/*!
*
*/
static void cvTrackBarEvents(int ,void*)
{
if (iThresParam1<3)
iThresParam1=3;
if (iThresParam1%2!=1)
iThresParam1++;
if (dThresParam2<1)
dThresParam2=1;
dThresParam1=iThresParam1;
dThresParam2=iThresParam2;
boardDetector.getMarkerDetector().setThresholdParams(dThresParam1,dThresParam2);
//recompute
//Detection of the board
float probDetect=boardDetector.detect( inpImg);
inpImg.copyTo(inpImgCpy);
if (params.isValid() && probDetect>0.2)
aruco::CvDrawingUtils::draw3dAxis(inpImgCpy,boardDetector.getDetectedBoard(),params);
cv::imshow("in",inpImgCpy);
cv::imshow("thres",boardDetector.getMarkerDetector().getThresholdedImage());
}
/*!
*
*/
int main(int argc,char **argv)
{
readArguments(argc,argv);
aruco::BoardConfiguration boardConf;
boardConf.readFromFile(boC->sval[0]);
cv::VideoCapture vcapture;
//read from camera or from file
if (strcmp(inp->sval[0], "live")==0)
{
vcapture.open(0);
vcapture.set(CV_CAP_PROP_FRAME_WIDTH, wid->ival[0]);
vcapture.set(CV_CAP_PROP_FRAME_HEIGHT, hei->ival[0]);
int val = CV_FOURCC('M', 'P', 'E', 'G');
vcapture.set(CV_CAP_PROP_FOURCC, val);
}
else
vcapture.open(inp->sval[0]);
//check video is open
if (!vcapture.isOpened())
{
std::cerr<<"Could not open video"<<std::endl;
return -1;
}
//read first image to get the dimensions
vcapture>>inpImg;
//Open outputvideo
cv::VideoWriter vWriter;
if (out->count)
vWriter.open(out->sval[0], CV_FOURCC('M','J','P','G'), fps->ival[0], inpImg.size());
//read camera parameters if passed
if (intr->count)
{
params.readFromXMLFile(intr->sval[0]);
params.resize(inpImg.size());
}
//Create gui
cv::namedWindow("thres", CV_GUI_NORMAL | CV_WINDOW_AUTOSIZE);
cv::namedWindow("in", CV_GUI_NORMAL | CV_WINDOW_AUTOSIZE);
cvMoveWindow("thres", 0, 0);
cvMoveWindow("in", inpImg.cols + 5, 0);
boardDetector.setParams(boardConf,params,msiz->dval[0]);
boardDetector.getMarkerDetector().getThresholdParams( dThresParam1,dThresParam2);
// boardDetector.getMarkerDetector().enableErosion(true);//for chessboards
iThresParam1=dThresParam1;
iThresParam2=dThresParam2;
cv::createTrackbar("ThresParam1", "in",&iThresParam1, 13, cvTrackBarEvents);
cv::createTrackbar("ThresParam2", "in",&iThresParam2, 13, cvTrackBarEvents);
int index=0;
///////////////
// Main Lopp //
///////////////
while(appRunnin)
{
inpImg.copyTo(inpImgCpy);
index++; //number of images captured
double tick = static_cast<double>(cv::getTickCount());//for checking the speed
float probDetect=boardDetector.detect(inpImg); //Detection of the board
tick=(static_cast<double>(cv::getTickCount())-tick)/cv::getTickFrequency();
std::cout<<"Time detection="<<1000*tick<<" milliseconds"<<std::endl;
//print marker borders
for (unsigned int i=0; i<boardDetector.getDetectedMarkers().size(); i++)
boardDetector.getDetectedMarkers()[i].draw(inpImgCpy,cv::Scalar(0,0,255),1);
//print board
if (params.isValid())
{
if ( probDetect>thre->dval[0])
{
aruco::CvDrawingUtils::draw3dAxis( inpImgCpy,boardDetector.getDetectedBoard(),params);
}
}
//DONE! Easy, right?
//show input with augmented information and the thresholded image
cv::imshow("in",inpImgCpy);
cv::imshow("thres",boardDetector.getMarkerDetector().getThresholdedImage());
// write to video if desired
if (out->count)
{
//create a beautiful composed image showing the thresholded
//first create a small version of the thresholded image
cv::Mat smallThres;
cv::resize(boardDetector.getMarkerDetector().getThresholdedImage(),smallThres,
cv::Size(inpImgCpy.cols/3,inpImgCpy.rows/3));
cv::Mat small3C;
cv::cvtColor(smallThres,small3C,CV_GRAY2BGR);
cv::Mat roi=inpImgCpy(cv::Rect(0,0,inpImgCpy.cols/3,inpImgCpy.rows/3));
small3C.copyTo(roi);
vWriter<<inpImgCpy;
}
processKey(cv::waitKey(waitTime));//wait for key to be pressed
appRunnin &= vcapture.grab();
vcapture.retrieve(inpImg);
}
arg_freetable(argtable,sizeof(argtable)/sizeof(argtable[0]));
return EXIT_SUCCESS;
}
int main(int argc, char** argv)
{
/// READ PARAMETERS
if(!readParameters(argc, argv))
return false;
/// CREATE UNDISTORTED CAMERA PARAMS
CameraParamsUnd=CameraParams;
CameraParamsUnd.Distorsion=cv::Mat::zeros(4,1,CV_32F);
cout<<" REATE UNDISTORTED CAMERA PARAMS "<<endl;
/// SET BOARD DETECTOR PARAMETERS
TheBoardDetector.setParams(TheBoardConfig,CameraParamsUnd,TheMarkerSize);
/// CAPTURE FIRST FRAME
TheVideoCapturer.grab();
TheVideoCapturer.retrieve ( TheInputImage );
cv::undistort(TheInputImage,TheInputImageUnd,CameraParams.CameraMatrix,CameraParams.Distorsion);
cout<<" CAPTURE FIRST FRAME "<<endl;
/// INIT OGRE
initOgreAR(CameraParamsUnd, TheInputImageUnd.ptr<uchar>(0));
cout<<" OGRE initiated "<<endl;
while (TheVideoCapturer.grab())
{
/// READ AND UNDISTORT IMAGE
TheVideoCapturer.retrieve ( TheInputImage );
cv::undistort(TheInputImage,TheInputImageUnd,CameraParams.CameraMatrix,CameraParams.Distorsion);
/// DETECT BOARD
float probDetect = TheBoardDetector.detect(TheInputImageUnd);
cout<<" detection: "<<probDetect<<endl;
/// UPDATE BACKGROUND IMAGE
mTexture->getBuffer()->blitFromMemory(mPixelBox);
/// UPDATE SCENE
if ( probDetect>0.2) ogreNode->setVisible(true);
else ogreNode->setVisible(false);
// set node pose
double position[3], orientation[4];
TheBoardDetector.getDetectedBoard().OgreGetPoseParameters(position, orientation);
ogreNode->setPosition( position[0], position[1], position[2] );
ogreNode->setOrientation( orientation[0], orientation[1], orientation[2], orientation[3] );
// Update animation
double deltaTime = 1.2*root->getTimer()->getMilliseconds()/1000.;
baseAnim->addTime(deltaTime);
topAnim->addTime(deltaTime);
root->getTimer()->reset();
/// RENDER FRAME
if(root->renderOneFrame() == false) break;
Ogre::WindowEventUtilities::messagePump();
/// KEYBOARD INPUT
keyboard->capture();
if (keyboard->isKeyDown(OIS::KC_ESCAPE)) break;
}
im->destroyInputObject(keyboard);
im->destroyInputSystem(im);
im = 0;
delete root;
return 0;
}
