C++ MarkerDetector::setParams方法代码示例

void cvTackBarEvents(int pos, void*)
{
    (void)(pos);
    if (iThresParam1 < 3)
        iThresParam1 = 3;
    if (iThresParam1 % 2 != 1)
        iThresParam1++;
    if (iThresParam1 < 1)
        iThresParam1 = 1;
    MDetector.setThresholdParams(iThresParam1, iThresParam2);

    if (iEnclosedMarkers){
        auto params=MDetector.getParams();
        params._doErosion=true;
         params._cornerMethod=aruco::MarkerDetector::SUBPIX;
        MDetector.setParams(params);
    }
    else{
        auto params=MDetector.getParams();
        params._doErosion=false;
         params._cornerMethod=aruco::MarkerDetector::LINES;
        MDetector.setParams(params);
    }

    MDetector.setDictionary(dictionaryString,float(iCorrectionRate)/10. );  // sets the dictionary to be employed (ARUCO,APRILTAGS,ARTOOLKIT,etc)

    // recompute
    MDetector.detect(TheInputImage, TheMarkers, TheCameraParameters);
    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++)
        TheMarkers[i].draw(TheInputImageCopy, Scalar(0, 0, 255));

    // 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);

    cv::imshow("in", resize(TheInputImageCopy, 1280));
    cv::imshow("thres", resize(MDetector.getThresholdedImage(), 1280));
}

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.........