int main(int argc, char** argv) {
try {
if (readArguments(argc, argv) == false)
return 0;
// read board configuration
TheBoardConfig.readFromFile(TheBoardConfigFile);
// Open video input source
if (TheInputVideo == "") // read from camera
TheVideoCapturer.open(0);
else
TheVideoCapturer.open(TheInputVideo);
if (!TheVideoCapturer.isOpened()) {
cerr << "Could not open video" << endl;
return -1;
}
// read first image
TheVideoCapturer >> TheInputImage;
// read camera paramters if passed
TheCameraParams.readFromXMLFile(TheIntrinsicFile);
TheCameraParams.resize(TheInputImage.size());
TheBoardDetector.getMarkerDetector().setThresholdParams(25, 7);
glutInit(&argc, argv);
glutInitWindowPosition(0, 0);
glutInitWindowSize(TheInputImage.size().width, TheInputImage.size().height);
glutInitDisplayMode(GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE);
glutCreateWindow("ArUco");
glutDisplayFunc(vDrawScene);
glutIdleFunc(vIdle);
glutReshapeFunc(vResize);
glutMouseFunc(vMouse);
glClearColor(0.0, 0.0, 0.0, 1.0);
glClearDepth(1.0);
// these two are necesary for the mask effect
glEnable(GL_ALPHA_TEST);
glAlphaFunc(GL_GREATER, 0.5);
TheGlWindowSize = TheInputImage.size();
vResize(TheGlWindowSize.width, TheGlWindowSize.height);
glutMainLoop();
} catch (std::exception& ex)
{
cout << "Exception :" << ex.what() << endl;
}
}
int main(int argc,char **argv)
{
try
{
if (readArguments (argc,argv)==false) return 0;
//read board configuration
TheBoardConfig.readFromFile(TheBoardConfigFile);
//Open video input source
if (TheInputVideo=="live") //read from camera
TheVideoCapturer.open(0);
else TheVideoCapturer.open(TheInputVideo);
if (!TheVideoCapturer.isOpened())
{
cerr<<"Could not open video"<<endl;
return -1;
}
//read first image
TheVideoCapturer>>TheInputImage;
//read camera paramters if passed
TheCameraParams.readFromXMLFile(TheIntrinsicFile);
TheCameraParams.resize( TheInputImage.size());
//init glut information and init
glutInit(&argc, argv);
glutInitWindowPosition( 0, 0);
glutInitWindowSize(TheInputImage.size().width,TheInputImage.size().height);
glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
glutCreateWindow( "AruCo" );
glutDisplayFunc( vDrawScene );
glutIdleFunc( vIdle );
glutReshapeFunc( vResize );
glutMouseFunc(vMouse);
glClearColor( 0.0, 0.0, 0.0, 1.0 );
glClearDepth( 1.0 );
TheGlWindowSize=TheInputImage.size();
vResize(TheGlWindowSize.width,TheGlWindowSize.height);
glutMainLoop();
} catch (std::exception &ex)
{
cout<<"Exception :"<<ex.what()<<endl;
}
}
int main(int argc,char **argv)
{
try
{
if(argc==1) usage();
readArguments (argc,argv);
if (TheIntrinsicFile==""){cerr<<"-f option required"<<endl;return -1;}
if (TheMarkerSize==-1){cerr<<"-s option required"<<endl;return -1;}
//read from camera
if (TheInputVideo=="") TheVideoCapturer.open(0);
else TheVideoCapturer.open(TheInputVideo);
if (!TheVideoCapturer.isOpened())
{
cerr<<"Could not open video"<<endl;
return -1;
}
//read first image
TheVideoCapturer>>TheInputImage;
//read camera paramters if passed
if (isIntrinsicFileYAML)
TheCameraParams.readFromXMLFile(TheIntrinsicFile);
else
TheCameraParams.readFromFile(TheIntrinsicFile);
TheCameraParams.resize(TheInputImage.size());
glutInit(&argc, argv);
glutInitWindowPosition( 0, 0);
glutInitWindowSize(TheInputImage.size().width,TheInputImage.size().height);
glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
glutCreateWindow( "AruCo" );
glutDisplayFunc( vDrawScene );
glutIdleFunc( vIdle );
glutReshapeFunc( vResize );
glutMouseFunc(vMouse);
glClearColor( 0.0, 0.0, 0.0, 1.0 );
glClearDepth( 1.0 );
TheGlWindowSize=TheInputImage.size();
vResize(TheGlWindowSize.width,TheGlWindowSize.height);
glutMainLoop();
}catch(std::exception &ex)
{
cout<<"Exception :"<<ex.what()<<endl;
}
}
/*!
