aruco app

applications/aruco/src/main.cpp

@@ -12,9 +12,9 @@ int main(int argc, char** argv) {
 	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;
+	unsigned int size = 512;
+	unsigned int margin = 64;
+	unsigned int delay = 50;
 
 	argc--;
 	argv++;
@@ -28,18 +28,27 @@ int main(int argc, char** argv) {
 		ntags = std::stoi(opts["ntags"]);
 	if (opts.count("size"))
 		size = std::stoi(opts["size"]);
+	if (opts.count("margin"))
+		margin = std::stoi(opts["margin"]);
+
+	cv::Mat blank = cv::Mat(size + margin*2, size + margin*2, CV_8UC1);
+	blank.setTo(255);
 
 	for (unsigned int i = 0; i < ntags; i++) {
-		cv::aruco::drawMarker(dict, i, size, tags.emplace_back(), margin);
+		auto& tag = tags.emplace_back();
+		tag.create(size + margin*2, size + margin*2, CV_8UC1);
+		tag.setTo(255);
+		cv::aruco::drawMarker(dict, i, size, tag(cv::Rect(margin, margin, size, size)), 1);
 	}
 
 	int id = 0;
+	bool show_blank = false;
 	ftl::timer::setInterval(delay);
 	ftl::timer::setHighPrecision(true);
 	auto h = ftl::timer::add(ftl::timer::kTimerMain, [&](uint64_t){
-
-		cv::imshow("ArUco", tags[id]);
+		cv::imshow("ArUco", show_blank ? blank : tags[id]);
 		if (cv::waitKey(1) == 27) { ftl::timer::stop(false); }
+		show_blank = !show_blank;
 		id = (id + 1) % ntags;
 		return true;
 	});

applications/gui2/src/views/calibration/extrinsicview.cpp

@@ -166,6 +166,7 @@ private:
 	nanogui::Button* bsave_;
 	nanogui::Button* bupload_;
 	nanogui::Button* bapply_;
+	nanogui::Button* bfreeze_;
 	nanogui::Button* bcalibrate_;
 	nanogui::Button* bpause_;
 	nanogui::Button* bresults_;
@@ -208,13 +209,20 @@ ExtrinsicCalibrationView::ControlWindow::ControlWindow(nanogui::Widget* parent,
 	bapply_ = new nanogui::Button(buttons, "");
 	bapply_->setFixedWidth(40);
 	bapply_->setTooltip("Rectify stereo images");
-
 	bapply_->setFlags(nanogui::Button::Flags::ToggleButton);
 	bapply_->setPushed(view_->rectify());
 	bapply_->setChangeCallback([button = bapply_, view = view_](bool v){
 		view->setRectify(v);
 	});
 
+	bfreeze_ = new nanogui::Button(buttons, "", ENTYPO_ICON_CONTROLLER_PLAY);
+	bfreeze_->setFixedWidth(40);
+	bfreeze_->setTooltip("Freeze view");
+	bfreeze_->setCallback([button=bapply_, view=view_, ctrl=ctrl_](){
+		ctrl->setCapture(view->paused());
+		view->pause(!view->paused());
+	});
+
 	bresults_ = new nanogui::Button(buttons, "Show Calibration");
 	//bresults_->setEnabled(ctrl_->calib().calibrated());
 	bresults_->setCallback([view = view_, button = bresults_]{
@@ -244,6 +252,7 @@ void ExtrinsicCalibrationView::ControlWindow::draw(NVGcontext* ctx) {
 	}
 	bapply_->setIcon(view_->rectify() ? ENTYPO_ICON_EYE : ENTYPO_ICON_EYE_WITH_LINE);
 	bapply_->setPushed(view_->rectify());
+	bfreeze_->setIcon(view_->paused() ? ENTYPO_ICON_CONTROLLER_PLAY : ENTYPO_ICON_CONTROLLER_PAUS);
 	//bcalibrate_->setEnabled(ctrl_->calib().nFrames() > 0);
 	//bresults_->setEnabled(ctrl_->calib().calibrated());
 	FixedWindow::draw(ctx);
@@ -454,7 +463,7 @@ ExtrinsicCalibrationView::ExtrinsicCalibrationView(Screen* widget, ExtrinsicCali
 	for (int i = 0; i < ctrl_->cameraCount(); i += 2) {
 		new StereoImageView(frames_, nanogui::Orientation::Vertical);
 	}
-
+	paused_ = false;
 	wcontrol_ = new ControlWindow(screen(), this);
 	wcalibration_ = new CalibrationWindow(screen(), this);
 	wresults_ = new ResultsWindow(screen(), this);
@@ -484,7 +493,7 @@ void ExtrinsicCalibrationView::performLayout(NVGcontext* ctx) {
 
 void ExtrinsicCalibrationView::draw(NVGcontext* ctx) {
 
-	if (ctrl_->next()) {
+	if (ctrl_->next() && !paused_) {
 		for (int i = 0; i < ctrl_->cameraCount(); i += 2) {
 			auto* imview = dynamic_cast<StereoImageView*>(frames_->childAt(i/2));
 

applications/gui2/src/views/calibration/extrinsicview.hpp

@@ -69,6 +69,9 @@ public:
 	void setRectify(bool v) { rectify_ = v; };
 	void setMode(Mode m);
 
+	bool paused() { return paused_; }
+	void pause(bool v) { paused_ = v; }
+
 protected:
 	int rows(); // calculate optimum number of rows;
 	void setRows(int rows);
@@ -84,7 +87,7 @@ private:
 	int rows_;
 	bool draw_number_;
 	bool rectify_;
-
+	bool paused_;
 public:
 	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };