detect_board.cpp

/*
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               For Open Source Computer Vision Library
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*/


#include <opencv2/highgui.hpp>
#include <opencv2/aruco.hpp>
#include <vector>
#include <iostream>

using namespace std;
using namespace cv;


/**
 */
static void help() {
    cout << "Pose estimation using a ArUco Planar Grid board" << endl;
    cout << "Parameters: " << endl;
    cout << "-w <nmarkers> # Number of markers in X direction" << endl;
    cout << "-h <nmarkers> # Number of markers in Y direction" << endl;
    cout << "-l <markerLength> # Marker side lenght (in meters)" << endl;
    cout << "-s <markerSeparation> # Separation between two consecutive"
         << "markers in the grid (in meters)" << endl;
    cout << "-d <dictionary> # DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2, "
         << "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
         << "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
         << "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16" << endl;
    cout << "-c <cameraParams> # Camera intrinsic parameters file" << endl;
    cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
    cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
    cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
    cout << "[-rs] # Apply refind strategy" << endl;
    cout << "[-r] # show rejected candidates too" << endl;
}


/**
 */
static bool isParam(string param, int argc, char **argv) {
    for(int i = 0; i < argc; i++)
        if(string(argv[i]) == param) return true;
    return false;
}


/**
 */
static string getParam(string param, int argc, char **argv, string defvalue = "") {
    int idx = -1;
    for(int i = 0; i < argc && idx == -1; i++)
        if(string(argv[i]) == param) idx = i;
    if(idx == -1 || (idx + 1) >= argc)
        return defvalue;
    else
        return argv[idx + 1];
}


/**
 */
static bool readCameraParameters(string filename, Mat &camMatrix, Mat &distCoeffs) {
    FileStorage fs(filename, FileStorage::READ);
    if(!fs.isOpened())
        return false;
    fs["camera_matrix"] >> camMatrix;
    fs["distortion_coefficients"] >> distCoeffs;
    return true;
}



/**
 */
static bool readDetectorParameters(string filename, aruco::DetectorParameters &params) {
    FileStorage fs(filename, FileStorage::READ);
    if(!fs.isOpened())
        return false;
    fs["adaptiveThreshWinSizeMin"] >> params.adaptiveThreshWinSizeMin;
    fs["adaptiveThreshWinSizeMax"] >> params.adaptiveThreshWinSizeMax;
    fs["adaptiveThreshWinSizeStep"] >> params.adaptiveThreshWinSizeStep;
    fs["adaptiveThreshConstant"] >> params.adaptiveThreshConstant;
    fs["minMarkerPerimeterRate"] >> params.minMarkerPerimeterRate;
    fs["maxMarkerPerimeterRate"] >> params.maxMarkerPerimeterRate;
    fs["polygonalApproxAccuracyRate"] >> params.polygonalApproxAccuracyRate;
    fs["minCornerDistanceRate"] >> params.minCornerDistanceRate;
    fs["minDistanceToBorder"] >> params.minDistanceToBorder;
    fs["minMarkerDistanceRate"] >> params.minMarkerDistanceRate;
    fs["doCornerRefinement"] >> params.doCornerRefinement;
    fs["cornerRefinementWinSize"] >> params.cornerRefinementWinSize;
    fs["cornerRefinementMaxIterations"] >> params.cornerRefinementMaxIterations;
    fs["cornerRefinementMinAccuracy"] >> params.cornerRefinementMinAccuracy;
    fs["markerBorderBits"] >> params.markerBorderBits;
    fs["perspectiveRemovePixelPerCell"] >> params.perspectiveRemovePixelPerCell;
    fs["perspectiveRemoveIgnoredMarginPerCell"] >> params.perspectiveRemoveIgnoredMarginPerCell;
    fs["maxErroneousBitsInBorderRate"] >> params.maxErroneousBitsInBorderRate;
    fs["minOtsuStdDev"] >> params.minOtsuStdDev;
    fs["errorCorrectionRate"] >> params.errorCorrectionRate;
    return true;
}


