From a73f16186f996a4d5af99afd715a75e79253738b Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 29 Jul 2020 12:00:34 +0300
Subject: [PATCH] aruco display app
---
CMakeLists.txt | 2 ++
applications/aruco/CMakeLists.txt | 11 +++++++
applications/aruco/src/main.cpp | 50 +++++++++++++++++++++++++++++++
3 files changed, 63 insertions(+)
create mode 100644 applications/aruco/CMakeLists.txt
create mode 100644 applications/aruco/src/main.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 42198650d..54256ba0e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -487,6 +487,8 @@ if (HAVE_NANOGUI)
add_subdirectory(applications/gui2)
endif()
+add_subdirectory(applications/aruco)
+
### Generate Build Configuration Files =========================================
configure_file(${CMAKE_SOURCE_DIR}/components/common/cpp/include/ftl/config.h.in
diff --git a/applications/aruco/CMakeLists.txt b/applications/aruco/CMakeLists.txt
new file mode 100644
index 000000000..097558144
--- /dev/null
+++ b/applications/aruco/CMakeLists.txt
@@ -0,0 +1,11 @@
+set(FTLARUCOSRC
+ src/main.cpp
+)
+
+add_executable(ftl-aruco ${FTLARUCOSRC})
+
+target_include_directories(ftl-aruco PRIVATE src)
+
+target_link_libraries(ftl-aruco ftlcommon Threads::Threads ${OpenCV_LIBS})
+
+
diff --git a/applications/aruco/src/main.cpp b/applications/aruco/src/main.cpp
new file mode 100644
index 000000000..3c1daf031
--- /dev/null
+++ b/applications/aruco/src/main.cpp
@@ -0,0 +1,50 @@
+#include <ftl/timer.hpp>
+#include <ftl/configuration.hpp>
+
+#include <opencv2/highgui.hpp>
+#include <opencv2/aruco.hpp>
+
+#include <vector>
+#include <string>
+
+int main(int argc, char** argv) {
+ std::vector<cv::Mat> tags;
+ unsigned int ntags = 10;
+ cv::Ptr<cv::aruco::Dictionary> dict =
+ cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
+ unsigned int size = 1024;
+ unsigned int margin = 1;
+ unsigned int delay = 100;
+
+ argc--;
+ argv++;
+ auto opts = ftl::config::read_options(&argv, &argc);
+
+ if (opts.count("delay"))
+ delay = std::stoi(opts["delay"]);
+ if (opts.count("dict"))
+ dict = cv::aruco::getPredefinedDictionary(std::stoi(opts["dict"]));
+ if (opts.count("ntags"))
+ ntags = std::stoi(opts["ntags"]);
+ if (opts.count("size"))
+ size = std::stoi(opts["size"]);
+
+ for (unsigned int i = 0; i < ntags; i++) {
+ cv::aruco::drawMarker(dict, i, size, tags.emplace_back(), margin);
+ }
+
+ int id = 0;
+ ftl::timer::setInterval(delay);
+ ftl::timer::setHighPrecision(true);
+ auto h = ftl::timer::add(ftl::timer::kTimerMain, [&](uint64_t){
+
+ cv::imshow("ArUco", tags[id]);
+ if (cv::waitKey(1) == 27) { ftl::timer::stop(false); }
+ id = (id + 1) % ntags;
+ return true;
+ });
+
+ ftl::timer::start(true);
+
+ return 0;
+}
\ No newline at end of file
--
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