*
*/
int main(int argc,char **argv)
{
readArguments (argc,argv);
//read board configuration
boardConfig.readFromFile(bcon->sval[0]);
//Open video input source
if (inp->count==0 || strcmp(inp->sval[0], "live")==0)
{
//read from camera
vCapturer.open(0);
vCapturer.set(CV_CAP_PROP_FRAME_WIDTH, wid->ival[0]);
vCapturer.set(CV_CAP_PROP_FRAME_HEIGHT, hei->ival[0]);
int val = CV_FOURCC('M', 'P', 'E', 'G');
vCapturer.set(CV_CAP_PROP_FOURCC, val);
}
else
vCapturer.open(inp->sval[0]);
if (!vCapturer.isOpened())
{
std::cerr<<"Could not open video"<<std::endl;
return -1;
}
//read first image
vCapturer>>inImg;
//read camera paramters if passed
camParams.readFromXMLFile(ints->sval[0]);
camParams.resize( inImg.size());
glutInit(&argc, argv);
glutInitWindowPosition( 0, 0);
glutInitWindowSize(inImg.size().width,inImg.size().height);
glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
glutCreateWindow( "AruCo" );
glutDisplayFunc( vDrawScene );
glutIdleFunc( vIdle );
glutReshapeFunc( vResize );
glutMouseFunc(vMouse);
glClearColor( 0.0, 0.0, 0.0, 1.0 );
glClearDepth( 1.0 );
glSize=inImg.size();
vResize(glSize.width,glSize.height);
glutMainLoop();
}
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;
}
}
int main(int argc, char** argv)
{
try
{
CmdLineParser cml(argc, argv);
if (argc < 3 || cml["-h"])
{
cerr << "Invalid number of arguments" << endl;
cerr << "Usage: (in.avi|live) marksetconfig.yml [optional_arguments] \n\t[-c camera_intrinsics.yml] "
"\n\t[-s marker_size] \n\t[-pcd out_pcd_file_with_camera_poses] \n\t[-poses out_file_with_poses] "
"\n\t[-corner <corner_refinement_method> (0: LINES(default),1 SUBPIX) ][-h]"
<< endl;
return false;
}
TheMarkerMapConfig.readFromFile(argv[2]);
TheMarkerMapConfigFile = argv[2];
TheMarkerSize = stof(cml("-s", "1"));
// read from camera or from file
if (string(argv[1]) == "live")
{
TheVideoCapturer.open(0);
}
else
TheVideoCapturer.open(argv[1]);
// check video is open
if (!TheVideoCapturer.isOpened())
throw std::runtime_error("Could not open video");
// read first image to get the dimensions
TheVideoCapturer >> TheInputImage;
// read camera parameters if passed
if (cml["-c"])
{
TheCameraParameters.readFromXMLFile(cml("-c"));
TheCameraParameters.resize(TheInputImage.size());
}
// prepare the detector
string dict =
TheMarkerMapConfig
.getDictionary(); // see if the dictrionary is already indicated in the configuration file. It should!
if (dict.empty())
dict = "ARUCO";
TheMarkerDetector.setDictionary(
dict); /// DO NOT FORGET THAT!!! Otherwise, the ARUCO dictionary will be used by default!
if (stoi(cml("-corner", "0")) == 0)
TheMarkerDetector.setCornerRefinementMethod(MarkerDetector::LINES);
else
{
MarkerDetector::Params params = TheMarkerDetector.getParams();
params._cornerMethod = MarkerDetector::SUBPIX;
// search corner subpix in a 5x5 widow area
params._subpix_wsize = static_cast<int>((15.f / 2000.f) * float(TheInputImage.cols));
TheMarkerDetector.setParams(params);
}
// prepare the pose tracker if possible
// if the camera parameers are avaiable, and the markerset can be expressed in meters, then go
if (TheMarkerMapConfig.isExpressedInPixels() && TheMarkerSize > 0)
TheMarkerMapConfig = TheMarkerMapConfig.convertToMeters(TheMarkerSize);
cout << "TheCameraParameters.isValid()=" << TheCameraParameters.isValid() << " "
<< TheMarkerMapConfig.isExpressedInMeters() << endl;
if (TheCameraParameters.isValid() && TheMarkerMapConfig.isExpressedInMeters())
TheMSPoseTracker.setParams(TheCameraParameters, TheMarkerMapConfig);
// Create gui
cv::namedWindow("thres", 1);
cv::namedWindow("in", 1);
TheMarkerDetector.getThresholdParams(ThresParam1, ThresParam2);
iThresParam1 = static_cast<int>(ThresParam1);
iThresParam2 = static_cast<int>(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
