1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
|
#include <opencv2/highgui.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/videoio.hpp>
#include <opencv2/ovis.hpp>
#include <opencv2/aruco.hpp>
#include <iostream>
#define KEY_ESCAPE 27
using namespace cv;
int main()
{
Mat img;
std::vector<std::vector<Point2f>> corners;
std::vector<int> ids;
std::vector<Vec3d> rvecs;
std::vector<Vec3d> tvecs;
const Size2i imsize(800, 600);
const double focal_length = 800.0;
// aruco
Ptr<aruco::Dictionary> adict = aruco::getPredefinedDictionary(aruco::DICT_4X4_50);
//Mat out_img;
//aruco::drawMarker(adict, 0, 400, out_img);
//imshow("marker", out_img);
// random calibration data, your mileage may vary
Mat1d cm = Mat1d::zeros(3, 3); // init empty matrix
cm.at<double>(0, 0) = focal_length; // f_x
cm.at<double>(1, 1) = focal_length; // f_y
cm.at<double>(2, 2) = 1; // f_z
Mat K = getDefaultNewCameraMatrix(cm, imsize, true);
// AR scene
ovis::addResourceLocation("packs/Sinbad.zip"); // shipped with Ogre
Ptr<ovis::WindowScene> win = ovis::createWindow(String("arucoAR"), imsize, ovis::SCENE_INTERACTIVE | ovis::SCENE_AA);
win->setCameraIntrinsics(K, imsize);
win->createEntity("sinbad", "Sinbad.mesh", Vec3i(0, 0, 5), Vec3f(1.57, 0.0, 0.0));
win->createLightEntity("sun", Vec3i(0, 0, 100));
// video capture
VideoCapture cap{0};
cap.set(CAP_PROP_FRAME_WIDTH, imsize.width);
cap.set(CAP_PROP_FRAME_HEIGHT, imsize.height);
std::cout << "Press ESCAPE to exit demo" << std::endl;
while (ovis::waitKey(1) != KEY_ESCAPE) {
cap.read(img);
win->setBackground(img);
aruco::detectMarkers(img, adict, corners, ids);
waitKey(1);
if (ids.size() == 0)
continue;
aruco::estimatePoseSingleMarkers(corners, 5, K, noArray(), rvecs, tvecs);
win->setCameraPose(tvecs.at(0), rvecs.at(0), true);
}
return 0;
}
|
