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/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
All rights reserved.
This software was developed in the APRIL Robotics Lab under the
direction of Edwin Olson, ebolson@umich.edu. This software may be
available under alternative licensing terms; contact the address above.
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 THE COPYRIGHT HOLDERS AND CONTRIBUTORS "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 THE COPYRIGHT OWNER 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 the Regents of The University of Michigan.
*/
#include <stdio.h>
#include <stdint.h>
#include <inttypes.h>
#include <ctype.h>
#include <unistd.h>
#include <math.h>
#include <getopt.h>
#include <apriltag.h>
#include <tag36h11.h>
#include <tag25h9.h>
#include <tag16h5.h>
#include <tagCircle21h7.h>
#include <tagCircle49h12.h>
#include <tagCustom48h12.h>
#include <tagStandard41h12.h>
#include <tagStandard52h13.h>
#define FAMILIES(_) \
_(tag36h11) \
_(tag25h9) \
_(tag16h5) \
_(tagCircle21h7) \
_(tagCircle49h12) \
_(tagCustom48h12) \
_(tagStandard41h12) \
_(tagStandard52h13)
#define STRING_INDENTED_WITHNEWLINE(n) " "#n"\n"
#define STB_IMAGE_IMPLEMENTATION
#include <stb/stb_image.h>
int main(int argc, char *argv[])
{
const char* usage =
"usage: %1$s [options] <input files>\n"
"\n"
"SYNOPSIS\n"
"\n"
" $ wget https://april.eecs.umich.edu/media/apriltag/apriltagrobots_overlay.jpg\n"
"\n"
"\n"
" $ %1$s --vnlog apriltagrobots_overlay.jpg | vnl-align \n"
"\n"
" # path Ndetections hamming margin id xc yc xlb ylb xrb yrb xrt yrt xlt ylt \n"
" apriltagrobots_overlay.jpg 7 - - - - - - - - - - - - - \n"
" apriltagrobots_overlay.jpg - 0 154.156281 3 582.432959 172.987344 572.873413 162.835861 571.657776 182.958588 591.934753 183.077499 592.011963 164.123032\n"
" apriltagrobots_overlay.jpg - 0 141.343460 5 703.333306 271.518333 687.420959 253.673584 684.764160 287.597870 719.562561 289.718475 722.153748 255.221191\n"
" apriltagrobots_overlay.jpg - 0 149.004272 7 288.166244 226.956937 274.247131 211.727753 273.825287 240.716934 301.680084 241.742706 303.137512 212.592163\n"
" apriltagrobots_overlay.jpg - 0 147.246689 8 463.597662 227.929726 450.073639 213.023773 448.587341 241.512299 477.446289 243.193451 478.584595 214.368317\n"
" apriltagrobots_overlay.jpg - 0 155.495026 10 93.838268 241.648437 77.001884 226.194351 78.336220 258.154816 110.266693 256.728058 108.630562 225.897797\n"
" apriltagrobots_overlay.jpg - 1 100.956978 10 122.027947 237.601807 116.803673 256.071167 127.177071 250.224243 127.195175 219.334122 116.819603 224.834198\n"
" apriltagrobots_overlay.jpg - 0 158.080490 14 356.498429 260.225200 338.697937 243.629883 339.127502 278.233917 374.164917 276.695587 373.355896 242.748795\n"
"\n"
"\n"
" $ %1$s --vnlog apriltagrobots_overlay.jpg \\\n"
" | vnl-filter -p xc,id,yc \\\n"
" | feedgnuplot \\\n"
" --autolegend \\\n"
" --image apriltagrobots_overlay.jpg \\\n"
" --square \\\n"
" --domain \\\n"
" --dataid \\\n"
" --with 'points pt 7 ps 2'\n"
"\n"
" [ plot pops up showing the input image with the detections overlaid ]\n"
"\n"
"ARGUMENTS\n"
"Option Default value Description\n"
" -h | --help [ true ] Show this help\n"
" -d | --debug [ false ] Enable debugging output (slow)\n"
" -q | --quiet [ false ] Reduce output\n"
" -f | --family [ tag36h11 ] Tag family to use\n"
" -i | --iters [ 1 ] Repeat processing on input set this many times\n"
" -t | --threads [ 1 ] Use this many CPU threads\n"
" -x | --decimate [ 1.0 ] Decimate input image by this factor\n"
" -m | --maxhamming [ 1 ] Max number of corrected bits. Larger values guzzle RAM\n"
" -b | --blur [ 0.0 ] Apply low-pass blur to input; negative sharpens\n"
" -0 | --refine-edges [ true ] Spend more time trying to align edges of tags\n"
" -v | --vnlog [ false ] Write output as a vnlog\n"
"\n"
"Supported tag families:\n"
FAMILIES(STRING_INDENTED_WITHNEWLINE);
struct option opts[] =
{
{ "debug", no_argument, NULL, 'd' },
{ "quiet", no_argument, NULL, 'q' },
{ "family", required_argument, NULL, 'f' },
{ "iters", required_argument, NULL, 'i' },
{ "threads", required_argument, NULL, 't' },
