.showHoughlines();
if (saveimages){
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/rgb.png", global::image_rgb);
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/gray.png", global::image_gray);
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/normalized.png", global::image_norm);
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/resized.png", global::image);
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/canny.png", prep.getCanny());
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/hough.png", prep.getHough());
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/blurred.png", prep.getBlurred());
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/hough_mod.png", global::image_hough_mod);
}
try{
std::cout << "Trying to detect board with blur sigma " << settings.gaussianBlurSigma << std::endl;
boardDetected = cbd.detect(board, &reportPath);
} catch(std::exception &e){
}
if (boardDetected){
tryAgain = false;
} else {
if (settings.gaussianBlurSigma > 1)
settings.gaussianBlurSigma -= 1;
if (settings.gaussianBlurSigma == 1){
settings.gaussianBlurSize = cv::Size(3,3);
}
if (settings.gaussianBlurSize == cv::Size(3,3) && settings.gaussianBlurSigma == 1){
settings.gaussianBlurSize = cv::Size(1,1);
}
if (settings.gaussianBlurSigma == 1 && settings.gaussianBlurSize == cv::Size(1,1) && settings.cannyLow > 4){
settings.cannyLow -= 4;
}
if (settings.gaussianBlurSigma == 1 && settings.gaussianBlurSize == cv::Size(1,1) && settings.cannyLow <= 4){
std::cout << "I give up" << std::endl;
}
}
}
// save images
if (saveimages){
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/rgb.png", global::image_rgb);
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/gray.png", global::image_gray);
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/normalized.png", global::image_norm);
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/resized.png", global::image);
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/canny.png", prep.getCanny());
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/hough.png", prep.getHough());
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/blurred.png", prep.getBlurred());
}
if (saveimages){
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/hough_mod.png", global::image_hough_mod);
board.write("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/final.png");
}
board.draw();
cv::destroyAllWindows();
board.detectPieces();
if (global::doDraw) board.drawWithPieces();
board.writeImgWithPiecesToGlobal();
if (saveimages){
cv::imwrite("/Users/benedicte/Dropbox/kings/thesis/report/"+casen+"/pieces.png", global::image_pieces);
}
// Initial state to feed minimax
cv::destroyAllWindows();
State state = board.initState();
std::cout << "FINISHED" << std::endl;
// WRITE REPORTS
}