Visual Servoing Platform  version 3.5.1 under development (2022-12-02)
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/core/vpImageConvert.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/vision/vpPose.h>
int main(int argc, const char **argv)
{
// Realsense T265 is only supported if realsense API > 2.31.0
#if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
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;
#elif defined(VISP_HAVE_REALSENSE2) && !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
std::cout << "Realsense T265 device needs librealsense API > 2.31.0. ViSP is linked with librealsense API "
<< RS2_API_VERSION_STR << ". You need to upgrade librealsense to use this example." << std::endl;
#else
std::cout << "Install librealsense 3rd party, configure and build ViSP again to use this example." << std::endl;
#endif
#endif
return EXIT_SUCCESS;
}
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:132
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static vpColor getColor(const unsigned int &i)
Definition: vpColor.h:313
static const vpColor red
Definition: vpColor.h:217
static const vpColor none
Definition: vpColor.h:229
static const vpColor yellow
Definition: vpColor.h:225
static const vpColor green
Definition: vpColor.h:220
void setZAlignedWithCameraAxis(bool zAlignedWithCameraFrame)
std::vector< std::vector< vpImagePoint > > getTagsCorners() const
void setDisplayTag(bool display, const vpColor &color=vpColor::none, unsigned int thickness=2)
void setAprilTagQuadDecimate(float quadDecimate)
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
void setAprilTagNbThreads(int nThreads)
bool detect(const vpImage< unsigned char > &I)
void setAprilTagPoseEstimationMethod(const vpPoseEstimationMethod &poseEstimationMethod)
vpRect getBBox(size_t i) const
size_t getNbObjects() const
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:178
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
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 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))
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * getMessage() const
Definition: vpException.cpp:87
static void initUndistortMap(const vpCameraParameters &cam, unsigned int width, unsigned int height, vpArray2D< int > &mapU, vpArray2D< int > &mapV, vpArray2D< float > &mapDu, vpArray2D< float > &mapDv)
static void undistort(const vpImage< Type > &I, const vpCameraParameters &cam, vpImage< Type > &newI, unsigned int nThreads=2)
Definition: vpImageTools.h:646
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
static double getMedian(const std::vector< double > &v)
Definition: vpMath.cpp:262
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
Definition: vpMath.cpp:292
static double getMean(const std::vector< double > &v)
Definition: vpMath.cpp:242
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()