Visual Servoing Platform  version 3.4.0
tutorial-pose-from-points-live.cpp
1 
2 #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>
9 #endif
10 #include <visp3/core/vpXmlParserCamera.h>
11 #include <visp3/gui/vpDisplayGDI.h>
12 #include <visp3/gui/vpDisplayOpenCV.h>
13 #include <visp3/gui/vpDisplayX.h>
14 
15 #include "pose_helper.h"
16 
17 // Comment / uncomment following lines to use the specific 3rd party compatible with your camera
19 //#undef VISP_HAVE_V4L2
20 //#undef VISP_HAVE_DC1394
21 //#undef VISP_HAVE_CMU1394
22 //#undef VISP_HAVE_FLYCAPTURE
23 //#undef VISP_HAVE_REALSENSE2
24 //#undef VISP_HAVE_OPENCV
26 
27 int main(int argc, char **argv)
28 {
29 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) && \
30  (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) )
31  try {
32  std::string opt_intrinsic_file; // xml file obtained from camera calibration
33  std::string opt_camera_name; // corresponding camera name in the xml calibration file
34  double opt_square_width = 0.12;
35  int opt_device = 0; // For OpenCV and V4l2 grabber to set the camera device
36 
37  for (int i = 0; i < argc; i++) {
38  if (std::string(argv[i]) == "--intrinsic" && i + 1 < argc) {
39  opt_intrinsic_file = std::string(argv[i + 1]);
40  } else if (std::string(argv[i]) == "--camera_name" && i + 1 < argc) {
41  opt_camera_name = std::string(argv[i + 1]);
42  } else if (std::string(argv[i]) == "--camera_device" && i + 1 < argc) {
43  opt_device = atoi(argv[i + 1]);
44  } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
45  std::cout << "\nUsage: " << argv[0]
46  << " [--camera_device <camera device> (default: 0)]"
47  << " [--intrinsic <xml calibration file> (default: empty)]"
48  " [--camera_name <camera name in xml calibration file> (default: empty)]"
49  " [--square_width <square width in meter (default: 0.12)] [--help] [-h]\n"
50  << "\nExample using default camera parameters and square size:\n"
51  << " " << argv[0] << "\n"
52  << "\nExample fully tuned for a 0.1m x 0.1m square:\n"
53  << " " << argv[0] << " --intrinsic camera.xml --camera_name Camera --square_width 0.1\n"
54  << std::endl;
55  return 0;
56  }
57  }
58 
60 
61  // Parameters of our camera
62  vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
63  vpXmlParserCamera parser;
64  if (!opt_intrinsic_file.empty() && !opt_camera_name.empty()) {
65  std::cout << "Intrinsic file: " << opt_intrinsic_file << std::endl;
66  std::cout << "Camera name : " << opt_camera_name << std::endl;
67  if (parser.parse(cam, opt_intrinsic_file, opt_camera_name, vpCameraParameters::perspectiveProjWithDistortion) == vpXmlParserCamera::SEQUENCE_OK) {
68  std::cout << "Succeed to read camera parameters from xml file" << std::endl;
69  } else {
70  std::cout << "Unable to read camera parameters from xml file" << std::endl;
71  }
72  }
73 
75 #if defined(VISP_HAVE_V4L2)
76  vpV4l2Grabber g;
77  std::ostringstream device;
78  device << "/dev/video" << opt_device;
79  std::cout << "Use Video 4 Linux grabber on device " << device.str() << std::endl;
80  g.setDevice(device.str());
81  g.setScale(1);
82  g.open(I);
83 #elif defined(VISP_HAVE_DC1394)
84  (void)opt_device; // To avoid non used warning
85  std::cout << "Use DC1394 grabber" << std::endl;
87  g.open(I);
88 #elif defined(VISP_HAVE_CMU1394)
89  (void)opt_device; // To avoid non used warning
90  std::cout << "Use CMU1394 grabber" << std::endl;
92  g.open(I);
93 #elif defined(VISP_HAVE_FLYCAPTURE)
94  (void)opt_device; // To avoid non used warning
95  std::cout << "Use FlyCapture grabber" << std::endl;
97  g.open(I);
98 #elif defined(VISP_HAVE_REALSENSE2)
99  (void)opt_device; // To avoid non used warning
100  std::cout << "Use Realsense 2 grabber" << std::endl;
101  vpRealSense2 g;
102  rs2::config config;
103  config.disable_stream(RS2_STREAM_DEPTH);
104  config.disable_stream(RS2_STREAM_INFRARED);
105  config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
106  g.open(config);
107  g.acquire(I);
108 
109  std::cout << "Read camera parameters from Realsense device" << std::endl;
111 #elif defined(VISP_HAVE_OPENCV)
112  std::cout << "Use OpenCV grabber on device " << opt_device << std::endl;
113  cv::VideoCapture g(opt_device); // Open the default camera
114  if (!g.isOpened()) { // Check if we succeeded
115  std::cout << "Failed to open the camera" << std::endl;
116  return -1;
117  }
118  cv::Mat frame;
119  g >> frame; // get a new frame from camera
120  vpImageConvert::convert(frame, I);
121 #endif
122 
124  std::cout << "Square width : " << opt_square_width << std::endl;
125  std::cout << cam << std::endl;
126 
127  // The pose container
