int main(int argc, const char *argv[])
{
if (argc != 3){
printf("Usage: ./speed_test <iterations> <filename>\n");
return 1;
}
const char *iters_str = argv[1];
int iters = atoi(iters_str);
const char *filename = argv[2];
IplImage *frame = cvLoadImage(filename, CV_LOAD_IMAGE_COLOR);
assert(frame != NULL);
koki_camera_params_t params;
params.size.x = frame->width;
params.size.y = frame->height;
params.principal_point.x = params.size.x / 2;
params.principal_point.y = params.size.y / 2;
params.focal_length.x = 571.0;
params.focal_length.y = 571.0;
for (int iteration=0; iteration<iters; iteration++){
/* get markers */
GPtrArray *markers = koki_find_markers(frame, 0.11, ¶ms);
koki_markers_free(markers);
}
cvReleaseImage(&frame);
return 0;
}
void process_image( char* buffer, int len )
{
GPtrArray *markers;
int i;
CvMat *m = cvCreateMatHeader (len, 1, CV_8UC1);
cvSetData (m, buffer, 1);
IplImage *color = cvDecodeImage (m, CV_LOAD_IMAGE_COLOR);
assert (color != NULL);
IplImage *bw = cvCreateImage(cvGetSize(color), color->depth, 1);
cvCvtColor (color, bw, CV_RGB2GRAY);
koki_camera_params_t params;
params.size.x = bw->width;
params.size.y = bw->height;
params.principal_point.x = params.size.x / 2;
params.principal_point.y = params.size.y / 2;
params.focal_length.x = 571.0;
params.focal_length.y = 571.0;
markers = koki_find_markers(koki, bw, 0.11, ¶ms);
assert(markers != NULL);
for (i=0; i<markers->len; i++){
koki_marker_t *marker;
marker = g_ptr_array_index(markers, i);
printf("\n(%d) Marker #%d:\n", i, marker->code);
}
cvRelease ((void**)&bw);
cvShowImage ("Source", color);
cvWaitKey (0);
cvRelease ((void**)&color);
cvRelease ((void**)&m);
}
int main(int argc, const char *argv[])
{
if (argc != 2){
printf("You must pass a filename.\n");
return 1;
}
const char *filename = argv[1];
IplImage *frame = cvLoadImage(filename, CV_LOAD_IMAGE_GRAYSCALE);
assert(frame != NULL);
koki_camera_params_t params;
params.size.x = frame->width;
params.size.y = frame->height;
params.principal_point.x = params.size.x / 2;
params.principal_point.y = params.size.y / 2;
params.focal_length.x = 571.0;
params.focal_length.y = 571.0;
/*
if (!koki_cam_read_params("cam_640x480.yaml", ¶ms)){
printf("Unable to read params\n");
}
*/
/* get markers */
GPtrArray *markers = koki_find_markers(frame, 0.11, ¶ms);
/* display info*/
assert(markers != NULL);
for (int i=0; i<markers->len; i++){
koki_marker_t *marker;
marker = g_ptr_array_index(markers, i);
printf("\n(%d) Marker #%d:\n", i, marker->code);
printf("\n\tCentre position (image, in pixels):\n\t\t(%f,\t%f)\n",
marker->centre.image.x,
marker->centre.image.y);
printf("\n\tCentre position (world, in metres):\n\t\t(%f,\t%f,\t%f)\n",
marker->centre.world.x,
marker->centre.world.y,
marker->centre.world.z);
printf("\n\tRotation about axes (world, in degrees):\n\t\t(%f,\t%f,\t%f)\n",
marker->rotation.x,
marker->rotation.y,
marker->rotation.z);
printf("\n\tRelative bearing (world, in degrees):\n\t\t(%f,\t%f\t%f)\n",
marker->bearing.x,
marker->bearing.y,
marker->bearing.z);
printf("\n\tVertex location (image, in pixels):\n");
for (int i=0; i<4; i++){
printf("\t\t(%f,\t%f)\n",
marker->vertices[i].image.x,
marker->vertices[i].image.y);
}
printf("\n\tVertex location (world, in metres):\n");
for (int i=0; i<4; i++){
printf("\t\t(%f,\t%f,\t%f)\n",
marker->vertices[i].world.x,
marker->vertices[i].world.y,
marker->vertices[i].world.z);
}
}//for
koki_markers_free(markers);
cvReleaseImage(&frame);
return 0;
}
