1 #include <visp3/core/vpConfig.h>
3 #ifdef VISP_HAVE_MODULE_SENSOR
4 #include <visp3/sensor/vpRealSense2.h>
7 #include <visp3/detection/vpDetectorAprilTag.h>
9 #include <visp3/core/vpImageConvert.h>
10 #include <visp3/gui/vpDisplayGDI.h>
11 #include <visp3/gui/vpDisplayOpenCV.h>
12 #include <visp3/gui/vpDisplayX.h>
13 #include <visp3/vision/vpPose.h>
15 int main(
int argc,
const char **argv)
18 #if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_REALSENSE2)
23 double tagSize = 0.053;
24 float quad_decimate = 1.0;
26 bool display_tag =
false;
28 unsigned int thickness = 2;
29 bool align_frame =
false;
31 #if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
32 bool display_off =
true;
33 std::cout <<
"Warning: There is no 3rd party (X11, GDI or openCV) to dislay images..." << std::endl;
35 bool display_off =
false;
38 for (
int i = 1; i < argc; i++) {
39 if (std::string(argv[i]) ==
"--pose_method" && i + 1 < argc) {
42 else if (std::string(argv[i]) ==
"--tag_size" && i + 1 < argc) {
43 tagSize = atof(argv[i + 1]);
45 else if (std::string(argv[i]) ==
"--quad_decimate" && i + 1 < argc) {
46 quad_decimate = (float)atof(argv[i + 1]);
48 else if (std::string(argv[i]) ==
"--nthreads" && i + 1 < argc) {
49 nThreads = atoi(argv[i + 1]);
51 else if (std::string(argv[i]) ==
"--display_tag") {
54 else if (std::string(argv[i]) ==
"--display_off") {
57 else if (std::string(argv[i]) ==
"--color" && i + 1 < argc) {
58 color_id = atoi(argv[i + 1]);
60 else if (std::string(argv[i]) ==
"--thickness" && i + 1 < argc) {
61 thickness = (
unsigned int)atoi(argv[i + 1]);
63 else if (std::string(argv[i]) ==
"--tag_family" && i + 1 < argc) {
66 else if (std::string(argv[i]) ==
"--z_aligned") {
69 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
70 std::cout <<
"Usage: " << argv[0]
71 <<
" [--tag_size <tag_size in m> (default: 0.053)]"
72 " [--quad_decimate <quad_decimate> (default: 1)]"
73 " [--nthreads <nb> (default: 1)]"
74 " [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
75 " 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
76 " 4: BEST_RESIDUAL_VIRTUAL_VS, 5: HOMOGRAPHY_ORTHOGONAL_ITERATION) (default: 0)]"
77 " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10 (DEPRECATED), 2: TAG_36ARTOOLKIT (DEPRECATED),"
78 " 3: TAG_25h9, 4: TAG_25h7 (DEPRECATED), 5: TAG_16h5, 6: TAG_CIRCLE21h7, 7: TAG_CIRCLE49h12,"
79 " 8: TAG_CUSTOM48h12, 9: TAG_STANDARD41h12, 10: TAG_STANDARD52h13) (default: 0)]"
80 " [--display_tag] [--z_aligned]";
81 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
82 std::cout <<
" [--display_off] [--color <color id>] [--thickness <line thickness>]";
84 std::cout <<
" [--help]" << std::endl;
91 std::cout <<
"Use Realsense 2 grabber" << std::endl;
94 unsigned int width = 640, height = 480;
95 config.enable_stream(RS2_STREAM_COLOR,
static_cast<int>(width),
static_cast<int>(height), RS2_FORMAT_RGBA8, 30);
96 config.enable_stream(RS2_STREAM_DEPTH,
static_cast<int>(width),
static_cast<int>(height), RS2_FORMAT_Z16, 30);
97 config.enable_stream(RS2_STREAM_INFRARED,
static_cast<int>(width),
static_cast<int>(height), RS2_FORMAT_Y8, 30);
106 std::cout <<
"I_color: " << I_color.getWidth() <<
" " << I_color.getHeight() << std::endl;
107 std::cout <<
"I_depth_raw: " << I_depth_raw.getWidth() <<
" " << I_depth_raw.getHeight() << std::endl;
109 rs2::align align_to_color = RS2_STREAM_COLOR;
110 g.