cout << "Press 's' to start/stop video" << endl;
do
{
TheVideoCapturer.retrieve(TheInputImage);
TheInputImage.copyTo(TheInputImageCopy);
index++; // number of images captured
// Detection of the board
vector<aruco::Marker> detected_markers = TheMarkerDetector.detect(TheInputImage);
// print the markers detected that belongs to the markerset
for (auto idx : TheMarkerMapConfig.getIndices(detected_markers))
detected_markers[idx].draw(TheInputImageCopy, Scalar(0, 0, 255), 2);
// detect 3d info if possible
if (TheMSPoseTracker.isValid())
{
if (TheMSPoseTracker.estimatePose(detected_markers))
{
aruco::CvDrawingUtils::draw3dAxis(TheInputImageCopy, TheCameraParameters,
TheMSPoseTracker.getRvec(), TheMSPoseTracker.getTvec(),
TheMarkerMapConfig[0].getMarkerSize() * 2);
frame_pose_map.insert(make_pair(index, TheMSPoseTracker.getRTMatrix()));
cout << "pose rt=" << TheMSPoseTracker.getRvec() << " " << TheMSPoseTracker.getTvec() << endl;
}
}
// show input with augmented information and the thresholded image
cv::imshow("in", TheInputImageCopy);
cv::imshow("thres", TheMarkerDetector.getThresholdedImage());
key = cv::waitKey(waitTime); // wait for key to be pressed
processKey(key);
} while (key != 27 && TheVideoCapturer.grab());
// save a beatiful pcd file (pcl library) showing the results (you can use pcl_viewer to see it)
if (cml["-pcd"])
{
savePCDFile(cml("-pcd"), TheMarkerMapConfig, frame_pose_map);
}
// save the poses to a file in tum rgbd data format
if (cml["-poses"])
{
savePosesToFile(cml("-poses"), frame_pose_map);
}
}
catch (std::exception& ex)
{
cout << "Exception :" << ex.what() << endl;
}
}
void getJointPositions(Mat imgOrg, Arm *arm_left, Arm *arm_right, Chest *chest)
{
// reset found flag from all joints and both arms
arm_left->resetJ1Found();
arm_left->resetJ2Found();
arm_left->resetJ3Found();
arm_left->resetArmFound();
arm_right->resetJ1Found();
arm_right->resetJ2Found();
arm_right->resetJ3Found();
arm_right->resetArmFound();
// Create array of camera parameters
CameraParameters TheCameraParameters;
// set camera parameters
Mat dist(1,5,CV_32FC1);
dist.at<float>(0,0) = -0.0648763971625288;
dist.at<float>(0,1) = 0.0612520196884308;
dist.at<float>(0,2) = 0.0038281538281731;
dist.at<float>(0,3) = -0.00551104078371959;
dist.at<float>(0,4) = 0.000000;
Mat cameraP(3,3,CV_32FC1);
cameraP.at<float>(0,0) = 558.570339530768;
cameraP.at<float>(0,1) = 0.000000;
cameraP.at<float>(0,2) = 308.885375457296;
cameraP.at<float>(1,0) = 0.000000;
cameraP.at<float>(1,1) = 556.122943034837;
cameraP.at<float>(1,2) = 247.600724811385;
cameraP.at<float>(2,0) = 0.000000;
cameraP.at<float>(2,1) = 0.000000;
cameraP.at<float>(2,2) = 1.000000;
TheCameraParameters.setParams(cameraP, dist, CAMERA_RESOLUTION);
TheCameraParameters.resize(CAMERA_RESOLUTION);
// create vectors for joints
Vector3d j1Left, j2Left, j3Left;
Vector3d j1Right, j2Right, j3Right;
// create objects for marker
MarkerDetector MDetector;
vector<Marker> Markers;
// set marker settings
MDetector.setWarpSize(100);
MDetector.enableLockedCornersMethod(true);
MDetector.setMinMaxSize(0.01, 0.5);
// convert image to gray
Mat imgGray = imgOrg.clone();
cvtColor(imgGray, imgGray, CV_BGR2GRAY);
// detect all markers in the picture
MDetector.detect(imgGray, Markers, TheCameraParameters);
// go through all found markers
for(int i = 0; i < Markers.size(); i++)
{
Markers[i].calculateExtrinsics(0.09, TheCameraParameters);
Markers[i].draw(imgOrg, Scalar(0,0,255), 2);
// get abs position in picture for every joint
switch(Markers[i].id)
{
case SHOULDER_LEFT:
// switch x and y axis
j1Left(0) = Markers[i].Tvec.at<float>(1, 0);
j1Left(1) = Markers[i].Tvec.at<float>(0, 0);
j1Left(2) = Markers[i].Tvec.at<float>(2, 0);
arm_left->setJ1Found();
if(COUT_JOINT_ABS_POS == ON)
{
cout << "abs pos SHOULDER_LEFT: " << j1Left(0) << "\t" << j1Left(1) << "\t" << j1Left(2) << endl;
