1 #include <visp3/core/vpConfig.h> 3 #ifdef VISP_HAVE_MODULE_SENSOR 4 #include <visp3/sensor/vpV4l2Grabber.h> 5 #include <visp3/sensor/vp1394CMUGrabber.h> 6 #include <visp3/sensor/vp1394TwoGrabber.h> 7 #include <visp3/sensor/vpFlyCaptureGrabber.h> 8 #include <visp3/sensor/vpRealSense2.h> 10 #include <visp3/detection/vpDetectorAprilTag.h> 13 #include <visp3/gui/vpDisplayGDI.h> 14 #include <visp3/gui/vpDisplayOpenCV.h> 15 #include <visp3/gui/vpDisplayX.h> 16 #include <visp3/core/vpXmlParserCamera.h> 27 int main(
int argc,
const char **argv)
30 #if defined(VISP_HAVE_APRILTAG) && \ 31 (defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || (VISP_HAVE_OPENCV_VERSION >= 0x020100) || \ 32 defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2) ) 38 double tagSize = 0.053;
39 float quad_decimate = 1.0;
41 std::string intrinsic_file =
"";
42 std::string camera_name =
"";
43 bool display_tag =
false;
45 unsigned int thickness = 2;
47 #if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) 48 bool display_off =
true;
49 std::cout <<
"Warning: There is no 3rd party (X11, GDI or openCV) to dislay images..." << std::endl;
51 bool display_off =
false;
56 for (
int i = 1; i < argc; i++) {
57 if (std::string(argv[i]) ==
"--pose_method" && i + 1 < argc) {
59 }
else if (std::string(argv[i]) ==
"--tag_size" && i + 1 < argc) {
60 tagSize = atof(argv[i + 1]);
61 }
else if (std::string(argv[i]) ==
"--camera_device" && i + 1 < argc) {
62 opt_device = atoi(argv[i + 1]);
63 }
else if (std::string(argv[i]) ==
"--quad_decimate" && i + 1 < argc) {
64 quad_decimate = (float)atof(argv[i + 1]);
65 }
else if (std::string(argv[i]) ==
"--nthreads" && i + 1 < argc) {
66 nThreads = atoi(argv[i + 1]);
67 }
else if (std::string(argv[i]) ==
"--intrinsic" && i + 1 < argc) {
68 intrinsic_file = std::string(argv[i + 1]);
69 }
else if (std::string(argv[i]) ==
"--camera_name" && i + 1 < argc) {
70 camera_name = std::string(argv[i + 1]);
71 }
else if (std::string(argv[i]) ==
"--display_tag") {
73 }
else if (std::string(argv[i]) ==
"--display_off") {
75 }
else if (std::string(argv[i]) ==
"--color" && i + 1 < argc) {
76 color_id = atoi(argv[i+1]);
77 }
else if (std::string(argv[i]) ==
"--thickness" && i + 1 < argc) {
78 thickness = (
unsigned int) atoi(argv[i+1]);
79 }
else if (std::string(argv[i]) ==
"--tag_family" && i + 1 < argc) {
81 }
else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
82 std::cout <<
"Usage: " << argv[0]
83 <<
" [--camera_device <camera device> (default: 0)]" 84 <<
" [--tag_size <tag_size in m> (default: 0.053)]" 85 " [--quad_decimate <quad_decimate> (default: 1)]" 86 " [--nthreads <nb> (default: 1)]" 87 " [--intrinsic <intrinsic file> (default: empty)]" 88 " [--camera_name <camera name>] (default: empty)" 89 " [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, " 90 " 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, " 91 " 4: BEST_RESIDUAL_VIRTUAL_VS) (default: 0)]" 92 " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10, 2: TAG_36ARTOOLKIT," 93 " 3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5) (default: 0)]" 95 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) 96 std::cout <<
" [--display_off] [--color <color id>] [--thickness <line thickness>]";
98 std::cout <<
" [--help]" << std::endl;
106 #ifdef VISP_HAVE_XML2 108 if (!intrinsic_file.empty() && !camera_name.empty())
113 #if defined(VISP_HAVE_V4L2) 115 std::ostringstream device;
116 device <<
"/dev/video" << opt_device;
117 std::cout <<
"Use Video 4 Linux grabber on device " << device.str() << std::endl;
121 #elif defined(VISP_HAVE_DC1394) 123 std::cout <<
