示例#1
0
/*!
 *
 */
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;
}
示例#2
0
int main() {
	
	

	// 打开摄像头
	video_capture.open(0);
	if (!video_capture.isOpened()){
		std::cerr << "Could not open video" << endl;
		return -1;
	}

	// 获取第一张图像,用于这设置参数
	video_capture >> input_image;

	// 读取摄像机参数
	camera_params.readFromXMLFile("camera.yml");
	camera_params.resize(input_image.size());

	// 注册窗口
	cv::namedWindow("thres",1);
	cv::namedWindow("in",1);

	marker_dector.getThresholdParams(threshold_param1, threshold_param2);
	i_threshold_param1 = threshold_param1;
	i_threshold_param2 = threshold_param2;

	cv::createTrackbar("ThresParam1", "in",&i_threshold_param1, 13, cvTackBarEvents);
	cv::createTrackbar("ThresParam2", "in",&i_threshold_param2, 13, cvTackBarEvents);

	char key=0;
	int index=0;

	//capture until press ESC or until the end of the video
	while( key!=27 && video_capture.grab())
	{
		//copy image
		video_capture.retrieve(input_image);
		
		//number of images captured
		index++; 

		//for checking the speed
		double tick = (double)cv::getTickCount();
		//Detection of markers in the image passed
		marker_dector.detect(input_image, markers, camera_params, marker_size);
		//chekc the speed by calculating the mean speed of all iterations
		average_time.first += ((double)cv::getTickCount() - tick) / cv::getTickFrequency();
		average_time.second++;
		std::cout << "Time detection=" << 1000 * average_time.first / average_time.second << " milliseconds" << endl;

		//print marker info and draw the markers in image
		input_image.copyTo(input_image_copy);
		for(unsigned int i = 0; i < markers.size(); i++){
			std::cout << markers[i] << std::endl;
			markers[i].draw(input_image, Scalar(0, 0, 255), 2);
		}

		//draw a 3d cube in each marker if there is 3d info
		if ( camera_params.isValid())
			for(unsigned int i = 0; i < markers.size(); i++){
				aruco::CvDrawingUtils::draw3dCube(input_image, markers[i], camera_params);
				aruco::CvDrawingUtils::draw3dAxis(input_image, markers[i], camera_params);
			}

			//DONE! Easy, right?
			cout << endl << endl << endl;
			//show input with augmented information and  the thresholded image
			cv::imshow("in", input_image);
			cv::imshow("thres", marker_dector.getThresholdedImage());

			key=cv::waitKey(0);//wait for key to be pressed
	}
	return 0;
}