/**
 */
int main(int argc, char *argv[]) {

    if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-l", argc, argv) ||
       !isParam("-s", argc, argv) || !isParam("-d", argc, argv) || !isParam("-c", argc, argv)) {
        help();
        return 0;
    }

    int markersX = atoi(getParam("-w", argc, argv).c_str());
    int markersY = atoi(getParam("-h", argc, argv).c_str());
    float markerLength = (float)atof(getParam("-l", argc, argv).c_str());
    float markerSeparation = (float)atof(getParam("-s", argc, argv).c_str());
    int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
    aruco::Dictionary dictionary =
        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));

    bool showRejected = false;
    if(isParam("-r", argc, argv)) showRejected = true;

    Mat camMatrix, distCoeffs;
    if(isParam("-c", argc, argv)) {
        bool readOk = readCameraParameters(getParam("-c", argc, argv), camMatrix, distCoeffs);
        if(!readOk) {
            cerr << "Invalid camera file" << endl;
            return 0;
        }
    }

    aruco::DetectorParameters detectorParams;
    if(isParam("-dp", argc, argv)) {
        bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
        if(!readOk) {
            cerr << "Invalid detector parameters file" << endl;
            return 0;
        }
    }
    detectorParams.doCornerRefinement = true; // do corner refinement in markers

    bool refindStrategy = false;
    if(isParam("-rs", argc, argv)) refindStrategy = true;

    VideoCapture inputVideo;
    int waitTime;
    if(isParam("-v", argc, argv)) {
        inputVideo.open(getParam("-v", argc, argv));
        waitTime = 0;
    } else {
        int camId = 0;
        if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
        inputVideo.open(camId);
        waitTime = 10;
    }

    float axisLength = 0.5f * ((float)min(markersX, markersY) * (markerLength + markerSeparation) +
                               markerSeparation);

    // create board object
    aruco::GridBoard board =
        aruco::GridBoard::create(markersX, markersY, markerLength, markerSeparation, dictionary);

    double totalTime = 0;
    int totalIterations = 0;

    while(inputVideo.grab()) {
        Mat image, imageCopy;
        inputVideo.retrieve(image);

        double tick = (double)getTickCount();

        vector< int > ids;
        vector< vector< Point2f > > corners, rejected;
        Vec3d rvec, tvec;

        // detect markers
        aruco::detectMarkers(image, dictionary, corners, ids, detectorParams, rejected);

        // refind strategy to detect more markers
        if(refindStrategy)
            aruco::refineDetectedMarkers(image, board, corners, ids, rejected, camMatrix,
                                         distCoeffs);

        // estimate board pose
        int markersOfBoardDetected = 0;
        if(ids.size() > 0)
            markersOfBoardDetected =
                aruco::estimatePoseBoard(corners, ids, board, camMatrix, distCoeffs, rvec, tvec);

        double currentTime = ((double)getTickCount() - tick) / getTickFrequency();
        totalTime += currentTime;
        totalIterations++;
        if(totalIterations % 30 == 0) {
            cout << "Detection Time = " << currentTime * 1000 << " ms "
                 << "(Mean = " << 1000 * totalTime / double(totalIterations) << " ms)" << endl;
        }

        // draw results
        image.copyTo(imageCopy);
        if(ids.size() > 0) {
            aruco::drawDetectedMarkers(imageCopy, corners, ids);
        }

        if(showRejected && rejected.size() > 0)
            aruco::drawDetectedMarkers(imageCopy, rejected, noArray(), Scalar(100, 0, 255));

        if(markersOfBoardDetected > 0)
            aruco::drawAxis(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);

        imshow("out", imageCopy);
        char key = (char)waitKey(waitTime);
        if(key == 27) break;
    }

    return 0;
}