Improve some information

README.md

@@ -17,6 +17,7 @@ Just support tag36h11,tag25h9,tag16h5.
 ## How to use it
 1. You should install the opencv and other lib.Your python version must higher that 2.7(not support).
 2. Now you can run files starting with test*.py
+3. fold named camtest contains some operation about camera and aprilt,but it still not finished.
 
 
 ## Other
@@ -33,3 +34,4 @@ E-Mail:[email protected]
 ## 如何使用
 1. 首先要安装opencv和其他python包。
 2. 直接运行任意一个test开头的文件。
+3. camtest是一些其他有关摄像头的工作，并没有完全完工。

camtest/README.md

@@ -1,2 +1,8 @@
 # Details
-These files which are Not related to the Apriltag program itself are used for real-time camera testing.
+These files which are Not related to the Apriltag program itself are used for real-time camera testing.
+
+## Works
+
+1. testcam(work) : detecting tag by camera.It can also calculate a distence between tag and camera that needs focal length and tag`size in real world.
+2. testMulPic(not work) : Use multiple cameras for spatial positioning.But need a specific experimental environment.
+3. vispytest(not work) : 3d visual platform. 

camtest/testcam.py

@@ -1,21 +1,16 @@
 import cv2
-from apriltag import myapriltag
+from apriltag import Apriltag
 import numpy as np
 import tagUtils as tud
-# ap = myapriltag()
-# ap.createDetector(debug=True)
-# #filename = '3dpicture/0_0.jpg'
-# filename = 'picture/1080p-40.jpg'
-# frame = cv2.imread(filename)
-# detections = ap.detector(frame)
+
 def main():
     cap = cv2.VideoCapture(0)
     cap.set(3,1920)
     cap.set(4,1080)
     fps = 24
     window = 'Camera'
     cv2.namedWindow(window)
-    detector = myapriltag()
+    detector = Apriltag()
     detector.createDetector(debug=False)
 
 
@@ -39,12 +34,12 @@ def main():
                 dis = tud.get_distance(detection.homography,122274)
                 for j in range(4):
                     cv2.line(show,tuple(point[edges[j,0]]),tuple(point[edges[j,1]]),(0,0,255),2)
-                # dete_point = np.int32(detection.corners)
-                # for j in range(4):
-                #     cv2.line(show,
-                #              tuple(dete_point[edges[j, 0]]),
-                #              tuple(dete_point[edges[j, 1]]),
-                #              color=(0,255,0))
+                dete_point = np.int32(detection.corners)
+                for j in range(4):
+                    cv2.line(show,
+                             tuple(dete_point[edges[j, 0]]),
+                             tuple(dete_point[edges[j, 1]]),
+                             color=(0,255,0))
                 print ('dis:' , dis)
 
         ########################

testcam.py

@@ -0,0 +1,56 @@
+import cv2
+from apriltag import Apriltag
+import numpy as np
+import tagUtils as tud
+
+def main():
+    cap = cv2.VideoCapture(0)
+    cap.set(3,1920)
+    cap.set(4,1080)
+    fps = 24
+    window = 'Camera'
+    cv2.namedWindow(window)
+    detector = Apriltag()
+    detector.createDetector(debug=False)
+
+
+    while cap.grab():
+        success, frame = cap.retrieve()
+        if not success:
+            break
+
+        detections = detector.detect(frame)
+        show = None
+        if (len(detections) == 0):
+            show = frame
+        else:
+            show = frame
+            edges = np.array([[0, 1],
+                              [1, 2],
+                              [2, 3],
+                              [3, 0]])
+            for detection in detections:
+                point = tud.get_pose_point(detection.homography)
+                dis = tud.get_distance(detection.homography,122274)
+                for j in range(4):
+                    cv2.line(show,tuple(point[edges[j,0]]),tuple(point[edges[j,1]]),(0,0,255),2)
+                dete_point = np.int32(detection.corners)
+                for j in range(4):
+                    cv2.line(show,
+                             tuple(dete_point[edges[j, 0]]),
+                             tuple(dete_point[edges[j, 1]]),
+                             color=(0,255,0))
+                print ('dis:' , dis)
+
+        ########################
+        num_detections = len(detections)
+        cv2.imshow(window, show)
+        k = cv2.waitKey(1000//int(fps))
+
+        if k == 27:
+            break
+    cap.release()
+
+if __name__ == '__main__':
+    main()
+