}
break;
case ELBOW_LEFT:
// switch x and y axis
j2Left(0) = Markers[i].Tvec.at<float>(1, 0);
j2Left(1) = Markers[i].Tvec.at<float>(0, 0);
j2Left(2) = Markers[i].Tvec.at<float>(2, 0);
arm_left->setJ2Found();
if(COUT_JOINT_ABS_POS == ON)
{
cout << "abs pos ELBOW_LEFT: " << j2Left(0) << "\t" << j2Left(1) << "\t" << j2Left(2) << endl;
}
break;
case WRIST_LEFT:
// switch x and y axis
j3Left(0) = Markers[i].Tvec.at<float>(1, 0);
j3Left(1) = Markers[i].Tvec.at<float>(0, 0);
j3Left(2) = Markers[i].Tvec.at<float>(2, 0);
arm_left->setJ3Found();
if(COUT_JOINT_ABS_POS == ON)
{
cout << "abs pos WRIST_LEFT: " << j3Left(0) << "\t" << j3Left(1) << "\t" << j3Left(2) << endl;
}
break;
case SHOULDER_RIGHT:
// switch x and y axis
j1Right(0) = Markers[i].Tvec.at<float>(1, 0);
j1Right(1) = Markers[i].Tvec.at<float>(0, 0);
j1Right(2) = Markers[i].Tvec.at<float>(2, 0);
arm_right->setJ1Found();
if(COUT_JOINT_ABS_POS == ON)
{
cout << "abs pos SHOULDER_RIGHT: " << j1Right(0) << "\t" << j1Right(1) << "\t" << j1Right(2) << endl;
}
break;
case ELBOW_RIGHT:
// switch x and y axis
j2Right(0) = Markers[i].Tvec.at<float>(1, 0);
j2Right(1) = Markers[i].Tvec.at<float>(0, 0);
j2Right(2) = Markers[i].Tvec.at<float>(2, 0);
arm_right->setJ2Found();
if(COUT_JOINT_ABS_POS == ON)
{
cout << "abs pos ELBOW_RIGHT: " << j2Right(0) << "\t" << j2Right(1) << "\t" << j2Right(2) << endl;
}
break;
case WRIST_RIGHT:
// switch x and y axis
j3Right(0) = Markers[i].Tvec.at<float>(1, 0);
j3Right(1) = Markers[i].Tvec.at<float>(0, 0);
j3Right(2) = Markers[i].Tvec.at<float>(2, 0);
arm_right->setJ3Found();
if(COUT_JOINT_ABS_POS == ON)
{
cout << "abs pos WRIST_RIGHT: " << j3Right(0) << "\t" << j3Right(1) << "\t" << j3Right(2) << endl;
}
break;
}
}
// Display camera imape with detected marker
if(SHOW_ARUCO_FOUND_IMG == ON)
cv::imshow("arruco", imgOrg);
// set initial position for upper boddy
if((chest->getInit() == false) && arm_left->getJ1Found() && arm_right->getJ1Found())
{
// set bool to true
chest->setInit();
// set initial position between shoulders -> both shoulders are needed
if(arm_left->getJ1Found() && arm_right->getJ1Found())
chest->setInitPos((-j1Left(2) -j1Right(2))/2);
if(COUT_CHEST_INIT_POS == ON)
cout << "chest init pos: " << chest->getInitPos() << endl;
}
// check if upper boddy moved
if(chest->getInit() && (arm_left->getJ1Found() || arm_right->getJ1Found()))
{
// reset bool
chest->resetTorsoMoved();
// calculate current chest position
double chestCurPos;
if(arm_left->getJ1Found() && arm_right->getJ1Found())
chestCurPos = (-j1Left(2) -j1Right(2))/2;
else if(arm_left->getJ1Found())
chestCurPos = -j1Left(2);
else if(arm_right->getJ1Found())
chestCurPos = -j1Right(2);
if(COUT_CHEST_CUR_POS == ON)
cout << "current pos: " << chestCurPos << endl;
// calculate distance
double dist = chest->getInitPos() - chestCurPos;
if(COUT_CHEST_DIST == ON)
cout << "chest dist: " << dist << endl;
// check if distance is greater than threshold
if(abs(dist) > CHEST_DIST_THRESH)
{
// set bool: thresh moved
chest->setTorsoMoved();
// calculate angle for torso
chest->setAngle(asin(dist/TORSO_LENGTH));
if(COUT_CHEST_ANGLE == ON)
cout << "angle" << chest->getAngle() << endl;
}
}
// calculate relative position for the left arm
if(arm_left->getJ1Found() && arm_left->getJ2Found() && arm_left->getJ3Found())
{
// calculate distance
Vector3d d1 = j2Left - j1Left;
Vector3d d2 = j3Left - j1Left;
// check min dist
for(int i = 0; i < 3; i++)
{
if(abs(d1(i)) < MIN_DIST)
d1(i) = 0.0;
if(abs(d2(i)) < MIN_DIST)
d2(i) = 0.0;
}
// cout << "d1 " << d1(0) << "\t" << d1(1) << "\t" << d1(2) << endl;
// cout << "d2 " << d2(0) << "\t" << d2(1) << "\t" << d2(2) << endl;
// set relative coordinates
j1Left(0) = 0;
j1Left(1) = 0;
j1Left(2) = 0;
j2Left(0) = -d1(2);
j2Left(1) = d1(1);
