1 #include <visp3/core/vpMomentAreaNormalized.h>
3 #include <visp3/core/vpMomentBasic.h>
4 #include <visp3/core/vpMomentCentered.h>
5 #include <visp3/core/vpMomentDatabase.h>
6 #include <visp3/core/vpMomentGravityCenter.h>
7 #include <visp3/core/vpMomentGravityCenterNormalized.h>
8 #include <visp3/core/vpMomentObject.h>
9 #include <visp3/core/vpPixelMeterConversion.h>
10 #include <visp3/core/vpPoint.h>
11 #include <visp3/core/vpSerial.h>
12 #include <visp3/core/vpXmlParserCamera.h>
13 #include <visp3/detection/vpDetectorAprilTag.h>
14 #include <visp3/gui/vpDisplayX.h>
15 #include <visp3/io/vpImageIo.h>
16 #include <visp3/robot/vpUnicycle.h>
17 #include <visp3/sensor/vpV4l2Grabber.h>
18 #include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>
19 #include <visp3/visual_features/vpFeatureMomentGravityCenterNormalized.h>
20 #include <visp3/vs/vpServo.h>
22 int main(
int argc,
const char **argv)
24 #if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_V4L2)
27 double tagSize = 0.065;
28 float quad_decimate = 4.0;
30 std::string intrinsic_file =
"";
31 std::string camera_name =
"";
32 bool display_tag =
false;
33 bool display_on =
false;
34 bool serial_off =
false;
35 bool save_image =
false;
37 for (
int i = 1; i < argc; i++) {
38 if (std::string(argv[i]) ==
"--tag_size" && i + 1 < argc) {
39 tagSize = std::atof(argv[i + 1]);
41 else if (std::string(argv[i]) ==
"--input" && i + 1 < argc) {
42 device = std::atoi(argv[i + 1]);
44 else if (std::string(argv[i]) ==
"--quad_decimate" && i + 1 < argc) {
45 quad_decimate = (float)atof(argv[i + 1]);
47 else if (std::string(argv[i]) ==
"--nthreads" && i + 1 < argc) {
48 nThreads = std::atoi(argv[i + 1]);
50 else if (std::string(argv[i]) ==
"--intrinsic" && i + 1 < argc) {
51 intrinsic_file = std::string(argv[i + 1]);
53 else if (std::string(argv[i]) ==
"--camera_name" && i + 1 < argc) {
54 camera_name = std::string(argv[i + 1]);
56 else if (std::string(argv[i]) ==
"--display_tag") {
58 #if defined(VISP_HAVE_X11)
60 else if (std::string(argv[i]) ==
"--display_on") {
63 else if (std::string(argv[i]) ==
"--save_image") {
67 else if (std::string(argv[i]) ==
"--serial_off") {
70 else if (std::string(argv[i]) ==
"--tag_family" && i + 1 < argc) {
73 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
74 std::cout <<
"Usage: " << argv[0]
75 <<
" [--input <camera input>] [--tag_size <tag_size in m>]"
76 " [--quad_decimate <quad_decimate>] [--nthreads <nb>]"
77 " [--intrinsic <intrinsic file>] [--camera_name <camera name>]"
78 " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10, 2: "
80 " 3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5)]"
82 #if defined(VISP_HAVE_X11)
83 std::cout <<
" [--display_on] [--save_image]";
85 std::cout <<
" [--serial_off] [--help]" << std::endl;
99 serial =
new vpSerial(
"/dev/ttyAMA0", 115200);
101 serial->
write(
"LED_RING=0,0,0,0\n");
102 serial->
write(
"LED_RING=1,0,10,0\n");
109 std::ostringstream device_name;
110 device_name <<
"/dev/video" << device;
126 #if defined(VISP_HAVE_PUGIXML)
128 if (!intrinsic_file.empty() && !camera_name.empty()) {
133 std::cout <<
"cam:\n" << cam << std::endl;
134 std::cout <<
"tagFamily: " << tagFamily << std::endl;
135 std::cout <<
"tagSize: " << tagSize << std::endl;
139 detector.setAprilTagQuadDecimate(quad_decimate);
140 detector.setAprilTagNbThreads(nThreads);
141 detector.setDisplayTag(display_tag);
170 eJe[0][0] = eJe[5][1] = 1.0;
172 std::cout <<
"eJe: \n" << eJe << std::endl;
178 double X[4] = { tagSize / 2., tagSize / 2., -tagSize / 2., -tagSize / 2. };
179 double Y[4] = { tagSize / 2., -tagSize / 2., -tagSize / 2., tagSize / 2. };
180 std::vector<vpPoint> vec_P, vec_P_d;
182 for (
int i = 0; i < 4; i++) {
186 vec_P_d.push_back(P_d);
200 m_obj_d.fromVector(vec_P_d);
213 area = mb_d.
