/*!
*
*/
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;
}
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;
}