j2Left(2) = -d1(0);
j3Left(0) = -d2(2);
j3Left(1) = d2(1);
j3Left(2) = -d2(0);
// write into arm
arm_left->setJ1Coord(j1Left);
arm_left->setJ2Coord(j2Left);
arm_left->setJ3Coord(j3Left);
// set bool that all markers for the left arm have been found
arm_left->setArmFound();
if(COUT_JOINT_REL_POS == ON)
{
cout << "rel pos SHOULDER_LEFT: " << j1Left(0) << "\t\t" << j1Left(1) << "\t\t" << j1Left(2) << endl;
cout << "rel pos ELBOW_LEFT: " << j2Left(0) << "\t" << j2Left(1) << "\t" << j2Left(2) << endl;
cout << "rel pos WRIST_LEFT: " << j3Left(0) << "\t" << j3Left(1) << "\t" << j3Left(2) << endl;
cout << endl << endl;
}
}
// calculate relative position for the right arm
if(arm_right->getJ1Found() && arm_right->getJ2Found() && arm_right->getJ3Found())
{
// calculate distance
Vector3d d1 = j2Right - j1Right;
Vector3d d2 = j3Right - j1Right;
// check min dist
for(int i = 0; i < 3; i++)
{
if(abs(d1(i)) < MIN_DIST)
d1(i) = 0.0;
if(abs(d2(i)) < MIN_DIST)
d2(i) = 0.0;
}
// cout << "d1 " << d1(0) << "\t" << d1(1) << "\t" << d1(2) << endl;
// cout << "d2 " << d2(0) << "\t" << d2(1) << "\t" << d2(2) << endl;
// set relative coordinates
j1Right(0) = 0;
j1Right(1) = 0;
j1Right(2) = 0;
j2Right(0) = -d1(2);
j2Right(1) = d1(1);
j2Right(2) = -d1(0);
j3Right(0) = -d2(2);
j3Right(1) = d2(1);
j3Right(2) = -d2(0);
// write into arm
arm_right->setJ1Coord(j1Right);
arm_right->setJ2Coord(j2Right);
arm_right->setJ3Coord(j3Right);
// set bool that all markers for the right arm have been found
arm_right->setArmFound();
if(COUT_JOINT_REL_POS == ON)
{
cout << "rel pos SHOULDER_RIGHT: " << j1Right(0) << "\t\t" << j1Right(1) << "\t\t" << j1Right(2) << endl;
cout << "rel pos ELBOW_RIGHT: " << j2Right(0) << "\t" << j2Right(1) << "\t" << j2Right(2) << endl;
cout << "rel pos WRIST_RIGHT: " << j3Right(0) << "\t" << j3Right(1) << "\t" << j3Right(2) << endl;
cout << endl << endl;
}
}
}
int main(int argc,char **argv)
{
try
{
if (readArguments (argc,argv)==false) {
return 0;
}
//parse arguments
;
//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;
//read camera parameters if passed
if (TheIntrinsicFile!="") {
TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
TheCameraParameters.resize(TheInputImage.size());
}
//Configure other parameters
if (ThePyrDownLevel>0)
MDetector.pyrDown(ThePyrDownLevel);
//begin copy-paste from http://stackoverflow.com/questions/11550021/converting-a-mat-file-from-matlab-into-cvmat-matrix-in-opencv
Mat oneVect;
Mat useVecLat;
Mat someVects;
Mat zeroYzero;
string demoFile = "demo.yml";
FileStorage fsDemo( demoFile, FileStorage::READ);
fsDemo["oneVect"] >> oneVect;
fsDemo["oneVect"] >> useVecLat;
fsDemo["oneVect"] >> zeroYzero;
fsDemo["someVects"] >> someVects;
cout << "Print the contents of oneVect:" << endl;
cout << oneVect << endl;
fsDemo.release(); //close the file
// Declare what you need
// FileStorage fileOutt("reading_positions.yml", FileStorage::WRITE);
//end copy-paste from http://stackoverflow.com/questions/11550021/converting-a-mat-file-from-matlab-into-cvmat-matrix-in-opencv
cout << "an element oneVect:" << endl;
cout << oneVect.at<float>(0,1) << endl;
// to access the 42 in this YAML:
//oneVect: !!opencv-matrix
// rows: 1
// cols: 3
// dt: f
// data: [ 4, 3, 42, 55]
// do oneVect.at<float>(0,2)
//end data input
//Create gui
cv::namedWindow("thres",1);
cv::namedWindow("in",1);
MDetector.getThresholdParams( ThresParam1,ThresParam2);
MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
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);
//copy image
index++; //number of images captured
double tick = (double)getTickCount();//for checking the speed
//Detection of markers in the image passed
cout << "q" ;
MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
//note that this function outputs the marker info, for some reason.
