aruco_simple.cpp

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

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permitted provided that the following conditions are met:

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

#include <string>
#include <iostream>
#include "aruco.h"
#include "cvdrawingutils.h"
#include <opencv2/highgui/highgui.hpp>
using namespace cv;
using namespace aruco;
//class for parsing command line
//operator [](string cmd) return  whether cmd is present //string operator ()(string cmd) return the value as a string: -cmd value
class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){}  bool operator[] ( string param ) {int idx=-1;  for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i;    return ( idx!=-1 ) ;    } string operator()(string param,string defvalue="-1"){int idx=-1;    for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue;   else  return ( argv[  idx+1] ); }};

int main(int argc, char **argv) {
    try {
        CmdLineParser cml(argc,argv);
        if (argc ==1 || cml["-h"] ){
            cerr << "Usage: (in_image|video.avi) [-c cameraParams.yml] [-s markerSize] [-d <dicionary>:ARUCO default] [-o <outImage>] " << endl;
            cerr<<"\tDictionaries: "; for(auto dict:aruco::Dictionary::getDicTypes())    cerr<<dict<<" ";cerr<<endl;
            cout<<"Example to work with apriltags dictionary : video.avi -d TAG36h11"<<endl<<endl;
            return 0;
        }


        aruco::CameraParameters CamParam;

        // read the input image
        cv::Mat InImage;
        // Open input and read image
        VideoCapture vreader(argv[1]);
        if (vreader.isOpened()) vreader>>InImage;
        else{cerr<<"Could not open input"<<endl;return -1;}
        // read camera parameters if specifed
        if (cml["-c"])  CamParam.readFromXMLFile(cml("-c"));
        // read marker size if specified (default value -1)
        float MarkerSize = std::stof(cml("-s","-1"));
        //Create the detector
        MarkerDetector MDetector;
        MDetector.setThresholdParams(7, 7);
        MDetector.setThresholdParamRange(2, 0);
        //Set the dictionary you want to work with, if you included option -d in command line
        //see dictionary.h for all types
        if (cml["-d"])  //if the -d is in the command line
            MDetector.setDictionary( cml("-d"),0.f);//cml("-d") return the string after -d in the command line "example: ./program video.avi -d ARUCO", then, returns the string "ARUCO"

        // Ok, let's detect
        vector< Marker >  Markers=MDetector.detect(InImage, CamParam, MarkerSize);

        // for each marker, draw info and its boundaries in the image
        for (unsigned int i = 0; i < Markers.size(); i++) {
            cout << Markers[i] << endl;
            Markers[i].draw(InImage, Scalar(0, 0, 255), 2);
        }
        // draw a 3d cube in each marker if there is 3d info
        if (CamParam.isValid() && MarkerSize != -1)
            for (unsigned int i = 0; i < Markers.size(); i++) {
                CvDrawingUtils::draw3dCube(InImage, Markers[i], CamParam);
            }
        // show input with augmented information
        cv::namedWindow("in", 1);
        cv::imshow("in", InImage);
        while( char(cv::waitKey(0))!=27); // wait for esc to be pressed


        if (cml["-o"]) cv::imwrite(cml("-o"), InImage);
    } catch (std::exception &ex)

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