#include <visp3/core/vpSerial.h>
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpMomentBasic.h>
#include <visp3/core/vpMomentGravityCenter.h>
#include <visp3/core/vpMomentDatabase.h>
#include <visp3/core/vpMomentCentered.h>
#include <visp3/core/vpMomentAreaNormalized.h>
#include <visp3/core/vpMomentGravityCenterNormalized.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/detection/vpDetectorAprilTag.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>
#include <visp3/visual_features/vpFeatureMomentGravityCenterNormalized.h>
#include <visp3/vs/vpServo.h>
#include <visp3/robot/vpUnicycle.h>
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_V4L2)
int device = 0;
double tagSize = 0.065;
float quad_decimate = 4.0;
int nThreads = 2;
std::string intrinsic_file = "";
std::string camera_name = "";
bool display_tag = false;
bool display_on = false;
bool serial_off = false;
bool save_image = false;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
tagSize = std::atof(argv[i + 1]);
} else if (std::string(argv[i]) == "--input" && i + 1 < argc) {
device = std::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 = std::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;
#if defined(VISP_HAVE_X11)
} else if (std::string(argv[i]) == "--display_on") {
display_on = true;
} else if (std::string(argv[i]) == "--save_image") {
save_image = true;
#endif
} else if (std::string(argv[i]) == "--serial_off") {
serial_off = true;
} else if (std::string(argv[i]) == "--tag_family" && i + 1 < argc) {
} 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>]"
" [--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)
std::cout << " [--display_on] [--save_image]";
#endif
std::cout << " [--serial_off] [--help]" << std::endl;
return EXIT_SUCCESS;
}
}
if (! serial_off) {
serial =
new vpSerial(
"/dev/ttyAMA0", 115200);
serial->
write(
"LED_RING=0,0,0,0\n");
serial->
write(
"LED_RING=1,0,10,0\n");
}
try {
std::ostringstream device_name;
device_name << "/dev/video" << device;
#ifdef VISP_HAVE_X11
if (display_on) {
}
#endif
#ifdef VISP_HAVE_XML2
if (!intrinsic_file.empty() && !camera_name.empty())
#endif
std::cout << "cam:\n" << cam << std::endl;
std::cout << "tagFamily: " << tagFamily << std::endl;
std::cout << "tagSize: " << tagSize << std::endl;
if (display_on)
else
cRe[0][0] = 0; cRe[0][1] = -1; cRe[0][2] = 0;
cRe[1][0] = 0; cRe[1][1] = 0; cRe[1][2] = -1;
cRe[2][0] = 1; cRe[2][1] = 0; cRe[2][2] = 0;
eJe[0][0] = eJe[5][1] = 1.0;
std::cout << "eJe: \n" << eJe << std::endl;
double Z_d = 0.4;
double X[4] = {tagSize/2., tagSize/2., -tagSize/2., -tagSize/2.};
double Y[4] = {tagSize/2., -tagSize/2., -tagSize/2., tagSize/2.};
std::vector<vpPoint> vec_P, vec_P_d;
for (int i = 0; i < 4; i++) {
vec_P_d.push_back(P_d);
}
double area = 0;
area = mb_d.
get(2, 0) + mb_d.
get(0, 2);
else
double A = 0.0;
double B = 0.0;
double C = 1.0 / Z_d;
std::vector<double> time_vec;
for (;;) {
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";
if (! serial_off) {
serial->
write(
"LED_RING=2,0,10,0\n");
}
std::vector< vpImagePoint > vec_ip = detector.
getPolygon(0);
vec_P.clear();
for (size_t i = 0; i < vec_ip.size(); i++) {
double x = 0, y = 0;
vec_P.push_back(P);
}
m_obj.fromVector(vec_P);
man.linkTo(mdb);
man.setDesiredArea(area);
man.compute();
s_mgn.update(A, B, C);
s_mgn.compute_interaction();
s_man.update(A, B, C);
s_man.compute_interaction();
std::cout <<
"Send velocity to the mbot: " << v[0] <<
" m/s " <<
vpMath::deg(v[1]) <<
" deg/s" << std::endl;
double radius = 0.0325;
double L = 0.0725;
double motor_left = (-v[0] - L * v[1]) / radius;
double motor_right = ( v[0] - L * v[1]) / radius;
std::cout << "motor left vel: " << motor_left << " motor right vel: " << motor_right << std::endl;
if (! serial_off) {
}
std::stringstream ss;
double rpm_left = motor_left * 30. / M_PI;
double rpm_right = motor_right * 30. / M_PI;
std::cout << "Send: " << ss.str() << std::endl;
if (! serial_off) {
}
}
else {
if (! serial_off) {
serial->
write(
"LED_RING=2,10,0,0\n");
serial->
write(
"MOTOR_RPM=0,-0\n");
}
}
if (display_on && save_image) {
}
break;
}
if (! serial_off) {
serial->
write(
"LED_RING=0,0,0,0\n");
}
std::cout << "Benchmark computation time" << std::endl;
if (display_on)
delete d;
if (! serial_off) {
delete serial;
}
std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
if (! serial_off) {
serial->
write(
"LED_RING=1,10,0,0\n");
}
}
return EXIT_SUCCESS;
#else
(void)argc;
(void)argv;
#ifndef VISP_HAVE_APRILTAG
std::cout << "ViSP is not build with Apriltag support" << std::endl;
#endif
#ifndef VISP_HAVE_V4L2
std::cout << "ViSP is not build with v4l2 support" << std::endl;
#endif
std::cout << "Install missing 3rd parties, configure and build ViSP to run this tutorial" << std::endl;
return EXIT_SUCCESS;
#endif
}