//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 info and draw the markers in image
TheInputImage.copyTo(TheInputImageCopy);
for (unsigned int i=0;i<TheMarkers.size();i++) {
cout<<TheMarkers[i].Tvec.at<float>(0,0)<<","<<
TheMarkers[i].Tvec.at<float>(0,1)<<","<<
TheMarkers[i].Tvec.at<float>(0,2)<<",";
// cout<<TheMarkers[i]<<endl;
if (TheMarkers[i].id == 605 && 1 == 0) { // THIS WILL NEVER HAPPEN!!! 1 is not zero.
Mat R33;
cv::Rodrigues(TheMarkers[i].Rvec,R33);
cout << R33 << endl;
cout << TheMarkers[i].id << endl;
for (unsigned int maytr=0;maytr<TheMarkers.size();maytr++) { //take 0 , 1 , 0, inverse transform first, then transform.
if (TheMarkers[maytr].id == 500) {
zeroYzero.at<float>(0,0) = 0;
zeroYzero.at<float>(0,1) = 2;
zeroYzero.at<float>(0,2) = 0;
zeroYzero.at<float>(0,3) = 0;
zeroYzero.at<float>(0,4) = 0;
zeroYzero.at<float>(0,5) = 0;
cout << zeroYzero << endl;
Mat R33for500;
cout << TheMarkers[maytr].id<< "food"<< endl;
cv::Rodrigues(TheMarkers[maytr].Rvec,R33for500);
cout << R33for500 << endl;
//cout << TheMarkers[i].id << endl;
//R33for500 * R33.t() * zeroYzero; //transpose method
//Mat afterDouble;
//cout << TheMarkers[maytr].id<< "water"<< endl;
//afterDouble = R33for500 * (R33.inv() * zeroYzero); //inversion method
//R33for500 * (R33.inv() * zeroYzero); //inversion method
//cout << "shelll"<< endl;
//cout << afterDouble << endl;
//useVecLat.at<float>(0,0) = 0;
//useVecLat.at<float>(0,1) = 0;
//useVecLat.at<float>(0,2) = 0;
//useVecLat.at<float>(0,3) = afterDouble.at<float>(0,0);
//useVecLat.at<float>(0,4) = afterDouble.at<float>(0,1);
//useVecLat.at<float>(0,5) = afterDouble.at<float>(0,2);
//drawVecAtPos(TheInputImageCopy,TheMarkers[maytr],TheCameraParameters,afterDouble); //oneVect);
}
}
}
TheMarkers[i].draw(TheInputImageCopy,Scalar(0,0,255),1);
//time date stuff
std::time_t result = std::time(NULL); //nullptr);
std::cout // << std::asctime(std::localtime(&result))
<< result; // << " seconds since the Epoch\n";
// fileOutt << "time" << result ; //<< endl;
cout<<endl; // <<endl<<endl;
}
//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);
//Never use this; just reference // CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
draw3dAxisj(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
drawVecAtPos(TheInputImageCopy,TheMarkers[i],TheCameraParameters,oneVect);
drawVecsAtPosTesting(TheInputImageCopy,TheMarkers[i],TheCameraParameters,someVects);
}
//DONE! Easy, right?
//show input with augmented information and the thresholded image
cv::imshow("in",TheInputImageCopy);
cv::imshow("thres",MDetector.getThresholdedImage());
key=cv::waitKey(waitTime);//wait for key to be pressed
}
// fileOutt.release();
} catch (std::exception &ex)
{
cout<<"Exception :"<<ex.what()<<endl;
}
}
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;
}
}
int main(int argc, char **argv) {
try {
if (readArguments(argc, argv) == false) {
return 0;
}
// parse arguments
// 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()) {
cerr << "Could not open video" << endl;
return -1;
}
bool isVideoFile = false;
if (TheInputVideo.find(".avi") != std::string::npos || TheInputVideo.find("live") != string::npos)
isVideoFile = true;
// read first image to get the dimensions
TheVideoCapturer >> TheInputImage;
// read camera parameters if passed
if (TheIntrinsicFile != "") {
TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
TheCameraParameters.resize(TheInputImage.size());
}
// Configure other parameters
if (ThePyrDownLevel > 0)
MDetector.pyrDown(ThePyrDownLevel);
// Create gui
cv::namedWindow("thres", 1);
cv::namedWindow("in", 1);
MDetector.setThresholdParams(7, 7);
MDetector.setThresholdParamRange(2, 0);
// MDetector.enableLockedCornersMethod(true);
// MDetector.setCornerRefinementMethod ( MarkerDetector::SUBPIX );
MDetector.getThresholdParams(ThresParam1, ThresParam2);
iThresParam1 = ThresParam1;
iThresParam2 = ThresParam2;
//cv::createTrackbar("ThresParam1", "in", &iThresParam1, 25, 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
TheVideoCapturer.retrieve(TheInputImage);
cv::Size sz = TheInputImage.size();
MDetector.createCudaBuffers(sz.width, sz.height);
do {
// copy image
index++; // number of images captured
double tick = (double)getTickCount(); // for checking the speed
// Detection of markers in the image passed
MDetector.detect(TheInputImage, TheMarkers, 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::flush;
// print marker info and draw the markers in image
TheInputImage.copyTo(TheInputImageCopy);
for (unsigned int i = 0; i < TheMarkers.size(); i++) {
cout << endl << TheMarkers[i];
TheMarkers[i].draw(TheInputImageCopy, Scalar(0, 0, 255), 1);
}
if (TheMarkers.size() != 0)
cout << endl;
// 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);
CvDrawingUtils::draw3dAxis(TheInputImageCopy, TheMarkers[i], TheCameraParameters);
}
// DONE! Easy, right?
