C++ CameraParameters::readFromXMLFile方法代码示例

int main(int argc, char** argv) {
    try {
        if (readArguments(argc, argv) == false)
            return 0;

        // read board configuration
        TheBoardConfig.readFromFile(TheBoardConfigFile);

        // Open video input source
        if (TheInputVideo == "") // read from camera
            TheVideoCapturer.open(0);
        else
            TheVideoCapturer.open(TheInputVideo);
        if (!TheVideoCapturer.isOpened()) {
            cerr << "Could not open video" << endl;
            return -1;
        }

        // read first image
        TheVideoCapturer >> TheInputImage;
        // read camera paramters if passed
        TheCameraParams.readFromXMLFile(TheIntrinsicFile);
        TheCameraParams.resize(TheInputImage.size());

        TheBoardDetector.getMarkerDetector().setThresholdParams(25, 7);

        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);

        // these two are necesary for the mask effect
        glEnable(GL_ALPHA_TEST);
        glAlphaFunc(GL_GREATER, 0.5);

        TheGlWindowSize = TheInputImage.size();
        vResize(TheGlWindowSize.width, TheGlWindowSize.height);
        glutMainLoop();

    } catch (std::exception& ex)

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

int main(int argc,char **argv)
{
    try
    {
        if (readArguments (argc,argv)==false) return 0;

        //read board configuration
        TheBoardConfig.readFromFile(TheBoardConfigFile);

        //Open video input source
        if (TheInputVideo=="live")  //read from camera
            TheVideoCapturer.open(0);
        else TheVideoCapturer.open(TheInputVideo);
        if (!TheVideoCapturer.isOpened())
        {
            cerr<<"Could not open video"<<endl;
            return -1;

        }

        //read first image
        TheVideoCapturer>>TheInputImage;
        //read camera paramters if passed
        TheCameraParams.readFromXMLFile(TheIntrinsicFile);
        TheCameraParams.resize( TheInputImage.size());

		//init glut information and init
        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;
    }

}

int main(int argc,char **argv)
{
	try
	{
		if(argc==1) usage();
		readArguments (argc,argv);
		if (TheIntrinsicFile==""){cerr<<"-f option required"<<endl;return -1;}
		if (TheMarkerSize==-1){cerr<<"-s option required"<<endl;return -1;}
								 //read from camera
		if (TheInputVideo=="") TheVideoCapturer.open(0);
		else TheVideoCapturer.open(TheInputVideo);
		if (!TheVideoCapturer.isOpened())
		{
			cerr<<"Could not open video"<<endl;
			return -1;

		}

		//read first image
		TheVideoCapturer>>TheInputImage;
		//read camera paramters if passed
		if (isIntrinsicFileYAML)
		  TheCameraParams.readFromXMLFile(TheIntrinsicFile);
		else
		  TheCameraParams.readFromFile(TheIntrinsicFile);
		TheCameraParams.resize(TheInputImage.size());

		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;
	}

}

/*!
 *  
 */
int main(int argc,char **argv)
{
  readArguments (argc,argv);

  //read board configuration
  boardConfig.readFromFile(bcon->sval[0]);

  //Open video input source
  if (inp->count==0 || strcmp(inp->sval[0], "live")==0)
  {
    //read from camera
    vCapturer.open(0);

    vCapturer.set(CV_CAP_PROP_FRAME_WIDTH, wid->ival[0]);
    vCapturer.set(CV_CAP_PROP_FRAME_HEIGHT, hei->ival[0]);
    int val = CV_FOURCC('M', 'P', 'E', 'G');
    vCapturer.set(CV_CAP_PROP_FOURCC, val);
  }
  else
    vCapturer.open(inp->sval[0]);

  if (!vCapturer.isOpened())
  {
    std::cerr<<"Could not open video"<<std::endl;
    return -1;
  }

