AprilTagDetector(const std::unique_ptr<getopt_t, void(*)(getopt_t*)> &options){
tf = tag16h5_create();
tf->black_border = getopt_get_int(options.get(), "border");
td = apriltag_detector_create();
apriltag_detector_add_family(td, tf);
show_window = getopt_get_bool(options.get(), "window");
td->quad_decimate = getopt_get_double(options.get(), "decimate");
td->quad_sigma = getopt_get_double(options.get(), "blur");
td->nthreads = getopt_get_int(options.get(), "threads");
td->debug = getopt_get_bool(options.get(), "debug");
td->refine_edges = getopt_get_bool(options.get(), "refine-edges");
td->refine_decode = getopt_get_bool(options.get(), "refine-decode");
td->refine_pose = getopt_get_bool(options.get(), "refine-pose");
quiet = getopt_get_bool(options.get(), "quiet");
tag_size = getopt_get_double(options.get(), "size");
tag_id = getopt_get_int(options.get(), "tag_id");
}
int
main (int argc, char *argv[])
{
getopt_t *gopt = getopt_create ();
getopt_add_bool (gopt, 'h', "help", 0, "Show this help screen");
getopt_add_string (gopt, 'd', "device", "/dev/ttyUSB0", "Device name");
getopt_add_int (gopt, 'b', "baud", "1000000", "Device baud rate");
getopt_add_int (gopt, 'n', "num_servos", "6", "Number of servos");
getopt_add_string (gopt, '\0', "status-channel", "ARM_STATUS2", "LCM status channel");
getopt_add_string (gopt, '\0', "command-channel", "ARM_COMMAND2", "LCM command channel");
if (!getopt_parse (gopt, argc, argv, 1) || getopt_get_bool (gopt, "help")) {
getopt_do_usage (gopt);
exit (-1);
}
arm_state_t *arm_state = arm_state_create (getopt_get_string (gopt, "device"),
getopt_get_int (gopt, "baud"),
getopt_get_int (gopt, "num_servos"));
// LCM Initialization
arm_state->lcm = lcm_create (NULL);
arm_state->command_channel = getopt_get_string (gopt, "command-channel");
arm_state->status_channel = getopt_get_string (gopt, "status-channel");
if (!arm_state->lcm)
return -1;
dynamixel_command_list_t_subscribe (arm_state->lcm,
arm_state->command_channel,
command_handler,
arm_state);
pthread_create (&arm_state->status_thread, NULL, status_loop, arm_state);
pthread_create (&arm_state->driver_thread, NULL, driver_loop, arm_state);
// Probably not needed, given how this operates
pthread_join (arm_state->status_thread, NULL);
pthread_join (arm_state->driver_thread, NULL);
// Cleanup
arm_state_destroy (arm_state);
getopt_destroy (gopt);
}
int main(int argc, char *argv[])
{
getopt_t *getopt = getopt_create();
getopt_add_bool(getopt, 'h', "help", 0, "Show this help");
getopt_add_bool(getopt, 'd', "debug", 0, "Enable debugging output (slow)");
getopt_add_bool(getopt, 'q', "quiet", 0, "Reduce output");
getopt_add_string(getopt, 'f', "family", "tag36h11", "Tag family to use");
getopt_add_int(getopt, '\0', "border", "1", "Set tag family border size");
getopt_add_int(getopt, 'i', "iters", "1", "Repeat processing on input set this many times");
getopt_add_int(getopt, 't', "threads", "4", "Use this many CPU threads");
getopt_add_double(getopt, 'x', "decimate", "1.0", "Decimate input image by this factor");
getopt_add_double(getopt, 'b', "blur", "0.0", "Apply low-pass blur to input");
getopt_add_bool(getopt, '1', "refine-decode", 0, "Spend more time trying to decode tags");
getopt_add_bool(getopt, '2', "refine-pose", 0, "Spend more time trying to precisely localize tags");
if (!getopt_parse(getopt, argc, argv, 1) || getopt_get_bool(getopt, "help")) {
printf("Usage: %s [options] <input files>\n", argv[0]);
getopt_do_usage(getopt);
exit(0);
}
const zarray_t *inputs = getopt_get_extra_args(getopt);
apriltag_family_t *tf = NULL;
const char *famname = getopt_get_string(getopt, "family");
if (!strcmp(famname, "tag36h11"))
tf = tag36h11_create();
else if (!strcmp(famname, "tag36h10"))
tf = tag36h10_create();
else if (!strcmp(famname, "tag36artoolkit"))
tf = tag36artoolkit_create();
else if (!strcmp(famname, "tag25h9"))
tf = tag25h9_create();
else if (!strcmp(famname, "tag25h7"))
tf = tag25h7_create();
else {
printf("Unrecognized tag family name. Use e.g. \"tag36h11\".\n");