acquire(
reinterpret_cast<unsigned char *
>(I_color.bitmap),
reinterpret_cast<unsigned char *
>(I_depth_raw.bitmap),
111 nullptr,
nullptr, &align_to_color);
113 std::cout <<
"Read camera parameters from Realsense device" << std::endl;
118 std::cout << cam << std::endl;
119 std::cout <<
"poseEstimationMethod: " << poseEstimationMethod << std::endl;
120 std::cout <<
"tagFamily: " << tagFamily << std::endl;
121 std::cout <<
"nThreads : " << nThreads << std::endl;
122 std::cout <<
"Z aligned: " << align_frame << std::endl;
133 d1 =
new vpDisplayX(I_color, 100, 30,
"Pose from Homography");
134 d2 =
new vpDisplayX(I_color2, I_color.getWidth() + 120, 30,
"Pose from RGBD fusion");
135 d3 =
new vpDisplayX(I_depth, 100, I_color.getHeight() + 70,
"Depth");
136 #elif defined(VISP_HAVE_GDI)
137 d1 =
new vpDisplayGDI(I_color, 100, 30,
"Pose from Homography");
138 d2 =
new vpDisplayGDI(I_color2, I_color.getWidth() + 120, 30,
"Pose from RGBD fusion");
139 d3 =
new vpDisplayGDI(I_depth, 100, I_color.getHeight() + 70,
"Depth");
140 #elif defined(HAVE_OPENCV_HIGHGUI)
142 d2 =
new vpDisplayOpenCV(I_color2, I_color.getWidth() + 120, 30,
"Pose from RGBD fusion");
143 d3 =
new vpDisplayOpenCV(I_depth, 100, I_color.getHeight() + 70,
"Depth");
152 detector.setAprilTagQuadDecimate(quad_decimate);
153 detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
154 detector.setAprilTagNbThreads(nThreads);
156 detector.setZAlignedWithCameraAxis(align_frame);
158 std::vector<double> time_vec;
163 g.
acquire(
reinterpret_cast<unsigned char *
>(I_color.bitmap),
164 reinterpret_cast<unsigned char *
>(I_depth_raw.bitmap),
nullptr,
nullptr, &align_to_color);
171 depthMap.
resize(I_depth_raw.getHeight(), I_depth_raw.getWidth());
172 #ifdef VISP_HAVE_OPENMP
173 #pragma omp parallel for
175 for (
int i = 0; i < static_cast<int>(I_depth_raw.getHeight()); i++) {
176 for (
int j = 0; j < static_cast<int>(I_depth_raw.getWidth()); j++) {
177 if (I_depth_raw[i][j]) {
178 float Z = I_depth_raw[i][j] * depth_scale;
191 std::vector<vpHomogeneousMatrix> cMo_vec;
192 detector.detect(I, tagSize, cam, cMo_vec);
195 for (
size_t i = 0; i < cMo_vec.size(); i++) {
200 std::vector<std::vector<vpImagePoint> > tags_corners = detector.getPolygon();
201 std::vector<int> tags_id = detector.getTagsId();
202 std::map<int, double> tags_size;
203 tags_size[-1] = tagSize;
204 std::vector<std::vector<vpPoint> > tags_points3d = detector.getTagsPoints3D(tags_id, tags_size);
205 for (
size_t i = 0; i < tags_corners.size(); i++) {
207 double confidence_index;
209 &confidence_index)) {
210 if (confidence_index > 0.5) {
213 else if (confidence_index > 0.25) {
219 std::stringstream ss;
220 ss <<
"Tag id " << tags_id[i] <<
" confidence: " << confidence_index;
230 time_vec.push_back(t);
232 std::stringstream ss;
233 ss <<
"Detection time: " << t <<
" ms for " << detector.getNbObjects() <<
" tags";
244 std::cout <<
"Benchmark loop processing time" << std::endl;
245 std::cout <<
"Mean / Median / Std: " <<
vpMath::getMean(time_vec) <<
" ms"
257 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
264 #ifndef VISP_HAVE_APRILTAG
265 std::cout <<
"Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
267 std::cout <<
"Install librealsense 3rd party, configure and build ViSP again to use this example" << std::endl;
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
static vpColor getColor(const unsigned int &i)
static const vpColor none
static const vpColor orange
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
Display for windows using GDI (available on any windows 32 platform).
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...
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 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 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
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
static double getMedian(const std::vector< double > &v)
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
static double getMean(const std::vector< double > &v)
static bool computePlanarObjectPoseFromRGBD(const vpImage< float > &depthMap, const std::vector< vpImagePoint > &corners, const vpCameraParameters &colorIntrinsics, const std::vector< vpPoint > &point3d, vpHomogeneousMatrix &cMo, double *confidence_index=nullptr)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
void acquire(vpImage< unsigned char > &grey, double *ts=nullptr)
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()