arcs / ARCS2-Components

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Jean-Yves Didier
e924a708 1 parent f1cff132

Modification pour faire fonctionner ARUCO avec ARCS

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Showing 8 changed files with 134 additions and 17 deletions
<!-- Integration test of OpenInventor and OpenCV -->
<application mode="gui">
<context>
<libraries>
<library path="../libs/cv2so"/>
<library path="../libs/arcscoin"/>
<library path="../libs/coinutils"/>
<library path="../libs/arcsutils"/>
<library path="../legacy/libs/ocvcam"/>
<library path="../libs/opencv"/>
<library path="../libs/obj2so"/>
<library path="../libs/aruco"/>
<library path="../legacy/libs/libocv.so"/>
</libraries>
<components>
<component id="camera" type="CameraOpenCV"/>
<component id="viewer" type="ARCSViewer"/>
<component id="converter" type="ImageCv2So"/>
<component id="monitor" type="ARCSMonitor"/>
<component id="al" type="Obj2So"/>
<component id="scene" type="Separator">
Separator {
Translation { translation 0 0 0.03}
#Separator {
#Translation { translation 0 0 0.06 }
# Material { diffuseColor 1 0 0 }
# Sphere { radius 0.01 }
# }
TrackballManip {}
}
</component>
<component id="fgscene" type="Separator">
Separator {
Translation { translation -1. -0.9 0.1 }
Font { name "Helvetica:bold" size 24 }
BaseColor { rgb 0.3 0.3 0.7 }
Text2 {
#string "Cliquez au demarrage"
}
Translation { translation 0 0 -10 }
Cube{}
}
</component>
<component id="inverter" type="PoseInverter"/>
<component id="detector" type="ArucoDetector"/>
<component id="statemachine" type="StateMachine">
<statemachine>
<first name="a"/>
<last name="end"/>
<transitions>
<transition source="a" token="end" destination="end"/>
</transitions>
</statemachine>
</component>
</components>
<constants>
<constant id="camParams" type="CvCamera">640 480 0 0 0 0 800 0 320 0 800 240 0 0 1</constant>
</constants>
</context>
<processes>
<process controller="statemachine">
<sheet id="a">
<preconnections>
<invoke destination="camera" slot="setThreaded(bool)" type="bool">true</invoke>
<invoke destination="camera" slot="setHeight(int)" type="int">480</invoke>
<invoke destination="camera" slot="setWidth(int)" type="int">640</invoke>
<invoke destination="camera" slot="setFrameRate(float)" type="float">25</invoke>
<invoke destination="camera" slot="initDevice()" type="void"/>
<invoke destination="al" slot="load(QString)" type="string">../legacy/applications/al2.obj</invoke>
<invoke destination="al" slot="unitize()" type="void"/>
<invoke destination="al" slot="scale(float)" type="float">0.03</invoke>
<invoke destination="viewer" slot="setSize(QSize)" type="size">640x480</invoke>
<invoke destination="viewer" slot="addUserScene(SoFieldContainer*)" type="component">scene</invoke>
<invoke destination="viewer" slot="addForegroundScene(SoFieldContainer*)" type="component">fgscene</invoke>
<invoke destination="viewer" slot="setBGRtoRGB(bool)" type="bool">1</invoke>
<!-- invocations imported from pattern example -->
<invoke destination="detector" slot="setCamera(CvCamera)" type="constant">camParams</invoke>
<invoke destination="detector" slot="setMarkerSize(float)" type="float">0.07</invoke>
<invoke destination="viewer" slot="setIntrinsics(Camera)" type="constant">camParams</invoke>
</preconnections>
<connections>
<link source="camera" signal="sendImage(IplImage*)" destination="converter" slot="setCvImage(IplImage*)"/>
<link source="viewer" signal="sendImageNode(SoFieldContainer*)"
destination="converter" slot="setNode(SoFieldContainer*)"/>
<link source="al" signal="sendScene(SoFieldContainer*)" destination="scene" slot="addChild(SoFieldContainer*)"/>
<!--link source="converter" signal="ready()" destination="viewer" slot="redraw()"/-->
<link source="camera" signal="sendImage(IplImage*)" destination="detector" slot="setImage(IplImage*)"/>
<link source="detector" signal="sendPose(float*,float*)" destination="inverter" slot="setPose(float*,float*)"/>
<link source="inverter" signal="sendPose(float*,float*)" destination="viewer" slot="setExtrinsics(float*,float*)"/>
</connections>
<postconnections>
<invoke destination="al" slot="generate()" type="void"/>
<invoke destination="viewer" slot="show()" type="void"/>
<invoke destination="viewer" slot="viewAll()" type="void"/>
<invoke destination="camera" slot="start()" type="void"/>
</postconnections>
</sheet>
<sheet id="end"/>
</process>
</processes>
</application>
......@@ -77,7 +77,7 @@
<invoke destination="camera" slot="setWidth(int)" type="int">640</invoke>
<invoke destination="camera" slot="setFrameRate(float)" type="float">25</invoke>
<invoke destination="camera" slot="initDevice()" type="void"/>
<invoke destination="al" slot="load(QString)" type="constant">model2</invoke> <!-- ../legacy/applications/al2.obj -->
