1 #include <visp3/core/vpConfig.h>
3 #ifdef VISP_HAVE_MODULE_SENSOR
4 #include <visp3/sensor/vp1394CMUGrabber.h>
5 #include <visp3/sensor/vp1394TwoGrabber.h>
6 #include <visp3/sensor/vpFlyCaptureGrabber.h>
7 #include <visp3/sensor/vpRealSense2.h>
8 #include <visp3/sensor/vpV4l2Grabber.h>
11 #include <visp3/detection/vpDetectorAprilTag.h>
13 #include <visp3/core/vpXmlParserCamera.h>
14 #include <visp3/gui/vpDisplayGDI.h>
15 #include <visp3/gui/vpDisplayOpenCV.h>
16 #include <visp3/gui/vpDisplayX.h>
18 #if defined(HAVE_OPENCV_VIDEOIO)
19 #include <opencv2/videoio.hpp>
31 int main(
int argc,
const char **argv)
34 #if defined(VISP_HAVE_APRILTAG) && \
35 (defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
36 defined(HAVE_OPENCV_VIDEOIO) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2))
42 double tagSize = 0.053;
43 float quad_decimate = 1.0;
45 std::string intrinsic_file =
"";
46 std::string camera_name =
"";
47 bool display_tag =
false;
49 unsigned int thickness = 2;
50 bool align_frame =
false;
52 #if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(HAVE_OPENCV_HIGHGUI))
53 bool display_off =
true;
54 std::cout <<
"Warning: There is no 3rd party (X11, GDI or openCV) to dislay images..." << std::endl;
56 bool display_off =
false;
61 for (
int i = 1; i < argc; i++) {
62 if (std::string(argv[i]) ==
"--pose_method" && i + 1 < argc) {
65 else if (std::string(argv[i]) ==
"--tag_size" && i + 1 < argc) {
66 tagSize = atof(argv[i + 1]);
68 else if (std::string(argv[i]) ==
"--camera_device" && i + 1 < argc) {
69 opt_device = atoi(argv[i + 1]);
71 else if (std::string(argv[i]) ==
"--quad_decimate" && i + 1 < argc) {
72 quad_decimate = (float)atof(argv[i + 1]);
74 else if (std::string(argv[i]) ==
"--nthreads" && i + 1 < argc) {
75 nThreads = atoi(argv[i + 1]);
77 else if (std::string(argv[i]) ==
"--intrinsic" && i + 1 < argc) {
78 intrinsic_file = std::string(argv[i + 1]);
80 else if (std::string(argv[i]) ==
"--camera_name" && i + 1 < argc) {
81 camera_name = std::string(argv[i + 1]);
83 else if (std::string(argv[i]) ==
"--display_tag") {
86 else if (std::string(argv[i]) ==
"--display_off") {
89 else if (std::string(argv[i]) ==
"--color" && i + 1 < argc) {
90 color_id = atoi(argv[i + 1]);
92 else if (std::string(argv[i]) ==
"--thickness" && i + 1 < argc) {
93 thickness = (
unsigned int)atoi(argv[i + 1]);
95 else if (std::string(argv[i]) ==
"--tag_family" && i + 1 < argc) {
98 else if (std::string(argv[i]) ==
"--z_aligned") {
101 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
102 std::cout <<
"Usage: " << argv[0] <<
" [--camera_device <camera device> (default: 0)]"
103 <<
" [--tag_size <tag_size in m> (default: 0.053)]"
104 " [--quad_decimate <quad_decimate> (default: 1)]"
105 " [--nthreads <nb> (default: 1)]"
106 " [--intrinsic <intrinsic file> (default: empty)]"
107 " [--camera_name <camera name> (default: empty)]"
108 " [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
109 " 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
110 " 4: BEST_RESIDUAL_VIRTUAL_VS, 5: HOMOGRAPHY_ORTHOGONAL_ITERATION) (default: 0)]"
111 " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10 (DEPRECATED), 2: TAG_36ARTOOLKIT (DEPRECATED),"
112 " 3: TAG_25h9, 4: TAG_25h7 (DEPRECATED), 5: TAG_16h5, 6: TAG_CIRCLE21h7, 7: TAG_CIRCLE49h12,"
113 " 8: TAG_CUSTOM48h12, 9: TAG_STANDARD41h12, 10: TAG_STANDARD52h13) (default: 0)]"
114 " [--display_tag] [--z_aligned]";
115 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
116 std::cout <<
" [--display_off] [--color <color id>] [--thickness <line thickness>]";
118 std::cout <<
" [--help]" << std::endl;
126 #if defined(VISP_HAVE_PUGIXML)
128 if (!intrinsic_file.empty() && !camera_name.empty())
133 #if defined(VISP_HAVE_V4L2)
135 std::ostringstream device;
136 device <<
