aruco_test_markermap_gl.cpp

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/*****************************
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>
#ifdef __APPLE__
  #include <GLUT/glut.h>
#elif _MSC_VER
  //http://social.msdn.microsoft.com/Forums/eu/vcgeneral/thread/7d6e6fa5-afc2-4370-9a1f-991a76ccb5b7
  #include <windows.h>
  #include <GL/gl.h>
  #include <GL/glut.h>
#else
  #include <GL/gl.h>
  #include <GL/glut.h>
#endif

#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include "aruco.h"
#include "markermap.h"


using namespace cv;
using namespace aruco;
void  __glGetModelViewMatrix(double modelview_matrix[16],const cv::Mat &Rvec,const cv::Mat &Tvec) throw(cv::Exception) ;

bool The3DInfoAvailable=false;
float TheMarkerSize=-1;
VideoCapture TheVideoCapturer;
vector<Marker> TheMarkers;
//board
cv::Mat TheInputImage,TheUndInputImage,TheResizedImage;
CameraParameters TheCameraParams;
Size TheGlWindowSize;
MarkerMap TheMMConfig;
MarkerDetector TheMarkerDetector;
MarkerMapPoseTracker MMPoseTracker;
bool TheCaptureFlag=true;
void vDrawScene();
void vIdle();
void vResize( GLsizei iWidth, GLsizei iHeight );
void vMouse(int b,int s,int x,int y);


/************************************
 *
 *
 *
 *
 ************************************/

int main(int argc,char **argv)
{
    try
    {
        if (argc!=5) {
            cerr<<"Invalid number of arguments"<<endl;
            cerr<<"Usage: (in.avi|live) markermap_config.yml  intrinsics.yml   size "<<endl;
            cerr<<"WARNING: this test creates a synthetic mask consisting of a single rectangle. "<<endl;
            cerr<<"WARNING: The only purpose is to show how to create an AR application with mask in OpenGL "<<endl;
            return false;
        }
        TheCameraParams.readFromXMLFile(argv[3]);
        //read board configuration
        TheMMConfig.readFromFile(argv[2]);
        TheMarkerSize=atof(argv[4]);
        if (TheMMConfig.isExpressedInPixels())
            TheMMConfig=TheMMConfig.convertToMeters(TheMarkerSize);

        MMPoseTracker.setParams(TheCameraParams,TheMMConfig);
        //Open video input source
        if (string(argv[1])=="live")  //read from camera
            TheVideoCapturer.open(0);
        else TheVideoCapturer.open(argv[1]);

        if (!TheVideoCapturer.isOpened()) throw std::runtime_error("could not open video");

        //read first image
        TheVideoCapturer>>TheInputImage;
        //read camera paramters if passed
        TheCameraParams.readFromXMLFile(argv[3]);
        TheCameraParams.resize( TheInputImage.size());

        TheMarkerDetector.setThresholdParams(25,7);

        MarkerDetector::Params params;
        //play with this paramteres if the detection does not work correctly
       params._borderDistThres=.01;//acept markers near the borders
       params._thresParam1=5;
       params._thresParam1_range=10;//search in wide range of values for param1
       params._cornerMethod=MarkerDetector::SUBPIX;//use subpixel corner refinement
       params._subpix_wsize= (15./2000.)*float(TheInputImage.cols) ;//search corner subpix in a 5x5 widow area
       TheMarkerDetector.setParams(params);//set the params above
        TheMarkerDetector.setDictionary(TheMMConfig.getDictionary());


        glutInit(&argc, argv);
        glutInitWindowPosition( 0, 0);
        glutInitWindowSize(TheInputImage.size().width,TheInputImage.size().height);
        glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
        glutCreateWindow( "AruCo" );
        glutDisplayFunc( vDrawScene );
        glutIdleFunc( vIdle );
        glutReshapeFunc( vResize );
        glutMouseFunc(vMouse);
        glClearColor( 0.0, 0.0, 0.0, 1.0 );
        glClearDepth( 1.0 );
        TheGlWindowSize=TheInputImage.size();
        vResize(TheGlWindowSize.width,TheGlWindowSize.height);
        glutMainLoop();

    } catch (std::exception &ex)

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

}
/************************************
 *
 *
 *
 *
 ************************************/

void vMouse(int b,int s,int x,int y)
{
    if (b==GLUT_LEFT_BUTTON && s==GLUT_DOWN) {
        TheCaptureFlag=!TheCaptureFlag;
    }

}

/************************************
 *
 *
 *
 *
 ************************************/
void axis(float size)
{
    glColor3f (1,0,0 );
    glBegin(GL_LINES);
    glVertex3f(0.0f, 0.0f, 0.0f); // origin of the line
    glVertex3f(size,0.0f, 0.0f); // ending point of the line
    glEnd( );

    glColor3f ( 0,1,0 );
    glBegin(GL_LINES);
    glVertex3f(0.0f, 0.0f, 0.0f); // origin of the line
    glVertex3f( 0.0f,size, 0.0f); // ending point of the line
    glEnd( );


    glColor3f (0,0,1 );
    glBegin(GL_LINES);
    glVertex3f(0.0f, 0.0f, 0.0f); // origin of the line
    glVertex3f(0.0f, 0.0f, size); // ending point of the line
    glEnd( );