// show input with augmented information and the thresholded image
cv::imshow("in", TheInputImageCopy);
cv::imshow("thres", MDetector.getThresholdedImage());
//cv::imshow("thres_gpu", MDetector.getThresholdedImageGPU());
key = cv::waitKey(waitTime); // wait for key to be pressed
if (isVideoFile)
TheVideoCapturer.retrieve(TheInputImage);
} while (key != 27 && (TheVideoCapturer.grab() || !isVideoFile));
} catch (std::exception &ex)
{
cout << "Exception :" << ex.what() << endl;
}
}
int main(int argc,char **argv)
{
try
{
if (readArguments (argc,argv)==false) {
return 0;
}
//parse arguments
;
//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;
//read camera parameters if passed
if (TheIntrinsicFile!="") {
TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
TheCameraParameters.resize(TheInputImage.size());
}
//Configure other parameters
if (ThePyrDownLevel>0)
MDetector.pyrDown(ThePyrDownLevel);
//Create gui
MDetector.getThresholdParams( ThresParam1,ThresParam2);
MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
/*
cv::namedWindow("thres",1);
cv::namedWindow("in",1);
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() ) // && index <= 50)
{
TheVideoCapturer.retrieve( TheInputImage);
//copy image
index++; //number of images captured
double tick = (double)getTickCount();//for checking the speed
//Detection of markers in the image passed
MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
//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 info and draw the markers in image
TheInputImage.copyTo(TheInputImageCopy);
for (unsigned int i=0;i<TheMarkers.size();i++) {
if (AllMarkers.count( TheMarkers[i].id ) == 0)
AllMarkers[TheMarkers[i].id] = map<int,Marker>();
AllMarkers[TheMarkers[i].id][index] = TheMarkers[i];
cout<<index<<endl;
cout<<TheMarkers[i]<<endl;
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);
CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
}
//DONE! Easy, right?
cout<<endl<<endl<<endl;
//show input with augmented information and the thresholded image
//cv::imshow("in",TheInputImageCopy);
//cv::imshow("thres",MDetector.getThresholdedImage());
//key=cv::waitKey(waitTime);//wait for key to be pressed
}
lastFrame = index;
} catch (std::exception &ex)
{
cout<<"Exception :"<<ex.what()<<endl;
}
cout << "All done."<< endl;
map<int, Markers>::const_iterator i;
for( i = AllMarkers.begin(); i != AllMarkers.end(); ++i ) {
int markerId = (*i).first;
map<int, Marker> markers = (*i).second;
int frameCount = markers.size();
cout << "frameCount = " << frameCount << endl;
std::vector<double> x(frameCount);
std::vector<double> m0x(frameCount);
std::vector<double> m0y(frameCount);
std::vector<double> m1x(frameCount);
std::vector<double> m1y(frameCount);
std::vector<double> m2x(frameCount);
std::vector<double> m2y(frameCount);
std::vector<double> m3x(frameCount);
std::vector<double> m3y(frameCount);
std::vector<double> tx(frameCount);
std::vector<double> ty(frameCount);
std::vector<double> tz(frameCount);
std::vector<double> rx(frameCount);
std::vector<double> ry(frameCount);
std::vector<double> rz(frameCount);
map<int, Marker>::const_iterator j;
int index = 0;
for( j = markers.begin(); j != markers.end(); ++j, index++ ) {
int frameIndex = (*j).first;
Marker marker = (*j).second;
x[index] = frameIndex;
m0x[index] = marker[0].x;
m0y[index] = marker[0].y;
m1x[index] = marker[1].x;
m1y[index] = marker[1].y;
m2x[index] = marker[2].x;
m2y[index] = marker[2].y;
m3x[index] = marker[3].x;
m3y[index] = marker[3].y;
tx[index] = marker.Tvec.ptr<float>(0)[0];
ty[index] = marker.Tvec.ptr<float>(0)[1];
tz[index] = marker.Tvec.ptr<float>(0)[2];
rx[index] = marker.Rvec.ptr<float>(0)[0];
ry[index] = marker.Rvec.ptr<float>(0)[1];
rz[index] = marker.Rvec.ptr<float>(0)[2];
cout << frameIndex << endl;
}