  //read first image
  vCapturer>>inImg;
  //read camera paramters if passed
  camParams.readFromXMLFile(ints->sval[0]);
  camParams.resize( inImg.size());

  glutInit(&argc, argv);
  glutInitWindowPosition( 0, 0);
  glutInitWindowSize(inImg.size().width,inImg.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 );
  glSize=inImg.size();
  vResize(glSize.width,glSize.height);
  glutMainLoop();
}

int main(int argc,char **argv)
{
    ros::init(argc, argv, "aruco_test_on_ros2");
    ros::NodeHandle nh;
    ros::NodeHandle pnh("~");

    //read camera parameters
    camParam.readFromXMLFile("/home/mylove/ws/src/vision_uav/ca150.yml");

    cout<< "here is the 1st."<<endl;
    image_transport::ImageTransport it(nh);
    image_transport::Subscriber imgSub;

    nh.param("MKsize", MKsize, double(27));

    imgSub = it.subscribe("/uav_cam/image", 5, imageCallback);
    pub = nh.advertise<geometry_msgs::Vector3>("img_pos",200);

    ros::spin();
    return 0;
}

int main(int argc, char** argv)
{
    try
    {
        CmdLineParser cml(argc, argv);
        if (argc < 2 || cml["-h"])
        {
            cerr << "Invalid number of arguments" << endl;
            cerr << "Usage: (in.avi|live[:camera_index(e.g 0 or 1)]) [-c camera_params.yml] [-s  marker_size_in_meters] [-d "
                    "dictionary:ARUCO by default] [-h]"
                 << endl;
            cerr << "\tDictionaries: ";
            for (auto dict : aruco::Dictionary::getDicTypes())
                cerr << dict << " ";
            cerr << endl;
            cerr << "\t Instead of these, you can directly indicate the path to a file with your own generated "
                    "dictionary"
                 << endl;
            return false;
        }

        ///////////  PARSE ARGUMENTS
        string TheInputVideo = argv[1];
        // read camera parameters if passed
        if (cml["-c"])
            TheCameraParameters.readFromXMLFile(cml("-c"));
        float TheMarkerSize = std::stof(cml("-s", "-1"));
        // aruco::Dictionary::DICT_TYPES  TheDictionary= Dictionary::getTypeFromString( cml("-d","ARUCO") );

        ///////////  OPEN VIDEO
        // read from camera or from  file
        if (TheInputVideo.find("live") != string::npos)
        {
            int vIdx = 0;
            // check if the :idx is here
            char cad[100];
            if (TheInputVideo.find(":") != string::npos)
            {
                std::replace(TheInputVideo.begin(), TheInputVideo.end(), ':', ' ');
                sscanf(TheInputVideo.c_str(), "%s %d", cad, &vIdx);
            }
            cout << "Opening camera index " << vIdx << endl;
            TheVideoCapturer.open(vIdx);
            waitTime = 10;
        }
        else
            TheVideoCapturer.open(TheInputVideo);
        // check video is open
        if (!TheVideoCapturer.isOpened())
            throw std::runtime_error("Could not open video");

        ///// CONFIGURE DATA
        // read first image to get the dimensions
        TheVideoCapturer >> TheInputImage;
        if (TheCameraParameters.isValid())
            TheCameraParameters.resize(TheInputImage.size());
        dictionaryString=cml("-d", "ARUCO");
        MDetector.setDictionary(dictionaryString,float(iCorrectionRate)/10. );  // sets the dictionary to be employed (ARUCO,APRILTAGS,ARTOOLKIT,etc)
        MDetector.setThresholdParams(7, 7);
        MDetector.setThresholdParamRange(2, 0);

        // gui requirements : the trackbars to change this parameters
        iThresParam1 = static_cast<int>(MDetector.getParams()._thresParam1);
        iThresParam2 = static_cast<int>(MDetector.getParams()._thresParam2);
        cv::namedWindow("in");
        cv::createTrackbar("ThresParam1", "in", &iThresParam1, 25, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in", &iThresParam2, 13, cvTackBarEvents);
        cv::createTrackbar("correction_rate", "in", &iCorrectionRate, 10, cvTackBarEvents);
        cv::createTrackbar("EnclosedMarkers", "in", &iEnclosedMarkers, 1, cvTackBarEvents);
        cv::createTrackbar("ShowAllCandidates", "in", &iShowAllCandidates, 1, cvTackBarEvents);

