1 #include <visp3/detection/vpDetectorAprilTag.h> 5 #include <visp3/gui/vpDisplayGDI.h> 6 #include <visp3/gui/vpDisplayOpenCV.h> 7 #include <visp3/gui/vpDisplayX.h> 8 #include <visp3/io/vpImageIo.h> 10 #include <visp3/core/vpXmlParserCamera.h> 13 int main(
int argc,
const char **argv)
16 #if defined(VISP_HAVE_APRILTAG) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) 19 std::string input_filename =
"AprilTag.pgm";
22 double tagSize = 0.053;
23 float quad_decimate = 1.0;
25 std::string intrinsic_file =
"";
26 std::string camera_name =
"";
27 bool display_tag =
false;
29 for (
int i = 1; i < argc; i++) {
30 if (std::string(argv[i]) ==
"--pose_method" && i + 1 < argc) {
32 }
else if (std::string(argv[i]) ==
"--tag_size" && i + 1 < argc) {
33 tagSize = atof(argv[i + 1]);
34 }
else if (std::string(argv[i]) ==
"--input" && i + 1 < argc) {
35 input_filename = std::string(argv[i + 1]);
36 }
else if (std::string(argv[i]) ==
"--quad_decimate" && i + 1 < argc) {
37 quad_decimate = (float)atof(argv[i + 1]);
38 }
else if (std::string(argv[i]) ==
"--nthreads" && i + 1 < argc) {
39 nThreads = atoi(argv[i + 1]);
40 }
else if (std::string(argv[i]) ==
"--intrinsic" && i + 1 < argc) {
41 intrinsic_file = std::string(argv[i + 1]);
42 }
else if (std::string(argv[i]) ==
"--camera_name" && i + 1 < argc) {
43 camera_name = std::string(argv[i + 1]);
44 }
else if (std::string(argv[i]) ==
"--display_tag") {
46 }
else if (std::string(argv[i]) ==
"--tag_family" && i + 1 < argc) {
48 }
else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
49 std::cout <<
"Usage: " << argv[0]
50 <<
" [--input <input file>] [--tag_size <tag_size in m>]" 51 " [--quad_decimate <quad_decimate>] [--nthreads <nb>]" 52 " [--intrinsic <intrinsic file>] [--camera_name <camera name>]" 53 " [--pose_method <method> (0: HOMOGRAPHY_VIRTUAL_VS, 1: " 54 "DEMENTHON_VIRTUAL_VS," 55 " 2: LAGRANGE_VIRTUAL_VS, 3: BEST_RESIDUAL_VIRTUAL_VS)]" 56 " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10, 2: " 58 " 3: TAG_25h9, 4: TAG_25h7)]" 59 " [--display_tag] [--help]" 69 if (!intrinsic_file.empty() && !camera_name.empty())
72 std::cout <<
"cam:\n" << cam << std::endl;
73 std::cout <<
"poseEstimationMethod: " << poseEstimationMethod << std::endl;
74 std::cout <<
"tagFamily: " << tagFamily << std::endl;
82 #elif defined(VISP_HAVE_GDI) 84 #elif defined(VISP_HAVE_OPENCV) 94 dynamic_cast<vpDetectorAprilTag *
>(detector)->setAprilTagPoseEstimationMethod(poseEstimationMethod);
103 std::vector<vpHomogeneousMatrix> cMo_vec;
108 std::stringstream ss;
109 ss <<
"Detection time: " << t <<
" ms for " << detector->
getNbObjects() <<
" tags";
116 std::vector<vpImagePoint> p = detector->
getPolygon(i);
124 for (
size_t j = 0; j < p.size(); j++) {
126 std::ostringstream number;
139 for (
size_t i = 0; i < cMo_vec.size(); i++) {
150 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
vpRect getBBox(size_t i) const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Display for windows using GDI (available on any windows 32 platform).
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static const vpColor none
error that can be emited by ViSP classes.
size_t getNbObjects() const
XML parser to load and save intrinsic camera parameters.
static const vpColor green
static void flush(const vpImage< unsigned char > &I)
VISP_EXPORT double measureTimeMs()
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
const char * getMessage(void) const
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void read(vpImage< unsigned char > &I, const std::string &filename)
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))
Defines a rectangle in the plane.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
std::vector< std::string > & getMessage()
int parse(vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, const vpCameraParameters::vpCameraParametersProjType &projModel, const unsigned int image_width=0, const unsigned int image_height=0)
static const vpColor blue
std::vector< std::vector< vpImagePoint > > & getPolygon()