<invoke destination="al" slot="load(QString)" type="constant">model</invoke> <!-- ../legacy/applications/al2.obj -->
<invoke destination="al" slot="unitize()" type="void"/>
<invoke destination="al" slot="scale(float)" type="float">0.03</invoke>
<invoke destination="viewer" slot="setSize(QSize)" type="size">640x480</invoke>
......@@ -101,7 +101,7 @@
<link source="viewer" signal="sendImageNode(SoFieldContainer*)"
destination="converter" slot="setNode(SoFieldContainer*)"/>
<link source="al" signal="sendScene(SoFieldContainer*)" destination="scene" slot="addChild(SoFieldContainer*)"/>
<link source="converter" signal="ready()" destination="viewer" slot="redraw()"/>
<!--link source="converter" signal="ready()" destination="viewer" slot="redraw()"/-->
<link source="camera" signal="sendImage(IplImage*)" destination="ts" slot="setImage(IplImage*)"/>
<link source="camera" signal="sendImage(IplImage*)" destination="pattern" slot="setImage(IplImage*)"/>
......
#include "aruco.h"
#include <aruco/cvdrawingutils.h>
#include <vector>
#include <iostream>
#include <cmath>
......@@ -26,7 +27,7 @@ void ArucoDetector::setImage(IplImage *img)
std::vector<aruco::Marker> markers;
try {
md.detect(image, markers, cp, size);
md.detect(image, markers, cp, size,false);
} catch (std::exception &ex)
{
......@@ -35,7 +36,7 @@ void ArucoDetector::setImage(IplImage *img)
if (markers.size() > 0)
{
markers[0].calculateExtrinsics(size, cp);
//markers[0].calculateExtrinsics(size, cp,false);
cv::Mat rot(3,3,CV_32FC1),jacob;
cv::Rodrigues(markers[0].Rvec,rot,jacob);
float r[9];
......@@ -44,17 +45,17 @@ void ArucoDetector::setImage(IplImage *img)
r[0]=rot.at<float>(0,0);
r[1]=rot.at<float>(0,1);
r[2]=rot.at<float>(0,2);
r[3]=rot.at<float>(1,0);
r[4]=rot.at<float>(1,1);
r[5]=rot.at<float>(1,2);
r[3]=-rot.at<float>(1,0);
r[4]=-rot.at<float>(1,1);
r[5]=-rot.at<float>(1,2);
r[6]=-rot.at<float>(2,0);
r[7]=-rot.at<float>(2,1);
r[8]=-rot.at<float>(2,2);
t[0]=markers[0].Tvec.at<float>(0,0);
t[1]=markers[0].Tvec.at<float>(0,1);
t[0]=-markers[0].Tvec.at<float>(0,2);
t[0]=markers[0].Tvec.ptr<float>(0)[0];
t[1]=-markers[0].Tvec.ptr<float>(0)[1];
t[2]=-markers[0].Tvec.ptr<float>(0)[2];
//std::cout << markers[0] << std::endl;
//cv::Mat reverse = (cv::Mat_<float>(3,3) << 0,1,0, 0,0,-1,-1,0,0) ;
......
......@@ -27,7 +27,8 @@
<invoke destination="mti" slot="setQuaternionOutput()" type="void"/>
<invoke destination="mti" slot="setThreaded(bool)" type="bool">true</invoke>
<invoke destination="mti" slot="setTimeStampedOutput()" type="void"/>
<invoke destination="mti" slot="setMagneticFilter(bool)" type="bool">true</invoke>
<invoke destination="mti" slot="setMagneticFilter(bool)" type="bool">false</invoke>
<invoke destination="mti" slot="setCalibratedOutput(bool)" type="bool">true</invoke>
</preconnections>
<connections>
<link source="mti" signal="sendQuaternion(float*)" destination="repere" slot="setQuaternion(float*)"/>
......
......@@ -231,6 +231,9 @@ void ARCSViewer::buildSceneGraph()
// handling textures
SoSeparator* bgTextureGroup = new SoSeparator;
bgTextureGroup->renderCaching = SoSeparator::OFF;
bgGroup->renderCaching = SoSeparator::OFF;
scene2D->renderCaching = SoSeparator::OFF;
bgTextureScale = new SoTransform;
SoCoordinate3* bgCoord = new SoCoordinate3;
bgCoord->point.setValues(0,4, _coords3 );
......
......@@ -11,6 +11,7 @@
#include <Inventor/SbRotation.h>
#include <Quarter/QuarterWidget.h>
#include <QImage>
#include <iostream>
#include "../../include/camera.h"
......@@ -37,6 +38,7 @@ public:
public slots:
void setSize(QSize s);
void viewAll();
//void redraw() { std::cout << "redraw" << std::endl; SIM::Coin3D::Quarter::QuarterWidget::redraw(); }
void setIntrinsics(CvCamera c);
......
......@@ -23,7 +23,7 @@ public slots:
t[1]=-(r[3]*tr[0]+r[4]*tr[1]+r[5]*tr[2]);
t[2]=-(r[6]*tr[0]+r[7]*tr[1]+r[8]*tr[2]);
int i,j;
/*int i,j;
std::cout << "Obtained pose " << tr[0] << ", " << tr[1] << ", "<< tr[2] << std::endl;
std::cout << "Obtained matrix " << std::endl;
for (i=0; i<3; i++)
......@@ -45,7 +45,7 @@ public slots:
std::cout << r[i*3+j] << " " ;
}
std::cout << std::endl;
}
}*/
emit sendPose(r,t);
}
......
#include "imagecv2so.h"
#include <cmath>
#include <cstring>
#include <iostream>
#include <Inventor/nodes/SoTexture2.h>
#include <Inventor/nodes/SoImage.h>
......@@ -19,8 +18,7 @@ void ImageCv2So::setCvImage(IplImage* img)
for (texWidth = 1; texWidth < img->width; texWidth = texWidth<<1) ;
int texHeight;
for (texHeight = 1; texHeight < img->height; texHeight = texHeight<<1) ;*/
// test if we must create a nice image
//if (size != SbVec2s(texWidth,texHeight) || channels != img->nChannels) {
// unsigned char* nullImg=new unsigned char[texWidth*texHeight*channels];
......