"/dev/video" << opt_device;
137 std::cout <<
"Use Video 4 Linux grabber on device " << device.str() << std::endl;
141 #elif defined(VISP_HAVE_DC1394)
143 std::cout <<
"Use DC1394 grabber" << std::endl;
146 #elif defined(VISP_HAVE_CMU1394)
148 std::cout <<
"Use CMU1394 grabber" << std::endl;
151 #elif defined(VISP_HAVE_FLYCAPTURE)
153 std::cout <<
"Use FlyCapture grabber" << std::endl;
156 #elif defined(VISP_HAVE_REALSENSE2)
158 std::cout <<
"Use Realsense 2 grabber" << std::endl;
161 config.disable_stream(RS2_STREAM_DEPTH);
162 config.disable_stream(RS2_STREAM_INFRARED);
163 config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
167 std::cout <<
"Read camera parameters from Realsense device" << std::endl;
169 #elif defined(HAVE_OPENCV_VIDEOIO)
170 std::cout <<
"Use OpenCV grabber on device " << opt_device << std::endl;
171 cv::VideoCapture g(opt_device);
173 std::cout <<
"Failed to open the camera" << std::endl;
182 std::cout << cam << std::endl;
183 std::cout <<
"poseEstimationMethod: " << poseEstimationMethod << std::endl;
184 std::cout <<
"tagFamily: " << tagFamily << std::endl;
185 std::cout <<
"nThreads : " << nThreads << std::endl;
186 std::cout <<
"Z aligned: " << align_frame << std::endl;
192 #elif defined(VISP_HAVE_GDI)
194 #elif defined(HAVE_OPENCV_HIGHGUI)
204 detector.setAprilTagQuadDecimate(quad_decimate);
205 detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
206 detector.setAprilTagNbThreads(nThreads);
208 detector.setZAlignedWithCameraAxis(align_frame);
211 std::vector<double> time_vec;
214 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
215 defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
217 #elif defined(HAVE_OPENCV_VIDEOIO)
227 std::vector<vpHomogeneousMatrix> cMo_vec;
228 detector.detect(I, tagSize, cam, cMo_vec);
231 time_vec.push_back(t);
233 std::stringstream ss;
234 ss <<
"Detection time: " << t <<
" ms for " << detector.getNbObjects() <<
" tags";
238 for (
size_t i = 0; i < cMo_vec.size(); i++) {
249 std::cout <<
"Benchmark computation time" << std::endl;
250 std::cout <<
"Mean / Median / Std: " <<
vpMath::getMean(time_vec) <<
" ms"
259 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
266 #ifndef VISP_HAVE_APRILTAG
267 std::cout <<
"Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
269 std::cout <<
"Install a 3rd party dedicated to frame grabbing (dc1394, cmu1394, v4l2, OpenCV, FlyCapture, "
270 "Realsense2), configure and build ViSP again to use this example"
Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
void open(vpImage< unsigned char > &I)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
static vpColor getColor(const unsigned int &i)
static const vpColor none
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Class that defines generic functionalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
const char * getMessage() const
void open(vpImage< unsigned char > &I)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static double getMedian(const std::vector< double > &v)
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
static double getMean(const std::vector< double > &v)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
void acquire(vpImage< unsigned char > &grey, double *ts=nullptr)
bool open(const rs2::config &cfg=rs2::config())
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void open(vpImage< unsigned char > &I)
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
void setDevice(const std::string &devname)
XML parser to load and save intrinsic camera parameters.
int parse(vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, const vpCameraParameters::vpCameraParametersProjType &projModel, unsigned int image_width=0, unsigned int image_height=0, bool verbose=true)
VISP_EXPORT double measureTimeMs()