{ "decimate", required_argument, NULL, 'x' },
{ "maxhamming", required_argument, NULL, 'm' },
{ "blur", required_argument, NULL, 'B' },
{ "refine-edges", no_argument, NULL, '0' },
{ "vnlog", no_argument, NULL, 'v' },
{ "help", no_argument, NULL, 'h' },
{}
};
bool debug = false;
bool quiet = false;
const char* family = "tag36h11";
int maxiters = 1;
int threads = 1;
double decimate = 1.0;
int maxhamming = 1;
double blur = 0.0;
bool refine_edges = true;
bool vnlog = false;
int opt;
do
{
opt = getopt_long(argc, argv, "dqf:i:t:x:m:0vh", opts, NULL);
switch(opt)
{
case -1: break;
case 'd': debug = true; break;
case 'q': quiet = true; break;
case 'f': family = optarg; break;
case 'i': maxiters = atoi(optarg); break;
case 't': threads = atoi(optarg); break;
case 'x': decimate = atof(optarg); break;
case 'm': maxhamming = atoi(optarg); break;
case 'B': blur = atof(optarg); break;
case '0': refine_edges = true; break;
case 'v': vnlog = true; break;
case 'h':
printf(usage, argv[0]);
return 0;
case '?':
fprintf(stderr, "Cmdline-parsing error!\n");
fprintf(stderr, usage, argv[0]);
return 1;
}
} while( opt != -1 );
apriltag_family_t *tf = NULL;
#define CHECK_AND_CREATE(n) else if (!strcmp(family, #n)) tf = n ## _create();
if(0); FAMILIES(CHECK_AND_CREATE)
else {
fprintf(stderr, "Unrecognized tag family name. Supported families:\n" FAMILIES(STRING_INDENTED_WITHNEWLINE));
exit(-1);
}
apriltag_detector_t *td = apriltag_detector_create();
apriltag_detector_add_family_bits(td, tf, maxhamming);
td->quad_decimate = decimate;
td->quad_sigma = blur;
td->nthreads = threads;
td->debug = debug;
td->refine_edges = refine_edges;
const int hamm_hist_max = 10;
if(vnlog)
printf("# path Ndetections hamming margin id xc yc xlb ylb xrb yrb xrt yrt xlt ylt\n");
for (int iter = 0; iter < maxiters; iter++) {
int total_quads = 0;
int total_hamm_hist[hamm_hist_max];
memset(total_hamm_hist, 0, sizeof(total_hamm_hist));
double total_time = 0;
if (maxiters > 1)
fprintf(stderr, "iter %d / %d\n", iter + 1, maxiters);
for (; optind < argc; optind++) {
int hamm_hist[hamm_hist_max];
memset(hamm_hist, 0, sizeof(hamm_hist));
char* path = argv[optind];
if (!quiet && !vnlog)
fprintf(stderr, "loading %s\n", path);
int width,height,bytes_per_pixel;
unsigned char* image_buf = stbi_load(path, &width, &height, &bytes_per_pixel, 1);
if(image_buf == NULL)
{
fprintf(stderr,"couldn't load %s\n", path);
continue;
}
image_u8_t im = {.width = width,
.height = height,
.stride = width,
.buf = image_buf};
zarray_t *detections = apriltag_detector_detect(td, &im);
if(vnlog)
printf("%s %d - - - - - - - - - - - - -\n",
path,
zarray_size(detections));
for (int i = 0; i < zarray_size(detections); i++) {
apriltag_detection_t *det;
zarray_get(detections, i, &det);
if(vnlog)
printf("%s - %d %f %d %f %f %f %f %f %f %f %f %f %f\n",
path,
det->hamming,
det->decision_margin,
det->id,
det->c[0], det->c[1],
det->p[0][0], det->p[0][1],
det->p[1][0], det->p[1][1],
det->p[2][0], det->p[2][1],
det->p[3][0], det->p[3][1]);
else if (!quiet)
printf("detection %3d: id (%2dx%2d)-%-4d, hamming %d, margin %8.3f\n",
i, det->family->nbits, det->family->h, det->id, det->hamming, det->decision_margin);
hamm_hist[det->hamming]++;
total_hamm_hist[det->hamming]++;
}
apriltag_detections_destroy(detections);
if (!quiet && !vnlog)
{
timeprofile_display(td->tp);
total_quads += td->nquads;
fprintf(stderr,"hamm ");
for (int i = 0; i < hamm_hist_max; i++)
fprintf(stderr,"%5d ", hamm_hist[i]);
double t = timeprofile_total_utime(td->tp) / 1.0E3;
total_time += t;
fprintf(stderr,"%12.3f ", t);
fprintf(stderr,"%5d", td->nquads);
fprintf(stderr,"\n");
}
stbi_image_free(image_buf);
}
if(!quiet && !vnlog)
{
fprintf(stderr,"Summary\n");
fprintf(stderr,"hamm ");
for (int i = 0; i < hamm_hist_max; i++)
fprintf(stderr,"%5d ", total_hamm_hist[i]);
fprintf(stderr,"%12.3f ", total_time);
fprintf(stderr,"%5d", total_quads);
fprintf(stderr,"\n");
}
}
apriltag_detector_destroy(td);
#define CHECK_AND_DESTROY(n) else if (!strcmp(family, #n)) n ## _destroy(tf);
if(0); FAMILIES(CHECK_AND_DESTROY)
return 0;
}
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