Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
tutorial-apriltag-detector-live-T265-realsense.cpp
#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_MODULE_SENSOR
#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>
#include <visp3/core/vpImageConvert.h>
#include <visp3/vision/vpPose.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/core/vpPixelMeterConversion.h>
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_REALSENSE2)
double tagSize = 0.053;
float quad_decimate = 1.0;
int nThreads = 1;
bool display_tag = false;
int color_id = -1;
unsigned int thickness = 2;
bool align_frame = false;
#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) {
poseEstimationMethod = (vpDetectorAprilTag::vpPoseEstimationMethod)atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
tagSize = atof(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]) == "--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) {
tagFamily = (vpDetectorAprilTag::vpAprilTagFamily)atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--z_aligned") {
align_frame = true;
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Usage: " << argv[0]
<< " [--tag_size <tag_size in m> (default: 0.053)]"
" [--quad_decimate <quad_decimate> (default: 1)]"
" [--nthreads <nb> (default: 1)]"
" [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
" 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
" 4: BEST_RESIDUAL_VIRTUAL_VS, 5: HOMOGRAPHY_ORTHOGONAL_ITERATION) (default: 0)]"
" [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10 (DEPRECATED), 2: TAG_36ARTOOLKIT (DEPRECATED),"
" 3: TAG_25h9, 4: TAG_25h7 (DEPRECATED), 5: TAG_16h5, 6: TAG_CIRCLE21h7, 7: TAG_CIRCLE49h12,"
" 8: TAG_CUSTOM48h12, 9: TAG_STANDARD41h12, 10: TAG_STANDARD52h13) (default: 0)]"
" [--display_tag] [--z_aligned]";
#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 {
std::cout << "Use Realsense 2 grabber" << std::endl;
rs2::config config;
unsigned int width = 848, height = 800;
config.disable_stream(RS2_STREAM_FISHEYE,1);
config.disable_stream(RS2_STREAM_FISHEYE,2);
config.enable_stream(RS2_STREAM_FISHEYE,1,RS2_FORMAT_Y8);
config.enable_stream(RS2_STREAM_FISHEYE,2,RS2_FORMAT_Y8);
vpImage<unsigned char> I_left(height, width);
vpImage<unsigned char> I_undist(height, width);
g.open(config);
g.acquire(&I_left, NULL, NULL);
std::cout << "Read camera parameters from Realsense device" << std::endl;
vpCameraParameters cam_left, cam_undistort;
cam_undistort.initPersProjWithoutDistortion(cam_left.get_px(), cam_left.get_py(), cam_left.get_u0(), cam_left.get_v0());
std::cout << cam_left << std::endl;
std::cout << "poseEstimationMethod: " << poseEstimationMethod << std::endl;
std::cout << "tagFamily: " << tagFamily << std::endl;
std::cout << "nThreads : " << nThreads << std::endl;
std::cout << "Z aligned: " << align_frame << std::endl;
vpDisplay *display_left = NULL;
vpDisplay *display_undistort = NULL;
if (! display_off) {
#ifdef VISP_HAVE_X11
display_left = new vpDisplayX(I_left, 100, 30, "Left image");
display_undistort = new vpDisplayX(I_undist, I_left.getWidth(), 30, "Undistorted image");
#elif defined(VISP_HAVE_GDI)
display_left = new vpDisplayGDI(I_left, 100, 30, "Left image");
#elif defined(VISP_HAVE_OPENCV)
display_left = new vpDisplayOpenCV(I_left, 100, 30, "Left image");
#endif
}
vpArray2D<int> mapU, mapV;
vpArray2D<float> mapDu, mapDv;
vpImageTools::initUndistortMap(cam_left, I_left.getWidth(), I_left.getHeight(), mapU, mapV, mapDu, mapDv);
vpDetectorAprilTag detector(tagFamily);
detector.setAprilTagQuadDecimate(quad_decimate);
detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
detector.setAprilTagNbThreads(nThreads);
detector.setDisplayTag(display_tag, color_id < 0 ? vpColor::none : vpColor::getColor(color_id), thickness);
detector.setZAlignedWithCameraAxis(align_frame);
std::vector<double> time_vec;
std::vector<std::vector<vpImagePoint>> tag_corners;
for (;;) {
double t = vpTime::measureTimeMs();
g.acquire(&I_left, NULL, NULL);
vpImageTools::undistort(I_left, mapU, mapV, mapDu, mapDv, I_undist);
vpDisplay::display(I_undist);
std::vector<vpHomogeneousMatrix> cMo_vec, cMo_vec1;
detector.detect(I_undist, tagSize, cam_undistort, cMo_vec);
// Display tag corners, bounding box and pose
for (size_t i = 0; i < cMo_vec.size(); i++) {
tag_corners = detector.getTagsCorners();
for(size_t j = 0; j < 4; j++)
{
vpDisplay::displayCross(I_undist, tag_corners[i][j], 20, vpColor::green, 2);
}
vpDisplay::displayRectangle(I_undist, detector.getBBox(i), vpColor::yellow, false, 3);
vpDisplay::displayFrame(I_undist, cMo_vec[i], cam_undistort, tagSize / 2, vpColor::red, 3);
}
time_vec.push_back(t);
std::stringstream ss;
ss << "Detection time: " << t << " ms for " << detector.getNbObjects() << " tags";
vpDisplay::displayText(I_left, 50, 20, ss.str(), vpColor::red);
vpDisplay::displayText(I_undist, 50, 20, ss.str(), vpColor::red);
if (vpDisplay::getClick(I_left, false) || vpDisplay::getClick(I_undist, false))
break;
vpDisplay::flush(I_undist);
}
std::cout << "Benchmark loop processing time" << std::endl;
std::cout << "Mean / Median / Std: " << vpMath::getMean(time_vec) << " ms"
<< " ; " << vpMath::getMedian(time_vec) << " ms"
<< " ; " << vpMath::getStdev(time_vec) << " ms" << std::endl;
if (! display_off) {
delete display_left;
delete display_undistort;
}
} catch (const vpException &e) {
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;
}