}


/************************************
 *
 *
 *
 *
 ************************************/
void vIdle()
{
    if (TheCaptureFlag) {
        //capture image
        TheVideoCapturer.grab();
        TheVideoCapturer.retrieve( TheInputImage);
        TheUndInputImage.create(TheInputImage.size(),CV_8UC3);
        //by deafult, opencv works in BGR, so we must convert to RGB because OpenGL in windows preffer
        cv::cvtColor(TheInputImage,TheInputImage,CV_BGR2RGB);
        //remove distorion in image
        cv::undistort(TheInputImage,TheUndInputImage, TheCameraParams.CameraMatrix,TheCameraParams.Distorsion);
        //detect markers
        TheMarkers=TheMarkerDetector.detect(TheUndInputImage);
        MMPoseTracker.estimatePose(TheMarkers);
        //chekc the speed by calculating the mean speed of all iterations
        //resize the image to the size of the GL window
        cv::resize(TheUndInputImage,TheResizedImage,TheGlWindowSize);
    }
    glutPostRedisplay();
}

/************************************
 *
 *
 *
 *
 ************************************/
void vDrawScene()
{

    if (TheResizedImage.rows==0) //prevent from going on until the image is initialized
        return;
    glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    glOrtho(0, TheGlWindowSize.width, 0, TheGlWindowSize.height, -1.0, 1.0);
    glViewport(0, 0, TheGlWindowSize.width , TheGlWindowSize.height);
    glDisable(GL_TEXTURE_2D);
    glPixelZoom( 1, -1);
    glRasterPos3f( 0, TheGlWindowSize.height  - 0.5, -1.0 );
    glDrawPixels ( TheGlWindowSize.width , TheGlWindowSize.height , GL_RGB , GL_UNSIGNED_BYTE , TheResizedImage.ptr(0) );
    //like the real camera (without distorsion)
    glMatrixMode(GL_PROJECTION);
    double proj_matrix[16];
    TheCameraParams.glGetProjectionMatrix(TheInputImage.size(),TheGlWindowSize,proj_matrix,0.05,10);
    glLoadIdentity();
    glLoadMatrixd(proj_matrix);
    glLineWidth(2);
    //now, for each marker,
    double modelview_matrix[16];

    /*    for (unsigned int m=0;m<TheMarkers.size();m++)
        {
            TheMarkers[m].glGetModelViewMatrix(modelview_matrix);
            glMatrixMode(GL_MODELVIEW);
            glLoadIdentity();
            glLoadMatrixd(modelview_matrix);
    //          axis(TheMarkerSize);
            glColor3f(1,0.4,0.4);
            glTranslatef(0, TheMarkerSize/2,0);
            glPushMatrix();
            glutWireCube( TheMarkerSize );

            glPopMatrix();
        }*/
     //If the board is detected with enough probability
    if (!MMPoseTracker.getRTMatrix().empty()) {
        __glGetModelViewMatrix(modelview_matrix,MMPoseTracker.getRvec(),MMPoseTracker.getTvec());
        glMatrixMode(GL_MODELVIEW);
        glLoadIdentity();
        glLoadMatrixd(modelview_matrix);
        glColor3f(0,1,0);
        axis(TheMarkerSize);
        glPushMatrix();
        glutWireCube( TheMarkerSize );
        glPopMatrix();
    }

    glutSwapBuffers();

}




/************************************
 *
 *
 *
 *
 ************************************/
void vResize( GLsizei iWidth, GLsizei iHeight )
{

    TheGlWindowSize=Size(iWidth,iHeight);
    //not all sizes are allowed. OpenCv images have padding at the end of each line in these that are not aligned to 4 bytes
    if (iWidth*3%4!=0) {
        iWidth+=iWidth*3%4;//resize to avoid padding
        vResize(iWidth,TheGlWindowSize.height);
    }
    else {
        //resize the image to the size of the GL window
        if (TheUndInputImage.rows!=0)
            cv::resize(TheUndInputImage,TheResizedImage,TheGlWindowSize);
    }

}

void  __glGetModelViewMatrix(double modelview_matrix[16],const cv::Mat &Rvec,const cv::Mat &Tvec) throw(cv::Exception) {
     assert(Tvec.type()==CV_32F);
    // check if paremeters are valid
     Mat Rot(3, 3, CV_32FC1);
    Rodrigues(Rvec, Rot);

     double para[3][4];
    for (int i = 0; i < 3; i++)
        for (int j = 0; j < 3; j++)
            para[i][j] = Rot.at< float >(i, j);
    // now, add the translation
    para[0][3] = Tvec.ptr< float >(0)[0];
    para[1][3] = Tvec.ptr< float >(0)[1];
    para[2][3] = Tvec.ptr< float >(0)[2];
    double scale = 1;

    modelview_matrix[0 + 0 * 4] = para[0][0];
    // R1C2
    modelview_matrix[0 + 1 * 4] = para[0][1];
    modelview_matrix[0 + 2 * 4] = para[0][2];
    modelview_matrix[0 + 3 * 4] = para[0][3];
    // R2
    modelview_matrix[1 + 0 * 4] = para[1][0];
    modelview_matrix[1 + 1 * 4] = para[1][1];
    modelview_matrix[1 + 2 * 4] = para[1][2];
    modelview_matrix[1 + 3 * 4] = para[1][3];
    // R3
    modelview_matrix[2 + 0 * 4] = -para[2][0];
    modelview_matrix[2 + 1 * 4] = -para[2][1];
    modelview_matrix[2 + 2 * 4] = -para[2][2];
    modelview_matrix[2 + 3 * 4] = -para[2][3];
    modelview_matrix[3 + 0 * 4] = 0.0;
    modelview_matrix[3 + 1 * 4] = 0.0;
    modelview_matrix[3 + 2 * 4] = 0.0;
    modelview_matrix[3 + 3 * 4] = 1.0;
    if (scale != 0.0) {
        modelview_matrix[12] *= scale;
        modelview_matrix[13] *= scale;
        modelview_matrix[14] *= scale;
    }

}