SampleMultiMarker.cpp
Go to the documentation of this file.
00001 #include "CvTestbed.h"
00002 #include "MarkerDetector.h"
00003 #include "MultiMarker.h"
00004 #include "Pose.h"
00005 #include "Shared.h"
00006 using namespace alvar;
00007 using namespace std;
00008 
00009 int visualize=0;
00010 bool detect_additional = false;
00011 const int nof_markers = 5;
00012 const double marker_size = 4;
00013 MarkerDetector<MarkerData> marker_detector;
00014 //MultiMarker<MarkerData> *multi_marker;
00015 MultiMarker *multi_marker;
00016 std::stringstream calibrationFilename;
00017 
00018 void videocallback(IplImage *image)
00019 {
00020     static Camera cam;
00021     Pose pose;
00022     bool flip_image = (image->origin?true:false);
00023     if (flip_image) {
00024         cvFlip(image);
00025         image->origin = !image->origin;
00026     }
00027 
00028     static bool init = true;
00029     if (init)
00030     {
00031 
00032         init = false;
00033 
00034         // Initialize camera
00035         cout<<"Loading calibration: "<<calibrationFilename.str();
00036 
00037         if (cam.SetCalib(calibrationFilename.str().c_str(), image->width, image->height))
00038         {
00039             cout<<" [Ok]"<<endl;
00040         }
00041         else
00042         {
00043             cam.SetRes(image->width, image->height);
00044             cout<<" [Fail]"<<endl;
00045         }
00046 
00047         vector<int> id_vector;
00048         for(int i = 0; i < nof_markers; ++i)
00049             id_vector.push_back(i);
00050 
00051         // We make the initialization for MultiMarkerBundle using a fixed marker field (can be printed from ALVAR.pdf)
00052         marker_detector.SetMarkerSize(marker_size);
00053         marker_detector.SetMarkerSizeForId(0, marker_size*2);
00054         multi_marker = new MultiMarker(id_vector);
00055         pose.Reset();
00056         multi_marker->PointCloudAdd(0, marker_size*2, pose);
00057         pose.SetTranslation(-marker_size*2.5, +marker_size*1.5, 0);
00058         multi_marker->PointCloudAdd(1, marker_size, pose);
00059         pose.SetTranslation(+marker_size*2.5, +marker_size*1.5, 0);
00060         multi_marker->PointCloudAdd(2, marker_size, pose);
00061         pose.SetTranslation(-marker_size*2.5, -marker_size*1.5, 0);
00062         multi_marker->PointCloudAdd(3, marker_size, pose);
00063         pose.SetTranslation(+marker_size*2.5, -marker_size*1.5, 0);
00064         multi_marker->PointCloudAdd(4, marker_size, pose);
00065     }
00066 
00067     double error=-1;
00068     if (marker_detector.Detect(image, &cam, true, (visualize == 1), 0.0)) {
00069         if (detect_additional) {
00070             error = multi_marker->Update(marker_detector.markers, &cam, pose);
00071             multi_marker->SetTrackMarkers(marker_detector, &cam, pose, visualize ? image : NULL);
00072             marker_detector.DetectAdditional(image, &cam, (visualize == 1));
00073         }
00074         if (visualize == 2) 
00075             error = multi_marker->Update(marker_detector.markers, &cam, pose, image);
00076         else
00077             error = multi_marker->Update(marker_detector.markers, &cam, pose);
00078     }
00079 
00080     static Marker foo;
00081     foo.SetMarkerSize(marker_size*4);
00082     if ((error >= 0) && (error < 5))
00083     {
00084         foo.pose = pose;
00085     }
00086     foo.Visualize(image, &cam);
00087 
00088     if (flip_image) {
00089         cvFlip(image);
00090         image->origin = !image->origin;
00091     }
00092 }
00093 
00094 int keycallback(int key)
00095 {
00096     if(key == 'v')
00097     {
00098         visualize = (visualize+1)%3;
00099     }
00100     else if(key == 'l')
00101     {
00102         if(multi_marker->Load("mmarker.xml", alvar::FILE_FORMAT_XML))
00103         {
00104             cout<<"Multi marker loaded"<<endl;
00105         }
00106         else
00107             cout<<"Cannot load multi marker"<<endl;
00108     }
00109     else if(key == 'd')
00110     {
00111         detect_additional = !detect_additional;
00112         if(detect_additional)
00113             cout<<"Unreadable marker detection enabled."<<endl;
00114         else
00115             cout<<"Unreadable marker detection disabled."<<endl;
00116     }
00117     else return key;
00118 
00119     return 0;
00120 }
00121 
00122 int main(int argc, char *argv[])
00123 {
00124     try {
00125         // Output usage message
00126         std::string filename(argv[0]);
00127         filename = filename.substr(filename.find_last_of('\\') + 1);
00128         std::cout << "SampleMultiMarker" << std::endl;
00129         std::cout << "=================" << std::endl;
00130         std::cout << std::endl;
00131         std::cout << "Description:" << std::endl;
00132         std::cout << "  This is an example of how to use the 'MultiMarker' class to detect" << std::endl;
