Visual Servoing Platform  version 3.2.0 under development (2018-10-24)
tutorial-apriltag-detector-live.cpp

[Include]

#include <visp3/detection/vpDetectorAprilTag.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#ifdef VISP_HAVE_XML2
#include <visp3/core/vpXmlParserCamera.h>
#endif
#ifdef VISP_HAVE_V4L2
#include <visp3/sensor/vpV4l2Grabber.h>
#endif
#include <visp3/io/vpImageIo.h>
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_APRILTAG) && (defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_OPENCV))
int opt_device = 0;
double tagSize = 0.053;
float quad_decimate = 1.0;
int nThreads = 1;
std::string intrinsic_file = "";
std::string camera_name = "";
bool display_tag = false;
int color_id = -1;
unsigned int thickness = 2;
#if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
bool display_off = true;
#else
bool display_off = false;
#endif
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--pose_method" && i + 1 < argc) {
poseEstimationMethod = (vpDetectorAprilTag::vpPoseEstimationMethod)atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
tagSize = atof(argv[i + 1]);
} else if (std::string(argv[i]) == "--input" && i + 1 < argc) {
opt_device = atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--quad_decimate" && i + 1 < argc) {
quad_decimate = (float)atof(argv[i + 1]);
} else if (std::string(argv[i]) == "--nthreads" && i + 1 < argc) {
nThreads = atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--intrinsic" && i + 1 < argc) {
intrinsic_file = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--camera_name" && i + 1 < argc) {
camera_name = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--display_tag") {
display_tag = true;
} else if (std::string(argv[i]) == "--display_off") {
display_off = true;
} else if (std::string(argv[i]) == "--color" && i + 1 < argc) {
color_id = atoi(argv[i+1]);
} else if (std::string(argv[i]) == "--thickness" && i + 1 < argc) {
thickness = (unsigned int) atoi(argv[i+1]);
} else if (std::string(argv[i]) == "--tag_family" && i + 1 < argc) {
tagFamily = (vpDetectorAprilTag::vpAprilTagFamily)atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Usage: " << argv[0]
<< " [--input <camera input>] [--tag_size <tag_size in m>]"
" [--quad_decimate <quad_decimate>] [--nthreads <nb>]"
" [--intrinsic <intrinsic file>] [--camera_name <camera name>]"
" [--pose_method <method> (0: HOMOGRAPHY, 1: "
"HOMOGRAPHY_VIRTUAL_VS,"
" 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS,"
" 4: BEST_RESIDUAL_VIRTUAL_VS)]"
" [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10, 2: "
"TAG_36ARTOOLKIT,"
" 3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5)]"
" [--display_tag]";
#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
std::cout << " [--display_off] [--color <color id>] [--thickness <line thickness>]";
#endif
std::cout << " [--help]" << std::endl;
return EXIT_SUCCESS;
}
}
cam.initPersProjWithoutDistortion(615.1674805, 615.1675415, 312.1889954, 243.4373779);
#ifdef VISP_HAVE_XML2
if (!intrinsic_file.empty() && !camera_name.empty())
parser.parse(cam, intrinsic_file, camera_name, vpCameraParameters::perspectiveProjWithoutDistortion);
#endif
std::cout << "cam:\n" << cam << std::endl;
std::cout << "poseEstimationMethod: " << poseEstimationMethod << std::endl;
std::cout << "tagFamily: " << tagFamily << std::endl;
try {
#if defined(VISP_HAVE_V4L2)
std::ostringstream device;
device << "/dev/video" << opt_device;
g.setDevice(device.str());
g.setScale(1);
g.acquire(I);
#elif defined(VISP_HAVE_OPENCV)
cv::VideoCapture cap(opt_device); // open the default camera
if (!cap.isOpened()) { // check if we succeeded
std::cout << "Failed to open the camera" << std::endl;
return EXIT_FAILURE;
}
cv::Mat frame;
cap >> frame; // get a new frame from camera
#endif
vpDisplay *d = NULL;
if (! display_off) {
#ifdef VISP_HAVE_X11
d = new vpDisplayX(I);
#elif defined(VISP_HAVE_GDI)
d = new vpDisplayGDI(I);
#elif defined(VISP_HAVE_OPENCV)
d = new vpDisplayOpenCV(I);
#endif
}
vpDetectorAprilTag detector(tagFamily);
detector.setAprilTagQuadDecimate(quad_decimate);
detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
detector.setAprilTagNbThreads(nThreads);
detector.setDisplayTag(display_tag, color_id < 0 ? vpColor::none : vpColor::getColor(color_id), thickness);
std::vector<double> time_vec;
for (;;) {
#if defined(VISP_HAVE_V4L2)
g.acquire(I);
#elif defined(VISP_HAVE_OPENCV)
cap >> frame; // get a new frame from camera
#endif
double t = vpTime::measureTimeMs();
std::vector<vpHomogeneousMatrix> cMo_vec;
detector.detect(I, tagSize, cam, cMo_vec);
time_vec.push_back(t);
std::stringstream ss;
ss << "Detection time: " << t << " ms for " << detector.getNbObjects() << " tags";
vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);
for (size_t i = 0; i < cMo_vec.size(); i++) {
vpDisplay::displayFrame(I, cMo_vec[i], cam, tagSize / 2, vpColor::none, 3);
}
vpDisplay::displayText(I, 20, 20, "Click to quit.", vpColor::red);
if (vpDisplay::getClick(I, false))
break;
}
std::cout << "Benchmark computation time" << std::endl;
std::cout << "Mean / Median / Std: " << vpMath::getMean(time_vec) << " ms"
<< " ; " << vpMath::getMedian(time_vec) << " ms"
<< " ; " << vpMath::getStdev(time_vec) << " ms" << std::endl;
if (! display_off)
delete d;
} catch (const vpException &e) {
std::cerr << "Catch an exception: " << e.getMessage() << std::endl;
}
return EXIT_SUCCESS;
#else
(void)argc;
(void)argv;
#ifndef VISP_HAVE_APRILTAG
std::cout << "ViSP is not build with Apriltag support" << std::endl;
#endif
#if !(defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_OPENCV))
std::cout << "ViSP is not build with v4l2 or OpenCV support" << std::endl;
#endif
std::cout << "Install missing 3rd parties, configure and build ViSP to run this tutorial" << std::endl;
#endif
return EXIT_SUCCESS;
}