SampleMarkerDetector.cpp

This is an example that shows how to detect MarkerData markers and visualize them usingGlutViewer.

#include "CvTestbed.h"
#include "MarkerDetector.h"
#include "GlutViewer.h"
#include "Shared.h"
using namespace alvar;
using namespace std;
bool init=true;
const int marker_size=15;
Drawable d[32];
std::stringstream calibrationFilename;
void videocallback(IplImage *image)
{
static IplImage *rgba;
bool flip_image = (image->origin?true:false);
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
if (init) {
init = false;
cout<<"Loading calibration: "<<calibrationFilename.str();
if (cam.SetCalib(calibrationFilename.str().c_str(), image->width, image->height)) {
cout<<" [Ok]"<<endl;
} else {
cam.SetRes(image->width, image->height);
cout<<" [Fail]"<<endl;
}
double p[16];
cam.GetOpenglProjectionMatrix(p,image->width,image->height);
for (int i=0; i<32; i++) {
}
rgba = CvTestbed::Instance().CreateImageWithProto("RGBA", image, 0, 4);
}
marker_detector.SetMarkerSize(marker_size); // for marker ids larger than 255, set the content resolution accordingly
//static MarkerDetector<MarkerArtoolkit> marker_detector;
//marker_detector.SetMarkerSize(2.8, 3, 1.5);
// Here we try to use RGBA just to make sure that also it works...
//cvCvtColor(image, rgba, CV_RGB2RGBA);
marker_detector.Detect(image, &cam, true, true);
for (size_t i=0; i<marker_detector.markers->size(); i++) {
if (i >= 32) break;
Pose p = (*(marker_detector.markers))[i].pose;
p.GetMatrixGL(d[i].gl_mat);
int id = (*(marker_detector.markers))[i].GetId();
double r = 1.0 - double(id+1)/32.0;
double g = 1.0 - double(id*3%32+1)/32.0;
double b = 1.0 - double(id*7%32+1)/32.0;
d[i].SetColor(r, g, b);
}
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
}
int main(int argc, char *argv[])
{
try {
// Output usage message
std::string filename(argv[0]);
filename = filename.substr(filename.find_last_of('\\') + 1);
std::cout << "SampleMarkerDetector" << std::endl;
std::cout << "====================" << std::endl;
std::cout << std::endl;
std::cout << "Description:" << std::endl;
std::cout << " This is an example of how to detect 'MarkerData' markers using" << std::endl;
std::cout << " 'MarkerDetector' and visualize them using 'GlutViewer'. In the" << std::endl;
std::cout << " SampleMarkerDetector window, various debug information is shown" << std::endl;
std::cout << " about the detected markers. The coordinate axes and a virtual cube" << std::endl;
std::cout << " are superimposed onto the markers to visualize the detected pose." << std::endl;
std::cout << " For each marker, a small image of the marker content is displayed" << std::endl;
std::cout << " at the origin and the marker number is displayed at one of the" << std::endl;
std::cout << " corners. At the opposing corner, the error estimation percentages" << std::endl;
std::cout << " 'MARGIN_ERROR' and 'DECODE_ERROR' (red) or 'TRACK_ERROR' (dark red)" << std::endl;
std::cout << " are displayed." << std::endl;
std::cout << std::endl;
std::cout << " In the AR window, squares are drawn over the marker positions using" << std::endl;
std::cout << " OpenGL. In the VR window, the squares are drawn with respect to the" << std::endl;
std::cout << " camera coordinate frame. The viewpoint can be modified by dragging" << std::endl;
std::cout << " with the left and right mouse buttons." << std::endl;
std::cout << std::endl;
std::cout << "Usage:" << std::endl;
std::cout << " " << filename << " [device|filename]" << std::endl;
std::cout << std::endl;
std::cout << " device integer selecting device from enumeration list (default 0)" << std::endl;
std::cout << " highgui capture devices are prefered" << std::endl;
std::cout << " filename string specifying a media file as input" << std::endl;
std::cout << std::endl;
std::cout << "Keyboard Shortcuts:" << std::endl;
std::cout << " q: quit" << std::endl;
std::cout << std::endl;
// Initialise GlutViewer and CvTestbed
GlutViewer::Start(argc, argv, 640, 480);
// Create capture object from camera (argv[1] is a number) or from file (argv[1] is a string)
Capture *cap;
std::string uniqueName;
if ((argc > 1) && (!isdigit(argv[1][0]))) {
// Manually create capture device and initialize capture object
CaptureDevice device("file", argv[1]);
uniqueName = "file";
}
else {
// Enumerate possible capture plugins
if (plugins.size() < 1) {
std::cout << "Could not find any capture plugins." << std::endl;
return 0;
}
// Display capture plugins
std::cout << "Available Plugins: ";
std::cout << std::endl;
// Enumerate possible capture devices
if (devices.size() < 1) {
std::cout << "Could not find any capture devices." << std::endl;
return 0;
}
// Check command line argument for which device to use
int selectedDevice = defaultDevice(devices);
if (argc > 1) {
selectedDevice = atoi(argv[1]);
}
if (selectedDevice >= (int)devices.size()) {
selectedDevice = defaultDevice(devices);
}
// Display capture devices
std::cout << "Enumerated Capture Devices:" << std::endl;
outputEnumeratedDevices(devices, selectedDevice);
std::cout << std::endl;
// Create capture object from camera
cap = CaptureFactory::instance()->createCapture(devices[selectedDevice]);
uniqueName = devices[selectedDevice].uniqueName();
}
// Handle capture lifecycle and start video capture
// Note that loadSettings/saveSettings are not supported by all plugins
if (cap) {
std::stringstream settingsFilename;
settingsFilename << "camera_settings_" << uniqueName << ".xml";
calibrationFilename << "camera_calibration_" << uniqueName << ".xml";
cap->start();
cap->setResolution(640, 480);
if (cap->loadSettings(settingsFilename.str())) {
std::cout << "Loading settings: " << settingsFilename.str() << std::endl;
}
std::stringstream title;
title << "SampleMarkerDetector (" << cap->captureDevice().captureType() << ")";
CvTestbed::Instance().StartVideo(cap, title.str().c_str());
if (cap->saveSettings(settingsFilename.str())) {
std::cout << "Saving settings: " << settingsFilename.str() << std::endl;
}
cap->stop();
delete cap;
}
else if (CvTestbed::Instance().StartVideo(0, argv[0])) {
}
else {
std::cout << "Could not initialize the selected capture backend." << std::endl;
}
return 0;
}
catch (const std::exception &e) {
std::cout << "Exception: " << e.what() << endl;
}
catch (...) {
std::cout << "Exception: unknown" << std::endl;
}
}


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Mon Jun 10 2019 12:47:03