        // go!
        char key = 0;
        int index = 0,indexSave=0;
        // capture until press ESC or until the end of the video
        do
        {
            TheVideoCapturer.retrieve(TheInputImage);
            // copy image
            double tick = (double)getTickCount();  // for checking the speed
            // Detection of markers in the image passed
            TheMarkers = MDetector.detect(TheInputImage, TheCameraParameters, TheMarkerSize);
            // chekc the speed by calculating the mean speed of all iterations
            AvrgTime.first += ((double)getTickCount() - tick) / getTickFrequency();
            AvrgTime.second++;
            cout << "\rTime detection=" << 1000 * AvrgTime.first / AvrgTime.second
                 << " milliseconds nmarkers=" << TheMarkers.size() << std::endl;

            // print marker info and draw the markers in image
            TheInputImage.copyTo(TheInputImageCopy);

            if (iShowAllCandidates){
                auto candidates=MDetector.getCandidates();
                for(auto cand:candidates)
                    Marker(cand,-1).draw(TheInputImageCopy, Scalar(255, 0, 255));
            }

            for (unsigned int i = 0; i < TheMarkers.size(); i++)
            {
                cout << TheMarkers[i] << endl;
//.........这里部分代码省略.........

int main(int argc, char** argv)
{
    try
    {
        CmdLineParser cml(argc, argv);
        if (argc < 3 || cml["-h"])
        {
            cerr << "Invalid number of arguments" << endl;
            cerr << "Usage: (in.avi|live) marksetconfig.yml  [optional_arguments] \n\t[-c camera_intrinsics.yml] "
                    "\n\t[-s marker_size] \n\t[-pcd out_pcd_file_with_camera_poses] \n\t[-poses out_file_with_poses] "
                    "\n\t[-corner <corner_refinement_method> (0: LINES(default),1 SUBPIX) ][-h]"
                 << endl;
            return false;
        }
        TheMarkerMapConfig.readFromFile(argv[2]);

        TheMarkerMapConfigFile = argv[2];
        TheMarkerSize = stof(cml("-s", "1"));
        // read from camera or from  file
        if (string(argv[1]) == "live")
        {
            TheVideoCapturer.open(0);
        }
        else
            TheVideoCapturer.open(argv[1]);
        // check video is open
        if (!TheVideoCapturer.isOpened())
            throw std::runtime_error("Could not open video");

        // read first image to get the dimensions
        TheVideoCapturer >> TheInputImage;

        // read camera parameters if passed
        if (cml["-c"])
        {
            TheCameraParameters.readFromXMLFile(cml("-c"));
            TheCameraParameters.resize(TheInputImage.size());
        }
        // prepare the detector
        string dict =
            TheMarkerMapConfig
                .getDictionary();  // see if the dictrionary is already indicated in the configuration file. It should!
        if (dict.empty())
            dict = "ARUCO";
        TheMarkerDetector.setDictionary(
            dict);  /// DO NOT FORGET THAT!!! Otherwise, the ARUCO dictionary will be used by default!
        if (stoi(cml("-corner", "0")) == 0)
            TheMarkerDetector.setCornerRefinementMethod(MarkerDetector::LINES);
        else
        {
            MarkerDetector::Params params = TheMarkerDetector.getParams();
            params._cornerMethod = MarkerDetector::SUBPIX;
            // search corner subpix in a 5x5 widow area
            params._subpix_wsize = static_cast<int>((15.f / 2000.f) * float(TheInputImage.cols));
            TheMarkerDetector.setParams(params);
        }

