aruco_simple_markermap.cpp

Go to the documentation of this file.

/*****************************
Copyright 2011 Rafael Muñoz Salinas. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are
permitted provided that the following conditions are met:

   1. Redistributions of source code must retain the above copyright notice, this list of
      conditions and the following disclaimer.

   2. Redistributions in binary form must reproduce the above copyright notice, this list
      of conditions and the following disclaimer in the documentation and/or other materials
      provided with the distribution.

THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

The views and conclusions contained in the software and documentation are those of the
authors and should not be interpreted as representing official policies, either expressed
or implied, of Rafael Muñoz Salinas.
********************************/
#include <iostream>
#include <fstream>
#include <sstream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include "aruco.h"
#include "posetracker.h"
#include "cvdrawingutils.h"
using namespace cv;
using namespace aruco;
/************************************
 *
 *
 *
 *
 ************************************/
int main(int argc, char **argv) {
    try {
        if (argc < 3) {
            cerr << "Usage: (in_image|video.avi)  markerSetConfig.yml [cameraParams.yml] [markerSize]  [outImage]" << endl;
            exit(0);
        }
        //open video
        cv::Mat InImage;
        VideoCapture vreader(argv[1]);
        if (!vreader.isOpened()) throw std::runtime_error("Could not open input");
        //read input image(or first image from video)
        vreader>>InImage;

        //read marker map
        MarkerMap TheMarkerMapConfig;//configuration of the map
        TheMarkerMapConfig.readFromFile(argv[2]);

        //read camera params if indicated
        aruco::CameraParameters CamParam;
        if (argc >= 4) {
            CamParam.readFromXMLFile(argv[3]);
            // resizes the parameters to fit the size of the input image
            CamParam.resize(InImage.size());
        }
        //read marker size if indicated
        float MarkerSize = -1;
        if (argc >= 5) MarkerSize = atof(argv[4]);
        //transform the markersetconfig to meter if is in pixels and the markersize indicated
        if ( TheMarkerMapConfig.isExpressedInPixels() && MarkerSize>0)
            TheMarkerMapConfig=TheMarkerMapConfig.convertToMeters(MarkerSize);



        //Let go
        MarkerDetector MDetector;
        //set the appropiate dictionary type so that the detector knows it
        MDetector.setDictionary(TheMarkerMapConfig.getDictionary());
        // detect markers without computing R and T information
        vector< Marker >  Markers=MDetector.detect(InImage);

        //print the markers detected that belongs to the markerset
        vector<int> markers_from_set=TheMarkerMapConfig.getIndices(Markers);
        for(auto idx:markers_from_set) Markers[idx].draw(InImage, Scalar(0, 0, 255), 2);


        //detect the 3d camera location wrt the markerset (if possible)
        if ( TheMarkerMapConfig.isExpressedInMeters() && CamParam.isValid()) {
            MarkerMapPoseTracker MSPoseTracker;//tracks the pose of the marker map
            MSPoseTracker.setParams(CamParam,TheMarkerMapConfig);
            if ( MSPoseTracker.estimatePose(Markers))//if pose correctly computed, print the reference system
                aruco::CvDrawingUtils::draw3dAxis(InImage,CamParam,MSPoseTracker.getRvec(),MSPoseTracker.getTvec(),TheMarkerMapConfig[0].getMarkerSize()*2);
        }
        // show input with augmented information
        cv::imshow("in", InImage);
        while ( char(cv::waitKey(0))!=27) ; // wait for esc to be pressed
        //save output if indicated
        if (argc >= 6) cv::imwrite(argv[5], InImage);

    } catch (std::exception &ex)

    {
        cout << "Exception :" << ex.what() << endl;
    }
}