exit(-1);
}
tf->black_border = getopt_get_int(getopt, "border");
apriltag_detector_t *td = apriltag_detector_create();
apriltag_detector_add_family(td, tf);
td->quad_decimate = getopt_get_double(getopt, "decimate");
td->quad_sigma = getopt_get_double(getopt, "blur");
td->nthreads = getopt_get_int(getopt, "threads");
td->debug = getopt_get_bool(getopt, "debug");
td->refine_decode = getopt_get_bool(getopt, "refine-decode");
td->refine_pose = getopt_get_bool(getopt, "refine-pose");
int quiet = getopt_get_bool(getopt, "quiet");
int maxiters = getopt_get_int(getopt, "iters");
const int hamm_hist_max = 10;
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++) {
int hamm_hist[hamm_hist_max];
memset(hamm_hist, 0, sizeof(hamm_hist));
char *path;
zarray_get(inputs, input, &path);
if (!quiet)
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 = apriltag_detector_detect(td, im);
for (int i = 0; i < zarray_size(detections); i++) {
apriltag_detection_t *det;
zarray_get(detections, i, &det);
if (!quiet)
printf("detection %3d: id (%2dx%2d)-%-4d, hamming %d, goodness %8.3f, margin %8.3f\n",
i, det->family->d*det->family->d, det->family->h, det->id, det->hamming, det->goodness, det->decision_margin);
hamm_hist[det->hamming]++;
apriltag_detection_destroy(det);
}
zarray_destroy(detections);
if (!quiet) {
timeprofile_display(td->tp);
printf("nedges: %d, nsegments: %d, nquads: %d\n", td->nedges, td->nsegments, td->nquads);
}
if (!quiet)
printf("Hamming histogram: ");
for (int i = 0; i < hamm_hist_max; i++)
printf("%5d", hamm_hist[i]);
if (quiet) {
printf("%12.3f", timeprofile_total_utime(td->tp) / 1.0E3);
}
printf("\n");
image_u8_destroy(im);
}
}
// don't deallocate contents of inputs; those are the argv
apriltag_detector_destroy(td);
tag36h11_destroy(tf);
return 0;
}
int main(int argc, char *argv[])
{
auto options = std::unique_ptr<getopt_t, void(*)(getopt_t*)> (getopt_create(), getopt_destroy);
// getopt_t *options = getopt_create();
getopt_add_bool(options.get(), 'h', "help", 0, "Show this help");
getopt_add_bool(options.get(), 'd', "debug", 0, "Enable debugging output (slow)");
getopt_add_bool(options.get(), 'w', "window", 1, "Show the detected tags in a window");
getopt_add_bool(options.get(), 'q', "quiet", 0, "Reduce output");
getopt_add_int(options.get(), '\0', "border", "1", "Set tag family border size");
getopt_add_int(options.get(), 't', "threads", "4", "Use this many CPU threads");
getopt_add_double(options.get(), 'x', "decimate", "1.0", "Decimate input image by this factor");
getopt_add_double(options.get(), 'b', "blur", "0.0", "Apply low-pass blur to input");
getopt_add_bool(options.get(), '0', "refine-edges", 1, "Spend more time trying to align edges of tags");
getopt_add_bool(options.get(), '1', "refine-decode", 0, "Spend more time trying to decode tags");
getopt_add_bool(options.get(), '2', "refine-pose", 0, "Spend more time trying to precisely localize tags");
getopt_add_double(options.get(), 's', "size", "0.04047", "Physical side-length of the tag (meters)");
getopt_add_int(options.get(), 'c', "camera", "0", "Camera ID");
getopt_add_int(options.get(), 'i', "tag_id", "-1", "Tag ID (-1 for all tags in family)");
if (!getopt_parse(options.get(), argc, argv, 1) || getopt_get_bool(options.get(), "help")) {
printf("Usage: %s [options]\n", argv[0]);
getopt_do_usage(options.get());
exit(0);
}
AprilTagDetector tag_detector(options);
auto lcm = std::make_shared<lcm::LCM>();
Eigen::Matrix3d camera_matrix = Eigen::Matrix3d::Identity();
// camera_matrix(0,0) = bot_camtrans_get_focal_length_x(mCamTransLeft);
// camera_matrix(1,1) = bot_camtrans_get_focal_length_y(mCamTransLeft);
// camera_matrix(0,2) = bot_camtrans_get_principal_x(mCamTransLeft);
// camera_matrix(1,2) = bot_camtrans_get_principal_y(mCamTransLeft);
camera_matrix(0,0) = 535.04778754;
camera_matrix(1,1) = 533.37100256;
camera_matrix(0,2) = 302.83654976;
camera_matrix(1,2) = 237.69023961;
Eigen::Vector4d distortion_coefficients(-7.74010810e-02, -1.97835565e-01, -4.47956948e-03, -5.42361499e-04);
