int main(int argc, char *argv[]) { april_tag_family_t *tf = tag36h11_create(); april_tag_detector_t *td = april_tag_detector_create(tf); td->small_tag_refinement = 0; int maxiters = 1; zarray_t *inputs = zarray_create(sizeof(char*)); int waitsec = 0; for (int i = 1; i < argc; i++) { if (!strcmp(argv[i], "-d")) td->debug = 1; else if (!strcmp(argv[i], "-t")) td->nthreads = atoi(argv[++i]); else if (!strcmp(argv[i], "-f")) td->seg_decimate = (i+1 < argc && isdigit(argv[i+1][0])) ? atoi(argv[++i]) : 2; else if (!strcmp(argv[i], "-i")) maxiters = atoi(argv[++i]); else if (!strcmp(argv[i], "-r")) td->small_tag_refinement = 1; else if (!strcmp(argv[i], "-w")) waitsec = atoi(argv[++i]); else if (!strcmp(argv[i], "-b")) td->seg_sigma = atof(argv[++i]); /* else if (!strcmp(argv[i], "--family")) { char *fam = argv[++i]; if (!strcmp(fam, "36h11")) td->tag_family = tag36h11_create(); else if (!strcmp(fam, "36h10")) td->tag_family = tag36h10_create(); } */ else zarray_add(inputs, &argv[i]); } for (int iter = 0; iter < maxiters; iter++) { if (maxiters > 1) printf("iter %d / %d\n", iter + 1, maxiters); for (int input = 0; input < zarray_size(inputs); input++) { char *path; zarray_get(inputs, input, &path); printf("loading %s\n", path); image_u8_t *im = image_u8_create_from_pnm(path); if (im == NULL) { printf("couldn't find %s\n", path); continue; } zarray_t *detections = april_tag_detector_detect(td, im); for (int i = 0; i < zarray_size(detections); i++) { april_tag_detection_t *det; zarray_get(detections, i, &det); printf("detection %3d: id %4d, hamming %d, goodness %f\n", i, det->id, det->hamming, det->goodness); april_tag_detection_destroy(det); } zarray_destroy(detections); timeprofile_display(td->tp); printf("nedges: %d, nsegments: %d, nquads: %d\n", td->nedges, td->nsegments, td->nquads); image_u8_destroy(im); if (zarray_size(inputs) > 1 || iter > 0) sleep(waitsec); } } april_tag_detector_destroy(td); tag36h11_destroy(tf); return 0; }
void cam_callback(const sensor_msgs::ImageConstPtr &image, const sensor_msgs::CameraInfoConstPtr &cinfo) { // Get camera info static bool init_cam = false; static cv::Mat K = cv::Mat::zeros(cv::Size(3, 3), CV_64F); static cv::Mat D = cv::Mat::zeros(cv::Size(1, 5), CV_64F); // Stop if camera not calibrated if (cinfo->K[0] == 0.0) throw std::runtime_error("Camera not calibrated."); // TODO: convert to function later // Assign camera info only once if (!init_cam) { for (int i = 0; i < 3; ++i) { double *pk = K.ptr<double>(i); for (int j = 0; j < 3; ++j) { pk[j] = cinfo->K[3 * i + j]; } } double *pd = D.ptr<double>(); for (int k = 0; k < 5; k++) { pd[k] = cinfo->D[k]; } init_cam = true; } // use cv_bridge and convert to grayscale image cv_bridge::CvImagePtr cv_ptr; // use toCvCopy because we will modify the image cv_ptr = cv_bridge::toCvCopy(image, sensor_msgs::image_encodings::MONO8); cv::Mat image_rgb; cv::cvtColor(cv_ptr->image, image_rgb, CV_GRAY2RGB); #if defined(BUILD_UMICH) // Use apriltag_umich // Currently not using this version static april_tag_family_t *tf = tag36h11_create(); static april_tag_detector_t *td = april_tag_detector_create(tf); image_u8_t *im = image_u8_create_from_gray( cv_ptr->image.cols, cv_ptr->image.rows, cv_ptr->image.data); zarray_t *detections = april_tag_detector_detect(td, im); ROS_INFO("Tags detected: %d", zarray_size(detections)); for (size_t i = 0; i < zarray_size(detections); i++) { april_tag_detection_t *det; zarray_get(detections, i, &det); for (int j = 0; j < 4; j++) { const Point2 p = Point2(det->p[j][0], det->p[j][1]); } april_tag_detection_destroy(det); } zarray_destroy(detections); image_u8_destroy(im); #elif defined(BUILD_MIT) // Use apriltag_mit static AprilTags::TagDetector tag_detector(AprilTags::tagCodes36h11); std::vector<AprilTags::TagDetection> detections = tag_detector.extractTags(cv_ptr->image); // Check detection size, only do work if there's tag detected if (detections.size()) { std::vector<Point2> pi; // Points in image std::vector<Point3> pw; // Points in world for (auto it = detections.begin(); it != detections.end(); it++) { const int id = it->id; const Point2 c2 = Point2(it->cxy.first, it->cxy.second); for (int j = 0; j < 4; j++) { const Point2 p2 = Point2(it->p[j].first, it->p[j].second); pi.push_back(p2); Point3 p3(tagsWorld[id].p[j].x, tagsWorld[id].p[j].y, 0.0); pw.push_back(p3); // Display tag corners cv::circle(image_rgb, p2, 6, colors[j], 2); } // Display tag id std::ostringstream ss; ss << id; auto color = cv::Scalar(0, 255, 255); if (tagsWorld.find(id) != tagsWorld.end()) { color = cv::Scalar(255, 255, 0); } cv::putText(image_rgb, ss.str(), Point2(c2.x - 5, c2.y + 5), cv::FONT_HERSHEY_PLAIN, 2, color, 2); } // Get pose static cv::Mat r = cv::Mat::zeros(cv::Size(1, 3), CV_64F); static cv::Mat cTw = cv::Mat::zeros(cv::Size(1, 3), CV_64F); cv::Mat wTc(cv::Size(3, 3), CV_64F); cv::Mat cRw(cv::Size(3, 3), CV_64F), wRc(cv::Size(3, 3), CV_64F); cv::solvePnP(pw, pi, K, D, r, cTw, false); cv::Rodrigues(r, cRw); wRc = cRw.inv(); wTc = -wRc * cTw; // ROS_INFO("%f, %f, %f", r.at<double>(0,0), r.at<double>(1,0), // r.at<double>(2,0)); cv::Mat q = rodriguesToQuat(r); // Publish geometry_msgs::PoseStamped pose_cam; pose_cam.header.stamp = image->header.stamp; pose_cam.header.frame_id = "0"; double *pt = wTc.ptr<double>(); pose_cam.pose.position.x = pt[0]; pose_cam.pose.position.y = pt[1]; pose_cam.pose.position.z = pt[2]; double *pq = q.ptr<double>(); pose_cam.pose.orientation.w = pq[0]; pose_cam.pose.orientation.x = pq[1]; pose_cam.pose.orientation.y = pq[2]; pose_cam.pose.orientation.z = pq[3]; pose_pub.publish(pose_cam); } #endif // Publish image cv_bridge::CvImage cv_image(image->header, sensor_msgs::image_encodings::BGR8, image_rgb); image_pub.publish(cv_image.toImageMsg()); // cv::imshow("image", image_rgb); // cv::waitKey(1); }