"Use DC1394 grabber" << std::endl;
126 #elif defined(VISP_HAVE_CMU1394) 128 std::cout <<
"Use CMU1394 grabber" << std::endl;
131 #elif defined(VISP_HAVE_FLYCAPTURE) 133 std::cout <<
"Use FlyCapture grabber" << std::endl;
136 #elif defined(VISP_HAVE_REALSENSE2) 138 std::cout <<
"Use Realsense 2 grabber" << std::endl;
141 config.disable_stream(RS2_STREAM_DEPTH);
142 config.disable_stream(RS2_STREAM_INFRARED);
143 config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
147 std::cout <<
"Read camera parameters from Realsense device" << std::endl;
149 #elif defined(VISP_HAVE_OPENCV) 150 std::cout <<
"Use OpenCV grabber on device " << opt_device << std::endl;
151 cv::VideoCapture g(opt_device);
153 std::cout <<
"Failed to open the camera" << std::endl;
162 std::cout <<
"cam:\n" << cam << std::endl;
163 std::cout <<
"poseEstimationMethod: " << poseEstimationMethod << std::endl;
164 std::cout <<
"tagFamily: " << tagFamily << std::endl;
170 #elif defined(VISP_HAVE_GDI) 172 #elif defined(VISP_HAVE_OPENCV) 188 std::vector<double> time_vec;
191 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2) 193 #elif defined(VISP_HAVE_OPENCV) 203 std::vector<vpHomogeneousMatrix> cMo_vec;
204 detector.
detect(I, tagSize, cam, cMo_vec);
207 time_vec.push_back(t);
209 std::stringstream ss;
210 ss <<
"Detection time: " << t <<
" ms for " << detector.
getNbObjects() <<
" tags";
214 for (
size_t i = 0; i < cMo_vec.size(); i++) {
225 std::cout <<
"Benchmark computation time" << std::endl;
226 std::cout <<
"Mean / Median / Std: " <<
vpMath::getMean(time_vec) <<
" ms" 234 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
241 #ifndef VISP_HAVE_APRILTAG 242 std::cout <<
"Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
244 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;
void setAprilTagQuadDecimate(const float quadDecimate)
Class that defines generic functionnalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static double getStdev(const std::vector< double > &v, const bool useBesselCorrection=false)
void setAprilTagPoseEstimationMethod(const vpPoseEstimationMethod &poseEstimationMethod)
void open(vpImage< unsigned char > &I)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
void open(vpImage< unsigned char > &I)
static double getMedian(const std::vector< double > &v)
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...
void setDevice(const std::string &devname)
static const vpColor none
error that can be emited by ViSP classes.
void open(const rs2::config &cfg=rs2::config())
size_t getNbObjects() const
XML parser to load and save intrinsic camera parameters.
static void flush(const vpImage< unsigned char > &I)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion) const
VISP_EXPORT double measureTimeMs()
void open(vpImage< unsigned char > &I)
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)
void open(vpImage< unsigned char > &I)
static double getMean(const std::vector< double > &v)
Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
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.
const char * getMessage(void) const
void acquire(vpImage< unsigned char > &grey)
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
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))
Class for firewire ieee1394 video devices using libdc1394-2.x api.
static vpColor getColor(const unsigned int &i)
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)
void setAprilTagNbThreads(const int nThreads)
void setDisplayTag(const bool display, const vpColor &color=vpColor::none, const unsigned int thickness=2)
bool detect(const vpImage< unsigned char > &I)