00133         std::cout << "  preconfigured multi-marker setup (see ALVAR.pdf). A large cube is drawn" << std::endl;
00134         std::cout << "  over the detected multi-marker even when only some of the markers are" << std::endl;
00135         std::cout << "  visible." << std::endl;
00136         std::cout << std::endl;
00137         std::cout << "Usage:" << std::endl;
00138         std::cout << "  " << filename << " [device]" << std::endl;
00139         std::cout << std::endl;
00140         std::cout << "    device    integer selecting device from enumeration list (default 0)" << std::endl;
00141         std::cout << "              highgui capture devices are prefered" << std::endl;
00142         std::cout << std::endl;
00143         std::cout << "Keyboard Shortcuts:" << std::endl;
00144         std::cout << "  v: switch between three debug visualizations" << std::endl;
00145         std::cout << "  l: load marker configuration from mmarker.txt" << std::endl;
00146         std::cout << "  d: toggle the detection of non-readable markers" << std::endl;
00147         std::cout << "  q: quit" << std::endl;
00148         std::cout << std::endl;
00149 
00150         // Initialise CvTestbed
00151         CvTestbed::Instance().SetVideoCallback(videocallback);
00152         CvTestbed::Instance().SetKeyCallback(keycallback);
00153 
00154         // Enumerate possible capture plugins
00155         CaptureFactory::CapturePluginVector plugins = CaptureFactory::instance()->enumeratePlugins();
00156         if (plugins.size() < 1) {
00157             std::cout << "Could not find any capture plugins." << std::endl;
00158             return 0;
00159         }
00160 
00161         // Display capture plugins
00162         std::cout << "Available Plugins: ";
00163         outputEnumeratedPlugins(plugins);
00164         std::cout << std::endl;
00165 
00166         // Enumerate possible capture devices
00167         CaptureFactory::CaptureDeviceVector devices = CaptureFactory::instance()->enumerateDevices();
00168         if (devices.size() < 1) {
00169             std::cout << "Could not find any capture devices." << std::endl;
00170             return 0;
00171         }
00172 
00173         // Check command line argument for which device to use
00174         int selectedDevice = defaultDevice(devices);
00175         if (argc > 1) {
00176             selectedDevice = atoi(argv[1]);
00177         }
00178         if (selectedDevice >= (int)devices.size()) {
00179             selectedDevice = defaultDevice(devices);
00180         }
00181         
00182         // Display capture devices
00183         std::cout << "Enumerated Capture Devices:" << std::endl;
00184         outputEnumeratedDevices(devices, selectedDevice);
00185         std::cout << std::endl;
00186         
00187         // Create capture object from camera
00188         Capture *cap = CaptureFactory::instance()->createCapture(devices[selectedDevice]);
00189         std::string uniqueName = devices[selectedDevice].uniqueName();
00190 
00191         // Handle capture lifecycle and start video capture
00192         // Note that loadSettings/saveSettings are not supported by all plugins
00193         if (cap) {
00194             std::stringstream settingsFilename;
00195             settingsFilename << "camera_settings_" << uniqueName << ".xml";
00196             calibrationFilename << "camera_calibration_" << uniqueName << ".xml";
00197             
00198             cap->start();
00199             cap->setResolution(640, 480);
00200             
00201             if (cap->loadSettings(settingsFilename.str())) {
00202                 std::cout << "Loading settings: " << settingsFilename.str() << std::endl;
00203             }
00204 
00205             std::stringstream title;
00206             title << "SampleMultiMarker (" << cap->captureDevice().captureType() << ")";
00207 
00208             CvTestbed::Instance().StartVideo(cap, title.str().c_str());
00209 
00210             if (cap->saveSettings(settingsFilename.str())) {
00211                 std::cout << "Saving settings: " << settingsFilename.str() << std::endl;
00212             }
00213 
00214             cap->stop();
00215             delete cap;
00216         }
00217         else if (CvTestbed::Instance().StartVideo(0, argv[0])) {
00218         }
00219         else {
00220             std::cout << "Could not initialize the selected capture backend." << std::endl;
00221         }
00222 
00223         return 0;
00224     }
00225     catch (const std::exception &e) {
00226         std::cout << "Exception: " << e.what() << endl;
00227     }
00228     catch (...) {
00229         std::cout << "Exception: unknown" << std::endl;
00230     }
00231 }


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Thu Feb 16 2017 03:23:02