129 
130  std::vector<vpDot2> dot(4);
131  std::vector<vpPoint> point; // 3D coordinates of the points
132  std::vector<vpImagePoint> ip; // 2D coordinates of the points in pixels
133  double L = opt_square_width / 2.;
134  point.push_back(vpPoint(-L, -L, 0));
135  point.push_back(vpPoint( L, -L, 0));
136  point.push_back(vpPoint( L, L, 0));
137  point.push_back(vpPoint(-L, L, 0));
138 
139 #if defined(VISP_HAVE_X11)
140  vpDisplayX d(I);
141 #elif defined(VISP_HAVE_GDI)
142  vpDisplayGDI d(I);
143 #elif defined(VISP_HAVE_OPENCV)
144  vpDisplayOpenCV d(I);
145 #endif
146 
147  bool quit = false;
148  bool apply_cv = false; // apply computer vision
149  bool init_cv = true; // initialize tracking and pose computation
150 
151  while (! quit) {
152  double t_begin = vpTime::measureTimeMs();
153  // Image Acquisition
154 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
155  g.acquire(I);
156 #elif defined(VISP_HAVE_OPENCV)
157  g >> frame;
158  vpImageConvert::convert(frame, I);
159 #endif
161  if (apply_cv) {
162  try {
163  ip = track(I, dot, init_cv);
164  computePose(point, ip, cam, init_cv, cMo);
165  vpDisplay::displayFrame(I, cMo, cam, opt_square_width, vpColor::none, 3);
166  if (init_cv)
167  init_cv = false; // turn off the computer vision initialisation specific stuff
168 
169  { // Display estimated pose in [m] and [deg]
170  vpPoseVector pose(cMo);
171  std::stringstream ss;
172  ss << "Translation: " << std::setprecision(5) << pose[0] << " " << pose[1] << " " << pose[2] << " [m]";
173  vpDisplay::displayText(I, 60, 20, ss.str(), vpColor::red);
174  ss.str(""); // erase ss
175  ss << "Rotation tu: " << std::setprecision(4) << vpMath::deg(pose[3]) << " " << vpMath::deg(pose[4]) << " " << vpMath::deg(pose[5]) << " [deg]";
176  vpDisplay::displayText(I, 80, 20, ss.str(), vpColor::red);
177  }
178  }
179  catch(...) {
180  std::cout << "Computer vision failure." << std::endl;
181  apply_cv = false;
182  init_cv = true;
183  }
184  }
185  vpDisplay::displayText(I, 20, 20, "Right click: quit", vpColor::red);
186  if (apply_cv) {
187  vpDisplay::displayText(I, 40, 20, "Computer vision in progress...", vpColor::red);
188  } else {
189  vpDisplay::displayText(I, 40, 20, "Left click : start", vpColor::red);
190  }
192  if (vpDisplay::getClick(I, button, false)) {
193  if (button == vpMouseButton::button3) {
194  quit = true;
195  }
196  else if (button == vpMouseButton::button1) {
197  apply_cv = true;
198  }
199  }
200  {
201  std::stringstream ss;
202  ss << "Time: " << vpTime::measureTimeMs() - t_begin << " ms";
203  vpDisplay::displayText(I, 20, I.getWidth()-100, ss.str(), vpColor::red);
204  }
205  vpDisplay::flush(I);
206  }
207  } catch (const vpException &e) {
208  std::cout << "Catch an exception: " << e.getMessage() << std::endl;
209  }
210 #elif (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
211  (void) argc;
212  (void) argv;
213  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;
214 #else
215  (void) argc;
216  (void) argv;
217  std::cout << "Install a 3rd party dedicated to image display (X11, GDI, OpenCV), configure and build ViSP again to use this example" << std::endl;
218 #endif
219 }
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void open(vpImage< unsigned char > &I)
unsigned int getWidth() const
Definition: vpImage.h:246
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
void open(vpImage< unsigned char > &I)
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
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...
Definition: vpDisplayX.h:150
void setDevice(const std::string &devname)
static const vpColor none
Definition: vpColor.h:229
error that can be emited by ViSP classes.
Definition: vpException.h:71
XML parser to load and save intrinsic camera parameters.
static void flush(const vpImage< unsigned char > &I)
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()
Definition: vpTime.cpp:126
void open(vpImage< unsigned char > &I)
static const vpColor red
Definition: vpColor.h:217
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:81
void open(vpImage< unsigned char > &I)
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.
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
static double deg(double rad)
Definition: vpMath.h:103
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))
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:151
unsigned int getHeight() const
Definition: vpImage.h:188
Class for firewire ieee1394 video devices using libdc1394-2.x api.
const char * getMessage() const
Definition: vpException.cpp:90
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)