C++ MarkerDetector::setThresholdParams方法代码示例

void cvTackBarEvents(int pos, void*)
{
    (void)(pos);
    if (iThresParam1 < 3)
        iThresParam1 = 3;
    if (iThresParam1 % 2 != 1)
        iThresParam1++;
    if (ThresParam2 < 1)
        ThresParam2 = 1;
    ThresParam1 = iThresParam1;
    ThresParam2 = iThresParam2;
    TheMarkerDetector.setThresholdParams(ThresParam1, ThresParam2);

    // detect, print, get pose, and print

    // detect
    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())
    {
        TheMSPoseTracker.estimatePose(detected_markers);
        aruco::CvDrawingUtils::draw3dAxis(TheInputImageCopy, TheCameraParameters, TheMSPoseTracker.getRvec(),
                                          TheMSPoseTracker.getTvec(), TheMarkerMapConfig[0].getMarkerSize() * 2);
    }

    cv::imshow("in", TheInputImageCopy);
    cv::imshow("thres", TheMarkerDetector.getThresholdedImage());
}

void cvTackBarEvents(int pos,void*)
{
    if (iThresParam1<3) iThresParam1=3;
    if (iThresParam1%2!=1) iThresParam1++;
    if (ThresParam2<1) ThresParam2=1;
    ThresParam1=iThresParam1;
    ThresParam2=iThresParam2;
    MDetector.setThresholdParams(ThresParam1,ThresParam2);
//recompute
    MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters);
    TheInputImage.copyTo(TheInputImageCopy);
    for (unsigned int i=0;i<TheMarkers.size();i++)	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);

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

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 < 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.........

JNIEXPORT void JNICALL Java_wrapper_MarkerDetector_JsetThresholdParams(JNIEnv * env, jobject obj, jdouble param1, jdouble param2){
    MarkerDetector *inst = getHandle<MarkerDetector>(env, obj);
    inst->setThresholdParams((double) param1, (double) param2);
  }

void reconf_callback(aruco_ros::ArucoThresholdConfig &config, uint32_t level)
{
  mDetector.setThresholdParams(config.param1,config.param2);
  normalizeImageIllumination = config.normalizeImage;
  dctComponentsToRemove      = config.dctComponentsToRemove;
}

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.........