        // prepare the pose tracker if possible
        // if the camera parameers are avaiable, and the markerset can be expressed in meters, then go

        if (TheMarkerMapConfig.isExpressedInPixels() && TheMarkerSize > 0)
            TheMarkerMapConfig = TheMarkerMapConfig.convertToMeters(TheMarkerSize);
        cout << "TheCameraParameters.isValid()=" << TheCameraParameters.isValid() << " "
             << TheMarkerMapConfig.isExpressedInMeters() << endl;
        if (TheCameraParameters.isValid() && TheMarkerMapConfig.isExpressedInMeters())
            TheMSPoseTracker.setParams(TheCameraParameters, TheMarkerMapConfig);

        // Create gui

        cv::namedWindow("thres", 1);
        cv::namedWindow("in", 1);

        TheMarkerDetector.getThresholdParams(ThresParam1, ThresParam2);
        iThresParam1 = static_cast<int>(ThresParam1);
        iThresParam2 = static_cast<int>(ThresParam2);
        cv::createTrackbar("ThresParam1", "in", &iThresParam1, 13, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in", &iThresParam2, 13, cvTackBarEvents);
        char key = 0;
        int index = 0;
        // capture until press ESC or until the end of the video
        cout << "Press 's' to start/stop video" << endl;
        do
        {
            TheVideoCapturer.retrieve(TheInputImage);
            TheInputImage.copyTo(TheInputImageCopy);
            index++;  // number of images captured
            // Detection of the board
            vector<aruco::Marker> detected_markers = TheMarkerDetector.detect(TheInputImage);
            // print the markers detected that belongs to the markerset
            for (auto idx : TheMarkerMapConfig.getIndices(detected_markers))
                detected_markers[idx].draw(TheInputImageCopy, Scalar(0, 0, 255), 2);
            // detect 3d info if possible
            if (TheMSPoseTracker.isValid())
            {
                if (TheMSPoseTracker.estimatePose(detected_markers))
                {
                    aruco::CvDrawingUtils::draw3dAxis(TheInputImageCopy, TheCameraParameters,
                                                      TheMSPoseTracker.getRvec(), TheMSPoseTracker.getTvec(),
                                                      TheMarkerMapConfig[0].getMarkerSize() * 2);
                    frame_pose_map.insert(make_pair(index, TheMSPoseTracker.getRTMatrix()));
//.........这里部分代码省略.........

int main(int argc,char **argv)
{
	
    
    try
    {
        if (readArguments (argc,argv)==false) {
            return 0;
        }
        //parse arguments
        ;
        //read from camera or from  file
        if (TheInputVideo=="live") {
            TheVideoCapturer.open(0);
            waitTime=10;
        }
        else  TheVideoCapturer.open(TheInputVideo);
        //check video is open
        if (!TheVideoCapturer.isOpened()) {
            cerr<<"Could not open video"<<endl;
            return -1;

        }
        

        //read first image to get the dimensions
        TheVideoCapturer>>TheInputImage;

        //read camera parameters if passed
        if (TheIntrinsicFile!="") {
            TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
            TheCameraParameters.resize(TheInputImage.size());
        }
        //Configure other parameters
        if (ThePyrDownLevel>0)
            MDetector.pyrDown(ThePyrDownLevel);

        //begin copy-paste from http://stackoverflow.com/questions/11550021/converting-a-mat-file-from-matlab-into-cvmat-matrix-in-opencv
		Mat oneVect;
		Mat useVecLat;
		Mat someVects;
		Mat zeroYzero;

		string demoFile  = "demo.yml";

		FileStorage fsDemo( demoFile, FileStorage::READ);
		fsDemo["oneVect"] >> oneVect;
		
		fsDemo["oneVect"] >> useVecLat;
		
		
		fsDemo["oneVect"] >> zeroYzero;

		fsDemo["someVects"] >> someVects;

		
		cout << "Print the contents of oneVect:" << endl;
		cout << oneVect << endl;
		
		
		
		fsDemo.release(); //close the file
		
		
		
