69 lines
1.8 KiB
C++
69 lines
1.8 KiB
C++
#include <opencv2/highgui.hpp>
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#include <opencv2/calib3d.hpp>
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#include <opencv2/videoio.hpp>
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#include <opencv2/ovis.hpp>
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#include <opencv2/aruco.hpp>
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#include <iostream>
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#define KEY_ESCAPE 27
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using namespace cv;
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int main()
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{
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Mat img;
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std::vector<std::vector<Point2f>> corners;
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std::vector<int> ids;
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std::vector<Vec3d> rvecs;
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std::vector<Vec3d> tvecs;
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const Size2i imsize(800, 600);
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const double focal_length = 800.0;
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// aruco
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Ptr<aruco::Dictionary> adict = aruco::getPredefinedDictionary(aruco::DICT_4X4_50);
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//Mat out_img;
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//aruco::drawMarker(adict, 0, 400, out_img);
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//imshow("marker", out_img);
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// random calibration data, your mileage may vary
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Mat1d cm = Mat1d::zeros(3, 3); // init empty matrix
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cm.at<double>(0, 0) = focal_length; // f_x
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cm.at<double>(1, 1) = focal_length; // f_y
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cm.at<double>(2, 2) = 1; // f_z
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Mat K = getDefaultNewCameraMatrix(cm, imsize, true);
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// AR scene
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ovis::addResourceLocation("packs/Sinbad.zip"); // shipped with Ogre
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Ptr<ovis::WindowScene> win = ovis::createWindow(String("arucoAR"), imsize, ovis::SCENE_INTERACTIVE | ovis::SCENE_AA);
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win->setCameraIntrinsics(K, imsize);
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win->createEntity("sinbad", "Sinbad.mesh", Vec3i(0, 0, 5), Vec3f(1.57, 0.0, 0.0));
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win->createLightEntity("sun", Vec3i(0, 0, 100));
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// video capture
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VideoCapture cap{0};
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cap.set(CAP_PROP_FRAME_WIDTH, imsize.width);
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cap.set(CAP_PROP_FRAME_HEIGHT, imsize.height);
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std::cout << "Press ESCAPE to exit demo" << std::endl;
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while (ovis::waitKey(1) != KEY_ESCAPE) {
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cap.read(img);
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win->setBackground(img);
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aruco::detectMarkers(img, adict, corners, ids);
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waitKey(1);
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if (ids.size() == 0)
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continue;
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aruco::estimatePoseSingleMarkers(corners, 5, K, noArray(), rvecs, tvecs);
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win->setCameraPose(tvecs.at(0), rvecs.at(0), true);
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}
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return 0;
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}
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