#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vpV4l2Grabber.h>
#include <visp3/sensor/vp1394CMUGrabber.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>
#include <visp3/sensor/vpRealSense2.h>
#endif
#include <visp3/detection/vpDetectorAprilTag.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/core/vpXmlParserCamera.h>
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_APRILTAG) && \
(defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || (VISP_HAVE_OPENCV_VERSION >= 0x020100) || \
defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2) )
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;
std::cout << "Warning: There is no 3rd party (X11, GDI or openCV) to dislay images..." << std::endl;
#else
bool display_off = false;
#endif
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--pose_method" && i + 1 < argc) {
} else if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
tagSize = atof(argv[i + 1]);
} else if (std::string(argv[i]) == "--camera_device" && 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) {
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Usage: " << argv[0]
<< " [--camera_device <camera device> (default: 0)]"
<< " [--tag_size <tag_size in m> (default: 0.053)]"
" [--quad_decimate <quad_decimate> (default: 1)]"
" [--nthreads <nb> (default: 1)]"
" [--intrinsic <intrinsic file> (default: empty)]"
" [--camera_name <camera name>] (default: empty)"
" [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
" 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
" 4: BEST_RESIDUAL_VIRTUAL_VS) (default: 0)]"
" [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10, 2: TAG_36ARTOOLKIT,"
" 3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5) (default: 0)]"
" [--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;
}
}
try {
#ifdef VISP_HAVE_XML2
if (!intrinsic_file.empty() && !camera_name.empty())
#endif
#if defined(VISP_HAVE_V4L2)
std::ostringstream device;
device << "/dev/video" << opt_device;
std::cout << "Use Video 4 Linux grabber on device " << device.str() << std::endl;
#elif defined(VISP_HAVE_DC1394)
(void)opt_device;
std::cout << "Use DC1394 grabber" << std::endl;
#elif defined(VISP_HAVE_CMU1394)
(void)opt_device;
std::cout << "Use CMU1394 grabber" << std::endl;
#elif defined(VISP_HAVE_FLYCAPTURE)
(void)opt_device;
std::cout << "Use FlyCapture grabber" << std::endl;
#elif defined(VISP_HAVE_REALSENSE2)
(void)opt_device;
std::cout << "Use Realsense 2 grabber" << std::endl;
rs2::config config;
config.disable_stream(RS2_STREAM_DEPTH);
config.disable_stream(RS2_STREAM_INFRARED);
config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
std::cout << "Read camera parameters from Realsense device" << std::endl;
#elif defined(VISP_HAVE_OPENCV)
std::cout << "Use OpenCV grabber on device " << opt_device << std::endl;
cv::VideoCapture g(opt_device);
if (!g.isOpened()) {
std::cout << "Failed to open the camera" << std::endl;
return -1;
}
cv::Mat frame;
g >> frame;
#endif
std::cout << "cam:\n" << cam << std::endl;
std::cout << "poseEstimationMethod: " << poseEstimationMethod << std::endl;
std::cout << "tagFamily: " << tagFamily << std::endl;
if (! display_off) {
#ifdef VISP_HAVE_X11
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#endif
}
std::vector<double> time_vec;
for (;;) {
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
g.acquire(I);
#elif defined(VISP_HAVE_OPENCV)
g >> frame;
#endif
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";
for (size_t i = 0; i < cMo_vec.size(); i++) {
}
break;
}
std::cout << "Benchmark computation time" << std::endl;
if (! display_off)
delete d;
std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
}
return EXIT_SUCCESS;
#else
(void)argc;
(void)argv;
#ifndef VISP_HAVE_APRILTAG
std::cout << "Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
#else
std::cout << "Install a 3rd party dedicated to frame grabbing (dc1394, cmu1394, v4l2, OpenCV, FlyCapture, Realsense2), configure and build ViSP again to use this example" << std::endl;
#endif
#endif
return EXIT_SUCCESS;
}