		// Declare what you need
		// FileStorage fileOutt("reading_positions.yml", FileStorage::WRITE);
		
		//end copy-paste from http://stackoverflow.com/questions/11550021/converting-a-mat-file-from-matlab-into-cvmat-matrix-in-opencv
		
		
		cout << "an element oneVect:" << endl;
		cout << oneVect.at<float>(0,1) << endl;
		
		// to access the 42 in this YAML:
		
		//oneVect: !!opencv-matrix
		//   rows: 1
		//   cols: 3
		//   dt: f
		//   data: [ 4, 3, 42, 55]
		
		//  do oneVect.at<float>(0,2)


		//end data input



        //Create gui

        cv::namedWindow("thres",1);
        cv::namedWindow("in",1);
        MDetector.getThresholdParams( ThresParam1,ThresParam2);
        MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
        iThresParam1=ThresParam1;
        iThresParam2=ThresParam2;
        cv::createTrackbar("ThresParam1", "in",&iThresParam1, 13, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in",&iThresParam2, 13, cvTackBarEvents);

//.........这里部分代码省略.........

int main(int argc,char **argv)
{
    try
    {
        if (  readArguments (argc,argv)==false) return 0;
//parse arguments
        TheBoardConfig.readFromFile(TheBoardConfigFile);
        //read from camera or from  file
        if (TheInputVideo=="live") {
            TheVideoCapturer.open(0);
            waitTime=10;
        }
        else TheVideoCapturer.open(TheInputVideo);
        //check video is open
        if (!TheVideoCapturer.isOpened()) {
            cerr<<"Could not open video"<<endl;
            return -1;

        }

        //read first image to get the dimensions
        TheVideoCapturer>>TheInputImage;

        //Open outputvideo
        if ( TheOutVideoFilePath!="")
            VWriter.open(TheOutVideoFilePath,CV_FOURCC('M','J','P','G'),15,TheInputImage.size());

        //read camera parameters if passed
        if (TheIntrinsicFile!="") {
            TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
            TheCameraParameters.resize(TheInputImage.size());
        }

        //Create gui

        cv::namedWindow("thres",1);
        cv::namedWindow("in",1);
	TheBoardDetector.setParams(TheBoardConfig,TheCameraParameters,TheMarkerSize);
	TheBoardDetector.getMarkerDetector().getThresholdParams( ThresParam1,ThresParam2);
	TheBoardDetector.getMarkerDetector().enableErosion(true);//for chessboards
        iThresParam1=ThresParam1;
        iThresParam2=ThresParam2;
        cv::createTrackbar("ThresParam1", "in",&iThresParam1, 13, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in",&iThresParam2, 13, cvTackBarEvents);
        char key=0;
        int index=0;
        //capture until press ESC or until the end of the video
        while ( key!=27 && TheVideoCapturer.grab())
        {
            TheVideoCapturer.retrieve( TheInputImage);
            TheInputImage.copyTo(TheInputImageCopy);
            index++; //number of images captured
            double tick = (double)getTickCount();//for checking the speed
            //Detection of the board
            float probDetect=TheBoardDetector.detect(TheInputImage);
            //chekc the speed by calculating the mean speed of all iterations
            AvrgTime.first+=((double)getTickCount()-tick)/getTickFrequency();
            AvrgTime.second++;
            cout<<"Time detection="<<1000*AvrgTime.first/AvrgTime.second<<" milliseconds"<<endl;
            //print marker borders
            for (unsigned int i=0;i<TheBoardDetector.getDetectedMarkers().size();i++)
                TheBoardDetector.getDetectedMarkers()[i].draw(TheInputImageCopy,Scalar(0,0,255),1);

            //print board
             if (TheCameraParameters.isValid()) {
                if ( probDetect>0.2)   {
                    CvDrawingUtils::draw3dAxis( TheInputImageCopy,TheBoardDetector.getDetectedBoard(),TheCameraParameters);
                    //draw3dBoardCube( TheInputImageCopy,TheBoardDetected,TheIntriscCameraMatrix,TheDistorsionCameraParams);
                }
            }
            //DONE! Easy, right?