get(2, 0) + mb_d.
get(0, 2);
215 area = mb_d.
get(0, 0);
217 man_d.setDesiredArea(area);
225 double C = 1.0 / Z_d;
236 s_mgn_d.update(A, B, C);
237 s_mgn_d.compute_interaction();
239 s_man_d.update(A, B, C);
240 s_man_d.compute_interaction();
242 std::vector<double> time_vec;
249 std::vector<vpHomogeneousMatrix> cMo_vec;
250 detector.detect(I, tagSize, cam, cMo_vec);
252 time_vec.push_back(t);
255 std::stringstream ss;
256 ss <<
"Detection time: " << t <<
" ms";
260 if (detector.getNbObjects() == 1) {
262 serial->
write(
"LED_RING=2,0,10,0\n");
266 std::vector<vpImagePoint> vec_ip = detector.getPolygon(0);
268 for (
size_t i = 0; i < vec_ip.size(); i++) {
286 m_obj.fromVector(vec_P);
300 s_mgn.update(A, B, C);
301 s_mgn.compute_interaction();
302 s_man.update(A, B, C);
303 s_man.compute_interaction();
311 std::cout <<
"Send velocity to the mbot: " << v[0] <<
" m/s " <<
vpMath::deg(v[1]) <<
" deg/s" << std::endl;
314 double radius = 0.0325;
316 double motor_left = (-v[0] - L * v[1]) / radius;
317 double motor_right = (v[0] - L * v[1]) / radius;
318 std::cout <<
"motor left vel: " << motor_left <<
" motor right vel: " << motor_right << std::endl;
323 std::stringstream ss;
324 double rpm_left = motor_left * 30. / M_PI;
325 double rpm_right = motor_right * 30. / M_PI;
327 std::cout <<
"Send: " << ss.str() << std::endl;
329 serial->
write(ss.str());
335 serial->
write(
"LED_RING=2,10,0,0\n");
338 serial->
write(
"MOTOR_RPM=0,-0\n");
345 if (display_on && save_image) {
354 serial->
write(
"LED_RING=0,0,0,0\n");
357 std::cout <<
"Benchmark computation time" << std::endl;
358 std::cout <<
"Mean / Median / Std: " <<
vpMath::getMean(time_vec) <<
" ms"
369 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
371 serial->
write(
"LED_RING=1,10,0,0\n");
379 #ifndef VISP_HAVE_APRILTAG
380 std::cout <<
"ViSP is not build with Apriltag support" << std::endl;
382 #ifndef VISP_HAVE_V4L2
383 std::cout <<
"ViSP is not build with v4l2 support" << std::endl;
385 std::cout <<
"Install missing 3rd parties, configure and build ViSP to run this tutorial" << std::endl;
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 green
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
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 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)
static void displayPolygon(const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &vip, const vpColor &color, unsigned int thickness=1, bool closed=true)
error that can be emitted by ViSP classes.
const char * getMessage() const
Functionality computation for normalized surface moment feature. Computes the interaction matrix asso...
Functionality computation for centered and normalized moment feature. Computes the interaction matrix...
static unsigned int selectXn()
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)
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.
Class handling the normalized surface moment that is invariant in scale and used to estimate depth.
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to us...
const std::vector< double > & get() const
This class defines the double-indexed centered moment descriptor .
This class allows to register all vpMoments so they can access each other according to their dependen...
virtual void updateAll(vpMomentObject &object)
Class describing 2D normalized gravity center moment.
Class describing 2D gravity center moment.
Class for generic objects.
void linkTo(vpMomentDatabase &moments)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void set_x(double x)
Set the point x coordinate in the image plane.
void set_y(double y)
Set the point y coordinate in the image plane.
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()