#define SPLINE(VAR) gsl_spline *spline_ ## VAR = gsl_spline_alloc (gsl_interp_cspline, frameCount); gsl_spline_init (spline_ ## VAR, &x[0], &VAR[0], frameCount)
SPLINE(m0x);
SPLINE(m0y);
SPLINE(m1x);
SPLINE(m1y);
SPLINE(m2x);
SPLINE(m2y);
SPLINE(m3x);
SPLINE(m3y);
SPLINE(tx);
SPLINE(ty);
SPLINE(tz);
SPLINE(rx);
SPLINE(ry);
SPLINE(rz);
for( index = 0; index < lastFrame; index++ ) {
double m0x = gsl_spline_eval (spline_m0x, index, NULL);
double m0y = gsl_spline_eval (spline_m0y, index, NULL);
double m1x = gsl_spline_eval (spline_m1x, index, NULL);
double m1y = gsl_spline_eval (spline_m1y, index, NULL);
double m2x = gsl_spline_eval (spline_m2x, index, NULL);
double m2y = gsl_spline_eval (spline_m2y, index, NULL);
double m3x = gsl_spline_eval (spline_m3x, index, NULL);
double m3y = gsl_spline_eval (spline_m3y, index, NULL);
double tx = gsl_spline_eval (spline_tx, index, NULL);
double ty = gsl_spline_eval (spline_ty, index, NULL);
double tz = gsl_spline_eval (spline_tz, index, NULL);
double rx = gsl_spline_eval (spline_rx, index, NULL);
double ry = gsl_spline_eval (spline_ry, index, NULL);
double rz = gsl_spline_eval (spline_rz, index, NULL);
cv::Point2f m0 = cv::Point2f(m0x,m0y);
cv::Point2f m1 = cv::Point2f(m1x,m1y);
cv::Point2f m2 = cv::Point2f(m2x,m2y);
cv::Point2f m3 = cv::Point2f(m3x,m3y);
std::vector<cv::Point2f> corners(4);
corners[0] = m0;
corners[1] = m1;
corners[2] = m2;
corners[3] = m3;
Marker interpolated = Marker(corners, markerId);
interpolated.Rvec.create(3,1,CV_32FC1);
interpolated.Tvec.create(3,1,CV_32FC1);
interpolated.Tvec.at<float>(0,0) = tx;
interpolated.Tvec.at<float>(1,0) = ty;
interpolated.Tvec.at<float>(2,0) = tz;
interpolated.Rvec.at<float>(0,0) = rx;
interpolated.Rvec.at<float>(1,0) = ry;
interpolated.Rvec.at<float>(2,0) = rz;
cout << index << endl;
cout << interpolated << endl;
}
gsl_spline_free (spline_m0x);
gsl_spline_free (spline_m0y);
gsl_spline_free (spline_m1x);
gsl_spline_free (spline_m1y);
gsl_spline_free (spline_m2x);
gsl_spline_free (spline_m2y);
gsl_spline_free (spline_m3x);
gsl_spline_free (spline_m3y);
gsl_spline_free (spline_tx);
gsl_spline_free (spline_ty);
gsl_spline_free (spline_tz);
gsl_spline_free (spline_rx);
gsl_spline_free (spline_ry);
gsl_spline_free (spline_rz);
//map<int, Marker>::const_iterator j;
//cout << "id = " << markerId << endl;
}
//cout << TheFrames << endl;
}
int main(int argc,char **argv)
{
try
{
if (readArguments (argc,argv)==false) {
return 0;
}
//parse arguments
;
//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;
//read camera parameters if passed
if (TheIntrinsicFile!="") {
TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
TheCameraParameters.resize(TheInputImage.size());
}
//Configure other parameters
if (ThePyrDownLevel>0)
MDetector.pyrDown(ThePyrDownLevel);
//Create gui
cv::namedWindow("thres",1);
cv::namedWindow("in",1);
MDetector.getThresholdParams( ThresParam1,ThresParam2);
MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
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);
//copy image
index++; //number of images captured
double tick = (double)getTickCount();//for checking the speed
//Detection of markers in the image passed
MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
//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 info and draw the markers in image
TheInputImage.copyTo(TheInputImageCopy);
for (unsigned int i=0;i<TheMarkers.size();i++) {
cout<<TheMarkers[i]<<endl;
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);
CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
}
//DONE! Easy, right?
cout<<endl<<endl<<endl;
//show input with augmented information and the thresholded image
cv::imshow("in",TheInputImageCopy);
cv::imshow("thres",MDetector.getThresholdedImage());
key=cv::waitKey(waitTime);//wait for key to be pressed
}
} catch (std::exception &ex)
{
cout<<"Exception :"<<ex.what()<<endl;
}
}