            //show input with augmented information and  the thresholded image
            cv::imshow("in",TheInputImageCopy);
            cv::imshow("thres",TheBoardDetector.getMarkerDetector().getThresholdedImage());
            //write to video if required
            if (  TheOutVideoFilePath!="") {
                //create a beautiful compiosed image showing the thresholded
                //first create a small version of the thresholded image
                cv::Mat smallThres;
                cv::resize( TheBoardDetector.getMarkerDetector().getThresholdedImage(),smallThres,cvSize(TheInputImageCopy.cols/3,TheInputImageCopy.rows/3));
                cv::Mat small3C;
                cv::cvtColor(smallThres,small3C,CV_GRAY2BGR);
                cv::Mat roi=TheInputImageCopy(cv::Rect(0,0,TheInputImageCopy.cols/3,TheInputImageCopy.rows/3));
                small3C.copyTo(roi);
                VWriter<<TheInputImageCopy;
// 			 cv::imshow("TheInputImageCopy",TheInputImageCopy);

            }

            key=cv::waitKey(waitTime);//wait for key to be pressed
            processKey(key);
        }


    } catch (std::exception &ex)

    {
        cout<<"Exception :"<<ex.what()<<endl;
    }
//.........这里部分代码省略.........

int main(int argc, char **argv) {
    try {
        if (readArguments(argc, argv) == false) {
            return 0;
        }
        // parse arguments

        // read from camera or from  file
        if (TheInputVideo.find("live") != string::npos) {
            int vIdx = 0;
            // check if the :idx is here
            char cad[100];
            if (TheInputVideo.find(":") != string::npos) {
                std::replace(TheInputVideo.begin(), TheInputVideo.end(), ':', ' ');
                sscanf(TheInputVideo.c_str(), "%s %d", cad, &vIdx);
            }
            cout << "Opening camera index " << vIdx << endl;
            TheVideoCapturer.open(vIdx);
            waitTime = 10;
        } else
            TheVideoCapturer.open(TheInputVideo);
        // check video is open
        if (!TheVideoCapturer.isOpened()) {
            cerr << "Could not open video" << endl;
            return -1;
        }
        bool isVideoFile = false;
        if (TheInputVideo.find(".avi") != std::string::npos || TheInputVideo.find("live") != string::npos)
            isVideoFile = true;
        // read first image to get the dimensions
        TheVideoCapturer >> TheInputImage;

        // read camera parameters if passed
        if (TheIntrinsicFile != "") {
            TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
            TheCameraParameters.resize(TheInputImage.size());
        }
        // Configure other parameters
        if (ThePyrDownLevel > 0)
            MDetector.pyrDown(ThePyrDownLevel);


        // Create gui

        cv::namedWindow("thres", 1);
        cv::namedWindow("in", 1);

        MDetector.setThresholdParams(7, 7);
        MDetector.setThresholdParamRange(2, 0);
        // 	MDetector.enableLockedCornersMethod(true);
        //         MDetector.setCornerRefinementMethod ( MarkerDetector::SUBPIX );
        MDetector.getThresholdParams(ThresParam1, ThresParam2);
        iThresParam1 = ThresParam1;
        iThresParam2 = ThresParam2;
        //cv::createTrackbar("ThresParam1", "in", &iThresParam1, 25, cvTackBarEvents);
        //cv::createTrackbar("ThresParam2", "in", &iThresParam2, 13, cvTackBarEvents);

        char key = 0;
        int index = 0;
        // capture until press ESC or until the end of the video
        TheVideoCapturer.retrieve(TheInputImage);

        cv::Size sz = TheInputImage.size();
        MDetector.createCudaBuffers(sz.width, sz.height);

        do {

            // copy image

            index++; // number of images captured
            double tick = (double)getTickCount(); // for checking the speed
            // Detection of markers in the image passed
            MDetector.detect(TheInputImage, TheMarkers, TheCameraParameters, TheMarkerSize);
            // chekc the speed by calculating the mean speed of all iterations
            AvrgTime.first += ((double)getTickCount() - tick) / getTickFrequency();
            AvrgTime.second++;
            cout << "\rTime detection=" << 1000 * AvrgTime.first / AvrgTime.second << " milliseconds nmarkers=" << TheMarkers.size() << std::flush;

