Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
tutorial-apriltag-detector-live-rgbd-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>
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 = 640, height = 480;
config.disable_stream(RS2_STREAM_DEPTH);
config.disable_stream(RS2_STREAM_INFRARED);
config.enable_stream(RS2_STREAM_COLOR, static_cast<int>(width), static_cast<int>(height), RS2_FORMAT_RGBA8, 30);
config.enable_stream(RS2_STREAM_DEPTH, static_cast<int>(width), static_cast<int>(height), RS2_FORMAT_Z16, 30);
vpImage<vpRGBa> I_color(height, width);
vpImage<uint16_t> I_depth_raw(height, width);
vpImage<vpRGBa> I_depth;
g.open(config);
const float depth_scale = g.getDepthScale();
rs2::align align_to_color = RS2_STREAM_COLOR;
g.acquire(reinterpret_cast<unsigned char *>(I_color.bitmap), reinterpret_cast<unsigned char *>(I_depth_raw.bitmap),
NULL, NULL, &align_to_color);
std::cout << "Read camera parameters from Realsense device" << std::endl;
std::cout << cam << 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;
vpImage<vpRGBa> I_color2 = I_color;
vpImage<float> depthMap;
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
vpDisplay *d1 = NULL;
vpDisplay *d2 = NULL;
vpDisplay *d3 = NULL;
if (! display_off) {
#ifdef VISP_HAVE_X11
d1 = new vpDisplayX(I_color, 100, 30, "Pose from Homography");
d2 = new vpDisplayX(I_color2, I_color.getWidth()+120, 30, "Pose from RGBD fusion");
d3 = new vpDisplayX(I_depth, 100, I_color.getHeight()+70, "Depth");
#elif defined(VISP_HAVE_GDI)
d1 = new vpDisplayGDI(I_color, 100, 30, "Pose from Homography");
d2 = new vpDisplayGDI(I_color2, I_color.getWidth()+120, 30, "Pose from RGBD fusion");
d3 = new vpDisplayGDI(I_depth, 100, I_color.getHeight()+70, "Depth");
#elif defined(VISP_HAVE_OPENCV)
d1 = new vpDisplayOpenCV(I_color, 100, 30, "Pose from Homography");
d2 = new vpDisplayOpenCV(I_color2, I_color.getWidth()+120, 30, "Pose from RGBD fusion");
d3 = new vpDisplayOpenCV(I_depth, 100, I_color.getHeight()+70, "Depth");
#endif
}
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;
for (;;) {
double t = vpTime::measureTimeMs();
g.acquire(reinterpret_cast<unsigned char *>(I_color.bitmap), reinterpret_cast<unsigned char *>(I_depth_raw.bitmap),
NULL, NULL, &align_to_color);
I_color2 = I_color;
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
vpDisplay::display(I_color2);
depthMap.resize(I_depth_raw.getHeight(), I_depth_raw.getWidth());
for (unsigned int i = 0; i < I_depth_raw.getHeight(); i++) {
for (unsigned int j = 0; j < I_depth_raw.getWidth(); j++) {
if (I_depth_raw[i][j]) {
float Z = I_depth_raw[i][j] * depth_scale;
depthMap[i][j] = Z;
} else {
depthMap[i][j] = 0;
}
}
}
vpDisplay::display(I_color2);
std::vector<vpHomogeneousMatrix> cMo_vec;
detector.detect(I, tagSize, cam, cMo_vec);
// Display camera pose for each tag
for (size_t i = 0; i < cMo_vec.size(); i++) {
vpDisplay::displayFrame(I_color, cMo_vec[i], cam, tagSize / 2, vpColor::none, 3);
}
std::vector<std::vector<vpImagePoint> > tags_corners = detector.getPolygon();
std::vector<int> tags_id = detector.getTagsId();
std::map<int, double> tags_size;
tags_size[-1] = tagSize; // Default tag size
std::vector<std::vector<vpPoint> > tags_points3d = detector.getTagsPoints3D(tags_id, tags_size);
for (size_t i = 0; i < tags_corners.size(); i++) {
double confidence_index;
if (vpPose::computePlanarObjectPoseFromRGBD(depthMap, tags_corners[i], cam, tags_points3d[i], cMo, &confidence_index)) {
if (confidence_index > 0.5) {
vpDisplay::displayFrame(I_color2, cMo, cam, tagSize/2, vpColor::none, 3);
}
else if (confidence_index > 0.25) {
vpDisplay::displayFrame(I_color2, cMo, cam, tagSize/2, vpColor::orange, 3);
}
else {
vpDisplay::displayFrame(I_color2, cMo, cam, tagSize/2, vpColor::red, 3);
}
std::stringstream ss;
ss << "Tag id " << tags_id[i] << " confidence: " << confidence_index;
vpDisplay::displayText(I_color2, 35 + i*15, 20, ss.str(), vpColor::red);
}
}
vpDisplay::displayText(I_color, 20, 20, "Pose from homography + VVS", vpColor::red);
vpDisplay::displayText(I_color2, 20, 20, "Pose from RGBD fusion", vpColor::red);
vpDisplay::displayText(I_color, 35, 20, "Click to quit.", vpColor::red);
time_vec.push_back(t);
std::stringstream ss;
ss << "Detection time: " << t << " ms for " << detector.getNbObjects() << " tags";
vpDisplay::displayText(I_color, 50, 20, ss.str(), vpColor::red);
if (vpDisplay::getClick(I_color, false))
break;
vpDisplay::flush(I_color);
vpDisplay::flush(I_color2);
vpDisplay::flush(I_depth);
}
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 d1;
delete d2;
delete d3;
}
} 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;
}