#include <visp3/core/vpConfig.h>
#include <visp3/core/vpPolygon.h>
#include <visp3/core/vpSerial.h>
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/detection/vpDetectorAprilTag.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/robot/vpUnicycle.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureDepth.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_V4L2)
#ifdef ENABLE_VISP_NAMESPACE
#endif
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 use_pose = true;
bool save_image = false;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--without_pose_computation") {
use_pose = false;
}
else 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>] [--without_pose_computation]"
" [--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) {
d = new vpDisplayX(I);
}
#endif
if (!intrinsic_file.empty() && !camera_name.empty())
std::cout << "cam:\n" << cam << std::endl;
std::cout << "use pose: " << use_pose << std::endl;
std::cout << "tagFamily: " << tagFamily << std::endl;
if (use_pose)
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, Z_d;
Z = Z_d = 0.4;
std::cout << "Z " << Z << std::endl;
std::vector<double> time_vec;
for (;;) {
std::vector<vpHomogeneousMatrix> cMo_vec;
if (use_pose)
detector.
detect(I, tagSize, cam, cMo_vec);
else
time_vec.push_back(t);
{
std::stringstream ss;
ss << "Detection time: " << t << " ms";
}
3);
3);
if (use_pose) {
}
if (!serial_off) {
serial->
write(
"LED_RING=2,0,10,0\n");
}
if (use_pose) {
Z = cMo_vec[0][2][3];
}
else {
double surface = polygon.
getArea();
std::cout << "Surface: " << surface << std::endl;
Z = tagSize * cam.
get_px() / sqrt(surface);
}
std::cout <<
"cog: " << detector.
getCog(0) <<
" Z: " << Z << std::endl;
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
}
Adaptive gain computation.
void initStandard(double gain_at_zero, double gain_at_infinity, double slope_at_zero)
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of column vector and the associated operations.
static const vpColor none
static const vpColor green
void setDisplayTag(bool display, const vpColor &color=vpColor::none, unsigned int thickness=2)
void setAprilTagQuadDecimate(float quadDecimate)
bool detect(const vpImage< unsigned char > &I) VP_OVERRIDE
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
void setAprilTagNbThreads(int nThreads)
void setAprilTagPoseEstimationMethod(const vpPoseEstimationMethod &poseEstimationMethod)
std::vector< std::vector< vpImagePoint > > & getPolygon()
size_t getNbObjects() const
vpImagePoint getCog(size_t i) const
Class that defines generic functionalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
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), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
const char * getMessage() const
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpImagePoint &t)
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
vpFeatureDepth & buildFrom(const double &x, const double &y, const double &Z, const double &LogZoverZstar)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
vpFeaturePoint & buildFrom(const double &x, const double &y, const double &Z)
static unsigned int selectX()
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
unsigned int getWidth() const
unsigned int getHeight() const
static double getMedian(const std::vector< double > &v)
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
static int round(double x)
static double getMean(const std::vector< double > &v)
static double deg(double rad)
Implementation of a matrix and operations on matrices.
Defines a generic 2D polygon.
Implementation of a rotation matrix and operations on such kind of matrices.
void write(const std::string &s)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpColVector computeControlLaw()
Class that consider the case of a translation vector.
Generic functions for unicycle mobile robots.
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
void setDevice(const std::string &devname)
void acquire(vpImage< unsigned char > &I)
XML parser to load and save intrinsic camera parameters.
int parse(vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, const vpCameraParameters::vpCameraParametersProjType &projModel, unsigned int image_width=0, unsigned int image_height=0, bool verbose=true)
VISP_EXPORT double measureTimeMs()