            // print marker info and draw the markers in image
            TheInputImage.copyTo(TheInputImageCopy);

            for (unsigned int i = 0; i < TheMarkers.size(); i++) {
                cout << endl << TheMarkers[i];
                TheMarkers[i].draw(TheInputImageCopy, Scalar(0, 0, 255), 1);
            }
            if (TheMarkers.size() != 0)
                cout << endl;
            // print other rectangles that contains no valid markers
            /**     for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
                     aruco::Marker m( MDetector.getCandidates()[i],999);
                     m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
                 }*/



            // draw a 3d cube in each marker if there is 3d info
            if (TheCameraParameters.isValid())
                for (unsigned int i = 0; i < TheMarkers.size(); i++) {
                    CvDrawingUtils::draw3dCube(TheInputImageCopy, TheMarkers[i], TheCameraParameters);
                    CvDrawingUtils::draw3dAxis(TheInputImageCopy, TheMarkers[i], TheCameraParameters);
//.........这里部分代码省略.........

int main(int argc,char **argv)
{
    try
    {
        if (readArguments (argc,argv)==false) {
            return 0;
        }
        //parse arguments
        ;
        //read from camera or from  file
        if (TheInputVideo=="live") {
            TheVideoCapturer.open(0);
            waitTime=10;
        }
        else  TheVideoCapturer.open(TheInputVideo);
        //check video is open
        if (!TheVideoCapturer.isOpened()) {
            cerr<<"Could not open video"<<endl;
            return -1;

        }

        //read first image to get the dimensions
        TheVideoCapturer>>TheInputImage;

        //read camera parameters if passed
        if (TheIntrinsicFile!="") {
            TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
            TheCameraParameters.resize(TheInputImage.size());
        }
        //Configure other parameters
        if (ThePyrDownLevel>0)
            MDetector.pyrDown(ThePyrDownLevel);


        //Create gui

	MDetector.getThresholdParams( ThresParam1,ThresParam2);
        MDetector.setCornerRefinementMethod(MarkerDetector::LINES);

	/*
        cv::namedWindow("thres",1);
        cv::namedWindow("in",1);
        iThresParam1=ThresParam1;
        iThresParam2=ThresParam2;
        cv::createTrackbar("ThresParam1", "in",&iThresParam1, 13, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in",&iThresParam2, 13, cvTackBarEvents);
	*/
	
        char key=0;
        int index=0;
        //capture until press ESC or until the end of the video
        while ( key!=27 && TheVideoCapturer.grab() ) // && index <= 50)
        {
            TheVideoCapturer.retrieve( TheInputImage);
            //copy image

            index++; //number of images captured

            double tick = (double)getTickCount();//for checking the speed
            //Detection of markers in the image passed
            MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
            //chekc the speed by calculating the mean speed of all iterations
            AvrgTime.first+=((double)getTickCount()-tick)/getTickFrequency();
            AvrgTime.second++;
            //cout<<"Time detection="<<1000*AvrgTime.first/AvrgTime.second<<" milliseconds"<<endl;
	    
            //print marker info and draw the markers in image
            TheInputImage.copyTo(TheInputImageCopy);
            for (unsigned int i=0;i<TheMarkers.size();i++) {
	      if (AllMarkers.count( TheMarkers[i].id ) == 0)
		AllMarkers[TheMarkers[i].id] = map<int,Marker>();
	      AllMarkers[TheMarkers[i].id][index] = TheMarkers[i];
	      
	      cout<<index<<endl;
                cout<<TheMarkers[i]<<endl;
                TheMarkers[i].draw(TheInputImageCopy,Scalar(0,0,255),1);
            }
            //print other rectangles that contains no valid markers
       /**     for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
                aruco::Marker m( MDetector.getCandidates()[i],999);
                m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
            }*/