// camera matrix:
// [[ 535.04778754 0. 302.83654976]
// [ 0. 533.37100256 237.69023961]
// [ 0. 0. 1. ]]
// distortion coefficients: [ -7.74010810e-02 -1.97835565e-01 -4.47956948e-03 -5.42361499e-04
// 9.30985112e-01]
cv::VideoCapture capture(getopt_get_int(options.get(), "camera"));
if (!capture.isOpened()) {
std::cout << "Cannot open the video cam" << std::endl;
return -1;
}
cv::Mat frame;
Eigen::Isometry3d tag_to_camera = Eigen::Isometry3d::Identity();
crazyflie_t::webcam_pos_t tag_to_camera_msg;
while (capture.read(frame)) {
std::vector<TagMatch> tags = tag_detector.detectTags(frame);
if (tags.size() > 0) {
tag_to_camera = getRelativeTransform(tags[0], camera_matrix, distortion_coefficients, tag_detector.getTagSize());
tag_to_camera_msg = encodeWebcamPos(tag_to_camera);
tag_to_camera_msg.frame_id = 1;
} else {
tag_to_camera_msg = encodeWebcamPos(tag_to_camera);
tag_to_camera_msg.frame_id = -1;
}
tag_to_camera_msg.timestamp = timestamp_now();
lcm->publish("WEBCAM_POS", &tag_to_camera_msg);
}
return 0;
}
int main(int argc, char ** argv)
{
getopt_t *gopt = getopt_create();
getopt_add_bool (gopt, 'h', "help", 0, "Show help");
getopt_add_bool (gopt, '\0', "no-gtk", 0, "Don't show gtk window, only advertise remote connection");
getopt_add_int (gopt, 'l', "limitKBs", "-1", "Remote display bandwidth limit. < 0: unlimited.");
getopt_add_string (gopt, '\0', "pnm", "", "Path for pnm file to render as texture (.e.g BlockM.pnm)");
getopt_add_bool (gopt, '\0', "stay-open", 0, "Stay open after gtk exits to continue handling remote connections");
// parse and print help
if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
printf ("Usage: %s [options]\n\n", argv[0]);
getopt_do_usage (gopt);
exit (1);
}
signal(SIGPIPE, SIG_IGN); // potential fix for Valgrind "Killed" on
// remote viewer exit
state_t * state = state_create();
// Load a pnm from file, and repack the data so that it's understandable by vx
if (strcmp(getopt_get_string(gopt,"pnm"),"")) {
image_u8_t * img2 = image_u8_create_from_pnm(getopt_get_string(gopt, "pnm"));
state->img = image_util_convert_rgb_to_rgba (img2);
image_u8_destroy (img2);
}
vx_global_init(); // Call this to initialize the vx-wide lock. Required to start the GL thread or to use the program library
vx_application_t app = {.impl=state, .display_started=display_started, .display_finished=display_finished};
vx_remote_display_source_attr_t remote_attr;
vx_remote_display_source_attr_init(&remote_attr);
remote_attr.max_bandwidth_KBs = getopt_get_int(gopt, "limitKBs");
remote_attr.advertise_name = "Vx Stress Test";
vx_remote_display_source_t * cxn = vx_remote_display_source_create_attr(&app, &remote_attr);
for (int i = 0; i < NRENDER; i++) {
tinfo_t * tinfo = calloc(1,sizeof(tinfo_t));
tinfo->state = state;
tinfo->id = i;
pthread_create(&state->render_threads[i], NULL, render_loop, tinfo);
}
pthread_create(&state->camera_thread, NULL, camera_loop, state);
if (!getopt_get_bool(gopt,"no-gtk")) {
gdk_threads_init ();
gdk_threads_enter ();
gtk_init (&argc, &argv);
vx_gtk_display_source_t * appwrap = vx_gtk_display_source_create(&app);
GtkWidget * window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
GtkWidget * canvas = vx_gtk_display_source_get_widget(appwrap);
gtk_window_set_default_size (GTK_WINDOW (window), 400, 400);
gtk_container_add(GTK_CONTAINER(window), canvas);
gtk_widget_show (window);
gtk_widget_show (canvas); // XXX Show all causes errors!
g_signal_connect_swapped(G_OBJECT(window), "destroy", G_CALLBACK(gtk_main_quit), NULL);
gtk_main (); // Blocks as long as GTK window is open
gdk_threads_leave ();
vx_gtk_display_source_destroy(appwrap);
// quit when gtk closes? Or wait for remote displays/Ctrl-C
if (!getopt_get_bool(gopt, "stay-open"))
state->running = 0;
}
for (int i = 0; i < NRENDER; i++)
pthread_join(state->render_threads[i], NULL);
vx_remote_display_source_destroy(cxn);
state_destroy(state);
vx_global_destroy();
getopt_destroy(gopt);
}