            //draw a 3d cube in each marker if there is 3d info
            if (  TheCameraParameters.isValid())
                for (unsigned int i=0;i<TheMarkers.size();i++) {
                    CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
                    CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
                }
            //DONE! Easy, right?
            cout<<endl<<endl<<endl;
            //show input with augmented information and  the thresholded image
            //cv::imshow("in",TheInputImageCopy);
            //cv::imshow("thres",MDetector.getThresholdedImage());

            //key=cv::waitKey(waitTime);//wait for key to be pressed
        }
//.........这里部分代码省略.........

int main(int argc,char **argv)
{
    try
    {
        if (readArguments (argc,argv)==false) {
            return 0;
        }
        //parse arguments
        ;
        //read from camera or from  file
        if (TheInputVideo=="live") {
            TheVideoCapturer.open(0);
            waitTime=10;
        }
        else  TheVideoCapturer.open(TheInputVideo);
        //check video is open
        if (!TheVideoCapturer.isOpened()) {
            cerr<<"Could not open video"<<endl;
            return -1;

        }

        //read first image to get the dimensions
        TheVideoCapturer>>TheInputImage;

        //read camera parameters if passed
        if (TheIntrinsicFile!="") {
            TheCameraParameters.readFromXMLFile(TheIntrinsicFile);
            TheCameraParameters.resize(TheInputImage.size());
        }
        //Configure other parameters
        if (ThePyrDownLevel>0)
            MDetector.pyrDown(ThePyrDownLevel);


        //Create gui

        cv::namedWindow("thres",1);
        cv::namedWindow("in",1);
        MDetector.getThresholdParams( ThresParam1,ThresParam2);
        MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
        iThresParam1=ThresParam1;
        iThresParam2=ThresParam2;
        cv::createTrackbar("ThresParam1", "in",&iThresParam1, 13, cvTackBarEvents);
        cv::createTrackbar("ThresParam2", "in",&iThresParam2, 13, cvTackBarEvents);

        char key=0;
        int index=0;
        //capture until press ESC or until the end of the video
        while ( key!=27 && TheVideoCapturer.grab())
        {
            TheVideoCapturer.retrieve( TheInputImage);
            //copy image

            index++; //number of images captured
            double tick = (double)getTickCount();//for checking the speed
            //Detection of markers in the image passed
            MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
            //chekc the speed by calculating the mean speed of all iterations
            AvrgTime.first+=((double)getTickCount()-tick)/getTickFrequency();
            AvrgTime.second++;
            cout<<"Time detection="<<1000*AvrgTime.first/AvrgTime.second<<" milliseconds"<<endl;

            //print marker info and draw the markers in image
            TheInputImage.copyTo(TheInputImageCopy);
            for (unsigned int i=0;i<TheMarkers.size();i++) {
                cout<<TheMarkers[i]<<endl;
                TheMarkers[i].draw(TheInputImageCopy,Scalar(0,0,255),1);
            }
            //print other rectangles that contains no valid markers
       /**     for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
                aruco::Marker m( MDetector.getCandidates()[i],999);
                m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
            }*/



            //draw a 3d cube in each marker if there is 3d info
            if (  TheCameraParameters.isValid())
                for (unsigned int i=0;i<TheMarkers.size();i++) {
                    CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
                    CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
                }
            //DONE! Easy, right?
            cout<<endl<<endl<<endl;
            //show input with augmented information and  the thresholded image
            cv::imshow("in",TheInputImageCopy);
            cv::imshow("thres",MDetector.getThresholdedImage());

            key=cv::waitKey(waitTime);//wait for key to be pressed
        }

    } catch (std::exception &ex)

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

}